CN107395084B - Method and device for pre-estimating motor output torque of pure electric vehicle and electric vehicle - Google Patents
Method and device for pre-estimating motor output torque of pure electric vehicle and electric vehicle Download PDFInfo
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- CN107395084B CN107395084B CN201710771743.2A CN201710771743A CN107395084B CN 107395084 B CN107395084 B CN 107395084B CN 201710771743 A CN201710771743 A CN 201710771743A CN 107395084 B CN107395084 B CN 107395084B
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Classifications
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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
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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
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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
- H02P21/18—Estimation of position or speed
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- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a method and a device for predicting the output torque of a motor of a pure electric vehicle and the electric vehicle, and relates to the technical field of vehicle control, wherein the method comprises the following steps: periodically acquiring three-phase current of the motor and a current inclination angle of the three-phase current in an alpha beta coordinate system, and three-phase voltage and a voltage inclination angle of the three-phase voltage in the alpha beta coordinate system according to a preset sampling period; estimating the rotating speed of the motor in the current sampling period according to the current inclination angle and the voltage inclination angle acquired in the current sampling period; acquiring a credibility value of the current sampling period according to the three-phase current, the three-phase voltage, the current inclination angle and the voltage inclination angle acquired in the current sampling period; estimating the rotating speed of the motor in the current control period according to the rotating speed and the reliability value of each sampling period and a preset control period; and acquiring the current output torque of the motor according to the rotating speed of the motor in the current control period. The method for predicting the output torque of the motor is reliable and effective, has high accuracy and has good popularization value.
Description
Technical field
The invention belongs to full-vehicle control technical fields, more particularly, to a kind of estimating for pure electric automobile motor output torque
Method, apparatus and electric car.
Background technique
In the prior art, the current output torque of driving motor of pure electric automobile generally uses formula penalty method to obtain, i.e.,
By torque formula and on this basis, certain compensation is carried out according to vehicle-state to obtain the output torque of driving motor.
In view of its parameter can change driving motor in practical work process, the accuracy of the parameter of variation to formula penalty method
Very big influence is caused, it is made to be unable to satisfy the demand accurately controlled to driving motor.
Summary of the invention
A kind of predictor method for being designed to provide pure electric automobile motor output torque of the embodiment of the present invention, device and
Electric car is unable to satisfy to solve formula penalty method in the prior art and calculate driving motor output torque to driving motor
The problem of demand accurately controlled.
To achieve the goals above, the embodiment of the invention provides a kind of sides of estimating of pure electric automobile motor output torque
Method, comprising:
According to the predetermined sampling period, periodically obtains the three-phase current of motor and its electric current in α β coordinate system inclines
Angle and three-phase voltage and its voltage tilt in α β coordinate system；
The electric current inclination angle obtained according to current sample period and the voltage tilt, estimation motor is in present sample week
Revolving 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, the confidence value of current sample period is obtained；
Estimate motor in current control week according to the predetermined control period according to the revolving speed and confidence value in each sampling period
Revolving speed in phase, wherein the control period includes N number of continuous sampling period；
According to revolving speed of the motor in current control period, the current output torque of motor is obtained.
Wherein, described according to the predetermined sampling period, periodically obtain the three-phase current of motor and its in α β coordinate system
Electric current inclination angle and three-phase voltage and its step of voltage tilt in α β coordinate system include:
Acquire the three-phase current and three-phase voltage of motor；
The three-phase current and the three-phase voltage are corrected respectively, after the three-phase current and correction after obtaining 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；
Respectively low-pass filtering is carried out to the current phasor and the voltage vector under the conditions of the first predeterminated frequency, 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 low-pass filtering obtains 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, described that the three-phase current and the three-phase voltage are corrected respectively, after obtaining correction the three-phase electricity
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；
The average value of every phase current and the three-phase current is made to poor three-phase current after obtaining correction；
The average value of every phase voltage and the three-phase voltage is made to poor three-phase voltage after obtaining correction.
Wherein, the electric current inclination angle obtained according to current sample period and the voltage tilt, estimation motor exist
The step of revolving 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 at a second electric current inclination angle and upper sampling period of current sample period2, currently
The third 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 control cycle Ts；
According to formulaIt calculates separately current
First revolving speed E of motor in sampling period1, the second revolving speed E2, third revolving speed E3With the 4th revolving speed E4。
Wherein, the three-phase current obtained according to current sample period, the three-phase voltage, the electric current inclination angle
With the voltage tilt, the step of obtaining the confidence value of current sample period, includes:
Judge the first difference DELTA P1Absolute value whether less than the first predetermined angle difference, and the first current phasor
Quadratic sum is greater than the quadratic sum of the first predetermined current vector；If so, 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 less than the second predetermined angle difference, and the second current phasor
Quadratic sum is greater than the quadratic sum of the second predetermined current vector；If so, the second confidence level T2Value be 1, if it is not, then second credible
Spend T2Value be 0；
Judge the third difference DELTA P3Absolute value whether be less than third predetermined angle difference, and first voltage vector
Quadratic sum is greater than the quadratic sum of the first predeterminated voltage vector；If so, third confidence level T3Value be 1, if it is not, then third is credible
Spend T3Value be 0；
Judge the 4th difference DELTA P4Absolute value whether less than the 4th predetermined angle difference, and second voltage vector
Quadratic sum is greater than the quadratic sum of the second predeterminated voltage vector；If so, 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 within the scope of the first predetermined current, and whether each phase voltage is in the first predeterminated voltage model
In enclosing；Whether the sum of three-phase current is within the scope of the second predetermined current, and whether the sum of three-phase voltage is in the second predeterminated voltage model
In enclosing；If any phase current not in the first predetermined current range, any phase voltage not in first predetermined voltage range,
The sum of three-phase current is not in the second predetermined current range, alternatively, the sum of three-phase voltage is not in the second predeterminated voltage model
It encloses, then by the first confidence level T1, the second confidence level T2, third confidence level T3With the 4th confidence level T4Value be modified to 0.
Wherein, the revolving speed and confidence value according to each sampling period estimates that motor is being worked as according to the predetermined control period
Revolving speed in the preceding control period, wherein the step of control period includes N number of continuous sampling period include:
Obtain the first mean speed E of motor in current control period1-ave, the second mean speed E2-ave, third averagely turns
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, third 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 third mean speed E3-ave
With the third average credibility T3-ave, obtain fiveth mean speed of motor under the conditions of the first predeterminated frequency after low-pass filtering
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 motor under the conditions of the second predeterminated frequency after low-pass filtering
E6-aveWith the 6th average credibility T6-ave；
If the 5th average credibility T5-aveValue be greater than the 6th average credibility T6-aveValue, then current control
The revolving speed E of motor in period 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 revolving 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
Revolving 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、
Third 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, third mean speed E3-ave, the 4th mean speed E4-ave；Wherein, E1
It (n) is first revolving speed in n-th of sampling period, T1It (n) is first confidence level in n-th of sampling period；E2It (n) is n-th of sampling
Second revolving speed in period, T2It (n) is second confidence level in n-th of sampling period；E3(n) turn for the third in n-th of sampling period
Speed, T3It (n) is the third confidence level in n-th of sampling period；E4It (n) is the 4th revolving speed in n-th of sampling period, T4It (n) is n-th
4th confidence level in a sampling period；N is the number for controlling the sampling period that the period includes.
Wherein, the revolving speed according to motor in current control period, the step of obtaining the current output torque of motor
Include:
Judge the revolving speed of motor in current control period whether less than the first preset rotation speed；
If so, the mapping table of three-phase current quadratic sum and output torque according to the pre-stored data, obtains current
The current output torque T of the corresponding motor of the quadratic sum of first current phasorq；
If it is not, then judging whether the average credibility in this control period is less than default average credibility, if described average
Confidence level is less than the default average credibility, then three-phase current quadratic sum according to the pre-stored data is corresponding with output torque closes
It is table, obtains the current output torque T of the corresponding motor of quadratic sum of the first current current phasorq；If described average credible
Degree is greater than or equal to the default average credibility, then according to the current electric power P of motorEWith motor in current control period
Revolving speed Eave, obtain the current output torque T of the motorq。
Wherein, the current electric power P according to motorEWith the revolving 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 acquisition, the current electric power P of the motor is calculatedE；
The mapping table of electric efficiency according to the pre-stored data and motor speed and electrical power obtains and this control period
The revolving 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, comprising:
First obtains module, for periodically obtaining the three-phase current of motor and its in α β according to the predetermined sampling period
Electric current inclination angle and three-phase voltage in coordinate system and its voltage tilt in α β coordinate system；
First estimation block, the electric current inclination angle and the voltage tilt for being obtained according to current sample period, estimates
Calculate revolving speed of the motor in current sample period；
Second obtains module, the three-phase current, the three-phase voltage for being obtained according to current sample period, described
Electric current inclination angle and the voltage tilt, obtain the confidence value of current sample period；
Second estimation block, for the revolving speed and confidence value according to each sampling period, according to predetermined control period, estimation
Revolving speed of the motor in current control period, wherein the control period includes N number of continuous sampling period；
Third obtains module, and for the revolving 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 car, including pure electric automobile motor output torque as described above
Estimating device.
Above-mentioned technical proposal of the invention at least has the following beneficial effects:
The above scheme of the embodiment of the present invention, by according to the three-phase current of the motor of acquisition and three-phase voltage estimation
Revolving speed of the motor in this sampling period, and the control period constituted according to the turn count in multiple sampling periods multiple sampling periods
The revolving speed of interior motor, finally according to the output torque of the turn count motor of motor in the control period；Wherein, in order to guarantee to estimate
The accuracy of output torque Credibility judgement is carried out to the data of acquisition, is unsatisfactory for the data of condition not in estimation process
For calculating the revolving speed in this control period, so that the output torque of estimation be made to meet the demand accurately controlled to motor；This hair
The method of bright embodiment has reliable, effective, accuracy height, it is easy to accomplish the advantages that, while not being related to electric car hardware
The change of system has good promotional value.
Detailed description of the invention
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 symbols:
1- accelerator pedal system, 2- brake pedal system, 3- gear system, 4- entire car controller, 5- battery management system,
6- electric machine controller, 7- motor, 8- single reduction gear, 9- driving wheel.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The embodiment of the present invention is directed in the prior art due to the variation of the parameter of electric machine, obtains motor using formula compensation method
Output torque accuracy it is not high, lead to not meet the problem of the needs of accurately controlling motor, provide a kind of pure electric vehicle
The predictor method of electric motor of automobile output torque is realized in the case where not carrying out any change to electric machine control system hardware,
It can accurate, reliable, effectively estimate the output torque of 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, is answered
For electric car.The implementation process of this method is illustrated below 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 include: electric machine controller 6, respectively with the electric machine controller 6
Input terminal 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 connect with the output end of the electric machine controller 6；The driving wheel being connect by single reduction gear 8 with the motor 7
9.Specifically, the electric machine controller 6 is according to the accelerator pedal system 1, the system in the electric machine control system framework
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 is exported according to the entire car controller 4, and, the cell tube
The power battery state that reason system 5 exports determines the limitation to the output power of the motor 7, thus to the expectation torque
Carry out the processing such as smooth, limitation, obtain torque command, the electric machine controller 6 according to the torque command to the motor 7 into
Row control, realizes its quick response to the torque command, to realize vehicle driving function.Wherein, the motor 7 passes through
The single reduction gear 8 drives the driving wheel 9 to rotate, and realizes and closes between the revolving speed and speed of the motor 7 to correspond
System, when detecting speed exception, can directly control the output torque, reduce the revolving speed of the motor 7, thus
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 system
Electric current inclination angle and three-phase voltage and its voltage tilt in α β coordinate system；
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
It is completed in a control period, wherein one control period includes several continuous sampling periods, it is preferred that this hair
One control period of bright embodiment includes continuous 50 sampling periods.
Preferably, the sampling period is determined according to the maximum speed of the motor, wherein is defined the highest and is turned
Speed is the most rotating cycle of the motor in 1min, and the sampling period is the ratio of 1min and the maximum speed.
Wherein, as shown in Fig. 2, the step 11 includes:
Step 111, the three-phase current I of motor is acquiredU、IV、IWWith three-phase voltage VU、VV、VW。
Specifically, the three-phase current and voltage sensor by the motor of analog-digital converter acquisition current sensor acquisition 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 phase successively 120 ° of mutual deviation of electricity
Stream, the three-phase voltage are that frequency is identical, amplitude is identical and phase successively 120 ° of mutual deviation of voltage.
Step 112, the three-phase current and the three-phase voltage are corrected respectively, the three-phase current after obtaining 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
The average value of every phase current and the three-phase current is made to poor three-phase current after obtaining correction, wherein after correction
Three-phase current successively are as follows:
The average value of every phase voltage and the three-phase voltage is made to poor three-phase voltage after obtaining correction, wherein after correction
Three-phase voltage successively are as follows:
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、IRWCarrying out Clarke variation, detailed process is as follows:
According to formula:Known to: Iα=IRU,Wherein,
IαFor the abscissa of current phasor, IβFor the ordinate of current phasor.
Likewise, the three-phase voltage after correction obtains after Clarke changes: 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 obtains the first current phasor and first voltage vector；It is pre- second to the current phasor and the voltage vector respectively
If carrying out low-pass filtering under frequency condition, the second current phasor and second voltage vector are obtained；Wherein, first predeterminated frequency
Less than second predeterminated frequency.
Specifically, what revolving speed when first predeterminated frequency is according to the motor low speed rotation determined, described second is pre-
If what revolving speed when frequency is according to the motor high speed rotation determined, preferably, in the embodiment of the present invention, described first is default
Frequency is selected as 30Hz, and second predeterminated frequency is selected as 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 arrow
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, first electric current inclination angle isThe first voltage inclination angle isSecond electric current inclination angle isThe second voltage
Inclination angle is
Step 12, the electric current inclination angle and the voltage tilt, estimation motor obtained according to current sample period is being worked as
Revolving 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 at a second electric current inclination angle and upper sampling period of current sample period2, currently
The third 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 control cycle Ts；
According to formulaIt calculates separately current
First revolving speed E of motor in sampling period1, the second revolving speed E2, third revolving speed E3With the 4th revolving speed E4。
Wherein, the number of pole-pairs npFor the logarithm for the pole N, S that each coil of the motor generates.
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 obtains the confidence value of current sample period.
Specifically, the step 13 includes:
Judge the first difference DELTA P1Absolute value whether less than the first predetermined angle difference, and the first current phasor
Quadratic sum is greater than the quadratic sum of the first predetermined current vector；If so, 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 revolving speed corresponding to the first predeterminated frequency
In period, the angle of the motor rotation, under normal circumstances, the first difference DELTA P1Absolute value to should be less than described first pre-
If angle difference, if the first difference DELTA P1Greater than the first predetermined angle difference, it is determined that the data currently acquired are deposited
It, can not be as the data of estimation output torque in biggish error.The quadratic sum of the first predetermined current vector is that motor exists
Under revolving speed corresponding to first predeterminated frequency, the motor is controlled with square of minimum current vector needed for current rotating speed rotation
With, when acquisition current value be less than the first predetermined current vector quadratic sum, then determine acquisition data invalid, can not
For estimating the output torque of motor.
Judge the second difference DELTA P2Absolute value whether less than the second predetermined angle difference, and the second current phasor
Quadratic sum is greater than the quadratic sum of the second predetermined current vector；If so, the second confidence level T2Value be 1, if it is not, then second credible
Spend T2Value be 0；
Judge the third difference DELTA P3Absolute value whether be less than third predetermined angle difference, and first voltage vector
Quadratic sum is greater than the quadratic sum of the first predeterminated voltage vector；If so, third confidence level T3Value be 1, if it is not, then third is credible
Spend T3Value be 0；
Judge the 4th difference DELTA P4Absolute value whether less than the 4th predetermined angle difference, and second voltage vector
Quadratic sum is greater than the quadratic sum of the second predeterminated voltage vector；If so, 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 third 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 to maintain the motor according to square of minimum current vector needed for desired speed rotation under its corresponding motor status
With and minimum voltage vector quadratic sum.
Each phase current is judged whether within the scope of the first predetermined current, and whether each phase voltage is in the first predeterminated voltage model
In enclosing；Whether the sum of three-phase current is within the scope of the second predetermined current, and whether the sum of three-phase voltage is in the second predeterminated voltage model
In enclosing；If any phase current not in the first predetermined current range, any phase voltage not in first predetermined voltage range,
The sum of three-phase current is not in the second predetermined current range, alternatively, the sum of three-phase voltage is not in the second predeterminated voltage model
It encloses, then it is assumed that the signal that current sample period obtains is invalid, is not used to the output torque of estimation motor, can by described first
Reliability T1, the second confidence level T2, third 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, judges the data of acquisition, 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, estimate motor current according to the predetermined control period according to the revolving speed and confidence value in each sampling period
Control the revolving speed in the period, wherein the control period includes N number of continuous sampling period.
Specifically, revolving speed of the estimation motor in current control period specifically includes:
Respectively according to formula Calculate the of motor in current control period
One mean speed E1-ave, the second mean speed E2-ave, third mean speed E3-ave, the 4th mean speed E4-ave；Wherein, E1(n)
For first revolving speed in n-th of sampling period, T1It (n) is first confidence level in n-th of sampling period；E2It (n) is n-th of sampling week
The second revolving speed of phase, T2It (n) is second confidence level in n-th of sampling period；E3It (n) is the third revolving speed in n-th of sampling period,
T3It (n) is the third confidence level in n-th of sampling period；E4It (n) is the 4th revolving speed in n-th of sampling period, T4(n) it is adopted for n-th
4th confidence level in sample period；N is the number for controlling the sampling period that the period includes.
By the public affairs for calculating first mean speed, the second mean speed, third mean speed and the 4th mean speed
In formula it was determined that when confidence value is 0, the product of confidence level and revolving speed is 0, i.e., the revolving speed that confidence level is 0 is not used in meter
Mean speed of the motor in current control period is calculated, so that the biggish data of Acquisition Error be rejected, improves estimation
Accuracy.
Obtain the first average credibility in current control periodSecond average credibilityThird average credibilityWith the 4th average credibilityWherein, N is the number in the continuous sampling period that current control period includes.
According to the first mean speed E1-ave, the first average credibility T1-ave, the third mean speed E3-ave
With the third 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 greater than the 6th average credibility T6-aveValue, then current control
The revolving speed E of motor in period 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 revolving 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
Revolving speed EaveFor the 5th mean speed E5-aveWith the 6th mean speed E6-aveAverage value.
The embodiment of the present invention is by presetting the 5th average credibility and second after the first predeterminated frequency low-pass filtering
The 6th average credibility after frequency low pass wave is compared, and mean speed corresponding to the biggish 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 revolving speed according to motor in current control period obtains the current output torque of motor.
Specifically, the step 15 includes:
Judge the revolving speed of motor in current control period whether less than the first preset rotation speed.Wherein, described first default turn
Speed is the critical value for distinguishing the motor high speed rotation and low speed rotation, and preferably, the embodiment of the present invention is tested according to a large amount of
First preset rotation speed described in data definition is 100r/min.
If so, the mapping table of three-phase current quadratic sum and output torque according to the pre-stored data, obtains current
The current output torque T of the corresponding motor of the quadratic sum of first current phasorq.Wherein, the mapping table is according to a large amount of
Test data determine the motor output torque and the three-phase current quadratic sum one-to-one relationship.
If it is not, then judging whether the average credibility in this control period is less than default average credibility, if described average
Confidence level is less than the default average credibility, then three-phase current quadratic sum according to the pre-stored data is corresponding with output torque closes
It is table, obtains the current output torque T of the corresponding motor of quadratic sum of the first current current phasorq；If described average credible
Degree is greater 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 revolving speed E of machineave, obtain the current output torque T of the motorq。
It should be noted that the quadratic sum of first current phasor is not necessarily big when the revolving speed of the motor is lower
In the quadratic sum of the first predetermined current vector, it is default that the quadratic sum of second current phasor is not necessarily greater to described second
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 therefore the quadratic sum that the quadratic sum of the second voltage vector is not necessarily greater to the second predeterminated voltage vector will affect
The confidence level of current control period, so, the embodiment of the present invention is by setting when the confidence level of the current control period is less than
When default average credibility, or the mapping table by looking into three-phase current quadratic sum and output torque, obtain current defeated
Torque out.
When the average credibility is greater than default average credibility, then according to the current electromotive power output P of motorEWith work as
The revolving speed E of motor in the preceding control periodave, obtain the current output torque T of the motorqThe step of include:
According to the three-phase current and three-phase voltage currently acquired, the current electric power P of the motor is calculatedE；
The mapping table of electric efficiency according to the pre-stored data and motor speed and electrical power obtains and current control week
The revolving 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 and motor speed and the mapping table of electrical power are a large amount of according to what is carried out early period
Test run and bench test, come the mapping relations for obtaining motor current rotating speed, motor current electric power and electric efficiency subtract, and by its
It is stored in table form, acquisition electric efficiency is carried out by current revolving speed and electrical power table look-at in application.
The above embodiment of the present invention calculates the current of motor by the three-phase current and three-phase voltage information of acquisition motor
Revolving 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 is effective information, and after invalid information is rejected, then carries out
Output torque is estimated, final to meet accurately controlling to driving motor to improve the accuracy and reliability estimated
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, packet
It includes:
First obtains module 21, for periodically obtaining the three-phase current of motor and its in α according to the predetermined sampling period
Electric current inclination angle and three-phase voltage in β coordinate system and its voltage tilt in α β coordinate system；
First estimation block 22, the three-phase current for being obtained according to current sample period and its in α β coordinate system
Electric current inclination angle and three-phase voltage and its voltage tilt in α β coordinate system, estimate motor in current sample period
Revolving speed；
Second obtains module 23, the three-phase current, the three-phase voltage, institute for obtaining according to current sample period
Electric current inclination angle and the voltage tilt are stated, the confidence value of current sample period is obtained；
Second estimation block 24, for being estimated according to the revolving speed and confidence value in each sampling period according to the predetermined control period
Calculate revolving speed of the motor in current control period, wherein the control period includes N number of continuous sampling period；
Third obtains module 25 and obtains the current output of motor for the revolving speed according to motor in current control period
Torque.
Wherein, the first acquisition module 21 includes:
First acquisition submodule, for acquiring the three-phase current and three-phase voltage of motor；
First acquisition submodule obtains correction for being corrected respectively to the three-phase current and the three-phase voltage
Three-phase voltage after rear three-phase current and correction；
Second acquisition submodule carries out Clarke for the three-phase voltage respectively to the three-phase current after correction and after correction
Transformation obtains current phasor and voltage vector；
Third acquisition submodule, for respectively to the current phasor and the voltage vector in the first predeterminated frequency condition
Lower carry out low-pass filtering obtains the first current phasor and first voltage vector；The current phasor and the voltage are sweared respectively
Amount carries out low-pass filtering 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 obtaining the first electric current inclination angle according to first current phasor；According to described second
Current phasor obtains the second electric current inclination angle；According to the first voltage vector, first voltage inclination angle is obtained；According to described second
Voltage vector obtains second voltage inclination angle.
Wherein, first acquisition submodule includes:
First acquisition unit obtains the average value of three-phase current and the average value of three-phase voltage；
Second acquisition unit, for the average value of every phase current and the three-phase current to be made poor, after obtaining correction three
Phase current；
Third acquiring unit, for the average value of every phase voltage and the three-phase voltage to be made poor, after obtaining correction three
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 and the second electric current inclination angle in a upper sampling period of current sample period
The second difference DELTA P2, the first voltage inclination angle of current sample period and the third at the first voltage inclination angle in a upper sampling period are 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 control cycle Ts；
First computational submodule, for according to formula Calculate separately the first revolving speed E of motor in current sample period1, the second revolving speed E2, third revolving speed E3With the 4th
Revolving speed E4。
Wherein, second acquisition submodule 23 includes:
First judging submodule, for judging the first difference DELTA P1Absolute value it is whether poor less than the first predetermined angle
Value, and the quadratic sum of the first current phasor is greater than the quadratic sum of the first predetermined current vector；If so, the first confidence level T1Value
It is 1, if it is not, then the first confidence level T1Value be 0；
Second judgment submodule, for judging the second difference DELTA P2Absolute value it is whether poor less than the second predetermined angle
Value, and the quadratic sum of the second current phasor is greater than the quadratic sum of the second predetermined current vector；If so, the second confidence level T2Value
It is 1, if it is not, then the second confidence level T2Value be 0；
Third judging submodule, for judging the third difference DELTA P3Absolute value whether to be less than third predetermined angle poor
Value, and the quadratic sum of first voltage vector is greater than the quadratic sum of the first predeterminated voltage vector；If so, third confidence level T3Value
It is 1, if it is not, then third confidence level T3Value be 0；
4th judging submodule, for judging the 4th difference DELTA P4Absolute value it is whether poor less than the 4th predetermined angle
Value, and the quadratic sum of second voltage vector is greater than the quadratic sum of the second predeterminated voltage vector；If so, the 4th confidence level T4Value
It is 1, if it is not, then the 4th confidence level T4Value be 0；
5th judging submodule, for judging each phase current whether within the scope of the first predetermined current, each phase voltage is
It is no in the first predetermined voltage range；Whether the sum of three-phase current is within the scope of the second predetermined current, and the sum of three-phase voltage
Whether in the second predetermined voltage range；If any phase current is not in the first predetermined current range, any phase voltage does not exist
First predetermined voltage range, the sum of three-phase current is not in the second predetermined current range, alternatively, the sum of three-phase voltage is not
In second predetermined voltage range, then by the first confidence level T1, the second confidence level T2, third confidence level T3It can 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
Revolving speed E2-ave, third 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, third 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 third mean speed E3-aveWith the third 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；
Submodule is determined, if being used for the 5th average credibility T5-aveValue be greater than the 6th average credibility
T6-aveValue, it is determined that the revolving 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 revolving 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 revolving 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 It calculates current
Control the first mean speed E of motor in the period1-ave, the second mean speed E2-ave, third mean speed E3-ave, the 4th is average
Revolving speed E4-ave；Wherein, E1It (n) is first revolving speed in n-th of sampling period, T1(n) first for n-th of sampling period is credible
Degree；E2It (n) is second revolving speed in n-th of sampling period, T2It (n) is second confidence level in n-th of sampling period；E3It (n) is n-th
The third revolving speed in a sampling period, T3It (n) is the third confidence level in n-th of sampling period；E4It (n) is the of n-th sampling period
Four revolving speeds, T4It (n) is the 4th confidence level in n-th of sampling period；N is the number for controlling the sampling period that the period includes.
Wherein, the third acquisition module 25 includes:
6th judging submodule, for judging the revolving speed of motor in current control period whether less than the first preset rotation speed；
11st acquisition submodule, when for judging the revolving speed of motor in current control period less than the first preset rotation speed,
The mapping table of three-phase current quadratic sum and output torque according to the pre-stored data obtains the flat of the first current current phasor
The current output torque T of square and corresponding motorq；
7th judging submodule, for judging that the revolving speed of motor in current control period is greater than or equal to the first preset rotation speed
When, further judge 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 the corresponding relationship of three-phase current quadratic sum and output torque according to the pre-stored data
Table obtains the current output torque T of the corresponding motor of 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
Revolving speed Eave, obtain the current output torque T of the motorq。
Wherein, the 7th judging submodule includes:
Second computing unit, for calculating the current of the motor according to the three-phase current and three-phase voltage currently acquired
Electrical power PE；
First acquisition unit, the corresponding relationship for electric efficiency according to the pre-stored data and motor speed and electrical power
Table obtains the revolving 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 car, including pure electric automobile motor output torque as described above
Estimating device.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of predictor method of pure electric automobile motor output torque characterized by comprising
According to the predetermined sampling period, the three-phase current for periodically obtaining motor and its electric current inclination angle in α β coordinate system, with
And three-phase voltage and its voltage tilt in α β coordinate system；
The electric current inclination angle obtained according to current sample period and the voltage tilt estimate motor in current sample period
Revolving 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 obtains the confidence value of current sample period；
Estimate motor in current control period according to the predetermined control period according to the revolving speed and confidence value in each sampling period
Revolving speed, wherein the control period include N number of continuous sampling period；
According to revolving speed of the motor in current control period, the current output torque of motor is obtained；
It is described according to the predetermined sampling period, periodically obtain the three-phase current of motor and its electric current in α β coordinate system incline
The step of angle and three-phase voltage and its voltage tilt in α β coordinate system includes:
Acquire the three-phase current and three-phase voltage of motor；
The three-phase current and the three-phase voltage are corrected respectively, three after three-phase current and correction after obtaining 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；
Respectively low-pass filtering is carried out to the current phasor and the voltage vector under the conditions of the first predeterminated frequency, obtains first
Current phasor and first voltage vector；Respectively to the current phasor and the voltage vector under the conditions of the second predeterminated frequency into
Row low-pass filtering obtains 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, obtains 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, obtains second voltage and incline
Angle；
The electric current inclination angle obtained according to current sample period and the voltage tilt, estimation motor is in present sample week
The step of revolving speed in phase includes:
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 at a second electric current inclination angle and upper sampling period of current sample period2, present sample
The third difference DELTA P at the first voltage inclination angle in period and the first voltage inclination angle in a upper sampling period3, the of current sample period
The 4th difference DELTA P at the second voltage inclination angle in two voltage tilts and a upper sampling period4；
Obtain the number of pole-pairs n of motorpWith control cycle Ts；
According to formulaCalculate separately present sample
First revolving speed E of motor in period1, the second revolving speed E2, third revolving speed E3With the 4th revolving speed E4；
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, the step of obtaining the confidence value of current sample period includes:
Judge the first difference DELTA P1Absolute value whether less than the first predetermined angle difference, and square of the first current phasor
With the quadratic sum for being greater than the first predetermined current vector；If so, 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 less than the second predetermined angle difference, and square of the second current phasor
With the quadratic sum for being greater than the second predetermined current vector；If so, the second confidence level T2Value be 1, if it is not, then the second confidence level T2
Value be 0；
Judge the third difference DELTA P3Absolute value whether be less than third predetermined angle difference, and square of first voltage vector
With the quadratic sum for being greater than the first predeterminated voltage vector；If so, third confidence level T3Value be 1, if it is not, then third confidence level T3
Value be 0；
Judge the 4th difference DELTA P4Absolute value whether less than the 4th predetermined angle difference, and square of second voltage vector
With the quadratic sum for being greater than the second predeterminated voltage vector；If so, 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 within the scope of the first predetermined current, and whether each phase voltage is in the first predetermined voltage range
It is interior；Whether the sum of three-phase current is within the scope of the second predetermined current, and whether the sum of three-phase voltage is in the second predetermined voltage range
It is interior；If any phase current, not in the first predetermined current range, any phase voltage is not in first predetermined voltage range, three
The sum of phase current is not in the second predetermined current range, alternatively, the sum of three-phase voltage is in second predetermined voltage range,
Then by the first confidence level T1, the second confidence level T2, third confidence level T3With the 4th confidence level T4Value be modified to 0.
2. predictor method according to claim 1, which is characterized in that described respectively to the three-phase current and the three-phase
The step of voltage is corrected, the three-phase current after obtaining correction and three-phase voltage after correction include:
Obtain the average value of three-phase current and the average value of three-phase voltage；
The average value of every phase current and the three-phase current is made to poor three-phase current after obtaining correction；
The average value of every phase voltage and the three-phase voltage is made to poor three-phase voltage after obtaining correction.
3. predictor method according to claim 2, which is characterized in that the revolving speed and confidence level according to each sampling period
Value estimates revolving speed of the motor in current control period according to the predetermined control period, wherein the control period 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, third 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, third 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 third mean speed E3-aveAnd institute
State third average credibility T3-ave, obtain fiveth mean speed of motor under the conditions of the first predeterminated frequency after low-pass filtering
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 motor under the conditions of the second predeterminated frequency after low-pass filtering
E6-aveWith the 6th average credibility T6-ave；
If the 5th average credibility T5-aveValue be greater than the 6th average credibility T6-aveValue, it is determined that current control
The revolving speed E of motor in periodaveFor 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 revolving 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 revolving speed E of motoraveFor the 5th mean speed E5-aveWith the 6th mean speed E6-aveAverage value.
4. predictor method according to claim 3, which is characterized in that described to obtain first of motor in current control period
Mean speed E1-ave, the second mean speed E2-ave, third mean speed E3-aveWith the 4th mean speed E4-aveThe step of include:
Respectively according to formula Calculate the of motor in current control period
One mean speed E1-ave, the second mean speed E2-ave, third mean speed E3-ave, the 4th mean speed E4-ave；Wherein, E1(n)
For first revolving speed in n-th of sampling period, T1It (n) is first confidence level in n-th of sampling period；E2It (n) is n-th of sampling week
The second revolving speed of phase, T2It (n) is second confidence level in n-th of sampling period；E3It (n) is the third revolving speed in n-th of sampling period,
T3It (n) is the third confidence level in n-th of sampling period；E4It (n) is the 4th revolving speed in n-th of sampling period, T4(n) it is adopted for n-th
4th confidence level in sample period；N is the number for controlling the sampling period that the period includes.
5. predictor method according to claim 3, which is characterized in that described to be turned in current control period according to motor
Speed, the step of obtaining the current output torque of motor include:
Judge the revolving speed of motor in current control period whether less than the first preset rotation speed；
If so, the mapping table of three-phase current quadratic sum and output torque according to the pre-stored data, obtains current first
The current output torque T of the corresponding motor of the quadratic sum of current phasorq；
If it is not, then judging 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 the corresponding relationship of three-phase current quadratic sum and output torque according to the pre-stored data
Table obtains the current output torque T of the corresponding motor of 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。
6. predictor method according to claim 5, which is characterized in that the current electric power P according to motorEWith it is current
Control the revolving speed E of motor in the periodave, obtain the current output torque T of the motorqThe step of include:
According to the three-phase current and three-phase voltage currently acquired, the current electric power P of the motor is calculatedE；
The mapping table of electric efficiency according to the pre-stored data and motor speed and electrical power, obtain with current control period in
The revolving 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。
7. a kind of estimating device of pure electric automobile motor output torque characterized by comprising
First obtains module, for periodically obtaining the three-phase current of motor and its in α β coordinate according to the predetermined sampling period
Electric current inclination angle and three-phase voltage in system and its voltage tilt in α β coordinate system；
First estimation block, the electric current inclination angle and the voltage tilt for being obtained according to current sample period, estimation electricity
Revolving speed of the machine in current sample period；
Second obtains module, the three-phase current, the three-phase voltage, the electric current for obtaining according to current sample period
Inclination angle and the voltage tilt, obtain the confidence value of current sample period；
Second estimation block estimates motor according to the predetermined control period for the revolving speed and confidence value according to each sampling period
Revolving speed in current control period, wherein the control period includes N number of continuous sampling period；
Third obtains module and obtains the current output torque of motor for the revolving speed according to motor in current control period；
Wherein, the first acquisition module includes:
First acquisition submodule, for acquiring 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, after obtaining correction
Three-phase voltage after three-phase current and correction；
Second acquisition submodule carries out Clarke change for the three-phase voltage respectively to the three-phase current after correction and after correction
It changes, obtains current phasor and voltage vector；
Third acquisition submodule, for respectively to the current phasor and the voltage vector under the conditions of the first predeterminated frequency into
Row low-pass filtering obtains the first current phasor and first voltage vector；Exist respectively to the current phasor and the voltage vector
Low-pass filtering is carried out under the conditions of second predeterminated frequency, obtains the second current phasor and second voltage vector；Wherein, described first is pre-
If frequency is less than second predeterminated frequency；
4th acquisition submodule, for obtaining the first electric current inclination angle according to first current phasor；According to second electric current
Vector obtains the second electric current inclination angle；According to the first voltage vector, first voltage inclination angle is obtained；According to the second voltage
Vector obtains second voltage inclination angle；
Wherein, first estimation block includes:
5th acquisition submodule, for obtaining the first electric current inclination angle of current sample period and first electric current in a upper sampling period
The first difference DELTA P at inclination angle1, the of the second electric current inclination angle at a second electric current inclination angle and upper sampling period of current sample period
Two difference DELTA P2, the third difference DELTA at the first voltage inclination angle of current sample period and the first voltage inclination angle in a upper sampling period
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 control cycle Ts；
First computational submodule, for according to formula Calculate separately the first revolving speed E of motor in current sample period1, the second revolving speed E2, third revolving speed E3With the 4th
Revolving speed E4；
Wherein, second acquisition submodule 23 includes:
First judging submodule, for judging the first difference DELTA P1Absolute value whether less than the first predetermined angle difference, and
The quadratic sum of first current phasor is greater than the quadratic sum of the first predetermined current vector；If so, the first confidence level T1Value be 1,
If it is not, then the first confidence level T1Value be 0；
Second judgment submodule, for judging the second difference DELTA P2Absolute value whether less than the second predetermined angle difference, and
The quadratic sum of second current phasor is greater than the quadratic sum of the second predetermined current vector；If so, the second confidence level T2Value be 1,
If it is not, then the second confidence level T2Value be 0；
Third judging submodule, for judging the third difference DELTA P3Absolute value whether be less than third predetermined angle difference, and
The quadratic sum of first voltage vector is greater than the quadratic sum of the first predeterminated voltage vector；If so, third confidence level T3Value be 1,
If it is not, then third confidence level T3Value be 0；
4th judging submodule, for judging the 4th difference DELTA P4Absolute value whether less than the 4th predetermined angle difference, and
The quadratic sum of second voltage vector is greater than the quadratic sum of the second predeterminated voltage vector；If so, the 4th confidence level T4Value be 1,
If it is not, then the 4th confidence level T4Value be 0；
5th judging submodule, for judging each phase current whether within the scope of the first predetermined current, whether each phase voltage is equal
In the first predetermined voltage range；The sum of three-phase current whether within the scope of the second predetermined current, and the sum of three-phase voltage whether
In the second predetermined voltage range；If any phase current is not in the first predetermined current range, any phase voltage is not described
First predetermined voltage range, the sum of three-phase current is not in the second predetermined current range, alternatively, the sum of three-phase voltage is not in institute
The second predetermined voltage range is stated, then by the first confidence level T1, the second confidence level T2, third confidence level T3With the 4th confidence level
T4Value be modified to 0.
8. a kind of electric car, which is characterized in that including the pre- of pure electric automobile motor output torque as claimed in claim 7
Estimate device.
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| 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 |
| 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 |
| US11609137B2 (en) | 2020-03-30 | 2023-03-21 | Rockwell Automation Technologies, Inc. | Estimating motor drive torque and velocity |
| CN111565001B (en) * | 2020-05-27 | 2020-12-15 | 峰岹科技(深圳)股份有限公司 | Position sensorless motor driving method, permanent magnet synchronous motor, and storage medium |
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