CN108039849B - Induction motor driving system for electric automobile and quick starting method thereof - Google Patents
Induction motor driving system for electric automobile and quick starting method thereof Download PDFInfo
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- CN108039849B CN108039849B CN201711381049.6A CN201711381049A CN108039849B CN 108039849 B CN108039849 B CN 108039849B CN 201711381049 A CN201711381049 A CN 201711381049A CN 108039849 B CN108039849 B CN 108039849B
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
Abstract
The invention discloses an induction motor driving system for an electric automobile and a quick starting method thereof. The invention can ensure that the induction motor continuously outputs the maximum torque, the starting torque is large, the method of the whole starting process is simple, the starting time of the electric automobile is shortened, and the requirement on the resolution ratio of the speed sensor is low, so the invention is not influenced by the parameter change and the working state of the induction motor, and the stability of the system is not influenced.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an induction motor driving system for an electric automobile and a quick starting method thereof.
Background
The enterprise management regulation of newly-built pure electric passenger vehicles formally implemented in 7 months in 2015 gives specific numerical values for the acceleration time of the pure electric vehicles, and the acceleration time from 0 to 50km/h does not exceed 5 s. In order to achieve the performance index, on one hand, a driving motor with larger torque is designed, so that the volume and the weight of the motor are increased, and the motor is not suitable for the miniaturization and the lightness development of the motor. On the other hand, more complex control methods are developed to enable the motor to output larger torque in as short a time as possible, and the control methods are mostly influenced by motor parameters and motor working state changes, so that the stability of system performance is influenced. For example, in a conventional magnetic field orientation control method (also referred to as vector control), multiple coordinate transformations are required, that is, a stationary three-phase coordinate is transformed into a two-phase coordinate and then transformed into a rotating two-phase coordinate, and the two-phase coordinate is transformed into the stationary coordinate from the rotating two-phase coordinate after proportional-integral adjustment.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the induction motor driving system for the electric automobile and the quick starting method thereof, which can realize the quick starting of the electric automobile and cannot influence the stability of the system.
To this end, according to a first aspect, an embodiment provides an induction motor drive system for an electric vehicle, the induction motor drive system comprising:
a battery for providing electrical energy;
an induction motor;
the speed sensor is arranged on the induction motor and used for acquiring the real-time rotor rotating speed of the induction motor;
the controller is connected to the speed sensor and used for receiving the real-time rotor rotating speed; and
an inverter connected between the controller and the induction motor and outputting a predetermined frequency and voltage under the control of the controller such that the induction motor keeps outputting a maximum torque.
As a further alternative of the induction motor drive system, the induction motor is a three-phase induction motor.
As a further alternative to the induction motor drive system, the controller is integrated with the inverter.
According to a second aspect, an embodiment provides a fast start method of an induction motor drive system, the fast start method comprising:
receiving a torque command at start-up;
outputting preset frequency and maximum torque to the induction motor according to the torque command;
acquiring the real-time rotor rotating speed of the induction motor; and
and adjusting the output frequency and voltage according to the real-time rotor rotating speed until the real-time rotor rotating speed of the induction motor reaches the rotating speed corresponding to the torque command, and finishing starting.
As a further alternative of the rapid start method, the step of adjusting the output frequency and voltage according to the real-time rotor speed comprises:
obtaining the magnetic field synchronous rotating speed of the induction motor according to the real-time rotor rotating speed; and
and obtaining the output frequency and voltage according to the magnetic field synchronous rotating speed.
As a further alternative of the rapid start method, the step of deriving the field synchronous rotational speed of the induction machine from the real-time rotor rotational speed satisfies the relation:
wherein n iskFor synchronizing the rotational speed of the magnetic field, nrFor real-time rotor speed, smThe maximum slip ratio is the maximum slip ratio corresponding to the maximum torque.
As a further alternative of the rapid start method, the step of deriving the frequency of the output from the field-synchronized rotational speed satisfies the relation:
wherein f iskFor the output frequency, p is the number of pole pairs of the induction machine, nkThe magnetic field synchronous rotating speed is adopted.
As a further alternative to the rapid start method, the step of until the real-time rotor speed of the induction machine reaches a speed corresponding to the torque command comprises:
after a period of time, acquiring the real-time rotor rotating speed of the induction motor again;
and judging the relationship between the re-acquired real-time rotor rotating speed and the magnetic field synchronous rotating speed corresponding to the real-time rotor rotating speed, repeating the steps if the former is less than the latter, and continuing the first subsequent step if the former is more than the latter.
As a further alternative of the rapid starting method, the first subsequent step includes a step of determining a comparison between the re-acquired real-time rotor speed and a speed corresponding to the torque command, and if the former is greater than the latter, the starting is finished, and if the former and the latter are less than the latter, a second subsequent step is required.
As a further alternative of the rapid start method, the second subsequent step includes a step of adjusting the output frequency and voltage according to the re-acquired real-time rotor rotation speed until the real-time rotor rotation speed of the induction motor reaches the rotation speed corresponding to the torque command, and the start is ended.
The invention has the beneficial effects that:
according to the induction motor driving system for the electric automobile and the rapid starting method thereof in the embodiment, the real-time rotor rotating speed of the induction motor is obtained by only using the speed sensor in the starting process, and the frequency and the voltage output by the inverter are adjusted according to the real-time rotor rotating speed, so that the induction motor is ensured to continuously output at the maximum torque, the starting torque is large, the method of the whole starting process is simple, the starting time of the electric automobile is shortened, and the system is not influenced by the parameter change and the working state of the induction motor due to low requirement on the resolution of the speed sensor, and the stability of the system is not influenced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 illustrates a block diagram of an induction motor drive system for an electric vehicle according to an embodiment of the present invention;
FIG. 2 illustrates a graph of the relationship between inverter output frequency and induction motor speed;
fig. 3 shows a flowchart of a fast start method provided according to an embodiment of the present invention.
Description of the main element symbols:
100-a battery; 200-an induction motor; 300-speed sensor; 400-a controller; 500-inverter.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Examples
The present embodiment provides an induction motor drive system for an electric vehicle.
Referring to fig. 1, the induction motor driving system includes a battery 100, an induction motor 200, a speed sensor 300, a controller 400, and an inverter 500.
The battery 100 is used to provide electric energy. Speed sensor 300 is mounted on induction motor 200 for obtaining a real-time rotor speed of induction motor 200. The controller 400 is connected to the speed sensor 300 for receiving the real-time rotor speed. The inverter 500 is connected between the controller 400 and the induction motor 200, and outputs a predetermined frequency and voltage under the control of the controller 400 such that the induction motor 200 keeps outputting a maximum torque.
It is understood that a rapid start method is stored in the controller 400, under the control of which the speed sensor 300 can acquire the real-time rotor rotation speed of the induction motor 200 in real time, and the controller 400 can control the inverter 500 to adjust the output frequency and voltage thereof according to the acquired implementation rotor rotation speed, so that the induction motor 200 can continuously output in a state of maximum torque, thereby enabling the rapid start of the electric vehicle. During the starting process, it is necessary to continuously adjust the output frequency and voltage of the inverter 500 and obtain the real-time rotor speed of the induction motor 200, and the starting process is ended until the real-time rotor speed is at least close to the speed corresponding to the maximum torque.
Specifically, the induction motor 200 is a three-phase induction motor.
Specifically, the controller 400 is integrated with the inverter 500. Of course, according to the embodiment of the present invention, the type of the controller 400 and the inverter 500 or the installation or connection relationship between the controller 400 and the inverter 500 is not limited.
Based on the above-described induction motor drive system, the present embodiment also provides a quick start method, which is stored in the controller.
Referring to fig. 2-3, the method includes the following steps:
s100, receiving a torque command during starting;
s200, outputting preset frequency and maximum torque to the induction motor 200 according to a torque command;
s300, acquiring the real-time rotor rotating speed of the induction motor 200; and
s400, adjusting the output frequency and voltage according to the real-time rotor rotating speed until the real-time rotor rotating speed of the induction motor 200 reaches the rotating speed corresponding to the torque command, and ending the starting.
Therefore, in the starting process, only the speed sensor 300 is needed to obtain the real-time rotor rotating speed of the induction motor 200, and then the frequency and the voltage output by the inverter 500 are adjusted according to the real-time rotor rotating speed, so that the induction motor 200 is ensured to continuously output at the maximum torque, the starting torque is large, the method of the whole starting process is simple, the starting time of the electric automobile is shortened, and the stability of the system is not influenced due to the low requirement on the resolution of the speed sensor 300 and the influence of the parameter change and the working state of the induction motor 200.
It is understood that the above S100 is performed by the controller 400, the above S200 is performed by the inverter 500, the above S300 is performed by the speed sensor 300, and the above S400 is performed by the cooperation of the speed sensor 300, the controller 400 and the inverter 500, which will be described in detail below.
For convenience of description, the real-time rotor speed obtained in step S200 is now designated as n1It is to be understood that the above is in accordance with n1The frequency and voltage output are adjusted to allow the induction motor 200 to continue outputting at the maximum torque.
Further, the step of adjusting the output frequency and voltage according to the real-time rotor speed includes:
s410, obtaining the magnetic field synchronous rotating speed of the induction motor 200 according to the real-time rotor rotating speed; and
and S420, obtaining output frequency and voltage according to the magnetic field synchronous rotating speed.
The different rotation speeds of the magnetic field in step S410 can be obtained by referring to the following relation:
wherein n iskFor synchronizing the rotational speed of the magnetic field, nrFor real-time rotor speed, smThe maximum slip ratio is the maximum slip ratio corresponding to the maximum torque.
Thus, the real-time rotor speed n of the induction motor 200 obtained by the speed sensor 300rSubstituting into the above relation to obtain the synchronous rotation speed n of the magnetic fieldk. For convenience of description, the magnetic field synchronous rotation speed at this time is defined as nk1. Specifically, the speed sensor 300 first obtains a real-time rotor rotation speed of the induction motor 200 and transmits the real-time rotor rotation speed to the controller 400, and the controller 400 calculates a magnetic field synchronization rotation speed according to a built-in method thereof.
In the method for actually starting the electric vehicle, s is set as abovemMay be considered to remain unchanged.
The frequency acquisition in step S420 may refer to the following relation:
wherein f iskFor the output frequency, p is the number of pole pairs of the induction machine 200, nkThe magnetic field synchronous rotating speed is adopted.
Thus obtaining the synchronous rotating speed n of the magnetic fieldkOn the premise of (1), the frequency output after adjustment can be obtained by substituting the frequency into the relation. Specifically, the controller 400 receives the magnetic field synchronous rotational speed, calculates a frequency and a voltage to be output according to an internal method thereof, and controls the inverter 500 to output the frequency and the voltage.
Voltage UkThe current limit value of the induction motor 200 is obtained.
Further, the step of controlling the induction motor 200 until the real-time rotor speed reaches the speed corresponding to the torque command includes:
s430, acquiring the real-time rotor rotating speed of the induction motor 200 again after a period of time delta t;
and S440, judging the relationship between the re-acquired real-time rotor rotating speed and the magnetic field synchronous rotating speed corresponding to the real-time rotor rotating speed, repeating the steps if the former is less than the latter, and continuing the first subsequent step if the former is more than the latter.
The real-time rotor speed in step S430 is defined as n for convenience of description2Then the comparison object in step S440 becomes n2With the latter being nk1Comparison of (1). If n is2Greater than nk1Continuing the first subsequent step if n2Less than nk1Then steps S430, S440 are repeated.
As described above, the first subsequent step includes a step of determining a comparison between the re-acquired real-time rotor rotational speed and the rotational speed corresponding to the torque command, and if the former is greater than the latter, the start is completed, and if the former and latter are less than the latter, the second subsequent step is required.
For the sake of convenience and description, the rotational speed corresponding to the torque command is set to ncomThen at this timeNeed to compare n2And ncomIf the former is larger than the latter, the start is finished, and if the former is smaller than the latter, a second subsequent step is required.
The second subsequent step includes a step of adjusting the output frequency and voltage according to the re-acquired real-time rotor rotational speed until the real-time rotor rotational speed of the induction motor 200 reaches the rotational speed corresponding to the torque command, and the start is ended.
In other words, when n is found2Less than ncomThe controller 400 needs to be based on n2Calculate nk2That is, the steps S410 to S440 are repeated on the basis of n2 until the final nrGreater than ncomAnd the start is finished.
As is apparent from the above description of the embodiments of the present invention, the present invention has at least the following technical effects:
1. the quick starting of the electric automobile can be realized;
2. the method is simpler;
3. the stability of the system is not affected.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. A method for rapid start-up of an induction motor drive system, comprising the steps of:
receiving a torque command at start-up;
outputting preset frequency and maximum torque to the induction motor according to the torque command;
acquiring the real-time rotor rotating speed of the induction motor; and
and obtaining the magnetic field synchronous rotating speed of the induction motor according to the real-time rotor rotating speed, obtaining the output frequency and voltage according to the magnetic field synchronous rotating speed, and ending the starting until the real-time rotor rotating speed of the induction motor reaches the rotating speed corresponding to the torque command.
2. The rapid start method of claim 1, wherein the step of deriving the field synchronous speed of the induction machine from the real-time rotor speed satisfies the relationship:
wherein n iskFor synchronizing the rotational speed of the magnetic field, nrFor real-time rotor speed, smThe maximum slip ratio is the maximum slip ratio corresponding to the maximum torque.
3. The rapid start method of claim 1, wherein the step of deriving the frequency of the output from the field-synchronized rotational speed satisfies the relationship:
wherein f iskFor the output frequency, p is the number of pole pairs of the induction machine, nkThe magnetic field synchronous rotating speed is adopted.
4. The rapid start method of claim 2, wherein the step until the real-time rotor speed of the induction machine reaches a speed corresponding to the torque command comprises:
after a period of time, obtaining the real-time rotor rotating speed of the induction motor again;
judging the relationship between the re-acquired real-time rotor rotating speed and the magnetic field synchronous rotating speed corresponding to the real-time rotor rotating speed, if the former is smaller than the latter, repeating the steps, and if the former is larger than the latter, continuing the first subsequent step;
the first subsequent step comprises a step of judging the comparison between the re-acquired real-time rotor rotating speed and the rotating speed corresponding to the torque command, if the former is greater than the latter, the starting is finished, and if the former is less than the latter, a second subsequent step is required;
and the second subsequent step comprises the step of adjusting the output frequency and voltage according to the re-acquired real-time rotor rotating speed until the real-time rotor rotating speed of the induction motor reaches the rotating speed corresponding to the torque command, and the step of starting is finished.
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| CN201711381049.6A CN108039849B (en) | 2017-12-20 | 2017-12-20 | Induction motor driving system for electric automobile and quick starting method thereof |
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| JPS5996885A (en) * | 1982-11-22 | 1984-06-04 | Shinko Electric Co Ltd | Controlling method for starting of induction motor |
| CN1825750A (en) * | 2005-02-25 | 2006-08-30 | 株式会社日立制作所 | Driving apparatus for a motor |
| CN101051812A (en) * | 2006-04-04 | 2007-10-10 | 黄锡民 | Control method for AC asynchronous motor output torque and its use |
| CN101179250A (en) * | 2006-11-07 | 2008-05-14 | 株式会社上村工业 | Control method of non-sensor permenant-magnetic synchronous motor |
| CN103078585A (en) * | 2013-01-12 | 2013-05-01 | 华南理工大学 | Segmental slip control method of industrial and mining electric locomotive |
| CN105936269A (en) * | 2016-05-13 | 2016-09-14 | 合肥中航新能源技术研究院有限责任公司 | Electric vehicle integrated control system and control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103872971A (en) * | 2014-03-19 | 2014-06-18 | 北京工业大学 | Square wave combining excitation starter/ electric generator control method |
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2017
- 2017-12-20 CN CN201711381049.6A patent/CN108039849B/en active Active
Patent Citations (6)
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|---|---|---|---|---|
| JPS5996885A (en) * | 1982-11-22 | 1984-06-04 | Shinko Electric Co Ltd | Controlling method for starting of induction motor |
| CN1825750A (en) * | 2005-02-25 | 2006-08-30 | 株式会社日立制作所 | Driving apparatus for a motor |
| CN101051812A (en) * | 2006-04-04 | 2007-10-10 | 黄锡民 | Control method for AC asynchronous motor output torque and its use |
| CN101179250A (en) * | 2006-11-07 | 2008-05-14 | 株式会社上村工业 | Control method of non-sensor permenant-magnetic synchronous motor |
| CN103078585A (en) * | 2013-01-12 | 2013-05-01 | 华南理工大学 | Segmental slip control method of industrial and mining electric locomotive |
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