CN108258971A - Motor control method and device, controller and automobile - Google Patents
Motor control method and device, controller and automobile Download PDFInfo
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- CN108258971A CN108258971A CN201810027185.3A CN201810027185A CN108258971A CN 108258971 A CN108258971 A CN 108258971A CN 201810027185 A CN201810027185 A CN 201810027185A CN 108258971 A CN108258971 A CN 108258971A
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- 230000005611 electricity Effects 0.000 claims description 13
- 230000009194 climbing Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/03—Power loop, i.e. comparison of the motor power with a power reference
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a motor control method, a motor control device, a controller and an automobile, wherein the method is applied to a motor controller MCU of the electric automobile, and the method comprises the following steps: acquiring a first direct current bus voltage of a battery pack of the electric automobile in a current control period of the MCU; determining a first control voltage of a motor of the electric automobile according to the first direct current bus voltage; and according to the first control voltage, when the motor is currently in an under-voltage drop power working condition, controlling the motor to work at constant power or constant torque. The invention solves the problem of motor output torque fluctuation caused by the voltage fluctuation of the direct current bus on the electric automobile.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of motor control method, device, controller and automobile.
Background technology
With the rapid development of automotive engineering, the new-energy automobile based on electric vehicle is gradually opened up markets, into
Enter people’s lives.During operation, output power is usually influenced electric vehicle by DC bus-bar voltage, for example works as direct current
Busbar voltage includes 3 critical points, Va, Vb and Vc, and Va ＞ Vb ＞ Vc；When Va is between Vb, motor can be with total power
Operation；When DC bus-bar voltage is down to below Vb, motor needs downrating；When DC bus-bar voltage is down to as Vc, electricity
Machine zero energy is run.And vehicle is in the process of moving, when DC bus-bar voltage is dropped between Vb and Vc, voltage generates fluctuation,
If under-voltage drop power control is bad, motor output torque can also generate fluctuation, influence the riding comfort of vehicle.
To solve the above-mentioned problems, a kind of scheme can take continuously linear to drop power policy, set fall power coefficient Kp, enable
DC bus-bar voltage is Vx, when DC bus-bar voltage Vx is when Vc is between Vb, fall power coefficient Kp=(Vx-Vc)/(Vb-
Vc), power when maximum limitation power is multiplied by motor capacity operation for Kp, however, this scheme can not be avoided because of dc bus electricity
Motor output torque caused by pressure fluctuation fluctuates.
Another scheme can also make motor perform segmentation drop power policy, for example set between Vb and Vc another critical
Point Vd：It is divided into when by DC bus-bar voltage when Vd is between Vb, motor maximum is limited to 1/ when power is capacity operation
2；Motor maximum power is limited to 1/4 during capacity operation by DC bus-bar voltage when Vc is between Vd；Dc bus electricity
When pressure drop is to below Vc, run motor zero energy；Although this scheme can make motor (Vd to Vb, Vc in every section of voltage range
To Vd) maximum limitation power constant, Motor torque output is made not shake, but when DC bus-bar voltage Vb,
When Vc and Vd or so fluctuation, motor maximum limitation power can still generate larger fluctuation, and Motor torque output can also generate shake.
Therefore, the motor output torque fluctuation caused by DC bus-bar voltage fluctuates on electric vehicle how is solved, is become
One problem to be solved of motor field.
Invention content
The present invention provides a kind of motor control method, device, controller and automobiles, and its purpose is to solve electronic vapour
On vehicle because DC bus-bar voltage fluctuate caused by motor output torque fluctuate the problem of.
In order to achieve the above object, the embodiment provides a kind of motor control method, the method is applied to
The electric machine controller MCU of electric vehicle, the method includes：
Obtain first DC bus-bar voltage of the battery pack of the electric vehicle in the current control period of the MCU；
The first control voltage of the motor of the electric vehicle is determined according to first DC bus-bar voltage；
According to the described first control voltage, when the motor is currently at under-voltage drop power operating mode, the motor is controlled
It works with constant power operations or with constant-torque.
Optionally, the first control electricity of the motor that the electric vehicle is determined according to first DC bus-bar voltage
The step of pressure, including：
During the second DC bus-bar voltage of the upper controlling cycle before record has current control period in the MCU,
According to first DC bus-bar voltage and the second DC bus-bar voltage, the first control electricity of the motor of the electric vehicle is determined
Pressure；Or
Second DC bus-bar voltage of the upper controlling cycle before not recording current control period in the MCU
When, first DC bus-bar voltage is determined as the electric vehicle motor first control voltage.
Optionally, it is described according to first DC bus-bar voltage and the second DC bus-bar voltage, determine the electronic vapour
The step of first control voltage of the motor of vehicle, including：
If first DC bus-bar voltage is more than second DC bus-bar voltage, according to obtaining preset algorithm
First control voltage of the motor of electric vehicle；Otherwise, using first DC bus-bar voltage as the described first control voltage.
Optionally, the step of the first control voltage of the motor that the electric vehicle is obtained according to preset algorithm, packet
It includes：
Pass through formula：Va1=(1+Kn) × Va2 obtains the first control voltage of the motor of the electric vehicle；
Wherein, Va1 is the described first control voltage, and Va2 is the of the motor of the electric vehicle of a upper controlling cycle
Two control voltages；
Kn is preset voltage climbing number.
Optionally, described the step of controlling the motor with constant power operations or being worked with constant-torque, including：
According to the described first control voltage, the peak power of the motor is determined；
Obtain the preset peak torque of the motor；
According to the peak power and peak torque, peak speed is determined；
When the current rotating speed of the motor is equal to or less than the peak speed, the motor is controlled to be turned round with the peak value
Square constant-torque works；Or when the current rotating speed of the motor is higher than the peak speed, the motor is controlled with described
Peak power constant power operations.
Optionally, described the step of controlling voltage according to described first, determining the peak power of the motor, including：
According to the following formula, the peak power of the motor is determined：
Pmax=Pm (V3-Vc)/(Vb-Vc)；
Wherein, Pmax is the peak power, and Pm is the preset maximum power of the motor, and V3 is the described first control
Voltage, Vb are predetermined reference voltage, and Vc is the preset zero energy working voltage value of the motor.
Optionally, it is described according to the peak power and peak torque, the step of determining peak speed, including：
According to the following formula, peak speed is determined：
Nmax=9550*Pmax/Tmax；
Wherein, Nmax is the peak speed, and Tmax is the peak torque.
On the other hand, the embodiment of the present invention additionally provides a kind of motor control assembly, the motor control applied to electric vehicle
Device MCU processed, described device include：
Acquisition module, for obtaining the battery pack of the electric vehicle first in the current control period of the MCU
DC bus-bar voltage；
Determining module, for determining the first of the motor of the electric vehicle the control according to first DC bus-bar voltage
Voltage；
Control module, for controlling voltage according to described first, when the motor is currently at under-voltage drop power operating mode,
The motor is controlled to work with constant power operations or with constant-torque.
Optionally, the determining module includes：
First determination sub-module, for recording the upper controlling cycle before having current control period in the MCU
During the second DC bus-bar voltage, according to first DC bus-bar voltage and the second DC bus-bar voltage, the electronic vapour is determined
First control voltage of the motor of vehicle；Or
Second determination sub-module, for the upper controlling cycle before not recording current control period in the MCU
The second DC bus-bar voltage when, first DC bus-bar voltage is determined as the electric vehicle motor first control
Voltage.
Optionally, first determination sub-module includes：
Voltage determination unit, if be more than second DC bus-bar voltage for first DC bus-bar voltage, root
The first control voltage of the motor of the electric vehicle is obtained according to preset algorithm；Otherwise, first DC bus-bar voltage is made
For the described first control voltage.
Optionally, the voltage determination unit is used for：
Pass through formula：Va1=(1+Kn) × Va2 obtains the first control voltage of the motor of the electric vehicle；
Wherein, Va1 is the described first control voltage, and Va2 is the of the motor of the electric vehicle of a upper controlling cycle
Two control voltages；
Kn is preset voltage climbing number.
Optionally, the control module includes：
Power determination sub-module, for according to the described first control voltage, determining the peak power of the motor；
Torque acquisition submodule, for obtaining the preset peak torque of the motor；
Rotating speed determination sub-module, for according to the peak power and peak torque, determining peak speed；
Control submodule, for when the current rotating speed of the motor is equal to or less than the peak speed, described in control
Motor is worked with the peak torque constant-torque；Or when the current rotating speed of the motor is higher than the peak speed, control
The motor is made with the peak power constant power operations.
Optionally, the power determination sub-module is used for：
According to the following formula, the peak power of the motor is determined：
Pmax=Pm (V3-Vc)/(Vb-Vc)；
Wherein, Pmax is the peak power, and Pm is the preset maximum power of the motor, and V3 is the described first control
Voltage, Vb are predetermined reference voltage, and Vc is the preset zero energy working voltage value of the motor.
Optionally, the rotating speed determination sub-module is used for：
According to the following formula, peak speed is determined：
Nmax=9550*Pmax/Tmax；
Wherein, Nmax is the peak speed, and Tmax is the peak torque.
Another aspect, the embodiment of the present invention additionally provide a kind of automobile, including above-mentioned motor control assembly.
Another aspect, the embodiment of the present invention additionally provide a kind of controller, including memory, processor and are stored in institute
The computer program that can be run on memory and on the processor is stated, the processor reads the journey in the memory
Sequence performs the step in above-mentioned motor control method.
In another aspect, the embodiment of the present invention additionally provides a kind of automobile, including above controller.
The said program of the present invention includes at least following advantageous effect：
In the embodiment of the present invention, when vehicle is in under-voltage downrating operating mode, determined according to DC bus-bar voltage
The control voltage of motor, and according to voltage is controlled, according to the described first control voltage, determine peak power and peak torque,
The motor is controlled to work with peak power constant power operations or with peak torque constant-torque, is owed in this way, being in vehicle
When in pressure drop Power operation operating mode, even if DC bus-bar voltage generates fluctuation, motor output torque will not generate fluctuation, effectively
Ground avoid because DC bus-bar voltage fluctuate caused by motor output torque fluctuate the problem of.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 shows the step flow charts for the motor control method that the embodiment of the present invention provides；
Fig. 2 represents the configuration diagram for the drive system of electric automobile that the embodiment of the present invention provides；
Fig. 3 represents the step flow chart for the specific example that the embodiment of the present invention provides；
Fig. 4 represents the block diagram for the motor control assembly that the embodiment of the present invention provides.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
Referring to Fig. 1, the embodiment provides a kind of motor control method, the motor applied to electric vehicle controls
Device MCU, the method includes：
Step 101, it is female to obtain first direct current of the battery pack of the electric vehicle in the current control period of the MCU
Line voltage.
Referring to Fig. 2, Fig. 2 show the configuration diagram of drive system of electric automobile；Wherein, the voltage at battery pack DC both ends
(voltage between DC+ and DC-) is DC bus-bar voltage；Energy source of the battery pack as electric vehicle is controlled for motor
Device (Motor Control Unit, MCU) provides direct current.
Drive control units of the MCU as motor, it is defeated for the direct current that battery pack provides to be converted to three-phase alternating current
Go out to motor, rotated with driving motor.
Motor generates driving torque, driving vehicle traveling for converting electrical energy into mechanical energy.
Wherein, controlling cycle is the controlling cycle of MCU.In each controlling cycle, MCU acquisition DC bus-bar voltages, hereinafter
In the first DC bus-bar voltage represented with V1.
Step 102, the first control voltage of the motor of the electric vehicle is determined according to first DC bus-bar voltage.
Wherein, the first control voltage of motor is determined according to V1, hereinafter the first control voltage is represented with Va1, the present invention
Embodiment in, control voltage as an intermediate variable, for determining peak power and peak torque.
Step 103, according to the described first control voltage, when the motor is currently at under-voltage drop power operating mode, control
The motor works with constant power operations or with constant-torque.
Specifically, when the motor is currently at under-voltage drop power (or under-voltage limit power) operating mode, according to described first
Voltage is controlled, peak power and peak torque is determined, controls the motor with peak power constant power operations or with peak value
Constant torque torque works, in this way, when vehicle is in under-voltage downrating operating mode, even if DC bus-bar voltage generates wave
Dynamic, motor output torque will not generate fluctuation, efficiently avoid the motor output caused by DC bus-bar voltage fluctuates and turn round
The problem of square fluctuates.
Optionally, in the embodiment of the present invention, step 102 includes：
The first step, the second dc bus of the upper controlling cycle before record has current control period in the MCU
During voltage, according to first DC bus-bar voltage and the second DC bus-bar voltage, the of the motor of the electric vehicle is determined
One control voltage；Or
Second step, the second direct current of the upper controlling cycle before not recording current control period in the MCU are female
During line voltage, first DC bus-bar voltage is determined as to the first control voltage of the motor of the electric vehicle.
Wherein, in the first step, if record has the second straight of a upper controlling cycle before current control period in the MCU
Busbar voltage (hereinafter being represented with V2) is flowed, and according between first DC bus-bar voltage and the second DC bus-bar voltage
Numerical values recited determines the first control voltage of a motor as the electric vehicle in the two.
In second step, if second of a upper controlling cycle before not recording current control period in the MCU is straight
When flowing busbar voltage, then the first DC bus-bar voltage is the first control voltage of motor.
Optionally, in the first step, according to first DC bus-bar voltage and the second DC bus-bar voltage, the electricity is determined
The step of first control voltage of the motor of electrical automobile, including：
If first DC bus-bar voltage is more than second DC bus-bar voltage, according to obtaining preset algorithm
First control voltage of the motor of electric vehicle；Otherwise, using first DC bus-bar voltage as the described first control voltage.
In this step, if V1 is more than V2, the first control voltage is determined according to preset algorithm so that the first control voltage phase
The control voltage in a upper period is slowly increased；If V1 is less than or equal to V2, it is straight that assignment first controls voltage to be equal to first
Flow busbar voltage V1.
Further, the step of the first control voltage of the motor that the electric vehicle is obtained according to preset algorithm,
Including：
Pass through formula：Va1=(1+Kn) × Va2 obtains the first control voltage of the motor of the electric vehicle；
Wherein, Va1 is the described first control voltage, and Va2 is the of the motor of the electric vehicle of a upper controlling cycle
Two control voltages；
Kn be preset voltage climbing number, optionally, the value range of Kn between 0.01 to 0.02, such as
0.015；
When V1 is more than V2, the first control voltage Va1 is relative to the motor of the electric vehicle of a upper controlling cycle
Second control voltage Va2 increases Kn times, and the numerical value of Kn is smaller so that control voltage is obtained slow with the fixed rate of climb
Rise, avoid that output torque is caused to fluctuate.
In the embodiment of the present invention, in the case where vehicle is in under-voltage downrating operating mode, a control electricity is additionally added
The parameter voltages climbing number Kn of pressure when DC bus-bar voltage rises, controls voltage edge on the basis of voltage climbing number Kn
Fixed speed slowly rises.
Optionally, in step 103, the control motor is with constant power operations or the step to be worked with constant-torque
Suddenly, including：
According to the described first control voltage, the peak power of the motor is determined；
Obtain the preset peak torque of the motor；
According to the peak power and peak torque, peak speed is determined；
When the current rotating speed of the motor is equal to or less than the peak speed, the motor is controlled to be turned round with the peak value
Square constant-torque works；Or when the current rotating speed of the motor is higher than the peak speed, the motor is controlled with described
Peak power constant power operations.
In this step, when calculating peak power and peak torque on the basis of the numerical value for controlling voltage, according to the limit of power
Value processed calculates the maximum (top) speed point of exportable peak torque.When current vehicle speed is equal to or less than peak value, torque amplitude limit maintains
Maximum available torque controls the motor to work with the peak torque constant-torque, this ensure that in low speed, in slope etc.
In the case of, even if cell voltage is relatively low, still can in limit of power maximum output torque.
When current vehicle speed is higher than peak speed, the motor is controlled to be limited with the peak power constant power operations
Output torque avoids, because speed is higher, output torque being caused to fluctuate.
Optionally, it is described according to the described first control voltage in the embodiment of the present invention, determine the peak work of the motor
The step of rate, including：
According to the following formula, the peak power of the motor is determined：
Pmax=Pm (V3-Vc)/(Vb-Vc)；
Wherein, Pmax is the peak power, and Pm is the preset maximum power of the motor, and V3 is the described first control
Voltage, Vb are predetermined reference voltage, and Vc is the preset zero energy working voltage value of the motor.
Wherein, V3 is Va1 hereinbefore, and the two represents the first control voltage.
Predetermined reference voltage is preset value, is predefined according to electric machine operating characteristic, is usually used to determine current motor
Critical voltage in under-voltage condition when DC bus-bar voltage is less than predetermined reference voltage, shows that vehicle is currently entering low pressure drop
Power operating mode.
According to the first control voltage, the relationship between three data of predetermined reference voltage and zero energy working voltage value,
With the product of the preset maximum power of motor, peak power is determined.
Optionally, it is described according to the peak power and peak torque in the embodiment of the present invention, determine peak speed
The step of, including：
According to the following formula, peak speed is determined：
Nmax=9550*Pmax/Tmax；
Wherein, Nmax is the peak speed, and Tmax is the peak torque.
In this step, peak speed is determined according to peak power and peak torque.
Optionally, it in the embodiment of the present invention, in step 103, further includes：Determine that the motor is currently at under-voltage drop work(
Rate operating mode；It specifically includes：
As Va1=(1+Kn) × Va2 namely when the first control voltage is determines according to the second control voltage, and it is described
When first DC bus-bar voltage and/or the first control voltage are less than or equal to predetermined reference voltage, determine that the motor is worked as
It is preceding to drop power operating mode in under-voltage；Or
When the described first control voltage is first DC bus-bar voltage, and first DC bus-bar voltage is less than institute
When stating the first predetermined reference voltage, determine that the motor is currently at under-voltage drop power operating mode.
That is, when the first control voltage is to be determined according to the second control voltage, only the first DC bus-bar voltage
And the first control voltage can determine to be not presently within under-voltage drop power operating mode when being simultaneously greater than predetermined reference voltage,
Otherwise, all in under-voltage drop power operating mode.
And when the described first control voltage is first DC bus-bar voltage, if first DC bus-bar voltage is small
When first predetermined reference voltage, then it can determine that the motor is currently at under-voltage drop power operating mode.
In the above embodiment of the present invention, when vehicle is in under-voltage downrating operating mode, according to DC bus-bar voltage
It determines the control voltage of motor, and according to control voltage, according to the described first control voltage, determines that peak power and peak value are turned round
Square controls the motor to work with peak power constant power operations or with peak torque constant-torque, in this way, at vehicle
When in under-voltage downrating operating mode, even if DC bus-bar voltage generates fluctuation, motor output torque will not generate fluctuation,
Efficiently avoid because DC bus-bar voltage fluctuate caused by motor output torque fluctuate the problem of.The present invention is by additionally adding in
Voltage climbing number Kn, when DC bus-bar voltage rises, control voltage rises along fixed slower speed；Calculating peak value
When power and peak torque on the basis of the numerical value for controlling voltage, on the one hand ensure that control voltage is not higher than DC bus-bar voltage,
So that system has the ability to export the power limiting value obtained based on control voltage, on the other hand reduce peak power and peak value is turned round
The fluctuation of square.The present invention solve on electric vehicle because DC bus-bar voltage fluctuate caused by motor output torque fluctuate ask
Topic.
As a specific example, referring to Fig. 3, motor control method shown in Fig. 3, mainly including below scheme：
Step 301, the DC bus-bar voltage V2 of current control period is acquired.
Step 302, judge whether V2 is less than predetermined reference voltage Vb：If being less than, step 303 is performed, otherwise, performs step
304, it exits under-voltage by power control procedures.
Wherein, MCU acquires DC bus-bar voltage in real time, and is judged according to DC bus-bar voltage and predetermined reference voltage size
Whether motor enters under-voltage drop power operating mode, i.e. when V1 is less than Vb, motor enters under-voltage drop power operating mode.
Step 303, assignment second controls voltage Va2=V2；
Step 305, present peak value power P max is determined according to the second control voltage Va2.
Wherein, assignment control voltage Va2 is equal to DC bus-bar voltage V2, and determine motor present peak value power according to Va2
Pmax。
Step 306, the peak speed Nmax is determined according to peak power Pmax and peak torque Tmax.
Step 307, when motor speed is equal to or less than peak speed, control motor is with peak torque constant-torque work
Make；Or rotating speed be higher than peak speed when, control motor with the peak power constant power operations.
Wherein, in order to ensure in low speed, when slope, even if under under-voltage drop power operating mode, motor still can be with
Maximum output torque Tmax (max. output torque during capacity operation) in limit of power, can be according to Pmax and peak torque
Tmax confirms the maximum (top) speed point of output peak torque；When motor speed is in below Nmax, motor perseverance torque (Tmax) output,
When motor speed is in more than Nmax, motor invariable power (Pmax) output.
Step 308, continue the DC bus-bar voltage V1 of acquisition current control period；
Step 309, judge whether V1 is more than the DC bus-bar voltage V2 of a upper controlling cycle：If so, perform step 310；
Otherwise, step 311, the current first control voltage Va1=V1 of assignment, and return to step 305 are performed.
Wherein, after starting new controlling cycle, MCU continues to acquire current DC bus-bar voltage, is denoted as V1, judges current
Whether DC bus-bar voltage V1 is more than upper period DC bus-bar voltage V2, and such as V1 is less than or equal to V2, then assignment current first
Voltage Va1=V1 is controlled, and completes the calculating of above-mentioned Pmax, Tmax；If as V1 is more than V2, step 310 is performed.
Step 310, current first control voltage Va1=(the 1+Kn) × Va2 of assignment.
Step 312, judge whether to meet Va1 more than predetermined reference voltage Vb, and DC bus-bar voltage V1 is more than default ginseng
Examine voltage Vb：
If so, performing step 304, exit under-voltage by power control procedures；Otherwise, return to step 305.
Wherein, assignment current period control voltage, Kn is preset control voltage climbing number, to prevent on control voltage
Liter is too fast, Kn values can be taken to dot, value range is between 0.01 to 0.02 as possible；Then judge current DC bus-bar voltage V1
Whether Vb is simultaneously greater than with current control voltage Va1, if it is, under-voltage drop power control is exited, otherwise, return to step 305,
Complete the calculating of above-mentioned Pmax, Tmax.
In the above-mentioned example of the present invention, a voltage climbing number is additionally added under under-voltage downrating operating mode
Kn, when entering under-voltage drop power operating mode, when DC bus-bar voltage is less than current control voltage, update control voltage is equal to straight
Flow busbar voltage；When DC bus-bar voltage rises, control voltage rises along fixed slower speed.Calculate peak power and
During peak torque on the basis of the numerical value of the control voltage, on the one hand ensure that control voltage not higher than DC bus-bar voltage, is based on
The peak torque and peak power that control voltage obtains so that system has the ability to export the power limit obtained based on control voltage
On the other hand amplitude reduces the fluctuation of peak power and peak torque.
Referring to Fig. 4, the embodiment of the present invention additionally provides a kind of motor control assembly, and the motor applied to electric vehicle controls
Device MCU, the motor control assembly include：
Acquisition module 401, for obtaining the battery pack of the electric vehicle in the current control period of the MCU
One DC bus-bar voltage.
Referring to Fig. 2, Fig. 2 show the configuration diagram of drive system of electric automobile；Wherein, the voltage at battery pack DC both ends
(voltage between DC+ and DC-) is DC bus-bar voltage；Energy source of the battery pack as electric vehicle is controlled for motor
Device (Motor Control Unit, MCU) provides direct current.
Drive control units of the MCU as motor, it is defeated for the direct current that battery pack provides to be converted to three-phase alternating current
Go out to motor, rotated with driving motor.
Motor generates driving torque, driving vehicle traveling for converting electrical energy into mechanical energy.
Wherein, controlling cycle is the controlling cycle of MCU.In each controlling cycle, MCU acquisition DC bus-bar voltages, hereinafter
In the first DC bus-bar voltage represented with V1.
Determining module 402, for determining the first of the motor of the electric vehicle according to first DC bus-bar voltage
Control voltage.
Wherein, the first control voltage of motor is determined according to V1, hereinafter the first control voltage is represented with Va1, the present invention
Embodiment in, control voltage as an intermediate variable, for determining peak power and peak torque.
Control module 403, for according to the described first control voltage, under-voltage drop power operating mode to be currently in the motor
When, the motor is controlled to work with constant power operations or with constant-torque.
Specifically, when the motor is currently at under-voltage drop power (or under-voltage limit power) operating mode, according to described first
Voltage is controlled, peak power and peak torque is determined, controls the motor with peak power constant power operations or with peak value
Constant torque torque works, in this way, when vehicle is in under-voltage downrating operating mode, even if DC bus-bar voltage generates wave
Dynamic, motor output torque will not generate fluctuation, efficiently avoid the motor output caused by DC bus-bar voltage fluctuates and turn round
The problem of square fluctuates.
Optionally, the determining module 402 includes：
First determination sub-module, for recording the upper controlling cycle before having current control period in the MCU
During the second DC bus-bar voltage, according to first DC bus-bar voltage and the second DC bus-bar voltage, the electronic vapour is determined
First control voltage of the motor of vehicle；Or
Second determination sub-module, for the upper controlling cycle before not recording current control period in the MCU
The second DC bus-bar voltage when, first DC bus-bar voltage is determined as the electric vehicle motor first control
Voltage.
Optionally, first determination sub-module includes：
Voltage determination unit, if be more than second DC bus-bar voltage for first DC bus-bar voltage, root
The first control voltage of the motor of the electric vehicle is obtained according to preset algorithm；Otherwise, first DC bus-bar voltage is made
For the described first control voltage.
Optionally, the voltage determination unit is used for：
Pass through formula：Va1=(1+Kn) × Va2 obtains the first control voltage of the motor of the electric vehicle；
Wherein, Va1 is the described first control voltage, and Va2 is the of the motor of the electric vehicle of a upper controlling cycle
Two control voltages；
Kn is preset voltage climbing number.
Optionally, the control module 403 includes：
Power determination sub-module, for according to the described first control voltage, determining the peak power of the motor；
Torque acquisition submodule, for obtaining the preset peak torque of the motor；
Rotating speed determination sub-module, for according to the peak power and peak torque, determining peak speed；
Control submodule, for when the current rotating speed of the motor is equal to or less than the peak speed, described in control
Motor is worked with the peak torque constant-torque；Or when the current rotating speed of the motor is higher than the peak speed, control
The motor is made with the peak power constant power operations.
Optionally, the power determination sub-module is used for：
According to the following formula, the peak power of the motor is determined：
Pmax=Pm (V3-Vc)/(Vb-Vc)；
Wherein, Pmax is the peak power, and Pm is the preset maximum power of the motor, and V3 is the described first control
Voltage, Vb are predetermined reference voltage, and Vc is the preset zero energy working voltage value of the motor.
Optionally, the rotating speed determination sub-module is used for：
According to the following formula, peak speed is determined：
Nmax=9550*Pmax/Tmax；
Wherein, Nmax is the peak speed, and Tmax is the peak torque.
Another aspect, the embodiment of the present invention additionally provide a kind of automobile, including above-mentioned motor control assembly.
Another aspect, the embodiment of the present invention additionally provide a kind of controller, including memory, processor and are stored in institute
The computer program that can be run on memory and on the processor is stated, the processor reads the journey in the memory
Sequence performs the step in above-mentioned motor control method.
In another aspect, the embodiment of the present invention additionally provides a kind of automobile, including above controller.
In the above embodiment of the present invention, when vehicle is in under-voltage downrating operating mode, according to DC bus-bar voltage
It determines the control voltage of motor, and according to control voltage, according to the described first control voltage, determines that peak power and peak value are turned round
Square controls the motor to work with peak power constant power operations or with peak torque constant-torque, in this way, at vehicle
When in under-voltage downrating operating mode, even if DC bus-bar voltage generates fluctuation, motor output torque will not generate fluctuation,
Efficiently avoid because DC bus-bar voltage fluctuate caused by motor output torque fluctuate the problem of.The present invention is by additionally adding in
Voltage climbing number Kn, when DC bus-bar voltage rises, control voltage rises along fixed slower speed；Calculating peak value
When power and peak torque on the basis of the numerical value for controlling voltage, on the one hand ensure that control voltage is not higher than DC bus-bar voltage,
So that system has the ability to export the power limiting value obtained based on control voltage, on the other hand reduce peak power and peak value is turned round
The fluctuation of square.The present invention solve on electric vehicle because DC bus-bar voltage fluctuate caused by motor output torque fluctuate ask
Topic.
It should be noted that motor control assembly provided in an embodiment of the present invention is the device using the above method, i.e., on
All embodiments for stating method are suitable for the device, and can reach the same or similar advantageous effect.
The above is the 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 (17)
1. a kind of motor control method, the electric machine controller MCU applied to electric vehicle, which is characterized in that the method includes：
Obtain first DC bus-bar voltage of the battery pack of the electric vehicle in the current control period of the MCU；
The first control voltage of the motor of the electric vehicle is determined according to first DC bus-bar voltage；
According to the described first control voltage, when the motor is currently at under-voltage drop power operating mode, the motor is controlled with perseverance
Determine power work or worked with constant-torque.
It is 2. according to the method described in claim 1, it is characterized in that, described according to determining first DC bus-bar voltage
The step of first control voltage of the motor of electric vehicle, including：
During the second DC bus-bar voltage of the upper controlling cycle before record has current control period in the MCU, according to
First DC bus-bar voltage and the second DC bus-bar voltage determine the first control voltage of the motor of the electric vehicle；
Or
It, will during the second DC bus-bar voltage of the upper controlling cycle before not recording current control period in the MCU
First DC bus-bar voltage is determined as the first control voltage of the motor of the electric vehicle.
It is 3. according to the method described in claim 2, it is characterized in that, described straight according to first DC bus-bar voltage and second
The step of flowing busbar voltage, determining the first control voltage of motor of the electric vehicle, including：
If first DC bus-bar voltage is more than second DC bus-bar voltage, obtained according to preset algorithm described electronic
First control voltage of the motor of automobile；Otherwise, using first DC bus-bar voltage as the described first control voltage.
4. the according to the method described in claim 3, it is characterized in that, electricity that the electric vehicle is obtained according to preset algorithm
The step of first control voltage of machine, including：
Pass through formula：Va1=(1+Kn) × Va2 obtains the first control voltage of the motor of the electric vehicle；
Wherein, Va1 is the described first control voltage, and Va2 is the second control of the motor of the electric vehicle of a upper controlling cycle
Voltage processed；
Kn is preset voltage climbing number.
5. according to the method described in claim 1, it is characterized in that, the control motor is with constant power operations or with perseverance
The step of determining torque work, including：
According to the described first control voltage, the peak power of the motor is determined；
Obtain the preset peak torque of the motor；
According to the peak power and peak torque, peak speed is determined；
When the current rotating speed of the motor is equal to or less than the peak speed, the motor is controlled with peak torque perseverance
Determine torque work；Or when the current rotating speed of the motor is higher than the peak speed, the motor is controlled with the peak value
Power invariability power works.
6. according to the method described in claim 5, it is characterized in that, it is described according to described first control voltage, determine the electricity
The step of peak power of machine, including：
According to the following formula, the peak power of the motor is determined：
Pmax=Pm (V3-Vc)/(Vb-Vc)；
Wherein, Pmax is the peak power, and Pm is the preset maximum power of the motor, and V3 is the described first control electricity
Pressure, Vb are predetermined reference voltage, and Vc is the preset zero energy working voltage value of the motor.
7. according to the method described in claim 6, it is characterized in that, described according to the peak power and peak torque, really
The step of determining peak speed, including：
According to the following formula, peak speed is determined：
Nmax=9550*Pmax/Tmax；
Wherein, Nmax is the peak speed, and Tmax is the peak torque.
8. a kind of motor control assembly, the electric machine controller MCU applied to electric vehicle, which is characterized in that described device includes：
Acquisition module, for obtaining first direct current of the battery pack of the electric vehicle in the current control period of the MCU
Busbar voltage；
Determining module, for determining the first of the motor of the electric vehicle the control electricity according to first DC bus-bar voltage
Pressure；
Control module, for according to the described first control voltage, when the motor is currently at under-voltage drop power operating mode, control
The motor works with constant power operations or with constant-torque.
9. device according to claim 8, which is characterized in that the determining module includes：
First determination sub-module, for recording second of the upper controlling cycle before having current control period in the MCU
During DC bus-bar voltage, according to first DC bus-bar voltage and the second DC bus-bar voltage, the electric vehicle is determined
First control voltage of motor；Or
Second determination sub-module, for of the upper controlling cycle before not recording current control period in the MCU
During two DC bus-bar voltages, first DC bus-bar voltage is determined as to the first control electricity of the motor of the electric vehicle
Pressure.
10. device according to claim 9, which is characterized in that first determination sub-module includes：
Voltage determination unit, if be more than second DC bus-bar voltage for first DC bus-bar voltage, according to pre-
Imputation method obtains the first control voltage of the motor of the electric vehicle；Otherwise, using first DC bus-bar voltage as institute
State the first control voltage.
11. device according to claim 10, which is characterized in that the voltage determination unit is used for：
Pass through formula：Va1=(1+Kn) × Va2 obtains the first control voltage of the motor of the electric vehicle；
Wherein, Va1 is the described first control voltage, and Va2 is the second control of the motor of the electric vehicle of a upper controlling cycle
Voltage processed；
Kn is preset voltage climbing number.
12. device according to claim 8, which is characterized in that the control module includes：
Power determination sub-module, for according to the described first control voltage, determining the peak power of the motor；
Torque acquisition submodule, for obtaining the preset peak torque of the motor；
Rotating speed determination sub-module, for according to the peak power and peak torque, determining peak speed；
Control submodule, for when the current rotating speed of the motor is equal to or less than the peak speed, controlling the motor
It is worked with the peak torque constant-torque；Or when the current rotating speed of the motor is higher than the peak speed, control institute
Motor is stated with the peak power constant power operations.
13. device according to claim 12, which is characterized in that the power determination sub-module is used for：
According to the following formula, the peak power of the motor is determined：
Pmax=Pm (V3-Vc)/(Vb-Vc)；
Wherein, Pmax is the peak power, and Pm is the preset maximum power of the motor, and V3 is the described first control electricity
Pressure, Vb are predetermined reference voltage, and Vc is the preset zero energy working voltage value of the motor.
14. device according to claim 13, which is characterized in that the rotating speed determination sub-module is used for：
According to the following formula, peak speed is determined：
Nmax=9550*Pmax/Tmax；
Wherein, Nmax is the peak speed, and Tmax is the peak torque.
15. a kind of automobile, which is characterized in that including：Motor control assembly as described in any one of claim 8 to 14.
16. a kind of controller, including memory, processor and it is stored on the memory and can runs on the processor
Computer program, which is characterized in that the processor reads the program in the memory, performs as in claim 1 to 7
Step in any one of them motor control method.
17. a kind of automobile, which is characterized in that including：Controller as claimed in claim 16.
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| CN112848918A (en) * | 2021-01-25 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | Power reduction method and device for electric drive system, electric drive system and vehicle |
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