CN108365676A - Electric vehicle high speed motive force power failure emergency service control method and device - Google Patents
Electric vehicle high speed motive force power failure emergency service control method and device Download PDFInfo
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- CN108365676A CN108365676A CN201810154876.XA CN201810154876A CN108365676A CN 108365676 A CN108365676 A CN 108365676A CN 201810154876 A CN201810154876 A CN 201810154876A CN 108365676 A CN108365676 A CN 108365676A
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- electric vehicle
- automatically controlled
- voltage
- power supply
- high speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
Abstract
The present invention provides a kind of electric vehicle high speed motive force power failure emergency service control method and device, and the automatically controlled and auxiliary drive of the main drive in electric vehicle is automatically controlled to receive power supply power supply, then respectively respective motor power supply by DC bus；After judging that power supply disconnects, that is, adjust it is main to drive automatically controlled operating mode be DC bus-bar voltage closed loop control mode, so that main drives motor is worked in power generation mode, powered by driving motor supplemented by DC bus.That is, when high speed motive force power failure occurs for electric vehicle, by the main mechanical energy for driving motor be converted into electric energy so that supplemented by drive motor power supply, increase power supply circuit without additional, reduce hardware cost compared with prior art；And, motor power supply is driven by converting supplemented by electric energy mechanical energy to so that electric vehicle turns under the fault condition for losing power supply power supply and brake function is with the main operating continuously effective for driving motor, so that vehicle is slowed down and stop roadside, the personal safety of passenger and driver is effectively ensured.
Description
Technical field
The present invention relates to electric vehicle engineering field, more particularly to a kind of electric vehicle high speed motive force power failure is emergent to be supplied
Electric control method and device.
Background technology
New-energy electric vehicle major impetus composition part includes：Battery pack, main drive motor and automatically controlled, power-assisted steering motor
And automatically controlled, air pump motor and automatically controlled；Wherein, power-assisted steering motor and air pump motor are respectively used to realize and help as auxiliary drive motor
Power turning function and brake function；These three motors and automatically controlled energy source are battery pack.Once vehicle runs on middle height
Battery pack failure or other failures cause power supply to disconnect when fast state, then will cause all electric systems that can run out of steam moment
Source, power-assisted steering motor and it is automatically controlled it is out of service Vehicular turn will be caused difficult, air pump motor and it is automatically controlled it is out of service will likely
Vehicle brake failure is caused, great threat is caused to the personal safety of passenger on vehicle and driver.
In order to ensure the personal safety of passenger and driver on vehicle, the prior art is usually by increasing additional DC boosting electricity
Road increases low pressure accessory power supply voltage as power-assisted steering motor and automatically controlled, air pump motor and automatically controlled power supply；Alternatively, logical
Motor is driven supplemented by crossing and increases additional low pressure winding, and takes electricity from low pressure accessory power supply by low-pressure electric controlled, to maintain auxiliary drive motor
It is continued to run with after power supply disconnection.
But in said program, additional increased hardware can lead to the increase of system cost, and low pressure accessory power supply sheet
The capacity of body is smaller, is completely consumed in the possible short time, electric vehicle in the case of high speed dead electricity power-assisted steering and
The effective time of brake function is shorter, does not ensure that electric vehicle being capable of safety stop.
Invention content
The present invention provides a kind of electric vehicle high speed motive force power failure emergency service control method and device, existing to solve
There is problem of high cost in technology and low reliability.
To achieve the above object, technical solution provided by the present application is as follows：
A kind of electric vehicle high speed motive force power failure emergency service control method, the automatically controlled and auxiliary drive of main drive of electric vehicle
It is automatically controlled that power supply power supply, the main main drive motor operating for driving the automatically controlled control electric vehicle, institute are received by DC bus
State the auxiliary auxiliary drive motor operating for driving the automatically controlled control electric vehicle；The electric vehicle high speed motive force power failure emergency service
Control method includes：
Whether power supply described in real-time judge disconnects；
If the power supply does not disconnect, the operating mode for keeping the main drive automatically controlled is normal torque pattern；
If the power supply disconnects, it is DC bus-bar voltage closed-loop control mould to adjust the automatically controlled operating mode of the main drive
Formula makes the main drive motor work in power generation mode, is that the auxiliary drive motor is powered by the DC bus.
Preferably, power supply described in the real-time judge whether disconnect including：
Judge whether current DC bus-bar voltage is more than the operating voltage range upper limit or is less than operating voltage range lower limit；
If the current DC bus-bar voltage is more than the operating voltage range upper limit or is less than the operating voltage model
Lower limit is enclosed, then judges whether busbar voltage change rate is more than the voltage change ratio upper limit or is less than voltage change ratio lower limit；
If the busbar voltage change rate is more than the voltage change ratio upper limit or is less than the voltage change ratio lower limit,
Then judge that the power supply of the electric vehicle disconnects.
Preferably, the automatically controlled operating mode of the main drive of the adjustment electric vehicle is DC bus-bar voltage closed-loop control
Pattern includes：
PI adjustings are carried out according to given voltage and actual DC side voltage, obtain PI output signals；
According to the automatically controlled transmission of auxiliary drive of the PI output signals, the main current rotating speed and the electric vehicle for driving motor
Power demand, torque reference is calculated；
With the torque reference by tabling look-up or being calculated main automatically controlled d, q shaft current given value of drive, and then complete
Motor controls.
Preferably, described to carry out PI adjustings according to given voltage and actual DC side voltage, obtaining PI output signals includes：
The difference that given voltage subtracts actual DC side voltage is calculated；
The difference is subjected to PI adjustings, obtains the PI output signals.
Preferably, described to carry out PI adjustings according to given voltage and actual DC side voltage, obtaining PI output signals includes：
It calculates separately to obtain the square value of given voltage and the square value of actual DC side voltage；
Be calculated given voltage square value subtract actual DC side voltage square value difference；
The difference is subjected to PI adjustings, obtains the PI output signals.
Preferably, it is described according to the PI output signals, the main current rotating speed for driving motor and the electric vehicle
The auxiliary power demand for driving automatically controlled transmission, torque reference, which is calculated, includes：
The quotient of the power demand divided by the current rotating speed is calculated；
Backwards calculation will be carried out after the quotient and PI output signals summation, obtains the torque reference；
Alternatively, it is described according to the PI output signals, it is described it is main drive motor current rotating speed and the electric vehicle it is auxiliary
The power demand for driving automatically controlled transmission, torque reference, which is calculated, includes：
The PI output signals and the power demand are summed；
By the PI output signals and the power demand and divided by the current rotating speed and carry out backwards calculation, obtain
To the torque reference.
Preferably, the operating mode for keeping the main drive of the electric vehicle automatically controlled is that normal torque pattern includes：
With the torque reference by tabling look-up or being calculated main automatically controlled d, q shaft current given value of drive, and then complete
Motor controls.
A kind of electric vehicle high speed motive force power failure emergency service control device, the automatically controlled and auxiliary drive of main drive of electric vehicle
It is automatically controlled that power supply power supply, the main main drive motor operating for driving the automatically controlled control electric vehicle, institute are received by DC bus
State the auxiliary auxiliary drive motor operating for driving the automatically controlled control electric vehicle；The electric vehicle high speed motive force power failure emergency service
Control device includes：
Whether judgment module disconnects for power supply described in real-time judge；
Modulation module, if not disconnected for the power supply, the operating mode for keeping the main drive automatically controlled is normal torque
Pattern；If the power supply disconnects, it is DC bus-bar voltage closed loop control mode to adjust the automatically controlled operating mode of the main drive, is made
The main drive motor works in power generation mode, is that the auxiliary drive motor is powered by the DC bus.
Preferably, when whether the judgment module disconnects for power supply described in real-time judge, it is specifically used for：
Judge whether current DC bus-bar voltage is more than the operating voltage range upper limit or is less than operating voltage range lower limit；
If the current DC bus-bar voltage is more than the operating voltage range upper limit or is less than the operating voltage model
Lower limit is enclosed, then judges whether busbar voltage change rate is more than the voltage change ratio upper limit or is less than voltage change ratio lower limit；
If the busbar voltage change rate is more than the voltage change ratio upper limit or is less than the voltage change ratio lower limit,
Then judge that the power supply of the electric vehicle disconnects.
Preferably, the modulation module includes：
First adder subtracts the difference of actual DC side voltage Udc for given voltage Udc_ref to be calculated；
PI controllers obtain PI output signals for carrying out PI adjustings to the difference；
First calculator, the power demand of the automatically controlled transmission of auxiliary drive for the electric vehicle to be calculated divided by described
The quotient of the main current rotating speed for driving motor；
Second adder, for be calculated the quotient and the PI output signals and；
Second calculator, for described and progress backwards calculation, obtaining torque reference；
Controllable switch, for automatically controlled obtaining the torque of d, q shaft current given value using the torque reference as main drive
Given value.
Preferably, the modulation module includes：
First adder subtracts the difference of actual DC side voltage Udc for given voltage Udc_ref to be calculated；
PI controllers obtain PI output signals for carrying out PI adjustings to the difference；
Second adder, the power demand of the automatically controlled transmission of auxiliary drive for the electric vehicle to be calculated and the PI
The sum of output signal；
Calculator, for by it is described and divided by the main current rotating speed for driving motor, and carry out backwards calculation, referred to
Torque；
Controllable switch, for automatically controlled obtaining the torque of d, q shaft current given value using the torque reference as main drive
Given value.
Preferably, the modulation module further includes：
First multiplier, the square value Udc_ref for given voltage to be calculated2；
Second multiplier, the square value Udc for actual DC side voltage to be calculated2；
The difference that the first adder is used to be calculated is the square value Udc_ref of given voltage Udc_ref2Subtract
Remove the square value Udc of actual DC side voltage2Difference.
Preferably, it is automatically controlled to be integrated in the main drive for the electric vehicle high speed motive force power failure emergency service control device
Or in the entire car controller of the electric vehicle.
Electric vehicle high speed motive force power failure emergency service control method provided by the invention, the master in electric vehicle
It is automatically controlled by DC bus reception power supply power supply to drive automatically controlled and auxiliary drive, then respectively respective motor power supply；When judging power supply
After disconnection, that is, it is DC bus-bar voltage closed loop control mode to adjust the automatically controlled operating mode of main drive, and main drive motor is made to work in hair
Power mode, by driving motor power supply supplemented by DC bus.Namely in the present solution, when high speed motive force power failure occurs for electric vehicle
When, by the main mechanical energy for driving motor be converted into electric energy so that supplemented by drive motor power supply, increase power supply circuit without additional, compared to existing
There is technology to reduce hardware cost；Also, drive motor power supply by converting supplemented by electric energy mechanical energy to so that electric vehicle exists
It loses under the fault condition of power supply power supply, turns to and brake function is with the main operating continuously effective for driving motor, make vehicle can
To slow down and stop roadside, the personal safety of passenger and driver is effectively ensured.
Description of the drawings
Technical solution in order to illustrate the embodiments of the present invention more clearly or in the prior art to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, it is only this that interior attached drawing, which is described below,
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the main electrical circuit diagram of electric vehicle provided in an embodiment of the present invention；
Fig. 2 is main electric equivalent circuit diagram after the power supply of electric vehicle provided in an embodiment of the present invention disconnects；
Fig. 3 is the flow of electric vehicle high speed motive force power failure emergency service control method provided in an embodiment of the present invention
Figure；
Fig. 4 is the electric vehicle high speed motive force power failure emergency service control method that another embodiment of the present invention provides
Particular flow sheet；
Fig. 5 is the electric vehicle high speed motive force power failure emergency service control device that another embodiment of the present invention provides
Control block diagram；
Fig. 6 is the electric vehicle high speed motive force power failure emergency service control device that another embodiment of the present invention provides
Another control block diagram；
Fig. 7 is the electric vehicle high speed motive force power failure emergency service control device that another embodiment of the present invention provides
Another control block diagram.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall in the protection scope of this application.
In electric vehicle, the automatically controlled and auxiliary drive of main drive is automatically controlled to receive power supply power supply by DC bus, main to drive automatically controlled control
The main drive motor of electric vehicle operates, the auxiliary auxiliary drive motor operating for driving automatically controlled control electric vehicle；Fig. 1 specifically is may refer to, electricity
Pond packet 301 is connected as power supply, by fastp-acting fuse 302 and main contactor 303 with DC bus；Auxiliary drive motor includes helping
Power steering motor 102 and air pump motor 103, auxiliary drive automatically controlled includes automatically controlled 202 and 203；It is main to drive automatically controlled 201, automatically controlled 202 and 203
The connection of DC side common bus and be respectively connected with a DC bus capacitor, it is each it is automatically controlled also respectively by CAN bus with it is electronic
The entire car controller communication of automobile receives the order from entire car controller and to entire car controller upload information；Main drive is automatically controlled
201 exchange side is connected with main drive motor 101, controls the main operating of drive motor 101, automatically controlled 202 exchange side and power-assisted steering electricity
Machine 102 is connected, control power-assisted steering motor 102 operates and then realizes power-assisted steering function, automatically controlled 203 exchange side and air pump electricity
Machine 103 is connected, control air pump motor 103 operates and then realizes brake function.The conducting of fastp-acting fuse 302, master under normal circumstances
Contactor 303 is closed, and main drive system and auxiliary drive system are connected to battery pack by fastp-acting fuse 302 and main contactor 303
It is unified to be powered for it by battery pack 301 on 301.
Cause power supply disconnected when battery pack 301 breaks down, fastp-acting fuse 302 disconnects due to overcurrent or other failures
It opens, circuit structure at this time is as shown in Fig. 2, main drive system and auxiliary drive system can lose power supply and be unable to operate normally；If
Electric vehicle runs on high speed state at this time, then is turned to caused by losing power supply due to power-assisted steering motor and air pump motor
Difficult and brake failure, it will great threat is caused to the personal safety of passenger on vehicle and driver.In order to avoid the above situation is sent out
It gives birth to while solving the problems, such as that of high cost in the prior art and reliability is low, present embodiments provide a kind of high quick-action of electric vehicle
Power power failure emergency service control method, referring to Fig. 3, including：
Whether S101, real-time judge power supply disconnect；
Specifically, whether real-time judge power supply disconnects, it can first determine whether current DC bus-bar voltage Udc is more than
Operating voltage range upper limit UdcH is less than operating voltage range lower limit UdcL, is thened follow the steps if above-mentioned condition is invalid
S102；Continue to judge whether busbar voltage change rate D_Udc is more than voltage change ratio upper limit D_UdcH if above-mentioned condition is set up
Or it is less than voltage change ratio lower limit D_UdcL, if this condition is invalid to then follow the steps S102, if the establishment of this condition executes step
Rapid S103.
Using judge busbar voltage range and its change rate can accurate judgement present battery packet whether with DC bus
It disconnects, failure is disconnected to detect whether to occur power supply.
S102, the operating mode for keeping main drive automatically controlled are normal torque pattern；
Auxiliary drive system is in der Geschwindigkeitkreis operational mode under vehicle normal operation, is traveled at the uniform speed with certain speed；And
Main drive is automatically controlled to control main drive motor operation by torque ring, the torque instruction value that entire car controller issues is received, as master
The automatically controlled torque reference value by tabling look-up or when computational methods obtain d, q shaft current given value is used is driven, it is electric to control main drives
Machine output respective torque provides power for vehicle.
The automatically controlled operating mode of S103, the main drive of adjustment is DC bus-bar voltage closed loop control mode, and main drive motor is made to work
In power generation mode, by driving motor power supply supplemented by DC bus.
After power failure or disconnection occurs when electric vehicle is in high-speed cruising, automatically controlled work is driven by adjusting main
Pattern is DC bus-bar voltage closed loop control mode, realizes the control to DC bus-bar voltage, maintains DC bus-bar voltage constant；
When auxiliary drive motor needs operation, due to main drive system and auxiliary drive system common DC bus, by controlling main drive motor work
Make in power generation mode, converting mechanical energy to drive system supplemented by electric energy provides energy, while can also make vehicle deceleration, improves master and connects
Tentaculum disconnects the safety of rear vehicle.
Electric vehicle high speed motive force power failure emergency service control method provided in this embodiment, when electric vehicle is sent out
When raw high speed motive force power failure, by the main mechanical energy for driving motor be converted into electric energy so that supplemented by drive motor power supply, do not increasing
Under the premise of system cost, it is only necessary to which common bus structure as shown in Figure 1 connects main electric circuit, increases in existing control system
DC bus-bar voltage closed-loop control ring and corresponding communication, you can ensure when power failure or the steering of disconnection rear vehicle, stop
Vehicle continues to run with；It is simple and practicable compared with prior art and reduce hardware cost due to being not necessarily to additionally increase power supply circuit.And
And drive motor power supply by converting supplemented by electric energy mechanical energy to so that electric vehicle is in the fault condition for losing power supply power supply
Under, it turns to and brake function is with the main operating continuously effective for driving motor, so that vehicle is slowed down and stop roadside, effectively protect
Demonstrate,prove the personal safety of passenger and driver.
It is worth noting that if its main drive motor uses permanent magnet synchronous motor in the prior art, it is main when speed is very high
The automatically controlled limit pressure resistance of main drive may be more than by driving the back-emf of motor, if power supply disconnects suddenly can cause the main automatically controlled middle power of drive
Device and DC bus capacitor over-voltage breakdown.Therefore, pass through three usually after D. C. power source breakdown or disconnection in the prior art
Permanent magnet synchronous motor threephase stator short circuit is prevented high pressure counter electromotive force from damaging automatically controlled critical power ratio device and direct current by phase inverter bridge
Lateral capacitance.Although short-circuit permanent magnet synchronous motor threephase stator it is possible to prevente effectively from electric control power device because of excessive pressure damages problem,
The electric current that transcient short circuit time flows through power device is very big, electric control power device may be made to be damaged because of overcurrent；Or it is triggered because of overcurrent
System overcurrent protection, causes power device to turn off, and will produce high pressure counter electromotive force eventually leads to power device because of overvoltage again at this time
And it damages；And the parameters such as the method heavy dependence motor inductances, above-mentioned event will be caused to occur when the parameter of electric machine is improper,
Without versatility.
And the electric vehicle high speed motive force power failure emergency service control method provided in this embodiment, work as electric vehicle
When high speed motive force power failure occurs, by carrying out closed-loop control to DC bus-bar voltage, it is ensured that the main pass driven in automatically controlled
Key power device and DC bus capacitor be not breakdown.Even if main drive motor is permanent magnet synchronous motor, also can effectively avoid because of motor
The problem of counter electromotive force damages each automatically controlled middle power device and DC bus capacitor more than system pressure resistance, and do not depend on motor
The parameters such as inductance.
Therefore, electric vehicle high speed motive force power failure emergency service control method provided in this embodiment, also has
Good adaptability, no matter main drive system is using permanent magnet synchronous motor or asynchronous machine or other motors, such as switching magnetic-resistance electricity
Machine, brshless DC motor etc., all can low cost and being effectively prevented from powered off when high speed caused by turn to, brake failure asks
Topic.
Another embodiment of the present invention additionally provides a kind of specific electric vehicle high speed motive force power failure emergency service control
Method processed, on the basis of above-described embodiment and Fig. 1 to Fig. 3, it is preferred that referring to Fig. 4, step S103 includes：
S201, PI adjustings are carried out according to given voltage Udc_ref and actual DC side voltage Udc, obtains PI output letters
Number；
In specific practical application, step S201 can be：
The difference that given voltage Udc_ref subtracts actual DC side voltage Udc is calculated；Difference is subjected to PI adjustings,
Obtain PI output signals；Referring to Fig. 5 and Fig. 6.
Alternatively, step S201 may be：
It calculates separately to obtain the square value Udc_ref of given voltage2And the square value Udc of actual DC side voltage2；It calculates
Obtain the square value Udc_ref of given voltage2Subtract the square value Udc of actual DC side voltage2Difference；Difference is subjected to PI
It adjusts, obtains PI output signals；Referring to Fig. 7.
S202, according to PI output signals, it is main drive motor current rotating speed and electric vehicle the automatically controlled transmission of auxiliary drive power
Torque reference is calculated in demand；
Specifically, step S202 can be：
The quotient of power demand P_can divided by current rotating speed Speed is calculated；Quotient and the summation of PI output signals is laggard
Row backwards calculation obtains torque reference Te_ref；Referring to Fig. 5.
Alternatively, step S202 can also be：
PI output signals and power demand P_can are summed；By PI output signals and power demand P_can's and
Divided by current rotating speed Speed and backwards calculation is carried out, obtain torque reference Te_ref；Referring to Fig. 6 and Fig. 7.
S203, with torque reference by table look-up or be calculated it is main drive automatically controlled d, q shaft current given value, and then complete motor
Control.
In the present embodiment, increase controllable switch S；Under normal circumstances, torque instruction value (i.e. Fig. 5 that entire car controller issues
To the Te* in Fig. 7), by controllable switch S be input to it is main drive it is automatically controlled, as it by tabling look-up or computational methods obtain d, q axis
Used torque reference value when given value of current value makes the main drive motor output respective torque of the automatically controlled control of main drive be provided for vehicle dynamic
Power.
It is by controllable switch S, main drive is automatically controlled by tabling look-up or calculating when power failure or disconnection occurs
Method obtains torque reference value used when d, q shaft current given value, is adjusted to the reference being calculated by step S202
The torque of torque Te_ref, i.e. DC bus-bar voltage closed-loop control output.
It is illustrated by taking control block diagram shown in fig. 5 as an example, first with given voltage Udc_ref and actual DC side electricity
Pressure Udc makes the difference, and is used as PI output signals after PI controllers amplify the voltage difference made the difference, believes herein for torque
Number, and received before auxiliary drive automatically controlled power demand P_can divided by current rotating speed Speed are used as with by CAN communication
Feedback compensation amount of torque is added, finally by being reversely used as torque reference.
Electric energy can be consumed when auxiliary drive system works, DC side busbar voltage is caused to reduce, actual DC side voltage Udc is low
When given voltage Udc_ref, PI controllers can export positive torque, become negative torque after reversed, that is, control main drive electricity
Machine is in generating state so that voltage Udc rises in actual DC side reach given voltage Udc_ref and stablize in given voltage
Udc_ref.Simultaneously by CAN bus receive power demand P_can be converted into torque be used as feedover be superimposed upon torque reference
On so that system responds rapidly to torque command, is quickly controlled DC bus-bar voltage, reduces system busbar voltage falling width
Value.
That is, the DC bus-bar voltage closed loop control mode is the control model of outer voltage torque (electric current) inner ring, most
DC bus-bar voltage is stablized in setting value, i.e. given voltage Udc_ref at last；Given voltage Udc_ref should can be normal in system
Within the scope of busbar voltage when work, it is preferably chosen for the specified busbar voltage in system dc side.
Main drive is automatically controlled after obtaining torque reference Te_ref, is carried out according to torque reference Te_ref and current rotating speed Speed
It tables look-up or calculates, obtain d shaft current given value id* and q shaft current given values iq*；The main voltage sample and rotational angle theta for driving motor
Practical d shaft currents value id and practical q shaft currents value iq are obtained after Clark Park transformation；By d shaft current given values id*
With q shaft current given values iq* respectively with practical d shaft currents value id and practical q shaft currents value iq is corresponding makes the difference, then respectively pass through PI
It sums respectively with d decoupler shaft amount Vd_ff and q decoupler shaft amounts Vq_ff after adjusting, rotational angle theta acquire and with main drive motor is successively
The modulating wave that power device is generated by Ipark transformation and SVPWM, makes power device convert actual DC side voltage Udc
Main drive motor is supplied for suitable three-phase alternating current.
PI output signals in Fig. 6 and Fig. 7 are power signal, other principles are similar to the above, herein no longer one by one
It repeats.
Another embodiment of the present invention additionally provides a kind of electric vehicle high speed motive force power failure emergency service control device,
Applied in main circuit shown in FIG. 1, the main drive of electric vehicle it is automatically controlled and it is auxiliary drive it is automatically controlled pass through DC bus and receive power supply supply
Electricity, the main main drive motor operating for driving automatically controlled control electric vehicle, the auxiliary auxiliary drive motor operating for driving automatically controlled control electric vehicle；The electricity
Electrical automobile high speed motive force power failure emergency service control device includes：
Whether judgment module 101 disconnects for real-time judge power supply；
Modulation module 102 keeps main and drives automatically controlled operating mode as normal torque pattern if not disconnected for power supply；
If power supply disconnects, it is DC bus-bar voltage closed loop control mode to adjust the automatically controlled operating mode of main drive, and main drive motor is made to work
In power generation mode, by driving motor power supply supplemented by DC bus.
Preferably, judgment module 101 is for when judging whether the power supply of electric vehicle disconnects, being specifically used for：
Judge whether current DC bus-bar voltage is more than the operating voltage range upper limit or is less than operating voltage range lower limit；
If current DC bus-bar voltage is more than the operating voltage range upper limit or is less than operating voltage range lower limit, judge
Whether busbar voltage change rate is more than the voltage change ratio upper limit or is less than voltage change ratio lower limit；
If busbar voltage change rate is more than the voltage change ratio upper limit or is less than voltage change ratio lower limit, electronic vapour is judged
The power supply of vehicle disconnects.
Preferably, modulation module 101 is as shown in figure 5, include：
First adder subtracts the difference of actual DC side voltage Udc for given voltage Udc_ref to be calculated；
PI controllers obtain PI output signals for carrying out PI adjustings to difference；
First calculator, the power demand of the automatically controlled transmission of auxiliary drive for electric vehicle to be calculated divided by main drive motor
Current rotating speed quotient；
Second adder, for be calculated quotient and PI output signals and；
Second calculator, for pair and carry out backwards calculation, obtain torque reference；
Controllable switch, for using torque reference as it is main drive it is automatically controlled obtain the torque reference value of d, q shaft current given value, i.e.,
It can be by tabling look-up or being calculated main automatically controlled d, q shaft current given value of drive according to torque reference, and then complete motor control.
Alternatively, modulation module 101 is as shown in fig. 6, include：
First adder subtracts the difference of actual DC side voltage Udc for given voltage Udc_ref to be calculated；
PI controllers obtain PI output signals for carrying out PI adjustings to difference；
Second adder is believed for the power demand of the automatically controlled transmission of auxiliary drive of electric vehicle to be calculated with PI outputs
Number sum；
Calculator, for by with divided by the main current rotating speed for driving motor, and carry out backwards calculation, obtain torque reference；
Controllable switch, for using torque reference as it is main drive it is automatically controlled obtain the torque reference value of d, q shaft current given value, i.e.,
It can be by tabling look-up or being calculated main automatically controlled d, q shaft current given value of drive according to torque reference, and then complete motor control.
Alternatively, modulation module further includes on the basis of Fig. 5 or Fig. 6：
First multiplier, the square value Udc_ref for given voltage to be calculated2；
Second multiplier, the square value Udc for actual DC side voltage to be calculated2；
The difference that first adder is used to be calculated is the square value Udc_ref of given voltage2Subtract actual DC side
The square value Udc of voltage2Difference；
Fig. 7 show on the basis of Fig. 6 the case where increasing by two multipliers, increases by two multiplication on the basis of Fig. 5
The case where device, is not illustrated, also within the scope of protection of this application.
Preferably, it is automatically controlled or electronic to be integrated in main drive for electric vehicle high speed motive force power failure emergency service control device
In the entire car controller of automobile.
The electric vehicle high speed motive force power failure emergency service control device, can be embedded into it is main drive, auxiliary round-up at
In All-in-One product, by it is main drive it is automatically controlled realize, can also be embedded into entire car controller, from entire car controller to it is main drive it is automatically controlled
DC bus-bar voltage closed-loop control order is issued to realize, therefore, the present apparatus has good portability, can be applied to more
The discrete automatically controlled Full Vehicle System of list can also be applied to by unifying product, be not specifically limited herein, depending on its concrete application environment
It is fixed, within the scope of protection of this application.
Specific operation principle is same as the previously described embodiments, no longer repeats one by one herein.
Each embodiment is described by the way of progressive in the present invention, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical solution makes many possible changes and modifications, or is revised as the equivalent embodiment of equivalent variations.Therefore, it is every without departing from
The content of technical solution of the present invention, according to the technical essence of the invention any simple modification made to the above embodiment, equivalent
Variation and modification, still fall within technical solution of the present invention protection in the range of.
Claims (13)
1. a kind of electric vehicle high speed motive force power failure emergency service control method, which is characterized in that the main drive of electric vehicle
Automatically controlled and auxiliary drive is automatically controlled to receive power supply power supply, the main main drive electricity for driving the automatically controlled control electric vehicle by DC bus
Machine operates, the auxiliary auxiliary drive motor operating for driving the automatically controlled control electric vehicle；The electric vehicle high speed motive force power supply event
Hindering emergency service control method includes：
Whether power supply described in real-time judge disconnects；
If the power supply does not disconnect, the operating mode for keeping the main drive automatically controlled is normal torque pattern；
If the power supply disconnects, it is DC bus-bar voltage closed loop control mode to adjust the automatically controlled operating mode of the main drive, is made
The main drive motor works in power generation mode, is that the auxiliary drive motor is powered by the DC bus.
2. electric vehicle high speed motive force power failure emergency service control method according to claim 1, which is characterized in that
Power supply described in the real-time judge whether disconnect including：
Judge whether current DC bus-bar voltage is more than the operating voltage range upper limit or is less than operating voltage range lower limit；
If the current DC bus-bar voltage is more than the operating voltage range upper limit or less than under the operating voltage range
Limit, then judge whether busbar voltage change rate is more than the voltage change ratio upper limit or is less than voltage change ratio lower limit；
If the busbar voltage change rate is more than the voltage change ratio upper limit or is less than the voltage change ratio lower limit, sentence
The power supply of the fixed electric vehicle disconnects.
3. electric vehicle high speed motive force power failure emergency service control method according to claim 1, which is characterized in that
The operating mode that the main drive of the adjustment electric vehicle is automatically controlled is that DC bus-bar voltage closed loop control mode includes：
PI adjustings are carried out according to given voltage and actual DC side voltage, obtain PI output signals；
According to the work(of the automatically controlled transmission of auxiliary drive of the PI output signals, the main current rotating speed and the electric vehicle for driving motor
Rate demand, is calculated torque reference；
With the torque reference by tabling look-up or being calculated main automatically controlled d, q shaft current given value of drive, and then complete motor
Control.
4. electric vehicle high speed motive force power failure emergency service control method according to claim 3, which is characterized in that
Described to carry out PI adjustings according to given voltage and actual DC side voltage, obtaining PI output signals includes：
The difference that given voltage subtracts actual DC side voltage is calculated；
The difference is subjected to PI adjustings, obtains the PI output signals.
5. electric vehicle high speed motive force power failure emergency service control method according to claim 3, which is characterized in that
Described to carry out PI adjustings according to given voltage and actual DC side voltage, obtaining PI output signals includes：
It calculates separately to obtain the square value of given voltage and the square value of actual DC side voltage；
Be calculated given voltage square value subtract actual DC side voltage square value difference；
The difference is subjected to PI adjustings, obtains the PI output signals.
6. electric vehicle high speed motive force power failure emergency service control method according to claim 3, which is characterized in that
It is described according to the PI output signals, it is described it is main drive motor current rotating speed and the electric vehicle the automatically controlled transmission of auxiliary drive work(
Rate demand, torque reference, which is calculated, includes：
The quotient of the power demand divided by the current rotating speed is calculated；
Backwards calculation will be carried out after the quotient and PI output signals summation, obtains the torque reference；
Alternatively, it is described according to the PI output signals, it is described it is main drive motor current rotating speed and the electric vehicle auxiliary drive electricity
The power demand sent is controlled, torque reference, which is calculated, includes：
The PI output signals and the power demand are summed；
By the PI output signals and the power demand and divided by the current rotating speed and carry out backwards calculation, obtain institute
State torque reference.
7. special according to any electric vehicle high speed motive force power failure emergency service control methods of claim 1-6
Sign is that the operating mode for keeping the main drive of the electric vehicle automatically controlled is that normal torque pattern includes：
With the torque reference by tabling look-up or being calculated main automatically controlled d, q shaft current given value of drive, and then complete motor
Control.
8. a kind of electric vehicle high speed motive force power failure emergency service control device, which is characterized in that the main drive of electric vehicle
Automatically controlled and auxiliary drive is automatically controlled to receive power supply power supply, the main main drive electricity for driving the automatically controlled control electric vehicle by DC bus
Machine operates, the auxiliary auxiliary drive motor operating for driving the automatically controlled control electric vehicle；The electric vehicle high speed motive force power supply event
Hindering emergency service control device includes：
Whether judgment module disconnects for power supply described in real-time judge；
Modulation module, if not disconnected for the power supply, the operating mode for keeping the main drive automatically controlled is normal torque pattern；
If the power supply disconnects, it is DC bus-bar voltage closed loop control mode to adjust the automatically controlled operating mode of the main drive, is made described
Main drive motor works in power generation mode, is that the auxiliary drive motor is powered by the DC bus.
9. electric vehicle high speed motive force power failure emergency service control device according to claim 8, which is characterized in that
When whether the judgment module disconnects for power supply described in real-time judge, it is specifically used for：
Judge whether current DC bus-bar voltage is more than the operating voltage range upper limit or is less than operating voltage range lower limit；
If the current DC bus-bar voltage is more than the operating voltage range upper limit or less than under the operating voltage range
Limit, then judge whether busbar voltage change rate is more than the voltage change ratio upper limit or is less than voltage change ratio lower limit；
If the busbar voltage change rate is more than the voltage change ratio upper limit or is less than the voltage change ratio lower limit, sentence
The power supply of the fixed electric vehicle disconnects.
10. electric vehicle high speed motive force power failure emergency service control device according to claim 8, feature exist
In the modulation module includes：
First adder subtracts the difference of actual DC side voltage Udc for given voltage Udc_ref to be calculated；
PI controllers obtain PI output signals for carrying out PI adjustings to the difference；
First calculator, the power demand of the automatically controlled transmission of auxiliary drive for the electric vehicle to be calculated divided by the main drive
The quotient of the current rotating speed of motor；
Second adder, for be calculated the quotient and the PI output signals and；
Second calculator, for described and progress backwards calculation, obtaining torque reference；
Controllable switch, for automatically controlled obtaining the torque reference of d, q shaft current given value using the torque reference as main drive
Value.
11. electric vehicle high speed motive force power failure emergency service control device according to claim 8, feature exist
In the modulation module includes：
First adder subtracts the difference of actual DC side voltage Udc for given voltage Udc_ref to be calculated；
PI controllers obtain PI output signals for carrying out PI adjustings to the difference；
Second adder is exported for the power demand of the automatically controlled transmission of auxiliary drive of the electric vehicle to be calculated with the PI
The sum of signal；
Calculator, for by it is described and divided by the main current rotating speed for driving motor, and carry out backwards calculation, obtain with reference to turning
Square；
Controllable switch, for automatically controlled obtaining the torque reference of d, q shaft current given value using the torque reference as main drive
Value.
12. the electric vehicle high speed motive force power failure emergency service control device according to claim 10 or 11, special
Sign is that the modulation module further includes：
First multiplier, the square value Udc_ref for given voltage to be calculated2；
Second multiplier, the square value Udc for actual DC side voltage to be calculated2；
The difference that the first adder is used to be calculated is the square value Udc_ref of given voltage Udc_ref2Subtract reality
The square value Udc of DC voltage2Difference.
13. according to any electric vehicle high speed motive force power failure emergency service control devices of claim 8-11,
It is characterized in that, the electric vehicle high speed motive force power failure emergency service control device is integrated in the automatically controlled or institute of the main drive
In the entire car controller for stating electric vehicle.
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| CN201810154876.XA CN108365676B (en) | 2018-02-23 | 2018-02-23 | Emergency power supply control method and device for high-speed power supply fault of electric automobile |
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| CN201810154876.XA CN108365676B (en) | 2018-02-23 | 2018-02-23 | Emergency power supply control method and device for high-speed power supply fault of electric automobile |
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| CN109606114A (en) * | 2018-11-29 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of shutoff control unit, electric car and its control method for stopping |
| CN109760608A (en) * | 2019-01-28 | 2019-05-17 | 纳恩博（北京）科技有限公司 | A kind of reverse power supply method, apparatus and system |
| CN110752813A (en) * | 2019-10-21 | 2020-02-04 | 峰岧科技(上海)有限公司 | Motor driver and protection method for power supply loss of motor driver |
| CN110816274A (en) * | 2019-11-15 | 2020-02-21 | 珠海格力电器股份有限公司 | Power supply control device, automobile and power supply control method of automobile |
| CN110949135A (en) * | 2018-09-27 | 2020-04-03 | 湖南中车时代电动汽车股份有限公司 | Device and method for controlling steering brake of vehicle |
| CN111252080A (en) * | 2020-03-03 | 2020-06-09 | 上海中科深江电动车辆有限公司 | Method for realizing unexpected power-off protection processing of high-speed running of vehicle |
| CN113002318A (en) * | 2019-12-19 | 2021-06-22 | 中车时代电动汽车股份有限公司 | Control method and control device for electromechanical dual-source auxiliary drive motor system |
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| CN110752813A (en) * | 2019-10-21 | 2020-02-04 | 峰岧科技(上海)有限公司 | Motor driver and protection method for power supply loss of motor driver |
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| CN110816274A (en) * | 2019-11-15 | 2020-02-21 | 珠海格力电器股份有限公司 | Power supply control device, automobile and power supply control method of automobile |
| CN113002318A (en) * | 2019-12-19 | 2021-06-22 | 中车时代电动汽车股份有限公司 | Control method and control device for electromechanical dual-source auxiliary drive motor system |
| CN111252080A (en) * | 2020-03-03 | 2020-06-09 | 上海中科深江电动车辆有限公司 | Method for realizing unexpected power-off protection processing of high-speed running of vehicle |
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