CN108512479A - Electric machine controller and its method for calculating Motor torque predicted value - Google Patents

Electric machine controller and its method for calculating Motor torque predicted value Download PDF

Info

Publication number
CN108512479A
CN108512479A CN201710101473.4A CN201710101473A CN108512479A CN 108512479 A CN108512479 A CN 108512479A CN 201710101473 A CN201710101473 A CN 201710101473A CN 108512479 A CN108512479 A CN 108512479A
Authority
CN
China
Prior art keywords
module
drive module
motor
value
phase current
Prior art date
Application number
CN201710101473.4A
Other languages
Chinese (zh)
Inventor
孙可
高智
Original Assignee
联合汽车电子有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 联合汽车电子有限公司 filed Critical 联合汽车电子有限公司
Priority to CN201710101473.4A priority Critical patent/CN108512479A/en
Publication of CN108512479A publication Critical patent/CN108512479A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0022Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7258Optimisation of vehicle performance

Abstract

A kind of method that the present invention provides electric machine controller and its calculates Motor torque predicted value, the electric machine controller are used to calculate the torque predicted value of motor, and the electric machine controller includes computing module, drive module and measurement module, wherein:The drive module is for driving the motor;The measurement module measures the operating parameter of the motor and the Current Temperatures of the drive module, and the Current Temperatures of the operating parameter of the motor and the drive module are supplied to the computing module;The computing module calculates the predicted temperature of the drive module according to the operating parameter of motor and the Current Temperatures of the drive module, and the computing module calculates the torque predicted value of the motor according to the predicted temperature of the drive module.The present invention, as inputting, only realizes the prediction of motor output torque not against battery relevant information from electric machine controller.

Description

Electric machine controller and its method for calculating Motor torque predicted value

Technical field

The present invention relates to automobile power control technology field, more particularly to a kind of electric machine controller and its calculating Motor torque The method of predicted value.

Background technology

In pure electric vehicle or hybrid vehicle, power-driven system is mainly stored by driving motor, electric machine controller and high pressure Battery composition.Different according to the topological structure of vehicle, power-driven system can carry out collaboration work with conventional engine system again Make.As the electric machine controller of core component, motor output torque can be controlled according to external command and current oneself state.In view of The requirement of needs and electric machine controller itself safeguard protection of integrated vehicle control tactics, to power-driven system following certain The peak torque that can be exported in time predicted, be very it is necessary to.Such as in mixed dynamic topological vehicle, motor control Device is on the basis of having exported certain torque and carrying out pure electrically driven (operated), if additional output of having the ability within the following certain time again Torque completes starting to work for conventional engines, this just needs to predict motor output torque, to determine full-vehicle control Whether the torque command value of electric machine controller is continued growing in strategy.

Torque Predicting Technique is common in the control system of conventional engines at present, in new energy vehicle controller function In, the real-time detection of current torque is relatively conventional as basic function.And in the following certain time, such as 2 seconds or 20 seconds The exportable peak torque forecast function of motor, is more common in the torque output prediction based on high-tension battery ability, and feature exactly needs Want input of the output signal of external cell management system as electric machine controller.And this is only complete based on high-tension battery ability Estimate at torque, under the operating mode that the full electricity of battery etc. is not limited by battery, just cannot achieve the true effect of torque forecast function.

Therefore, it is necessary to design a kind of be used as not against battery relevant information to input, only energy is exported from electric machine controller itself The method that power carries out the electric machine controller of torque prediction and its calculates Motor torque predicted value.

Invention content

The purpose of the present invention is to provide a kind of electric machine controller and its methods for calculating Motor torque predicted value, to realize It is based only upon the motor output torque prediction of electric machine controller ability itself.

In order to solve the above technical problems, the present invention provides a kind of electric machine controller, the electric machine controller is for calculating electricity The torque predicted value of machine, which is characterized in that the electric machine controller includes computing module, drive module and measurement module, wherein:

The drive module is for driving the motor;

The measurement module measures the operating parameter of the motor and the Current Temperatures of the drive module, and by the electricity The Current Temperatures of the operating parameter of machine and the drive module are supplied to the computing module;

The computing module calculates the driving mould according to the operating parameter of motor and the Current Temperatures of the drive module The predicted temperature of block, the computing module calculate the torque predicted value of the motor according to the predicted temperature of the drive module.

Optionally, in the electric machine controller, the computing module includes phase current computing module, torque arithmetic mould Block and component temperature prediction module, wherein:

The phase current computing module is to the component temperature prediction module output current phase initial value;

The component temperature prediction module according to the operating parameter of the motor, the Current Temperatures of the drive module and The phase current calculation of initial value goes out the predicted temperature of the drive module, and the component temperature prediction module is electric to the phase Stream calculation module exports the predicted temperature of the drive module;

The phase current computing module is according to the predicted temperature of the drive module to the torque arithmetic module the output phase Current target value;

The torque arithmetic module calculates the torque predicted value of the motor according to the phase current desired value.

Optionally, in the electric machine controller, the component temperature prediction module includes component loss calculation Module and state observation module, wherein:

The component loss calculation module according to the operating parameter of the motor, the Current Temperatures of the drive module and The phase current calculation of initial value goes out the loss value of the drive module, and the component module loss calculation module is to State Viewpoint Survey the loss value that module exports the drive module;

The state observation module calculates the predicted temperature of the drive module according to the loss value of the drive module.

Optionally, in the electric machine controller, the operating parameter of the motor includes the busbar voltage and electricity of motor The power factor of machine.

Optionally, in the electric machine controller, the drive module includes the components such as IGBT and diode.

The present invention also provides a kind of method that electric machine controller calculates Motor torque predicted value, the electric machine controller calculates The method of Motor torque predicted value includes:

The drive module is for driving the motor;

The measurement module measures the operating parameter of the motor and the Current Temperatures of the drive module, and by the electricity The Current Temperatures of the operating parameter of machine and the drive module are supplied to the computing module;

The computing module calculates the predicted temperature of the drive module, the computing module according to the operating parameter of motor The torque predicted value of the motor is calculated according to the predicted temperature of the drive module.

Optionally, in the method that the electric machine controller calculates Motor torque predicted value, the computing module according to The operating parameter of motor calculates the predicted temperature of the drive module, and the computing module is according to the pre- thermometric of the drive module The torque predicted value that degree calculates the motor includes:

The phase current computing module is to the component temperature prediction module output current phase initial value;

The component temperature prediction module according to the operating parameter of the motor, the Current Temperatures of the drive module and The phase current calculation of initial value goes out the predicted temperature of the drive module, and the component temperature prediction module is electric to the phase Stream calculation module exports the predicted temperature of the drive module;

The phase current computing module is according to the predicted temperature of the drive module to the torque arithmetic module the output phase Current target value;

The torque arithmetic module calculates the torque predicted value of the motor according to the phase current desired value.

Optionally, in the method that the electric machine controller calculates Motor torque predicted value, the component temperature is pre- It surveys module and institute is gone out according to the operating parameter of the motor, the Current Temperatures of the drive module and the phase current calculation of initial value The predicted temperature for stating drive module includes:

The component loss calculation module according to the operating parameter of the motor, the Current Temperatures of the drive module and The phase current calculation of initial value goes out the loss value of the drive module, and the component module loss calculation module is to State Viewpoint Survey the loss value that module exports the drive module;

The state observation module calculates the predicted temperature of the drive module according to the loss value of the drive module.

Optionally, in the method that the electric machine controller calculates Motor torque predicted value, the phase current calculates mould Block includes to the component temperature prediction module output current phase initial value:

The phase current computing module is to the component temperature prediction module output current phase max-thresholds and phase current Minimum threshold, the phase current initial value take the average value of phase current max-thresholds and phase current minimum threshold.

Optionally, in the method that the electric machine controller calculates Motor torque predicted value, the phase current calculates mould Root tuber includes to the torque arithmetic module output current phase desired value according to the predicted temperature of the drive module:

The phase current computing module compares the temperature target of the predicted temperature of drive module and drive module;

If the predicted temperature of drive module is more than the temperature target range of drive module, phase current max-thresholds are again Value is adjusted to the phase current initial value that this prediction uses and calculates again phase current initial value, the phase current Initial value takes the average value of phase current max-thresholds and phase current minimum threshold, and is predicted next time;

If the predicted temperature of drive module is less than the temperature target range of drive module, phase current minimum threshold is again Value is adjusted to the phase current initial value that this prediction uses and calculates again phase current initial value, the phase current Initial value takes the average value of phase current max-thresholds and phase current minimum threshold, and is predicted next time;

If the phase that within the scope of the temperature target of drive module, this prediction is used for the predicted temperature of drive module Electric current initial value is exported as phase current desired value to the torque arithmetic module.

Optionally, in the method that the electric machine controller calculates Motor torque predicted value, the electric machine controller meter Calculate Motor torque predicted value method further include:Computing module obtains different discretizations according to the different system prediction time Period, to obtain different component temperature prediction modules.

In the method for electric machine controller provided by the invention and its calculating Motor torque predicted value, pass through the component Temperature prediction module goes out the predicted temperature of drive module, the phase electricity according to the busbar voltage and phase current calculation of initial value of motor Phase current desired value is calculated according to the predicted temperature of drive module in stream calculation module, and the torque arithmetic module is according to Phase current desired value calculates final torque predicted value, realizes from electric machine controller this body structure, does not utilize outside It is pre- that input signal, such as the minimax discharge current of high-tension battery management system (BMS), voltage etc. carry out max. output torque It surveys.The present invention utilizes itself of IGBT and diode fan-out capability in electric machine controller, is ensureing that system is operated in normal range (NR) In the case of boundary, accurate prediction is carried out to the max. output torque that system can be born in the following certain period of time.

This programme adoption status observation module turned round it is predicted that method, be by the hot additive process of drive module temperature It is abstracted into observer model and completes to calculate, corresponding one group of temperature rise value can be obtained each time by calculating.Therefore such method The number of cycle calculations in forecasting system can be efficiently reduced, control software load factor is in the range of safe and reasonable.With Forecasting system is compared in existing other field, and present design calculates in real time convenient for online in the controller.

The design core of this programme is the predicting strategy based on drive module temperature, and what is utilized is to be based on department of physics's construction in a systematic way Vertical state observer model.When obtaining discrete state observer model, can ensure observer model convergence and On the basis of stability, different time intervals can be chosen to complete peak torque prediction, the present invention according to different application demand With more flexibilities and wider array of application range.

In new-energy automobile field, carries out the following peak torque using electric machine controller function itself and predict, belong to completely new System function.Electric machine controller in the present invention and its pre- measurement of power of peak torque in the method for calculating Motor torque predicted value The new energy vehicle that can be adapted for various topological structures is readily applicable to a variety of driving cycles of vehicle.Such as pure electricity Motor-car can increase that how many torque persistently accelerate on the basis of current driving power, in the following certain time;Or hybrid power Vehicle can additionally go out that how many torque go to start again on the basis of current certain power is pure electrically driven (operated) in the following certain time Engine.

Description of the drawings

Fig. 1 is one computing module schematic diagram of the embodiment of the present invention;

Fig. 2 is unitary device temperature prediction module schematic diagram of the embodiment of the present invention;

Fig. 3 is one state observation module basic principle figure of the embodiment of the present invention;

Fig. 4 (a) is that IGBT predicted temperature steps are rung in state observation module under one 20 seconds discrete periodics of the embodiment of the present invention Answer schematic diagram;

Fig. 4 (b) is diode predicted temperature step in state observation module under one 20 seconds discrete periodics of the embodiment of the present invention Respond schematic diagram;

Fig. 4 (c) is the predicted temperature simulation result of drive module under one 20 seconds state observations of the embodiment of the present invention;

Fig. 5 is the method schematic diagram that two electric machine controller of the embodiment of the present invention calculates Motor torque predicted value;

Fig. 6 (a) is IGBT predicted temperature step responses in state observation module under 22 seconds discrete periodics of the embodiment of the present invention Schematic diagram;

Fig. 6 (b) is that diode predicted temperature step is rung in state observation module under 22 seconds discrete periodics of the embodiment of the present invention Answer schematic diagram;

Fig. 6 (c) is the predicted temperature simulation result of drive module under 22 seconds state observations of the embodiment of the present invention;

As shown in the figure:1- phase current computing modules;2- torque arithmetic modules;3- component temperature prediction modules;31- member devices Part module loss computing module;32- state observation modules.

Specific implementation mode

To electric machine controller proposed by the present invention and its Motor torque prediction is calculated below in conjunction with the drawings and specific embodiments The method of value is described in further detail.According to following explanation and claims, advantages and features of the invention will become apparent from. It should be noted that attached drawing is all made of very simplified form and uses non-accurate ratio, only to it is convenient, lucidly assist Illustrate the purpose of the embodiment of the present invention.

Core of the invention thought is to provide one kind from electric machine controller this body structure, does not utilize external input The electric machine controller of signal and its method for calculating Motor torque predicted value.

To realize above-mentioned thought, the present invention provides a kind of electric machine controller and its sides of calculating Motor torque predicted value Method, the electric machine controller and its method for calculating Motor torque predicted value include:The electric machine controller include computing module, Drive module and measurement module, wherein:The drive module is for driving the motor;The measurement module measures the motor Operating parameter and the drive module Current Temperatures, and by the current of the operating parameter of the motor and the drive module Temperature is supplied to the computing module;The computing module is according to the Current Temperatures of the operating parameter and the drive module of motor The predicted temperature of the drive module is calculated, the computing module calculates the motor according to the predicted temperature of the drive module Torque predicted value.

<Embodiment one>

The present embodiment provides a kind of electric machine controller, the electric machine controller is used to calculate the torque predicted value of motor, institute It includes computing module, drive module and measurement module to state electric machine controller, wherein:The drive module is for driving the electricity Machine;The measurement module measures the operating parameter of the motor and the Current Temperatures of the drive module, and by the motor The Current Temperatures of operating parameter and the drive module are supplied to the computing module;The computing module is according to the operation of motor The Current Temperatures of parameter and the drive module calculate the predicted temperature of the drive module, and the computing module is according to the drive The predicted temperature of dynamic model block calculates the torque predicted value of the motor.

As shown in Figure 1, the computing module includes that phase current computing module 1, torque arithmetic module 2 and component temperature are pre- Module 3 is surveyed, wherein:The phase current computing module 1 is to the 3 output current phase initial value of component temperature prediction module;Institute Component temperature prediction module 2 is stated according to the operating parameter of the motor, Current Temperatures and the mutually electricity of the drive module Stream calculation of initial value goes out the predicted temperature of the drive module, and the component temperature prediction module 3 is calculated to the phase current Module 1 exports the predicted temperature of the drive module;The phase current computing module 1 is according to the predicted temperature of the drive module To 2 output current phase desired value of the torque arithmetic module;The torque arithmetic module 2 is calculated according to the phase current desired value Go out the torque predicted value of the motor.

Specifically, Fig. 2 is unitary device temperature prediction module schematic diagram of the embodiment of the present invention, as shown in Fig. 2, the member device Part temperature prediction module 3 includes component loss calculation module 31 and state observation module 32, wherein:The component loss meter Module 31 is calculated according to the operating parameter of the motor, the Current Temperatures of the drive module and the phase current calculation of initial value to be gone out The loss value of the drive module, the component module loss calculation module 31 export the driving to state observation module 32 The loss value of module;The state observation module 32 calculates the pre- of the drive module according to the loss value of the drive module Testing temperature.

The parameter that the component module loss calculation module 31 inputs further includes other operating parameters, such as modulation degree, institute Stating modulation degree is calculated or tables look-up according to the operating status of electric machine controller and motor.The state observation module 32 Also output motor sensor temperature and cooler of electric motor temperature.Wherein:The operating parameter of the motor includes the busbar electricity of motor The power factor of pressure and motor, the drive module includes the components such as IGBT and diode.

The present embodiment aims at the forecast function of electric machine controller output torque in new-energy automobile, and prediction technique is only It is defeated from the output of the maximum performance of electric machine controller itself and safeguard protection angle, the signal for not being related to external other component Enter, the Motor torque forecast function of realization, is in the case where ensureing motor controller system normal operation, in the following certain time Interior (such as 20 seconds), the maximum torque that electric machine controller can be output.

In motor power electronic controller, the key point of system protection is that the IGBT of core component is exported as drive module Device, because its temperature change is violent, and the variation of temperature directly decides performance and the service life of IGBT itself, can be regarded as The link of motor controller system " weakness " the most.The torque forecast function of this programme is normally to be transported in controller secure Torque is predicted under the conditions of row, therefore selects the temperature change of IGBT as point of penetration, is carried out the design of whole system, is set substantially Meter thinking is to ensure that persistently exports certain time (such as 20 seconds) at current time with a certain peak torque, just makes IGBT temperature Degree reaches the permitted maximum value of system worked well, it is thus regarded that the torque is exactly that can be exported most in the following certain time Large torque.

It is the peak torque for inversely judging to export from IGBT temperature, the present embodiment system structure master in view of the present embodiment To include three big basic function modules, as shown in Figure 1, i.e. phase current computing module 1, component temperature prediction module 3 and torque Computing module 2 can wherein calculate desired phase current desired value in phase current computing module 1, then recycle motor mould Type is converted to the maximum predicted torque value of final output.As shown in Fig. 2, component temperature prediction module 3 utilizes current system Status information, it is estimated that the predicted temperature of IGBT and diode predicted temperature, this is the core of this programme torque forecast function Center portion point.

The loss value of the drive module is:

Wherein:P is the loss value of drive module, icTo flow through the electric current of drive module, uCE0For icDrive module when being zero Voltage value, rcFor the conduction resistance value of drive module.

The predicted temperature of the drive module is:

Wherein:Δ T is the temperature rise value of drive module, and P is the loss value of drive module, RcFor the thermal resistance of drive module.rcWith RcAll it is the data that experiment can measure, measurement method is known technology.

According to the basic principle of Wen Sheng, the thermal resistance network of drive module can be obtained.In order to estimate the prediction of drive module Temperature models drive module using the method for classical observer on the basis of thermal resistance network, and Fig. 3 is of the invention real One state observation module basic principle figure of example is applied, as shown in figure 3, its system mathematic model can be indicated by following state equation:

Wherein, u (t) is the parameter of input, i.e. the power attenuation value of drive module, and y (t) is the parameter of output, that is, is driven The predicted temperature of module.The temperature of IGBT, four diode, temperature sensor and cooled plate nodes are chosen in present design respectively Degree is as observation output quantity, so as to estimate the temperature value of drive module.

In addition, computing module obtains the different discretization periods, to obtain difference according to the different system prediction time Component temperature prediction module.Continuous physical model is initially set up based on drive module thermal resistance network, it can be with top Guarantee model and original physical system consistency.But in order to realize that physical model is run in electronic controller, need pair After original continuous model carries out discretization, sytem matrix and input matrix in required observer can be just obtained.As previously mentioned, this The function that scheme is wanted to realize is to predict (such as 20 seconds) to the peak torque in the following certain time, i.e., the torque makes driving mould Deblocking temperature is right up to the temperature limiting of system worked well at end time.As long as therefore ensureing discrete rear built observer Model output valve at certain time interval is accurate, and without considering each small output point temperature in time interval Value it is whether accurate, such as prediction 20 seconds in peak torque when, as long as considering on each 20 seconds time point, observer output Drive module temperature it is accurate, and without consider consecutive variations estimated accuracy it is whether accurate.

In view of above analysis, present design carries out continuous thermal resistance network model the discretization in particular sample period, To obtain the temperature estimation model of special time period.In order to prove the correctness of observer model after larger sampling period discretization And convergence, discrete system can be analyzed.As shown in figure 4, by taking the status system after 20 seconds discrete as an example, step is rung Curve and the step response curve of original continuous system is answered to coincide substantially, Fig. 4 (a) is one 20s discrete periodics of the embodiment of the present invention IGBT predicted temperatures step response schematic diagram in lower state observation module, Fig. 4 (b) are one 20s discrete periodics of the embodiment of the present invention Diode predicted temperature step response schematic diagram in lower state observation module, Fig. 4 (c) are one 20 seconds State Viewpoints of the embodiment of the present invention Survey the predicted temperature simulation result of lower drive module.

Although output in figure in each 20 second period and continuous system are there are certain error, such as institute above It states, for the torque forecast function that this programme proposes, meets design requirement.The simulation result as shown in Fig. 4 (c), Wherein dotted line is temperature rise curve of the true drive module under certain operating mode, and solid line is that 20 seconds predicted states observe module in phase With the temperature output under operating mode.It is and true as can be seen that the temperature value output of the 20 seconds state observation modules designed in the present embodiment Value of the real temperature at 20 seconds can be consistent substantially, it was demonstrated that the validity of this programme.

On the basis of above-mentioned state observer, as long as given certain current value, so that it may to obtain the work(of drive module Rate loss value, and then obtain the future temperature predicted value of corresponding discrete time.As shown in figure 5, the calculating of phase current desired value is just It is quickly to search to obtain expectation electric current value using dichotomy.

After software obtains desired prediction maximum current value by cycle calculations, according to following torque and current relationship, The maximum torque of prediction can be finally obtained:

Wherein id,iqFor d axis and q shaft currents;Ld,LqFor d axis and q axle inductances;LmdifIt is permanent magnet fundamental wave magnetic field in stator The magnetic linkage generated in winding.

<Embodiment two>

The present embodiment provides a kind of method that electric machine controller calculates Motor torque predicted value, the electric machine controller calculates The method of Motor torque predicted value includes:The drive module is for driving the motor;The measurement module measures the electricity The Current Temperatures of the operating parameter of machine and the drive module, and working as the operating parameter of the motor and the drive module Preceding temperature is supplied to the computing module;The computing module calculates the prediction of the drive module according to the operating parameter of motor Temperature, the computing module calculate the torque predicted value of the motor according to the predicted temperature of the drive module.

Specifically, in the method that the electric machine controller calculates Motor torque predicted value, the computing module according to The operating parameter of motor calculates the predicted temperature of the drive module, and the computing module is according to the pre- thermometric of the drive module The torque predicted value that degree calculates the motor includes:The phase current computing module is exported to the component temperature prediction module Phase current initial value;The component temperature prediction module according to the operating parameter of the motor, the drive module it is current Temperature and the phase current calculation of initial value go out the predicted temperature of the drive module, and the component temperature prediction module is to institute State the predicted temperature that phase current computing module exports the drive module;The phase current computing module is according to the drive module Predicted temperature to the torque arithmetic module output current phase desired value;The torque arithmetic module is according to the phase current mesh Scale value calculates the torque predicted value of the motor.Electromechanical transducer temperature and motor is also calculated in the state observation module Chiller temperature.

Further, the component temperature prediction module is according to the operating parameter of the motor, the drive module The predicted temperature that Current Temperatures and the phase current calculation of initial value go out the drive module includes:The component loss calculation Module goes out described according to the operating parameter of the motor, the Current Temperatures of the drive module and the phase current calculation of initial value The loss value of drive module, the component module loss calculation module export the damage of the drive module to state observation module Consumption value;The state observation module calculates the predicted temperature of the drive module according to the loss value of the drive module.

Fig. 5 is the method schematic diagram that two electric machine controller of the embodiment of the present invention calculates Motor torque predicted value, such as Fig. 5 institutes Show, the phase current computing module includes to the component temperature prediction module output current phase initial value:The phase Current calculation module is to the component temperature prediction module output current phase max-thresholds and phase current minimum threshold, the phase Electric current initial value takes the average value of phase current max-thresholds and phase current minimum threshold.

Further, the phase current computing module according to the predicted temperature of the drive module to the torque arithmetic mould Block output current phase desired value includes:The phase current computing module is by the temperature of the predicted temperature of drive module and drive module Desired value is compared;If the predicted temperature of drive module is more than the temperature target range of drive module, phase current is maximum Threshold value value again is adjusted to the phase current initial value that this prediction uses and calculates again phase current initial value, institute It states phase current initial value and takes the average value of phase current max-thresholds and phase current minimum threshold, and predicted next time;If driving The predicted temperature of dynamic model block is less than the temperature target range of drive module, then phase current minimum threshold value again, is adjusted to This predicts the phase current initial value used and calculates again phase current initial value that the phase current initial value takes mutually electricity The average value of max-thresholds and phase current minimum threshold is flowed, and is predicted next time;If the predicted temperature of drive module is driving Within the scope of the temperature target of dynamic model block, then the phase current initial value used this prediction is as phase current desired value, to institute State the output of torque arithmetic module.

In addition, the method that the electric machine controller calculates Motor torque predicted value further includes:Computing module is according to different The system prediction time obtains the different discretization periods, to obtain different component temperature prediction modules.According to system institute The predicted time needed carries out sliding-model control to drive module thermal resistance network model, obtains corresponding drive module component temperature Spend prediction module.

Continuous physical model is initially set up based on drive module thermal resistance network, it can be with the guarantee model of top and original There is the consistency of physical system.But in order to realize that physical model is run in electronic controller, need to original continuous model into After row discretization, sytem matrix and input matrix in required observer can be just obtained.As previously mentioned, this programme wants realization Function is to predict (such as 2 seconds) to the peak torque in the following certain time, i.e., the torque makes drive module temperature at end time The temperature limiting of system worked well is right up at point.As long as therefore ensure it is discrete after built observer model when certain Between interval output valve prepare, and without consider time interval in each small output point temperature value it is whether accurate, example When such as predicting the peak torque in 2s, as long as considering on the time point of each 2s, the drive module temperature of observer output is accurate Really, and without considering whether the estimated accuracy of consecutive variations is accurate.In view of above analysis, the present embodiment is to continuous thermal resistance Network model carries out the discretization in particular sample period, to obtain the temperature estimation model of special time period.It is larger in order to prove The correctness and convergence of observer model, can analyze discrete system after sampling period discretization.Such as Fig. 6 (a) and Shown in Fig. 6 (b), by taking the status system after 2 seconds discrete as an example, step response curve and the step response of original continuous system are bent Line coincide substantially, and the response of characterization IGBT, Fig. 6 (b) characterize the response of diode in Fig. 6 (a).Although each 2 second time in figure There are certain errors with continuous system for output in section, but as it was noted above, the pre- measurement of power of torque proposed for this programme For energy, meet design requirement.

The present embodiment is based on State Observer Theory, is carried out not by the thermal resistance network continuous model to drive module module With the discretization of form, to obtain the predicting temperature values of desired drive module, and then it is defeated to complete electric machine controller maximum Go out torque prediction.As previously mentioned, ensureing observer model convergence and on the basis of stability, according to different application demand, Different time intervals can be chosen to complete peak torque prediction.It, can root in view of the flexible applicability of this programme predicted time Corresponding design is carried out according to real system and applicable cases.

The present embodiment models the thermal resistance network of drive module module, obtains continuous model according to hot principle of stacking Sytem matrix and input matrix;Based on discrete system theory, to above-mentioned continuous model choose 2 seconds as the sampling period carry out from Dispersion obtains discrete sytem matrix and input matrix;System after discretization analyzed, by being with continuous system System response compares and analyzes, and verifies the correctness and convergence of discrete system, as shown in Fig. 6 (c), Matlab/Simulink The middle simulation result established simulation model and be used for the verification of predicted temperature result, wherein dotted line is true drive module in certain work Temperature rise curve under condition, solid line are that 2 seconds predicted states observe temperature output of the module under identical operating mode.It can be seen that this reality The temperature value output for applying the 2 seconds state observation modules designed in example can keep one substantially with value of the true temperature at 2 seconds It causes, it was demonstrated that the validity of this programme.Then the lookup of target prediction electric current, the upper limit value of current range are carried out using dichotomy It needs to be determined according to the designed capacity of electric machine controller itself, can be calibrated in design scheme.Finally utilize department of electrical engineering System inherent parameters, such as inductance, prediction torque is converted to by target prediction electric current.

Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment For, due to corresponding to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration .

Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims Range.

Claims (11)

1. a kind of electric machine controller, the electric machine controller is used to calculate the torque predicted value of motor, which is characterized in that the electricity Machine controller includes computing module, drive module and measurement module, wherein:
The drive module is for driving the motor;
The measurement module measures the operating parameter of the motor and the Current Temperatures of the drive module, and by the motor The Current Temperatures of operating parameter and the drive module are supplied to the computing module;
The computing module calculates the drive module according to the operating parameter of motor and the Current Temperatures of the drive module Predicted temperature, the computing module calculate the torque predicted value of the motor according to the predicted temperature of the drive module.
2. electric machine controller as described in claim 1, which is characterized in that the computing module include phase current computing module, Torque arithmetic module and component temperature prediction module, wherein:
The phase current computing module is to the component temperature prediction module output current phase initial value;
The component temperature prediction module is according to the operating parameter of the motor, Current Temperatures of the drive module and described Phase current calculation of initial value goes out the predicted temperature of the drive module, and the component temperature prediction module is to the phase current meter Calculate the predicted temperature that module exports the drive module;
The phase current computing module is according to the predicted temperature of the drive module to the torque arithmetic module output current phase Desired value;
The torque arithmetic module calculates the torque predicted value of the motor according to the phase current desired value.
3. electric machine controller as claimed in claim 2, which is characterized in that the component temperature prediction module includes component Loss calculation module and state observation module, wherein:
The component loss calculation module is according to the operating parameter of the motor, Current Temperatures of the drive module and described Phase current calculation of initial value goes out the loss value of the drive module, and the component module loss calculation module is to state observation mould Block exports the loss value of the drive module;
The state observation module calculates the predicted temperature of the drive module according to the loss value of the drive module.
4. the electric machine controller as described in claims 1 to 3, which is characterized in that the operating parameter of the motor includes motor The power factor of busbar voltage and motor.
5. the electric machine controller as described in claims 1 to 3, which is characterized in that the drive module includes IGBT and diode Equal components.
6. a kind of method that electric machine controller calculates Motor torque predicted value, which is characterized in that the electric machine controller calculates electricity The method of machine torque predicted value includes:
The drive module is for driving the motor;
The measurement module measures the operating parameter of the motor and the Current Temperatures of the drive module, and by the motor The Current Temperatures of operating parameter and the drive module are supplied to the computing module;
The computing module calculates the predicted temperature of the drive module according to the operating parameter of motor, the computing module according to The predicted temperature of the drive module calculates the torque predicted value of the motor.
7. the method that electric machine controller as claimed in claim 6 calculates Motor torque predicted value, which is characterized in that the calculating Module calculates the predicted temperature of the drive module according to the operating parameter of motor, and the computing module is according to the drive module Predicted temperature calculate the torque predicted value of the motor and include:
The phase current computing module is to the component temperature prediction module output current phase initial value;
The component temperature prediction module is according to the operating parameter of the motor, Current Temperatures of the drive module and described Phase current calculation of initial value goes out the predicted temperature of the drive module, and the component temperature prediction module is to the phase current meter Calculate the predicted temperature that module exports the drive module;
The phase current computing module is according to the predicted temperature of the drive module to the torque arithmetic module output current phase Desired value;
The torque arithmetic module calculates the torque predicted value of the motor according to the phase current desired value.
8. the method that electric machine controller as claimed in claim 7 calculates Motor torque predicted value, which is characterized in that the member device Part temperature prediction module is according to the operating parameter of the motor, the Current Temperatures of the drive module and the phase current initial value The predicted temperature for calculating the drive module includes:
The component loss calculation module is according to the operating parameter of the motor, Current Temperatures of the drive module and described Phase current calculation of initial value goes out the loss value of the drive module, and the component module loss calculation module is to state observation mould Block exports the loss value of the drive module;
The state observation module calculates the predicted temperature of the drive module according to the loss value of the drive module.
9. the method that electric machine controller as claimed in claim 8 calculates Motor torque predicted value, which is characterized in that the phase electricity Stream calculation module includes to the component temperature prediction module output current phase initial value:
The phase current computing module is minimum to the component temperature prediction module output current phase max-thresholds and phase current Threshold value, the phase current initial value take the average value of phase current max-thresholds and phase current minimum threshold.
10. the method that electric machine controller as claimed in claim 9 calculates Motor torque predicted value, which is characterized in that the phase Current calculation module includes to the torque arithmetic module output current phase desired value according to the predicted temperature of the drive module:
The phase current computing module compares the temperature target of the predicted temperature of drive module and drive module;
If the predicted temperature of drive module is more than the temperature target range of drive module, phase current max-thresholds take again Value is adjusted to the phase current initial value that this prediction uses and calculates again phase current initial value, at the beginning of the phase current Initial value takes the average value of phase current max-thresholds and phase current minimum threshold, and is predicted next time;
If the predicted temperature of drive module is less than the temperature target range of drive module, phase current minimum threshold takes again Value is adjusted to the phase current initial value that this prediction uses and calculates again phase current initial value, at the beginning of the phase current Initial value takes the average value of phase current max-thresholds and phase current minimum threshold, and is predicted next time;
If the phase current that within the scope of the temperature target of drive module, this prediction is used for the predicted temperature of drive module Initial value is exported as phase current desired value to the torque arithmetic module.
11. the method that electric machine controller as claimed in claim 10 calculates Motor torque predicted value, which is characterized in that the electricity Machine controller calculate Motor torque predicted value method further include:Computing module obtains not according to the different system prediction time The same discretization period, to obtain different component temperature prediction modules.
CN201710101473.4A 2017-02-24 2017-02-24 Electric machine controller and its method for calculating Motor torque predicted value CN108512479A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710101473.4A CN108512479A (en) 2017-02-24 2017-02-24 Electric machine controller and its method for calculating Motor torque predicted value

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710101473.4A CN108512479A (en) 2017-02-24 2017-02-24 Electric machine controller and its method for calculating Motor torque predicted value

Publications (1)

Publication Number Publication Date
CN108512479A true CN108512479A (en) 2018-09-07

Family

ID=63372897

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710101473.4A CN108512479A (en) 2017-02-24 2017-02-24 Electric machine controller and its method for calculating Motor torque predicted value

Country Status (1)

Country Link
CN (1) CN108512479A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1952631A (en) * 2005-09-28 2007-04-25 洛克威尔自动控制技术股份有限公司 Junction temperature prediction method and apparatus for use in a power conversion module
CN101397011A (en) * 2007-09-28 2009-04-01 通用汽车环球科技运作公司 Thermal protection of an electric drive system
JP2009208681A (en) * 2008-03-05 2009-09-17 Nissan Motor Co Ltd Control device for ac motor-driven vehicle, and motor-driven vehicle having control device for ac motor-driven vehicle
CN103782503A (en) * 2011-09-05 2014-05-07 罗伯特·博世有限公司 Electronically commutated electric motor
CN105790663A (en) * 2014-08-25 2016-07-20 现代自动车株式会社 Apparatus and method for compensating for torque for current order of driving motor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1952631A (en) * 2005-09-28 2007-04-25 洛克威尔自动控制技术股份有限公司 Junction temperature prediction method and apparatus for use in a power conversion module
CN101397011A (en) * 2007-09-28 2009-04-01 通用汽车环球科技运作公司 Thermal protection of an electric drive system
JP2009208681A (en) * 2008-03-05 2009-09-17 Nissan Motor Co Ltd Control device for ac motor-driven vehicle, and motor-driven vehicle having control device for ac motor-driven vehicle
CN103782503A (en) * 2011-09-05 2014-05-07 罗伯特·博世有限公司 Electronically commutated electric motor
CN105790663A (en) * 2014-08-25 2016-07-20 现代自动车株式会社 Apparatus and method for compensating for torque for current order of driving motor

Similar Documents

Publication Publication Date Title
Kim Nonlinear state of charge estimator for hybrid electric vehicle battery
Sun et al. Dynamic traffic feedback data enabled energy management in plug-in hybrid electric vehicles
Salmasi Control strategies for hybrid electric vehicles: Evolution, classification, comparison, and future trends
Huria et al. High fidelity electrical model with thermal dependence for characterization and simulation of high power lithium battery cells
Chen et al. Online battery state of health estimation based on genetic algorithm for electric and hybrid vehicle applications
Sun et al. Velocity predictors for predictive energy management in hybrid electric vehicles
Gong et al. Study of PEV charging on residential distribution transformer life
Castaings et al. Comparison of energy management strategies of a battery/supercapacitors system for electric vehicle under real-time constraints
Sun et al. Model-based dynamic multi-parameter method for peak power estimation of lithium–ion batteries
Cuma et al. A comprehensive review on estimation strategies used in hybrid and battery electric vehicles
Chen et al. Energy management for a power-split plug-in hybrid electric vehicle based on dynamic programming and neural networks
Ambühl et al. Explicit optimal control policy and its practical application for hybrid electric powertrains
Lin et al. Online parameterization of lumped thermal dynamics in cylindrical lithium ion batteries for core temperature estimation and health monitoring
Cassani et al. Design, testing, and validation of a simplified control scheme for a novel plug-in hybrid electric vehicle battery cell equalizer
Chen et al. State of charge estimation of lithium-ion batteries in electric drive vehicles using extended Kalman filtering
Hu et al. A technique for dynamic battery model identification in automotive applications using linear parameter varying structures
Li et al. Accurate battery pack modeling for automotive applications
Xu et al. Multi-objective component sizing based on optimal energy management strategy of fuel cell electric vehicles
Li et al. Study of battery modeling using mathematical and circuit oriented approaches
Hu et al. Model-based dynamic power assessment of lithium-ion batteries considering different operating conditions
Gong et al. Trip based power management of plug-in hybrid electric vehicle with two-scale dynamic programming
König et al. Battery emulation for power-HIL using local model networks and robust impedance control
Li et al. State of charge estimation for LiMn2O4 power battery based on strong tracking sigma point Kalman filter
Lee et al. Modelling and simulation of vehicle electric power system
Moura et al. Adaptive PDE observer for battery SOC/SOH estimation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination