CN108549025B - Safety detection method for mixed torque of permanent magnet synchronous motor for vehicle - Google Patents
Safety detection method for mixed torque of permanent magnet synchronous motor for vehicle Download PDFInfo
- Publication number
- CN108549025B CN108549025B CN201810205871.5A CN201810205871A CN108549025B CN 108549025 B CN108549025 B CN 108549025B CN 201810205871 A CN201810205871 A CN 201810205871A CN 108549025 B CN108549025 B CN 108549025B
- Authority
- CN
- China
- Prior art keywords
- motor
- torque
- output torque
- controller
- motor controller
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Control Of Ac Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a safety detection method for mixed torque of a permanent magnet synchronous motor for a vehicle, which comprises the following steps: the motor controller calculates the actual output torque of the motor according to the detected parameters; the motor controller sends the detected parameters and the actual output torque obtained by calculation to the whole vehicle controller through a CAN (controller area network) network; comparing and checking the motor output torque with the actual motor output torque sent by the motor controller, and if the motor output torque is consistent with the actual motor output torque, normally using the motor controller; if the difference occurs, selecting a reasonable value according to the specific relation of the torque, the rotating speed and the power; and if the difference occurs in a continuous period of time, sending out the torque detection fault information of the motor controller. By adopting the technical scheme, the safety of the torque estimation function is improved; facilitating the discovery of torque estimation faults; the stator current is not distorted; a torque sensor is not used, and the problems of installation and fixation, mechanical reliability and the like do not exist; the estimates are heavily corrected, eliminating the opportunity for error accumulation.
Description
Technical Field
The invention belongs to the technical field of motor drive control. More specifically, the invention relates to a safety detection method for hybrid torque of a permanent magnet synchronous motor for a vehicle.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of a brushless structure of an ac motor and superior speed regulation performance of a dc motor, and is small in size, high in efficiency, and widely applied to electric vehicles.
Permanent magnet synchronous machines typically use vector control. To ensure safe control of the motor, the motor controller requires real-time voltage, current and torque data.
In the prior art, torque sensors are used to acquire torque data, but mounting the torque sensors to the rotating parts of the motor affects the reliability and life of the motor.
Generally, a vehicle control unit needs to acquire an actual output torque from a motor controller, and the motor controller output torque is actually calculated by the motor controller according to parameters such as current and voltage. When the motor works, the vehicle control unit sends a torque instruction to the motor controller according to working condition requirements, the motor controller correspondingly controls the motor according to the torque instruction, estimates the actual output torque of the motor and sends the estimated actual output torque to the vehicle control unit.
In the closed-loop control of the permanent magnet synchronous motor, the detection of electromagnetic torque has important influence on the stable operation of the motor, and if the torque detection is inaccurate, the current waveform of the stator of the motor is distorted, the torque output is abnormal, and even the motor cannot normally operate.
In summary, the drawbacks of the prior art technology for detecting the torque of the permanent magnet synchronous motor are as follows:
1. the use of a torque sensor can have an impact on the performance of the motor;
2. the error of torque detection is large;
3. the torque detection precision of the motor under the full working condition cannot be ensured;
4. the redundancy capability is poor and the requirement for safety cannot be met.
Disclosure of Invention
The invention provides a safety detection method for mixed torque of a permanent magnet synchronous motor for a vehicle, and aims to improve the reliability and accuracy of torque detection.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to a safety detection method for mixed torque of a permanent magnet synchronous motor for a vehicle, wherein the vehicle applied by the safety detection method comprises a motor controller, a CAN network and a vehicle control unit; the vehicle control unit comprises a main CPU and an auxiliary CPU;
the method comprises the following steps:
step 3, the motor controller sends the parameters detected in the step 1 and the actual output torque obtained by calculation in the step 2 to the vehicle control unit through a CAN (controller area network) through a CAN line;
step 4, the communication control unit of the vehicle control unit receives data sent by the motor controller, transmits the actual output torque of the motor to the main CPU, and transmits the motor parameters detected in the step 1 to the auxiliary CPU;
step 5, assisting the CPU to use the received motor parameters including current id and current iq, and obtaining the output torque of the motor through conversion;
step 6, comparing and checking the motor output torque obtained in the step 5 with the actual motor output torque sent by the motor controller, and if the motor output torque is consistent with the actual motor output torque, normally using the motor; if the difference occurs, selecting a reasonable value according to the specific relation of the torque, the rotating speed and the power;
and 7, if the difference occurs in a continuous period of time, sending out torque detection fault information of the motor controller.
In the step 1, the motor controller detects the related parameters of the voltage U, the current id, the current iq and the temperature parameter f (T) of the motor; in the step 2, the actual output torque Te of the motor can be calculated according to the detected parameters, and the calculation formula is as follows:
wherein:
pnnumber of pole pairs
λm-temperature-dependent parameters
ld-d-axis inductance
lq-q-axis inductance
id-d-axis current
iq-q-axis current
And the motor controller sends the detected parameters and the calculated torque Te to the whole vehicle controller through a CAN bus.
In step 4, the vehicle controller communication control unit receives the data sent by the motor controller, transmits the actual output torque of the motor to the main CPU, and transmits the parameters detected by the motor controller: the voltage, the current id, the current iq and the temperature parameter are transmitted to the auxiliary CPU, and the auxiliary CPU obtains the output torque te1 of the motor through the calculation formula;
in the step 5, the actual output torque Te of the motor is obtained through the motor controller, and the torque Te1 is also calculated through the vehicle control unit; and comparing the two and making judgment to select accurate motor output torque.
In the step 6, if Te is consistent with Te1, the method is normally used; if the difference exceeds 20%, a reasonable value is obtained according to the specific relation among the torque, the rotating speed and the power and the calculation formula.
If a difference of more than 20% occurs for 100ms in succession, a motor controller torque detection fault message is issued.
By adopting the technical scheme, the safety of the torque estimation function is improved; facilitating the discovery of torque estimation faults; the stator current is not distorted; a torque sensor is not used, and the problems of installation and fixation, mechanical reliability and the like do not exist; the estimates are heavily corrected, eliminating the opportunity for error accumulation.
Drawings
FIG. 1 is a schematic diagram of a safety detection method for a permanent magnet synchronous motor for a vehicle according to the present invention;
FIG. 2 is a diagram illustrating torque measurements of the hybrid vehicle control unit of the present invention;
FIG. 3 is a MAP of motor torque MAP;
FIG. 4 is a schematic diagram of a table lookup method;
FIG. 5 is a MAP of motor efficiency MAP;
FIG. 6 is a schematic diagram of a verification process;
fig. 7 is a schematic diagram of a two-level three-phase power inverter.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
Fig. 7 shows a schematic diagram of a two-level three-phase power inverter according to the present invention. The safety detection method for the mixed torque of the permanent magnet synchronous motor for the vehicle improves the accuracy of torque detection and the reliability of torque estimation. The vehicle applied by the safety detection method comprises a motor controller, a CAN network and a vehicle control unit; the vehicle control unit comprises a main CPU and an auxiliary CPU. The vehicle control unit receives parameters such as current and the like sent by the motor controller, estimates a motor output torque and is used for correcting the motor actual output torque sent by the motor controller.
The invention is applied to a 65kW pure electric vehicle motor. The technical problem to be solved is as follows:
1. and obtaining the actual output torque of the motor through a motor controller.
2. And calculating the output currents id and iq of the motor controller by the vehicle control unit to obtain the torque.
3. And verifying the obtained torque, and obtaining accurate torque output.
In order to overcome the defects of the prior art and achieve the invention purpose of improving the reliability and the accuracy of torque detection, the invention adopts the technical scheme that:
the process of the safety detection method for the mixed torque of the permanent magnet synchronous motor for the vehicle is as follows:
step 3, the motor controller sends the parameters detected in the step 1 and the actual output torque obtained by calculation in the step 2 to the vehicle control unit through a CAN (controller area network) through a CAN line;
step 4, the communication control unit of the vehicle control unit receives data sent by the motor controller, transmits the actual output torque of the motor to the main CPU, and transmits the motor parameters detected in the step 1 to the auxiliary CPU;
step 5, assisting the CPU to use the received motor parameters including current id and current iq, and obtaining the output torque of the motor through conversion;
step 6, comparing and checking the motor output torque obtained in the step 5 with the actual motor output torque sent by the motor controller, and if the motor output torque is consistent with the actual motor output torque, normally using the motor; if the difference occurs, selecting a reasonable value according to the specific relation of the torque, the rotating speed and the power;
and 7, if the difference occurs in a continuous period of time, sending out torque detection fault information of the motor controller.
In the step 1, the motor controller detects the related parameters of the voltage U, the current id, the current iq and the temperature parameter f (T) of the motor; in the step 2, the actual output torque Te of the motor can be calculated according to the detected parameters, and the calculation formula is as follows:
namely equation (1) in the drawings, wherein:
pnnumber of pole pairs
λm-temperature-dependent parameters
ld-d-axis inductance
lq-q-axis inductance
id-d-axis current
iq-q-axis current
The motor controller sends the detected parameters and the calculated torque Te to the vehicle controller through the CAN bus, as shown in fig. 2.
In step 4, the vehicle controller communication control unit receives the data sent by the motor controller, transmits the actual output torque of the motor to the main CPU, and transmits the parameters detected by the motor controller: the voltage, the current id, the current iq and the temperature parameter are transmitted to the auxiliary CPU, and the auxiliary CPU obtains the output torque te1 of the motor through the calculation formula;
in the step 5, the actual output torque Te of the motor is obtained through the motor controller, and the torque Te1 is also calculated through the vehicle control unit; comparing the two and making a judgment, and selecting accurate motor output torque; the manner of determination is shown in fig. 5.
In the step 6, if Te is consistent with Te1, the method is normally used; if the difference exceeds 20%, a reasonable value is obtained according to the specific relation among the torque, the rotating speed and the power and the calculation formula.
If a difference of more than 20% occurs for 100ms in succession, a motor controller torque detection fault message is issued.
The overall vehicle torque estimation method is analyzed below.
1. As shown in fig. 2, the vehicle control unit communication control unit receives data sent by the motor controller, transmits the actual output torque of the motor to the main CPU, and transmits the parameters (voltage, current (id, iq), temperature parameters and the like) detected by the motor controller to the auxiliary CPU, so that the auxiliary CPU CAN obtain the output torque Te1 of the motor through (1).
The actual output torque Te of the motor is obtained through the motor controller, the torque Te1 is also obtained through calculation of the vehicle control unit, the actual output torque Te and the torque Te1 can be compared and judged, and the accurate output torque of the motor is selected;
the manner of determination is shown in fig. 5.
If Te is consistent with Te1, the material is normally used; if the difference exceeds 20%, selecting a reasonable value according to a specific relation, such as the relation of torque, rotating speed and power, as shown in a formula (1); and if the difference occurs for 100ms continuously, the motor controller torque detection fault information is sent.
2. Observation of vehicle control unit torque (observation):
the basic idea of the whole vehicle control strategy is to determine the output torque of the motor by collecting driving information and obtaining vehicle running state information and analyzing the maximum torque which can be output by the motor at the rotating speed, and factors influencing the output torque of the motor comprise the opening degree of an accelerator pedal, the change rate of the opening degree of the accelerator pedal and other factors.
The relationship diagram of the output torque, the motor rotation speed and the accelerator pedal opening as shown in fig. 3 is obtained by actually measuring (for example, actually measuring the pedal opening corresponding to the torque when the desired torque is known).
The output torque command te2 of the motor can be obtained by table lookup according to the feedback rotation speed N of the motor during the driving state and the driving intention of the driver (i.e., the accelerator opening).
As shown in FIG. 4, given a pedal opening command and a speed command, the corresponding torque te2 is obtained by looking up a TABLE, which is the data TABLE of FIG. 3, and can be found by linear interpolation through the LOOKUP-TABLE module in MATLAB.
3. Motor efficiency MAP (auto cruise process):
as shown in fig. 5, the rotation speed of the motor can be measured, an efficiency MAP of the motor can be obtained through actual measurement, and when the rotation speed is known, a point with the highest efficiency and the lowest torque in a rotation speed corresponding range is selected for control, and the point is used as the output torque te3 of the motor.
4. And (3) a verification process:
the detection form of the vehicle controller for the torque may be different according to different driving conditions of the vehicle, as shown in fig. 6. And selecting the torque Te obtained by different driving modes to be compared with the output torque Te of the motor.
If Te is consistent with Te1, the material is normally used; if the difference exceeds 20%, selecting a reasonable value according to a specific relation, such as the relation of torque, rotating speed and power, as shown in a formula (1); and if the difference occurs for 100ms continuously, the motor controller torque detection fault information is sent.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (1)
1. A vehicle permanent magnet synchronous motor mixed torque safety detection method is disclosed, wherein a vehicle applied by the safety detection method comprises a motor controller, a CAN network and a vehicle control unit; the vehicle control unit comprises a main CPU and an auxiliary CPU;
the method is characterized by comprising the following steps:
step 1, detecting parameters of voltage, current and temperature of a motor by a motor controller: detecting related parameters of voltage U, current id, current iq and temperature parameter f (T) of the motor through a motor controller;
step 2, the motor controller calculates the actual output torque Te of the motor according to the detected parameters, and the calculation formula is as follows:
wherein:
Pn-the number of pole pairs;
λm-a parameter related to temperature;
ld-a d-axis inductance;
lq-a q-axis inductance;
id-a d-axis current;
iq-a q-axis current;
step 3, the motor controller sends the parameters detected in the step 1 and the actual output torque Te obtained by calculation in the step 2 to the whole vehicle controller through a CAN (controller area network) line;
step 4, the communication control unit of the whole vehicle controller receives data sent by the motor controller and transmits the actual output torque Te of the motor to a main CPU; and (3) the motor parameters detected by the motor controller in the step 1 are as follows: the voltage U, the current id, the current iq and the temperature parameter f (T) are transmitted to an auxiliary CPU;
step 5, the auxiliary CPU uses the received parameters to obtain the output torque te of the motor through conversion; comparing and checking the actual output torque Te of the motor with the output torque Te of the motor, and if Te is consistent with Te, normally using the motor; if the difference exceeds 20%, obtaining a reasonable value according to the specific relation among the torque, the rotating speed and the power and the calculation formula in the step 2;
and 6, if the difference of more than 20% occurs in continuous 100ms, sending out the torque detection fault information of the motor controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810205871.5A CN108549025B (en) | 2018-03-13 | 2018-03-13 | Safety detection method for mixed torque of permanent magnet synchronous motor for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810205871.5A CN108549025B (en) | 2018-03-13 | 2018-03-13 | Safety detection method for mixed torque of permanent magnet synchronous motor for vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108549025A CN108549025A (en) | 2018-09-18 |
| CN108549025B true CN108549025B (en) | 2022-03-15 |
Family
ID=63516237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810205871.5A Active CN108549025B (en) | 2018-03-13 | 2018-03-13 | Safety detection method for mixed torque of permanent magnet synchronous motor for vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108549025B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883589B (en) * | 2019-03-15 | 2020-10-27 | 中国汽车技术研究中心有限公司 | New energy automobile driving shaft torque testing device and method |
| CN110658453B (en) * | 2019-09-03 | 2022-01-11 | 苏州伟创电气科技股份有限公司 | Asynchronous motor work abnormity detection method and device |
| CN113567857B (en) * | 2021-07-19 | 2024-02-09 | 首钢京唐钢铁联合有限责任公司 | Motor encoder fault detection method and device |
| CN116633237B (en) * | 2023-04-12 | 2023-10-03 | 江苏威进智控科技有限公司 | Alternating current machine shaft current inhibition method based on working condition following |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100064604A (en) * | 2008-12-05 | 2010-06-15 | 현대자동차주식회사 | Method for monitoring torque in hybrid electric vehicle |
| CN101934743A (en) * | 2010-09-30 | 2011-01-05 | 重庆长安汽车股份有限公司 | Pure electric vehicle torque safety on-line monitoring method |
| CN102514493A (en) * | 2011-12-16 | 2012-06-27 | 奇瑞汽车股份有限公司 | Safe torque monitoring method for electric vehicle |
| CN102774374A (en) * | 2011-05-12 | 2012-11-14 | 上海汽车集团股份有限公司 | Torque monitoring system for hybrid electric vehicle |
| CN104228589A (en) * | 2014-09-05 | 2014-12-24 | 北京新能源汽车股份有限公司 | High-grade safety device based on double CPUs (Central Processing Unit) of pure electric vehicle |
| CN104608763A (en) * | 2013-11-01 | 2015-05-13 | 北汽福田汽车股份有限公司 | Car torque safety monitoring method and system |
-
2018
- 2018-03-13 CN CN201810205871.5A patent/CN108549025B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100064604A (en) * | 2008-12-05 | 2010-06-15 | 현대자동차주식회사 | Method for monitoring torque in hybrid electric vehicle |
| CN101934743A (en) * | 2010-09-30 | 2011-01-05 | 重庆长安汽车股份有限公司 | Pure electric vehicle torque safety on-line monitoring method |
| CN102774374A (en) * | 2011-05-12 | 2012-11-14 | 上海汽车集团股份有限公司 | Torque monitoring system for hybrid electric vehicle |
| CN102514493A (en) * | 2011-12-16 | 2012-06-27 | 奇瑞汽车股份有限公司 | Safe torque monitoring method for electric vehicle |
| CN104608763A (en) * | 2013-11-01 | 2015-05-13 | 北汽福田汽车股份有限公司 | Car torque safety monitoring method and system |
| CN104228589A (en) * | 2014-09-05 | 2014-12-24 | 北京新能源汽车股份有限公司 | High-grade safety device based on double CPUs (Central Processing Unit) of pure electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108549025A (en) | 2018-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108549025B (en) | Safety detection method for mixed torque of permanent magnet synchronous motor for vehicle | |
| US8207694B2 (en) | Motor controller | |
| EP1128543B1 (en) | Synchronous motor-control apparatus and vehicle using the control apparatus | |
| US8791716B2 (en) | Anomaly detector of permanent magnet synchronous electric motor | |
| US6844697B2 (en) | Motor controller | |
| US9065376B2 (en) | Method for checking the plausibility of the torque of an electric machine and machine controller for controlling an electric machine and for carrying out the method | |
| KR101622011B1 (en) | Method and apparatus for controlling of 3-phase ac motor | |
| EP3696965B1 (en) | Motor drive device and motor drive device control method | |
| US20050029972A1 (en) | Control apparatus for brushless DC motor | |
| US20090066281A1 (en) | Method and apparatus for electric motor torque monitoring | |
| CN107046386B (en) | Novel method for weak magnetic calibration of permanent magnet synchronous motor controller of pure electric vehicle | |
| US9050895B2 (en) | Control apparatus of rotating electrical machine | |
| EP1958325A1 (en) | Control apparatus and method for motor drive system | |
| JP2009261182A (en) | Magnet temperature estimating device for rotating electric machine and electric vehicle equipped with the same, and method of estimating magnet temperature for the rotating electric machine | |
| JPH1118496A (en) | Controller and control method for electric vehicle | |
| CN103238273B (en) | For the method and apparatus making the motor of automotive transmission run | |
| CN107819418B (en) | Method and device for detecting rationality of initial rotating angle | |
| CN108614150B (en) | Method for estimating power consumption of motor in fuel cell system | |
| JP5605312B2 (en) | Rotating machine control device | |
| JP2002320397A (en) | Motor rotor position estimating apparatus, position estimating method and program thereof | |
| CN112415379A (en) | Method for diagnosing motor fault | |
| JP5886117B2 (en) | AC motor control device | |
| US11699971B2 (en) | Electric vehicle and diagnosis method for electric vehicle | |
| JP3578096B2 (en) | Motor control device | |
| JP3742582B2 (en) | Electric vehicle control device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |