CN108583288B - Speed limiting method of pure electric new energy automobile drive controller - Google Patents

Speed limiting method of pure electric new energy automobile drive controller Download PDF

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CN108583288B
CN108583288B CN201810564802.3A CN201810564802A CN108583288B CN 108583288 B CN108583288 B CN 108583288B CN 201810564802 A CN201810564802 A CN 201810564802A CN 108583288 B CN108583288 B CN 108583288B
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motor
speed
rotating speed
drive controller
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CN108583288A (en
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李雷
徐继林
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SHENZHEN LYTRAN TECHNOLOGY CO LTD
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SHENZHEN LYTRAN TECHNOLOGY CO LTD
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/08—Means for preventing excessive speed of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a speed limiting method of a pure electric new energy automobile drive controller, which comprises the following steps of: s1, setting a busVoltage limit UmaxAnd the highest rotating speed V of the motormax(ii) a S2, obtaining the current motor rotating speed V and the bus voltage U through the motor driving controllerdc(ii) a S3, judging the current bus voltage UdcWhether it is greater than the bus voltage limit value UmaxIf it is greater than the bus voltage limit UmaxIf so, the main relay is closed, and the power module of the motor drive controller is closed; s4, judging whether the current rotating speed V is greater than the set highest rotating speed V of the motormaxIf the maximum rotating speed is higher than the set maximum rotating speed V of the motormaxAnd the speed limiting protection regulator limits the speed. The invention has the beneficial effects that: the speed-limiting protection of the pure electric vehicle can be realized only by adding the speed-limiting function through software on the level of the motor drive controller without additionally arranging a device or a system between the motor drive controller and the drive motor.

Description

Speed limiting method of pure electric new energy automobile drive controller
Technical Field
The invention relates to a speed limiting method, in particular to a speed limiting method of a pure electric new energy automobile drive controller.
Background
As an important force of the world with high energy consumption and environmental protection, the science and technology strategy of electric vehicles is actively deployed in China, and pure electric new energy vehicles (hereinafter, referred to as pure electric vehicles) become important components for development and production of automobile manufacturers in China and even countries in the world.
Compared with the traditional fuel oil automobile, the pure electric automobile controls and drives the power motor to run by the motor driving controller according to the driving strategy and the driving safety strategy, so that the running of the automobile is realized under the driving condition; or, in the process of long downhill, if the driver does not take any speed reduction measures, the vehicle is over-speed due to the fact that the rotating speed of the driving motor continuously rises. When the vehicle runs, the voltage of the bus is increased due to the increase of the back electromotive force of the driving motor, which may exceed the voltage threshold of the power module of the driving controller, so that the overvoltage breakdown of the power module is caused, the driving controller is damaged, and the vehicle cannot run, therefore, the vehicle speed limit protection is needed.
In the speed limiting method of the pure electric vehicle in the prior art, an additional relay device is generally additionally arranged between a motor and a controller, the rotating speed of a driving motor is firstly obtained through corresponding software to judge whether the rotating speed exceeds a preset maximum rotating speed value V1, if the current rotating speed of the motor exceeds the maximum rotating speed value V1, the device or the system is used for cutting off the electrical connection between the motor and the motor controller, and when the rotating speed of the motor is less than a set rotating speed V2(V2 is less than V1), the device is used for reconnecting the driving motor and the driving controller, or the output of the motor controller is controlled by using systems except the motor controller, such as a Vehicle Control Unit (VCU), a Battery Management System (BMS) and the like. The methods all utilize additional devices or systems, so that not only is the hardware cost increased, but also the protection operation of some methods is only limited to the electrical on-off operation between the motor and the controller of the motor, when the motor runs at high speed, the phenomenon of heavy current overcurrent and the like can be caused by instant on-off operation, and meanwhile, the driving experience of a driver can be influenced by instant on-off operation between the motor and the controller.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a speed-limiting method of a pure electric new energy vehicle drive controller, and speed-limiting protection of a pure electric vehicle can be realized without additionally arranging a device between the motor drive controller and a drive motor.
The invention provides a speed limiting method of a pure electric new energy automobile drive controller, which comprises the following steps of:
s1, determining a voltage limit value U of a power module of a motor drive controllerlimSetting a bus voltage limit UmaxSetting the maximum rotating speed V of the motormaxSetting the torque output limit T of the systemmaxTorque output limit of the system TmaxThe maximum torque which can be output by the motor under the state of no overspeed;
s2, obtaining the current motor rotating speed V and the bus voltage U through the motor driving controllerdc；
S3, judging the current bus voltage UdcWhether it is greater than the bus voltage limit value UmaxIf it is greater than the bus voltage limit UmaxThen turn offClosing the main relay, closing the power module of the motor drive controller, returning to the step S2, and if the voltage is not greater than the bus voltage limit value UmaxEntering the next step;
s4, judging whether the current rotating speed V is greater than the set highest rotating speed V of the motormaxIf the maximum rotating speed is higher than the set maximum rotating speed V of the motormaxThen the current rotating speed V is output to a speed-limiting protection regulator for feedback, and the highest rotating speed V of the motor is outputmaxOutput torque T of the speed limiting protection regulator used as a givenadjTorque output limit T of and systemmaxAdding, adjusting to form a new torque output limit Tmax *I.e. Tmax *＝Tmax+Tadj，Tadj≤0；
S5, comparing the target torque T corresponding to the current accelerator pedal openingtarWith new torque output limit Tmax *The minimum value of the two is used as the current final output torque T of the motoroutI.e. Tout＝MIN(Ttar，Tmax *)。
As a further improvement of the present invention, in step S1, take Umax＝0.85Ulim～0.9Ulim。
As a further improvement of the invention, in step S1, the maximum motor speed V is setmaxTo make the motor speed reach the maximum motor speed VmaxCounter electromotive force U generated by motoremaxSatisfy Uemax＝0.65Ulim～0.8Ulim。
As a further improvement of the invention, the speed-limiting protection regulator is a proportional-integral regulator which regulates the maximum rotating speed V of the motormaxAs a given, the current rotational speed V is taken as feedback.
As a further improvement of the invention, the output amplitude limit of the speed-limiting protection regulator is set to be Tadjmax＝0，Tadjmin＝-2Tmax。
As a further improvement of the invention, in step S4, it is determined whether the current rotation speed V is greater than the set maximum rotation speed V of the motormaxIf not, the maximum rotating speed V of the motor is setmaxThe output of the speed-limiting protection regulator is always zero, and the torque output limit value T of the current system ismaxAnd does not change, and returns to step S2.
The invention has the beneficial effects that: through the scheme, no device or system is additionally arranged between the motor drive controller and the drive motor, and the speed-limiting protection of the pure electric vehicle can be realized only by adding the speed-limiting function through software on the level of the motor drive controller; in the speed limiting process, the connection between the motor and the controller is not required to be cut off, and the phenomenon of heavy current overcurrent is avoided. Under the condition of no intervention, the vehicle speed can be kept to advance at the preset highest vehicle speed, the driving method is safe and reliable, the process is stable, and the driving experience is not influenced.
Drawings
FIG. 1 is a flow chart of a speed limiting method of a pure electric new energy vehicle drive controller according to the invention.
Fig. 2 is a regulating flow chart of the speed-limiting protection regulator of the pure electric new energy vehicle drive controller according to the invention.
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
The invention provides a speed limiting method of a pure electric new energy automobile drive controllermaxIf it exceeds UmaxThe main relay is switched off to prevent overvoltage breakdown of the power module due to overspeed of the motor in extreme cases.
Then, judging whether the current rotating speed is greater than the preset maximum rotating speed V of the motormaxAnd if so, starting the protection action of the overspeed protection regulator in the software. The overspeed protection governor (regulator for short) is a proportional-integral governor with a specific program, which adjusts the maximum rotating speed V of the motormaxAs a given, the current speed V is used as a feedback, depending on the vehicle mass, the control period of the drive, and the motor usedThe relevant parameters are designed into proper proportion and integral parameters, and proper proportion link parameters P are selected to accelerate the response speed of the regulator, and if the overshoot of the parameters is too large, the system becomes unstable, so that the vehicle can generate pause and frustration in the regulation process, and the driving experience is influenced; the selection of the proper integral parameter I can ensure that the regulator has good steady-state performance in the regulating process, so that the regulating process is linear and stable, and the rapidity of the regulating process is not influenced. The output amplitude limit of the speed-limiting protection regulator is set to be Tadjmax＝0，Tadjmin＝-2Tmax. When the motor does not overspeed, the output of the regulator is always zero, and the current maximum torque T of the systemmaxWhen the motor is overspeed, the proportional-integral link of the regulator acts to output torque Tadj(Tadj0) and the initial maximum torque T of the systemmaxAdding to produce a newly modulated torque output limit Tmax *To limit the maximum output of the current motor torque while outputting the current torque by a limit value Tmax *Target torque T corresponding to the degree of depression of the accelerator pedal of the vehicletarComparing the two values, and taking the minimum value as the final output torque T of the current motoroutTherefore, the rotating speed of the motor can be effectively controlled not to exceed the preset maximum rotating speed V of the motormaxSo as to achieve the purpose of limiting the speed of the vehicle and protect the power module of the motor controller at the same time.
As described above, under a general condition, when the vehicle has reached the maximum speed, the vehicle is still controlled to the maximum speed without overspeed no matter the driver continuously steps on the accelerator pedal or the vehicle is not interfered by the brake or the like while continuously descending the slope, and the power module of the driving controller can be effectively protected.
Due to the addition of the proportional-integral link of the overspeed governor, the speed limiting process is a linear process, the response of the overspeed governor has rapidness and stability, and good driving feeling is brought to a driver.
The invention discloses a speed limiting method of a pure electric new energy automobile drive controllerA control scheme, when the vehicle runs on an extreme road condition, such as a long-distance continuous steep slope, the vehicle may exceed the speed limit, and the driving controller outputs the highest reverse torque-TmaxWhen the bus voltage is not enough to decelerate the vehicle, whether the current bus voltage exceeds the maximum voltage limit value U due to overhigh motor back electromotive force is judgedmaxIf yes, the main relay is cut off, and the motor torque output is stopped.
The invention provides a speed limiting method of a pure electric new energy vehicle drive controller, which is implemented by software on the level of an electric vehicle motor drive controller as a specific embodiment, and the speed limiting control process, as shown in a control block diagram of fig. 1, specifically comprises the following steps:
1. firstly, determining a voltage limit value U of a system motor drive controller power modulelimThereby setting the bus voltage limit U of the system voltagemaxTaking U in generalmax＝0.85Ulim～0.9UlimAnd the system can close the power module by cutting off the main relay under the extreme condition, so that the power module of the motor drive controller is effectively protected from overvoltage breakdown. Then, the maximum rotating speed V of the motor corresponding to the maximum vehicle speed is setmaxTo ensure that the motor reaches the maximum rotating speed V of the motormaxTime-dependent back electromotive force UemaxNo more than UmaxGenerally, take Uemax＝0.65Ulim～0.8Ulim. Finally, the torque output limit value T of the system is setmaxThat is, in the non-overspeed state, the accelerator pedal is fully depressed, and the motor can output the maximum torque.
2. Obtaining the current motor speed V and the bus voltage U through the motor drive controllerdcThe general electric automobile driver can obtain the two items of data through a speed encoder on the motor and sampling of a bus voltage analog quantity.
3. Judging the current bus voltage UdcWhether the voltage is greater than the bus voltage limit value U of the systemmaxIf yes, the relay of the main loop is turned off to cut off the high voltage, namely the battery does not supply power to the system any more, and the system power module is turned off to enable the system power module to be powered offThe two actions ensure that the motor can not output torque.
4. Judging whether the current rotating speed value V is larger than the set maximum rotating speed V of the motormaxIf yes, the speed-limiting protection regulator starts to act, and the specific regulation process is as shown in fig. 2:
the current rotating speed V is output to a speed limiting protection regulator for feedback, and the highest rotating speed V of the motor is outputmaxWhen the current rotating speed V exceeds the highest rotating speed V of the motor by designing proper parameters of the speed-limiting protection regulatormaxThe proportional-integral part of the regulator acts immediately and outputs torque Tadj(Tadj0 or less) and the initial torque output limit T of the systemmaxAdding, adjusting to form a new torque output limit Tmax *I.e. Tmax *＝Tmax+Tadj. By comparing target torque T corresponding to accelerator pedal openingtarWith new torque output limit Tmax *The minimum value of the two is used as the final output torque T of the motoroutTherefore, the torque output of the motor can be effectively limited, and the rotating speed of the motor is controlled not to exceed the preset maximum rotating speed. Output minimum value T of general regulatoradjmin＝-2TmaxThat is, at any time, -2Tmax≤TadjLess than or equal to 0, i.e. new torque output value Tmax *All satisfy: -Tmax≤Tmax *≤Tmax。
Generally, the following situations can occur during the speed limiting process:
(1) the current rotating speed is lower than the set maximum rotating speed V of the motormaxOutput T of overspeed protection governoradjAt 0, the torque output limit of the system is unchanged, i.e. Tmax *＝TmaxThe torque output of the motor is a target torque corresponding to the opening degree of the accelerator pedal, namely Tout＝Ttar。
(2) When the vehicle runs on a flat road or a road with small gradient, the motor still needs to output certain torque to keep the vehicle running with acceleration, when the rotating speed of the motor exceeds the highest rotating speed,the speed-limiting protection regulator outputs the torque Tadj(Tadj0 or less) and the initial torque output limit T of the systemmaxAdding it down to Tmax *By comparing the target torque T corresponding to the current accelerator pedal openingtarTaking the minimum value of the two as the final output torque T of the current motoroutSo as to reduce the torque output of the motor, thus ensuring that the motor can not continuously increase the speed no matter how deep the driver steps on the accelerator pedal under the state, but the rotating speed of the motor is stabilized at the highest rotating speed V of the motormaxNearby, i.e. keeping the vehicle speed stable near the maximum vehicle speed, when the output T of the overspeed protection governoradjIs less than the torque limit T of the systemmaxI.e. | Tadj|≤Tmax，Tmax *≥0，Tout＝MIN(Tmax *，Ttar)。
(3) When the vehicle is in continuous downhill and the slope makes the vehicle not need the motor to output torque, the vehicle can keep continuous acceleration through self inertia, when the rotating speed of the motor exceeds the highest rotating speed, the working principle of the speed-limiting protection regulator is as above, but at this moment, if the motor is stabilized at the highest rotating speed and is not accelerated, the motor is required to output a certain reverse torque, and at this moment, the output torque T of the speed-limiting protection regulatoradjIs greater than the system torque limit TmaxI.e. | Tadj|＞Tmax，Tmax *Is less than 0. Due to TtarIs more than or equal to 0, which means that under the working condition, no matter how the driver steps on the accelerator pedal, the current final output torque of the motor is always Tout＝MIN(Tmax *，Ttar)＝Tmax *。
(4) The last extreme condition is that when the vehicle continues to descend and the slope causes the motor to overspeed, even if the motor outputs a reverse maximum torque, i.e., T, through the speed-limiting regulatoradj＝Tadjmin＝-2TmaxI.e. Tmax *＝-TmaxAt that time, the motor cannot be stabilized at the maximum rotation speed and still kept in the acceleration state, for example, in this caseCounter electromotive force U generated by the rotation speed V of the electric motoreMake the bus voltage UdcThe bus voltage limit value U is reachedmaxBy detecting the bus voltage Udc＝UmaxThe main relay is disconnected to cut off the high voltage and the system power module, and the torque output of the motor is stopped, so that the power module is not broken down by overvoltage, the motor drive controller is not damaged, and the automobile can run normally. At UdcTo reach UmaxBefore, the final output torque of the motor was as described above for the case Tout＝MIN(Tmax *，Ttar)＝Tmax *In U atdcTo reach UmaxAfter, Tout＝0。
The speed-limiting control method of the embodiment can effectively protect the power module of the motor drive controller from being broken down due to overhigh voltage caused by overspeed of the motor, and in the speed-limiting process, the output of the speed-limiting protection regulator is linear output, so that the speed-limiting process is stable, and the vehicle does not have driving pause and frustration, thereby bringing good driving feeling. Meanwhile, the system of the speed limit control method can firstly judge whether the vehicle is in the extreme working condition state, if so, the relay is directly disconnected to cut off high voltage, and the torque output of the motor is also stopped, so that a power module of the motor controller is protected, the safety of the whole system is further ensured, and the vehicle can run more reliably and stably.
In addition, the speed limiting method provided by the invention is not only used for limiting the speed of the electric automobile, but also can be used for low-power speed limiting, backing speed limiting and other functions of the electric automobile by adjusting appropriate parameters of the speed limiting protection regulator, so that the aim of realizing various speed limits of the electric automobile only through the motor drive controller is fulfilled.
According to the speed limiting method of the pure electric new energy automobile drive controller, an additional device or system is not needed, the hardware cost of the system is saved, the connection between the motor and the controller is not directly cut off in the speed limiting process, the speed limiting process is reliable and safe, the speed limiting process is more stable, the driving experience is improved, meanwhile, the power module of the electric automobile drive controller can be protected from being punctured due to overvoltage caused by the fact that the rotating speed of the drive motor is over-speed, the stability of the electric automobile drive controller is effectively improved, and the safe driving of an electric automobile is also ensured.
The above is a specific implementation scheme of the present invention, and the embodiment is directed to a speed limiting method controlled by drive controller software under a general driving condition of the vehicle, and the vehicle will still be kept in a speed limited state near the highest speed no matter the driver continuously steps on an accelerator pedal or the driver does not intervene in a braking manner when the vehicle continuously descends a slope.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (6)

1. A speed limiting method of a pure electric new energy automobile drive controller is characterized by comprising the following steps:
s1, determining a voltage limit value U of a power module of a motor drive controllerlimSetting a bus voltage limit UmaxSetting the maximum rotating speed V of the motormaxSetting the torque output limit T of the systemmaxTorque output limit of the system TmaxThe maximum torque which can be output by the motor under the state of no overspeed;
s2, obtaining the current motor rotating speed V and the bus voltage U through the motor driving controllerdc；
S3, judging the current bus voltage UdcWhether it is greater than the bus voltage limit value UmaxIf it is greater than the bus voltage limit UmaxThen the main relay is closed, the power module of the motor drive controller is closed, and the process returns to step S2, if the current is not greater than the bus voltage limit UmaxEntering the next step;
s4, judging whether the current rotating speed V is greater than the set highest rotating speed V of the motormaxIf the maximum rotating speed is higher than the set maximum rotating speed V of the motormaxThen the current rotating speed V is output to a speed-limiting protection regulator for feedback, and the highest rotating speed V of the motor is outputmaxOutput torque T of the speed limiting protection regulator used as a givenadjTorque output limit T of and systemmaxAdding, adjusting to form a new torque output limit Tmax *I.e. Tmax *＝Tmax+Tadj，Tadj≤0；
S5, comparing the target torque T corresponding to the current accelerator pedal openingtarWith new torque output limit Tmax *The minimum value of the two is used as the current final output torque T of the motoroutI.e. Tout＝MIN(Ttar，Tmax *)。
2. The speed limiting method of the pure electric new energy vehicle drive controller according to claim 1, characterized by comprising the following steps: in step S1, take Umax＝0.85Ulim～0.9Ulim。
3. The speed limiting method of the pure electric new energy vehicle drive controller according to claim 1, characterized by comprising the following steps: in step S1, the maximum motor rotation speed V is setmaxTo make the motor speed reach the maximum motor speed VmaxCounter electromotive force U generated by motoremaxSatisfy Uemax＝0.65Ulim～0.8Ulim。
4. The speed limiting method of the pure electric new energy vehicle drive controller according to claim 1, characterized by comprising the following steps: the speed-limiting protection regulator is a proportional-integral regulator which regulates the highest rotating speed V of the motormaxAs a given, the current rotational speed V is taken as feedback.
5. The speed limiting method of the pure electric new energy vehicle drive controller according to claim 1, characterized by comprising the following steps: setting the output amplitude limit of the speed-limiting protection regulator to be Tadjmax＝0，Tadjmin＝-2Tmax。
6. The speed limiting method of the pure electric new energy vehicle drive controller according to claim 1, characterized by comprising the following steps: in step S4, it is determined whether the current rotation speed V is greater than the set maximum motor rotation speed VmaxIf not, the maximum rotating speed V of the motor is setmaxThe output of the speed-limiting protection regulator is always zero, and the current torque output limit value T ismaxAnd does not change, and returns to step S2.
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