CN108621862A - Electric driving control system, electric vehicle and electric drive control method - Google Patents
Electric driving control system, electric vehicle and electric drive control method Download PDFInfo
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- CN108621862A CN108621862A CN201710154714.1A CN201710154714A CN108621862A CN 108621862 A CN108621862 A CN 108621862A CN 201710154714 A CN201710154714 A CN 201710154714A CN 108621862 A CN108621862 A CN 108621862A
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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
- 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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/50—Structural details of electrical machines
- B60L2220/58—Structural details of electrical machines with more than three phases
-
- 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
-
- 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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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
An embodiment of the present invention provides a kind of electric driving control system, electric vehicle and electric drive control method, which includes：It is master controller, N number of from controller, position detector and polyphase machine, the position detector is used to obtain the location information of the polyphase machine, convert location information to pulse signal, and pulse signal is sent to N number of from controller, VCU command torques are converted to N number of current-order for obtaining entire car controller VCU instruction by master controller, and N number of current-order are distributed to N number of from controller, wherein, one corresponds to a current-order from controller；N number of position for getting polyphase machine according to pulse signal from each of controller from controller, and polyphase machine is controlled according to each controller corresponding current-order.Multiple real-time controls that can be realized from controller to polyphase machine, meet high real-time demand for control in the embodiment of the present invention.
Description
Technical field
This application involves electric drive fields, and more particularly, to a kind of electric driving control system, electric vehicle and electricity
Drive control method.
Background technology
Electric vehicle has many advantages, such as efficient, energy saving, low noise, zero-emission, is the development trend of Future New Energy Source automobile.
In order to improve the power performance of electric vehicle, need to design the big driver of peak power in electric vehicle, in order to improve driving
The power of device, usually the electric drive control device in existing mode (are referred to as inverter module, such as should using multimode
Inverter module is a three-phase inverter) in parallel mode, but the resource of controller is limited, the mould in electric drive control device
Block number of parallel is restricted, and a usual controller is only capable of control two modules in parallel.
However, it is in parallel to need more modules to carry out in order to obtain preferably driving effect, in electric drive control device.By
Two modules in parallel are only capable of in a controller, therefore for multiple modules in parallel, multiple controller collaborations are needed to be controlled,
However, if using multiple controller Collaborative Controls, needs to communicate with one another with information such as transmission locations between each controller, lead
Cause the communication delay between each controller higher, it is difficult to meet high real-time demand for control.
Therefore, the high real-time demand for control for how meeting multiple modules in parallel, becomes urgent problem to be solved.
Invention content
A kind of electric driving control system of the application offer, electric vehicle and electric drive control method, electric drive control system
System disclosure satisfy that high real-time demand for control.
In a first aspect, providing a kind of electric driving control system, which includes：
It is master controller, N number of from controller, position detector and polyphase machine, N >=2；
The position detector is used to obtain the location information of the polyphase machine, converts the location information to pulse signal,
And the pulse signal is sent to this is N number of from controller,
The master controller refers to the VCU for obtaining entire car controller (Vehicle control unit, VCU) instruction
Torque is enabled to be converted to N number of current-order, and it is N number of from controller that N number of current-order is distributed to this, wherein one from control
Device corresponds to a current-order；
N number of position for getting the polyphase machine according to the pulse signal from each of controller from controller, and
The polyphase machine is controlled according to each controller corresponding current-order.
Therefore, in embodiments of the present invention, can be arranged in the electric driving control system it is multiple from controller, it is each from control
Device processed can read motor position information from position detector simultaneously, and can obtain respective electric current from master controller simultaneously
Instruction, and then multiple can be realized from controller while to the real-time control of polyphase machine, meet high real-time demand for control.
It should be understood that in the embodiment of the present invention, the location information of motor may include the rotation angle of motor, rotation position etc.
Information, the embodiment of the present invention are not limited to this.
It should be understood that the pulse signal that location information is converted to by position detector in the embodiment of the present invention can be orthogonal arteries and veins
Rush signal, such as ABZ signals.In the ABZ signals A B be orthogonal pulses signal, Z is road sign pulse signal, it should be appreciated that ABZ believe
Number definition be referred to the regulation in existing standard, the embodiment of the present invention is not limited to this.
It should be understood that the controller in the embodiment of the present invention can be processor, such as it can be central processing unit
(Central Processing Unit, CPU), which can also be other general processors, digital signal processor
(DSP), application-specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) or other programmable logic device, discrete gate
Or transistor logic, discrete hardware components etc..General processor can be that microprocessor or the processor can also
It is that the embodiment of the present invention such as any conventional processor are not limited to this.
Optionally, as a kind of realization method, which further includes rotary transformer, wherein is being obtained
In terms of the location information of the polyphase machine, which is specifically used for sending pumping signal, and root to the rotary transformer
The feedback signal sent according to the rotary transformer obtains the location information of the polyphase machine.
It should be understood that the rotary transformer for example can be encoder, which can be according to pumping signal to multiphase electricity
Machine is detected, and generates the feedback signal of rotation angle and rotary position information comprising motor.
It should be understood that in practical applications, which is generally arranged inside polyphase machine, but the embodiment of the present invention
It is not limited to this, which can also be arranged in the outside of polyphase machine.
Optionally, as a kind of realization method, in terms of the VCU command torques are converted to N number of current-order, the master control
Implement body processed is used to that the VCU command torques to be converted to N number of current-order according at least one of following information：
The temperature and busbar voltage of the temperature of the polyphase machine, the rotating speed of the polyphase machine, inverter.
Specifically, master controller receives VCU instructions, according to the temperature of the polyphase machine, the rotating speed, inverse of the polyphase machine
The temperature or busbar voltage for becoming device carry out torque distribution, which is converted to N number of current-order, and are sent to each
It is a from controller.
It is therefore, each in the real-time example of the present invention to read motor position information from position detector simultaneously from controller,
And respective current-order can be obtained from master controller simultaneously, so it is multiple can be realized from controller it is electric to multiphase simultaneously
The real-time control of machine meets high real-time demand for control.
It should be understood that VCU instructions may include torque instruction in the embodiment of the present invention, for example, the torque instruction can be
The torque of the desired throttle of driver or brake pedal, can also be the level of torque etc. of desired motor, which refers to
It can also includes other kinds of instruction to enable, and the embodiment of the present invention is not limited to this.
The current-order includes quadrature axis current value and direct-axis current value of the polyphase machine etc., and the embodiment of the present invention is simultaneously
It is without being limited thereto.
Optionally, as a kind of realization method, the master controller and this is N number of from passing through controller local between control device
Net (Controller Area Network, CAN) bus is connected,
Wherein, this is N number of in terms of controller N number of current-order to be distributed to, which is specifically used for passing through
It is N number of from controller to be distributed to this by the CAN bus for N number of current-order.
It should be understood that master controller in the embodiment of the present invention and a variety of bus communication modes can be used logical between controller
Letter, however it is not limited to CAN bus, for example, it is also possible to using sensor/actuator bus (Interbus), Process FieldbusROFIBUS
(Profibus) etc., the embodiment of the present invention is not limited to this.
Optionally, as a kind of realization method, the position detector and this is N number of from passing through position signal between control device
Line is connected,
Wherein, the pulse signal is sent to N number of in terms of controller, the position detector by position signal line
It is N number of from controller that this is sent to specifically for passing through position signal line by the pulse signal.
Therefore, each on the one hand simultaneously to be obtained in place by position signal line from controller in the embodiment of the present invention
The motor position of detection module acquisition is set, it is on the other hand, each to obtain electricity from master controller by CAN bus from controller
Stream instruction.It is each in this way polyphase machine to be controlled in real time according to motor position and the current-order of acquisition from controller
System.Therefore, multiple in the embodiment of the present invention can realize from controller while to the real-time control of polyphase machine, meet high real
When property demand for control.
Optionally, as a kind of realization method, in the position for getting the polyphase machine according to the pulse signal, and according to
The current-order that the master controller is sent carries out control aspect to the polyphase machine, this is each specifically used for from controller：
The polyphase machine is controlled by three-phase inverter according to corresponding current-order and the polyphase machine position.
Therefore, the real-time example of the present invention controls a three-phase inverter by multiple from each of controller from controller,
The parallel connection for realizing multiple three-phase inverters, due to it is each between controller without communicating, namely in parallel multiple three
Therefore, in the embodiment of the present invention phase inverter avoids each time delay for communicating with one another and bringing from controller without communicating
Problem disclosure satisfy that high real-time demand for control so that power drive system realizes better driveability.
Optionally, as a kind of realization method, three-phase is being passed through according to corresponding current-order and the polyphase machine position
Inverter carries out control aspect to the polyphase machine, this is each specifically used for from controller：
(Pulse Width are modulated according to corresponding current-order and the polyphase machine position output pulse width
Modulation, PWM) Pulse Width Control three-phase inverter output voltage controls the polyphase machine.
It should be understood that from controller by the detailed process of three-phase converter motor may be used existing mode into
Row, the embodiment of the present invention limit not to this.
Therefore, in embodiments of the present invention, can be arranged in the electric driving control system it is multiple from controller, it is each from control
Device processed can read motor position information from position detector simultaneously, and can obtain respective electric current from master controller simultaneously
Instruction, and then multiple can be realized from controller while to the real-time control of polyphase machine, meet high real-time demand for control.
Second aspect provides a kind of electric vehicle, includes any realization method such as first aspect or first aspect
In drive system.
The third aspect provides a kind of electric drive control method, which is characterized in that it is applied in electric driving control system,
The power drive system includes：Master controller, N number of from controller, position detector and polyphase machine, this method includes：
The position detector obtains the location information of the polyphase machine, converts the location information to pulse signal, and will
The pulse signal is sent to that this is N number of from controller,
The master controller obtains entire car controller VCU instructions, which is converted to N number of current-order, and will
It is N number of from controller that N number of current-order is distributed to this, wherein one corresponds to a current-order from controller；
N number of position for getting the polyphase machine according to the pulse signal from each of controller from controller, and
The polyphase machine is controlled according to each controller corresponding current-order.
Therefore, the real-time example of the present invention controls a three-phase inverter by multiple from each of controller from controller,
The parallel connection for realizing multiple three-phase inverters, due to it is each between controller without communicating, namely in parallel multiple three
Therefore, in the embodiment of the present invention phase inverter avoids each time delay for communicating with one another and bringing from controller without communicating
Problem disclosure satisfy that high real-time demand for control so that power drive system realizes better driveability.
It should be understood that the third aspect is corresponding with first aspect, the method for the third aspect can be driven by the electricity in first aspect
Autocontrol system realizes that the method in the third aspect corresponds to the function of modules in electric driving control system in first aspect,
It is appropriate herein to omit detailed description in order to avoid repeating.
Optionally, as a kind of realization method, which further includes rotary transformer,
Wherein, which obtains the location information of the polyphase machine, including：
The position detector sends pumping signal, and the feedback letter sent according to the rotary transformer to the rotary transformer
Number obtain the location information of the polyphase machine.
Optionally, as a kind of realization method, which obtains entire car controller VCU instructions, and VCU instructions are turned
Square is converted to N number of current-order, including：
The VCU command torques are converted to N number of current-order by the master controller according at least one of following information：
The temperature and busbar voltage of the temperature of the polyphase machine, the rotating speed of the polyphase machine, inverter.
Optionally, as a kind of realization method, the master controller and this is N number of from passing through controller local between control device
Net CAN bus is connected,
N number of current-order is distributed to that this is N number of from controller by this, including：
It is N number of from controller that the master controller by the CAN bus, by N number of current-order is distributed to this.
Optionally, as a kind of realization method, the position detector and this is N number of from passing through position signal between control device
Line is connected,
The pulse signal is sent to that this is N number of from controller by this by position signal line, including：
It is N number of from controller that the pulse signal by position signal line is sent to this by the position detector.
Optionally, as a kind of realization method, this is N number of to obtain from each of controller from controller according to the pulse signal
It gets the position of the polyphase machine, and the polyphase machine is controlled according to each controller corresponding current-order, wrap
It includes：
This is each more to this by three-phase inverter according to corresponding current-order and the polyphase machine position from controller
Phase motor is controlled.
Optionally, as a kind of realization method, this is each from controller according to corresponding current-order and the polyphase machine
Position controls the polyphase machine by three-phase inverter, including：
This is each from controller according to corresponding current-order and the polyphase machine position output pulse width modulation (PWM) arteries and veins
Punching control three-phase inverter output voltage controls the polyphase machine.
Optionally, as a kind of realization method, VCU instructions include torque instruction, which includes multiphase electricity
The quadrature axis current value and direct-axis current value of machine.
In the embodiment of the present invention, be arranged in electric driving control system it is each can be simultaneously from position detector from controller
Motor position information is read, and respective current-order can be obtained from master controller simultaneously, and then can be realized while right
The control of polyphase machine meets high real-time demand for control.
Description of the drawings
Fig. 1 is a kind of existing motor driving electric driving control system schematic diagram.
Fig. 2 is electric driving control system schematic diagram according to an embodiment of the invention.
Fig. 3 is electric driving control system schematic diagram according to another embodiment of the present invention.
Fig. 4 is electric vehicle schematic diagram according to another embodiment of the present invention.
Fig. 5 is electric drive control method flow chart according to an embodiment of the invention.
Specific implementation mode
Below in conjunction with attached drawing, the technical solution in the application is described.
Fig. 1 is a kind of existing motor driving electric driving control system schematic diagram.In motor driven systems as shown in Figure 1
Motor is controlled by the way of two parallel connection of three-phase inverter.Specifically, the motor driven systems include control unit,
Two three-phase inverters and motor.When carrying out electric drive control, control unit carries out position detection and current sample, tool first
Body, control unit acquires motor position signal and carries out position detection, respectively from first three-phase inverter and second three-phase
Inverter obtains current sample 1 and current sample 2, and it includes three road electric currents that wherein current sample 1 and current sample 2 are each, that is, is controlled
Unit processed acquires 6 road electric currents altogether, and the control unit is according to the signal of acquisition later, that is, the motor position acquired and 6 road electric currents, into
Row closed-loop control sends out two groups of PWM drive signals (PWM drives 1 and PWM drivings 2), two three-phase inversions of totally 12 road pwm signal pair
Device is controlled, wherein 6 road pwm signals are used for first three-phase inverter, in addition 6 road pwm signals are used for second three contrary
Become device, is controlled specifically for switch tube S1-S6 and diode D1-D6, pass through two three-phase inverter output frequencies, width
The variable voltage of value carrys out driving motor operating.
Power drive system according to figure 1, it can be deduced that the resource of controller is limited in the power drive system, electric drive
Two three-phase inversion modules in parallel are only capable of in control device.However, in order to obtain preferably driving effect, electric drive control device
It is middle that more modules (three-phase inverter) is needed to carry out parallel connection.Since a controller is only capable of two modules in parallel, in order to
Multiple modules in parallel need multiple controller collaborations to be controlled, however, if using multiple controller Collaborative Controls, respectively
It needs to communicate with one another with information such as transmission locations between controller, causes the communication delay between each controller higher, it is difficult to
Meet high real-time demand for control.
In view of the above problems, the embodiment of the present invention proposes a kind of electric driving control system, in the electric driving control system
Can be arranged it is multiple from controller, it is each to read motor position information from position detector simultaneously from controller, and can
To obtain respective control current-order from master controller simultaneously, and then multiple can be realized from controller while to polyphase machine
Real-time control meets high real-time demand for control.
Also, it is multiple from controller due to that can be arranged in the embodiment of the present invention and then multiple from each of controller
A module (for example, three-phase inverter) is controlled from controller, realizes the parallel connection of multiple modules, therefore, the embodiment of the present invention
Polyphase machine can be controlled by multiple modules in parallel, therefore the driveability of polyphase machine can be improved.
It is non-limiting as example hereinafter, for the ease of understanding and illustrating, by the electric driving control system of the application into
Row is described in detail.
Fig. 2 is electric driving control system according to an embodiment of the invention, as shown in Fig. 2, the electric driving control system
200 include：
It is master controller 210, N number of from controller 220, position detector 230 and polyphase machine 250, N >=2；
Specifically, which is used to obtain the location information of the polyphase machine, and the pulse signal is sent
It is N number of from controller 220 to this,
The VCU command torques are converted to N number of electric current and referred to by the master controller 210 for obtaining entire car controller VCU instructions
It enables, and it is N number of from controller 220 that N number of current-order is distributed to this, wherein one corresponds to an electric current from controller 220 and refers to
It enables；
N number of position for getting the polyphase machine according to the pulse signal from each of controller 220 from controller 220
It sets, and the polyphase machine 250 is controlled according to the corresponding current-order of each controller 220.
Therefore, in embodiments of the present invention, can be arranged in the electric driving control system it is multiple from controller, it is each from control
Device processed can read motor position information from position detector simultaneously, and can obtain respective electric current from master controller simultaneously
Instruction, and then multiple real-time controls that can be realized from controller to polyphase machine, meet high real-time demand for control.
Also, it is multiple from controller due to that can be arranged in the embodiment of the present invention and then multiple from each of controller
A module (for example, three-phase inverter) is controlled from controller, realizes the parallel connection of multiple modules, therefore, the embodiment of the present invention
Polyphase machine can be controlled by multiple modules in parallel, therefore the driveability of polyphase machine can be improved.
It should be understood that in the embodiment of the present invention, the location information of motor may include the rotation angle of motor, rotation position etc.
Information, the embodiment of the present invention are not limited to this.
It should be understood that the pulse signal that location information is converted to by position detector in the embodiment of the present invention can be orthogonal arteries and veins
Rush signal, such as ABZ signals.In the pulse signal A B be phase difference be 90 degree of positive and negative two-phase, Z phases are one Mondays of encoder
The zero-bit phase of a point.
It should be understood that the controller in the embodiment of the present invention can be processor, such as it can be central processing unit
(Central Processing Unit, CPU), which can also be other general processors, digital signal processor
(DSP), application-specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) or other programmable logic device, discrete gate
Or transistor logic, discrete hardware components etc..General processor can be that microprocessor or the processor can also
It is that the embodiment of the present invention such as any conventional processor are not limited to this.
Optionally, as another embodiment, which further includes rotary transformer 240, wherein
In terms of the location information for obtaining the polyphase machine, which is specifically used for sending pumping signal to the rotary transformer,
And the location information of the polyphase machine is obtained according to the feedback signal that the rotary transformer is sent.
It should be understood that the rotary transformer for example can be encoder, which can be according to pumping signal to multiphase electricity
Machine is detected, and generates the feedback signal of rotation angle and rotary position information comprising motor.
It should be understood that in practical applications, which is generally arranged inside polyphase machine, but the embodiment of the present invention
It is not limited to this, which can also be arranged in the outside of polyphase machine.It is merely for convenience of showing in Fig. 2, will revolve
Transformation depressor 240 is arranged in the outside of polyphase machine 250.
It should be understood that position detector can also obtain the position of polyphase machine in other way in embodiments of the present invention
It sets, the embodiment of the present invention is not limited to this.
Optionally, as another embodiment, the master controller and this is N number of from passing through controller LAN between control device
CAN bus is connected,
Wherein, this is N number of in terms of controller N number of current-order to be distributed to, which is specifically used for passing through
It is N number of from controller to be distributed to this by the CAN bus for N number of current-order.
It should be understood that master controller in the embodiment of the present invention and a variety of bus communication modes can be used logical between controller
Letter, however it is not limited to CAN bus, for example, it is also possible to using sensor/actuator bus (Interbus), Process FieldbusROFIBUS
(Profibus) etc., the embodiment of the present invention is not limited to this.
Optionally, as another embodiment, the position detector and this is N number of from passing through position signal line between control device
It is connected,
Wherein, the pulse signal is sent to N number of in terms of controller, the position detector by position signal line
It is N number of from controller that this is sent to specifically for passing through position signal line by the pulse signal.
In embodiments of the present invention, each that position inspection on the one hand can be got by position signal line simultaneously from controller
Survey module obtain motor position, on the other hand, it is each from controller can CAN bus from master controller obtain current-order.
It is each in this way polyphase machine to be controlled in real time according to motor position and the current-order of acquisition from controller.Therefore,
Multiple in the embodiment of the present invention can realize from controller while to the real-time control of polyphase machine, meet high real-time control
Demand.
Further, as another embodiment, in the position for getting the polyphase machine according to the pulse signal, and according to
The master controller send current-order to the polyphase machine carry out control aspect, this it is N number of from controller each from controller
It is specifically used for：It is each more to this by three-phase inverter from the corresponding current-order of controller and the polyphase machine position according to this
Phase motor is controlled.
Specifically, each in the real-time example of the present invention controls a three-phase inverter from controller, each is from controller
By controlling control of the three-phase inverter realization to the polyphase machine.
Therefore, the real-time example of the present invention controls a three-phase inverter by multiple from each of controller from controller,
The parallel connection for realizing multiple three-phase inverters, due to it is each between controller without communicating, namely in parallel multiple three
Therefore, in the embodiment of the present invention phase inverter avoids each time delay for communicating with one another and bringing from controller without communicating
Problem disclosure satisfy that high real-time demand for control so that power drive system realizes better driveability.
Further, as another embodiment, each electric from the corresponding current-order of controller and the multiphase according to this
Seat in the plane is set carries out control aspect by three-phase inverter to the polyphase machine, this is each specifically used for from controller：
According to this each from the corresponding current-order of controller and the polyphase machine position output pulse width modulation (PWM) arteries and veins
Punching control three-phase inverter output voltage controls the polyphase machine.
It should be understood that from controller by the detailed process of three-phase converter motor may be used existing mode into
Row, the embodiment of the present invention limit not to this.
Optionally, as another embodiment, in terms of the VCU command torques are converted to N number of current-order, the main control
Implement body is used to that the VCU command torques to be converted to N number of current-order according at least one of following information：
The temperature and busbar voltage of the temperature of the polyphase machine, the rotating speed of the polyphase machine, inverter.
Specifically, master controller receives VCU instructions, according to the temperature of the polyphase machine, the rotating speed, inverse of the polyphase machine
The temperature or busbar voltage for becoming device carry out torque distribution, which is converted to N number of current-order, and are sent to each
It is a from controller.
It is therefore, each in the real-time example of the present invention to read motor position information from position detector simultaneously from controller,
And respective current-order can be obtained from master controller simultaneously, so it is multiple can be realized from controller it is electric to multiphase simultaneously
The real-time control of machine meets high real-time demand for control.
It should be understood that VCU instructions may include torque instruction in the embodiment of the present invention, for example, the torque instruction can be
The torque of the desired throttle of driver or brake pedal, can also be the level of torque etc. of desired motor, which refers to
It can also includes other kinds of instruction to enable, and the embodiment of the present invention is not limited to this.
The current-order includes quadrature axis current value and direct-axis current value of the polyphase machine etc., and the embodiment of the present invention is simultaneously
It is without being limited thereto.
It should be understood that in the embodiment of the present invention, one can be corresponding with a three-phase inverter from controller, and the present invention is implemented
The number (namely number of three-phase inverter) from controller in electric driving control system is not limited in example, is actually being answered
In, the number from controller can be suitably increased or decreased according to demand is specifically driven.
For example, the driving device may include 4 from controller, 4 three-phase inverters as shown in Figure 3.Specifically, as schemed
3 drive systems 300 be somebody's turn to do include：
Master controller, 4 from controller, position detecting module, rotary transformer and polyphase machine.
Wherein, each controls a three-phase inverter from controller, and master controller and 4 pass through between controller
CAN bus is connected, and position detecting module is connected between controller by position signal line with 4.
Rotary transformer detects motor operation information, and motor position information is sent to position detecting module, position detection
The pulse signal that motor position information is converted to standard by module is sent on position signal line, respectively from controller from position signal
Line reads pulse signal and is parsed to obtain real-time motor position information (θ1-θ4)；The VCU that master controller will be got simultaneously
Instruction carries out electric current distribution according to information such as torque instruction, motor temperature or busbar voltages, i.e., is converted to the VCU command torques
N number of current-order, is distributed to that this is N number of from controller by CAN bus by N number of current-order, respectively from controller according to parsing
Real-time motor position and the current-order output pulse width modulation (PWM) Pulse Width Control three-phase inverter that issues of master controller
Output amplitude and/or the adjustable voltage of frequency control the polyphase machine.
It should be understood that each in the embodiment of the present invention can realize proportional and integral controller (PI), three phase static from controller
Coordinate to the transformation (Clark transformation) of two-phase static coordinate, two-phase static coordinate to two-phase rotating coordinate transformation (Park transformation),
Two-phase rotating coordinate transformation converts (Park inverse transformations) etc. to two-phase static coordinate, and the embodiment of the present invention is not limited to this.
Therefore, in embodiments of the present invention, can be arranged in the electric driving control system it is multiple from controller, it is each from control
Device processed can read motor position information from position detector simultaneously, and can obtain respective electric current from master controller simultaneously
Instruction, and then multiple can be realized from controller while to the real-time control of polyphase machine, meet high real-time demand for control.
As shown in figure 4, the embodiment of the present invention additionally provides a kind of electric vehicle 400, include that the electricity in Fig. 2 or Fig. 3 such as drives
Autocontrol system.
It should be understood that the electric vehicle in the embodiment of the present invention can be pure electric automobile (Battery Electric
Vehicle, BEV), plug-in hybrid-power automobile (Plug-in Hybrid Electric Vehicle, PHEV), mixing it is dynamic
Power vehicle (Hybrid Electric Vehicle, HEV), electric vehicle (Electric vehicle, EV) or fuel cell car
(Fuel Cell Electric Vehicle, FCEV).The embodiment of the present invention is not limited to this.
Exist in the following, describing electric driving control system in the embodiment of the present invention in conjunction with the electric driving control system in Fig. 2 and Fig. 3
To the detailed process of the method for motor control in practical application.
Fig. 5 is a kind of electric drive control method according to the ... of the embodiment of the present invention, it should be appreciated that the method in Fig. 5 and Fig. 2 and figure
3 is corresponding, and the method in Fig. 5 can be realized by the electric driving control system in Fig. 2 or Fig. 3, method corresponding diagram 2 in Fig. 5 or
The function of modules suitably omits detailed description herein in order to avoid repeating in electric driving control system in Fig. 3.
Specifically, as shown in figure 5, applied in electric driving control system as shown in Figures 2 and 3, this method 500 is wrapped
It includes：
510, rotary transformer detects the polyphase machine, generates and sends feedback signal to position detector.
For example, the position detector sends pumping signal to the rotary transformer, which is receiving position
After the pumping signal that detector is sent, the polyphase machine is detected, generates the feedback signal for the location information for including polyphase machine.
520, position detector obtains polyphase machine location information, converts the location information to arteries and veins according to feedback signal
Signal is rushed, and it is N number of from controller that the pulse signal is sent to this.
For example, the position detector with this it is N number of be connected between control device by position signal line,
It is N number of from controller that the pulse signal by position signal line is sent to this by the position detector.
530, master controller obtains entire car controller VCU instructions, which is converted to N number of current-order, and
It is N number of from controller that N number of current-order is distributed to this.
Wherein, one corresponds to a current-order from controller.
Refer to for example, the VCU command torques are converted to N number of electric current by the master controller according at least one of following information
It enables：
The temperature of the polyphase machine, the rotating speed of the polyphase machine, the temperature of inverter, busbar voltage.
Optionally, as another embodiment, the master controller and this is N number of from passing through controller LAN between control device
CAN bus is connected,
It is N number of from controller that the master controller by the CAN bus, by N number of current-order is distributed to this.
540, the position of the polyphase machine is each got according to the pulse signal from controller, and according to each control
The corresponding current-order of device controls the polyphase machine.
For example, this each passes through three-phase inverter pair from controller according to corresponding current-order and the polyphase machine position
The polyphase machine is controlled.
Further, this is each from controller according to corresponding current-order and the polyphase machine position output pulse width
Modulation (PWM) Pulse Width Control three-phase inverter output voltage controls the polyphase machine.
Specifically, in embodiments of the present invention, rotary transformer detects motor operation information in real time, and motor position is believed
Breath is sent to position detecting module, and the pulse signal that standard is converted the signal by position detecting module is sent to position letter
On number line, respectively pulse signal is read from position signal line from controller and parsed to obtain real-time motor position information；Simultaneously
The VCU got is instructed and is carried out electric current distribution according to information such as torque instruction, motor temperature, busbar voltages by master controller, i.e.,
The VCU command torques are converted to N number of current-order, and it is N number of from control by CAN bus N number of current-order to be distributed to this
Device processed, the current-order output pulse width tune respectively issued from controller according to the real-time motor position and master controller of parsing
Pwm pulse control three-phase inverter output amplitude and/or the adjustable voltage of frequency processed control the polyphase machine.
Therefore, the real-time example of the present invention controls a three-phase inverter by multiple from each of controller from controller,
The parallel connection for realizing multiple three-phase inverters, due to it is each between controller without communicating, namely in parallel multiple three
Therefore, in the embodiment of the present invention phase inverter avoids each time delay for communicating with one another and bringing from controller without communicating
Problem disclosure satisfy that high real-time demand for control so that power drive system realizes better driveability.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), arbitrary access are deposited
The various media that can store program code such as reservoir (Random Access Memory, RAM), magnetic disc or CD.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (17)
1. a kind of electric driving control system, which is characterized in that including：
It is master controller, N number of from controller, position detector and polyphase machine, N >=2；
The position detector is used to obtain the location information of the polyphase machine, converts the location information to pulse letter
Number, and the pulse signal is sent to it is described N number of from controller,
The master controller is instructed for obtaining entire car controller VCU, and the VCU command torques are converted to N number of current-order,
And N number of current-order is distributed to described N number of from controller, wherein one corresponds to a current-order from controller；
N number of position for getting the polyphase machine according to the pulse signal from each of controller from controller,
And the polyphase machine is controlled according to each controller corresponding current-order.
2. electric driving control system according to claim 1, which is characterized in that the electric driving control system further includes rotation
Change depressor,
Wherein, in terms of the location information for obtaining the polyphase machine, the position detector is specifically used for becoming to the rotation
Depressor sends pumping signal, and the position letter of the polyphase machine is obtained according to the feedback signal that the rotary transformer is sent
Breath.
3. electric driving control system according to claim 1 or 2, which is characterized in that
In terms of the VCU command torques are converted to N number of current-order, the master controller is specifically used for according to following information
At least one of the VCU command torques are converted to N number of current-order：
The temperature and busbar voltage of the temperature of the polyphase machine, the rotating speed of the polyphase machine, inverter.
4. electric driving control system according to any one of claim 1 to 3, which is characterized in that
The master controller with it is described it is N number of be connected between control device by controller area network bus,
Wherein, being distributed to N number of current-order described N number of in terms of controller, the master controller is specifically used for logical
The CAN bus is crossed, N number of current-order is distributed to described N number of from controller.
5. electric driving control system according to any one of claim 1 to 4, which is characterized in that
The position detector with it is described it is N number of be connected between control device by position signal line,
Wherein, the pulse signal is sent to described N number of in terms of controller, the position detection by position signal line
Implement body is used to be sent to the pulse signal by position signal line described N number of from controller.
6. electric driving control system according to any one of claim 1 to 5, which is characterized in that
Refer in the position for getting the polyphase machine according to the pulse signal, and according to the electric current that the master controller is sent
It enables and control aspect is carried out to the polyphase machine, it is described to be each specifically used for from controller：
The polyphase machine is controlled by three-phase inverter according to corresponding current-order and the polyphase machine position.
7. electric driving control system according to claim 6, which is characterized in that
The polyphase machine is controlled by three-phase inverter according to corresponding current-order and the polyphase machine position
It is described to be each specifically used for from controller in terms of system：
According to corresponding current-order and the polyphase machine position output pulse width modulation (PWM) Pulse Width Control three-phase inverter
Output voltage controls the polyphase machine.
8. electric driving control system according to any one of claim 1 to 7, which is characterized in that
The VCU instructions include torque instruction, and the current-order includes the quadrature axis current value and d-axis of the polyphase machine
On The Current Value.
9. a kind of electric vehicle, which is characterized in that including electric driving control system such as described in any item of the claim 1 to 8.
10. a kind of electric drive control method, which is characterized in that be applied in electric driving control system, the power drive system packet
It includes：It is master controller, N number of from controller, position detector and polyphase machine, the method includes：
The position detector obtains the location information of the polyphase machine, converts the location information to pulse signal, and
The pulse signal is sent to it is described N number of from controller,
The master controller obtains entire car controller VCU instructions, the VCU command torques is converted to N number of current-order, and will
N number of current-order is distributed to described N number of from controller, wherein one corresponds to a current-order from controller；
N number of position for getting the polyphase machine according to the pulse signal from each of controller from controller,
And the polyphase machine is controlled according to each controller corresponding current-order.
11. electric drive control method according to claim 10, which is characterized in that the electric driving control system further includes
Rotary transformer,
Wherein, the position detector obtains the location information of the polyphase machine, including：
The position detector sends pumping signal, and the feedback sent according to the rotary transformer to the rotary transformer
The location information of polyphase machine described in signal acquisition.
12. the electric drive control method according to claim 10 or 11, which is characterized in that
The master controller obtains entire car controller VCU instructions, and the VCU command torques are converted to N number of current-order, are wrapped
It includes：
The VCU command torques are converted to N number of current-order by the master controller according at least one of following information：
The temperature and busbar voltage of the temperature of the polyphase machine, the rotating speed of the polyphase machine, inverter.
13. electric drive control method according to any one of claims 10 to 12, which is characterized in that
The master controller with it is described it is N number of be connected between control device by controller area network bus,
It is described N number of current-order is distributed to it is described N number of from controller, including：
N number of current-order is distributed to described N number of from controller by the master controller by the CAN bus.
14. the electric drive control method according to any one of claim 10 to 13, which is characterized in that
The position detector with it is described it is N number of be connected between control device by position signal line,
It is described the pulse signal is sent to by position signal line it is described N number of from controller, including：
The pulse signal is sent to described N number of from controller by the position detector by position signal line.
15. the electric drive control method according to any one of claim 10 to 14, which is characterized in that
N number of position for getting the polyphase machine according to the pulse signal from each of controller from controller,
And the polyphase machine is controlled according to each controller corresponding current-order, including：
It is described each from controller according to corresponding current-order and the polyphase machine position by three-phase inverter to described
Polyphase machine is controlled.
16. electric drive control method according to claim 15, which is characterized in that
It is described each from controller according to corresponding current-order and the polyphase machine position by three-phase inverter to described
Polyphase machine is controlled, including：
It is described each from controller according to corresponding current-order and the polyphase machine position output pulse width modulation (PWM) arteries and veins
Punching control three-phase inverter output voltage controls the polyphase machine.
17. the electric drive control method according to any one of claim 10 to 16, which is characterized in that
The VCU instructions include torque instruction, and the current-order includes the quadrature axis current value and d-axis of the polyphase machine
On The Current Value.
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