CN108988706A - A kind of electric car driving permanent magnet synchronous motor rotation change decoding redundant apparatus and control method - Google Patents
A kind of electric car driving permanent magnet synchronous motor rotation change decoding redundant apparatus and control method Download PDFInfo
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- CN108988706A CN108988706A CN201810852372.5A CN201810852372A CN108988706A CN 108988706 A CN108988706 A CN 108988706A CN 201810852372 A CN201810852372 A CN 201810852372A CN 108988706 A CN108988706 A CN 108988706A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
It is revolved the present invention provides a kind of electric car driving with permanent magnet synchronous motor and becomes decoding redundant apparatus and control method, the DSADC module of rotation change decoding chip and CPU can be combined with excitation circuit and provides excitation signal into rotary transformer armature winding, and the sine and cosine winding response signal (orthogonal differential signal) of binding signal conditioning circuit processing rotary transformer, rotation become decoding chip and calculate angle (referred to as hardware decoding) and be transferred to CPU by SPI；The envelope of the extractable sine and cosine winding response signal out of the DSADC module of CPU, the envelope obtains angle (referred to as software decoding) through overwinding softening part decoding algorithm, after the failure of hardware decoding scheme, it is switched to software decoding scheme, and the angle information for using software decoding scheme to obtain, as data needed for system, system still can complete specified function.The present invention improves system security level by revolving be hardened decoding and soft decoding Redundancy Design.
Description
Technical field
The present invention relates to the electric car driving decodings of permanent magnet synchronous motor control field more particularly to rotary transformer
Field, specifically a kind of rotation become decoding redundant apparatus and management method.
Background technique
In recent years, with the increasingly reduction of global energy and vehicle exhaust bring problem of environmental pollution, orthodox car
Development be restricted, the development of electric car receives the great attention of countries in the world, and equally, the Chinese government also helps energetically
Hold the development of electric car.In electric car, permanent magnet synchronous motor with its high torque ratio of inertias, high power density, high efficient and reliable,
The advantages that easily operated, is widely used, and in control system for permanent-magnet synchronous motor, rotary transformer is mainly as angle, position
With Rotating speed measring element, the input of armature winding is high frequency excitation voltage signal, and the output of sine and cosine winding is and excitation electricity
Press amplitude-modulated wave of the signal with frequency with phase, the envelope of amplitude-modulated wave and the rotation speed of permanent-magnetic synchronous motor rotor and angle information phase
It closes, rotary transformer can be decoded to obtain rotor angle data.The accuracy of rotor angle is for permanent magnet synchronous motor
Field orientable control it is particularly important, rotation become decoding apparatus reliability then directly affect the acquisition of rotor angle, to influence
The safe operation of control system.
Currently, the decoding of rotary transformer is mainly conjugated using dedicated rotation in control system for permanent-magnet synchronous motor
Decoding chip is set, can provide high-precision digital conversion results, and there is good dynamic response, but the safety of automobile application
It is required that it is very high, it is not only able to satisfy stringent ISO26262 automobile function in such a way that dedicated decoding chip obtains rotor angle
Safety standard requirements and are pointed out such as ASIL-C even ASIL-D in ISO26262: using similar redundancy approach, such as heavy
Multiple device repeats software, and based on the independence lacked between module, ASIL grade cannot be reduced.
Summary of the invention
The present invention describe and 1 provides a kind of rotation of electric car driving permanent magnet synchronous motor and becomes decoding redundant apparatus and pipe
Reason method devises that rotation is hardened part decoding and software decodes redundancy scheme according to ISO26262 automobile function safety standard requirements,
When rotation is hardened the failure of part decoding scheme, it can detect and be out of order immediately, and be immediately switched to single decoding effort mode, utilize
The software decoding scheme of non-failure continues to obtain rotor angle information, effectively increases the reliability that rotation becomes decoding system, improves
System security level.
The technical solution adopted by the present invention to solve the technical problems is: including band delta-sigma adc (Delta-
Sigma Analog-to-Digital Converter, DSADC) CPU, rotation become decoding chip, excitation circuit, excitation selection
Output circuit, rotary transformer, signal distribute isolation circuit, signal conditioning circuit, wherein rotation becomes decoding chip and CPU
DSADC module can be combined with excitation circuit and provide excitation signal, and binding signal conditioning electricity for rotary transformer armature winding
Road handles the sine and cosine winding response signal (orthogonal differential signal) of rotary transformer, and rotation becomes decoding chip and calculates angle and lead to
It crosses SPI and is transferred to CPU, this method is known as hardware decoding；The DSADC module of CPU is extractable to go out to revolve change sine and cosine winding response
The envelope of signal, the envelope obtain angle through overwinding softening part decoding algorithm, and this method is known as software decoding, works as hardware
After decoding scheme failure, the angle information for being switched to software decoding scheme, and software decoding scheme being used to obtain is as needed for system
Data, system still can complete specified function.
The CPU with DSADC module and rotation change decoding chip are mutually indepedent, can cooperate respective excitation circuit
Angle information and Reflector are obtained with signal conditioning circuit；The excitation input signal source that the rotation becomes decoding chip can only
It is that rotation becomes decoding chip or DSADC module, output circuit can be selected to switch over by the excitation.
The present invention also provides the control methods of above-mentioned apparatus, include the following steps.
Step S1: judging to revolve whether the part decoding failure mark that is hardened sets 1, if so, determining to revolve the part decoding scheme mistake that is hardened
Effect, and enter step S2；If it is not, then entering step S3.
Step S2: judge to revolve whether softening part decoding failure mark sets 1, if so, entering step S4；If it is not, then into
Enter step S5.
Step S3: judgement revolves the part that is hardened and decoded the angle value at this secondary control moment obtained and the angle at upper secondary control moment
Whether the deviation of value exceeds given threshold, if so, determining to revolve the part decoding scheme failure that is hardened, enters step S2；If it is not, then
Rotation is hardened the angle information for decoding and obtaining as final angle value.
Step S4: judging that whether rotation becomes the source of excitation input signal into DSADC, if so, determining that rotation softening decoding is lost
Effect, enters step S6；If it is not, the excitation input signal source that rotation becomes then is switched to DSADC, softening part decoding failure will be revolved
Flag bit clear 0 estimates this secondary control according to upper secondary control moment permanent magnet synchronous motor direction of rotation, revolving speed, angle and control period
The angle at moment processed, using the angle of estimation as final angle value.
Step S5: the angle value and the angle at upper secondary control moment at this secondary control moment that judgement rotation softening part decoding obtains
Whether the deviation of value exceeds given threshold, if so, determining rotation softening part decoding scheme failure, enters step S6；If it is not, then
Rotation is softened into the angle information for decoding and obtaining as final angle value.
Step S6: originally according to upper secondary control moment permanent magnet synchronous motor direction of rotation, revolving speed, angle and the estimation of control period
The angle at secondary control moment determines that rotation becomes the decoding system failure and alarms using the angle of estimation as final angle value.
Given threshold described in step S3 and step S5 is -3.6 ° ~+3.6 °, the week of control described in step S4 and step S6
Phase is 100us.
The rotary transformer that the present invention is applied to electric car driving permanent-magnet synchronous motor rotor position decodes system, with
Traditional rotary transformer hardware decoding scheme is compared and is had the following advantages that.
(1) using be hardened part decoding and software decoding Redundancy Design is revolved, meet ISO26262 automobile function safety standard and want
It asks, improves system security level.
(2) when rotation is hardened the failure of part decoding scheme, rotation softening part decoding scheme can provide rotor angle for system
Information guarantees that Permanent Magnet Synchronous Motor Control System operates normally, improves the stability of system.
(3) when rotation is hardened part decoding scheme or rotation softening part decoding scheme failure, corresponding fault point letter is provided
Breath provides convenience for device maintenance.
Detailed description of the invention
Fig. 1 is that the rotation of electric car driving permanent magnet synchronous motor becomes decoding redundant apparatus structure chart.
In figure, 1-electric car driving permanent magnet synchronous motor, which revolves, becomes redundant control module CPU, and 2-rotations become decoding core
Piece, 3-hard decoder excitation circuits, 4-soft decoding excitation circuits, 5-excitations selection output circuit, 6-rotary transformers, 7-
Signal distributes isolation circuit, 8-hard decoder conditioning circuits, 9-soft decoding conditioning circuits.
Fig. 2 is that rotation becomes decoding redundant apparatus control method.
Specific embodiment
Below in conjunction with attached drawing, clear, complete description is carried out to the technical solution in the present invention.
Fig. 1 is that electric car driving permanent magnet synchronous motor of the present invention rotation becomes decoding redundant apparatus structure chart, including band
The CPU1 of DSADC module, rotation become decoding chip 2, hard decoder excitation circuit 3, soft decoding excitation circuit 4, excitation selection output electricity
Road 5, rotary transformer 6, signal distribute isolation circuit 7, hard decoder conditioning circuit 8, soft decoding conditioning circuit 9.Wherein, rotation becomes solution
The DSADC module of code chip 2 and CPU1 independently export excitation original signal, pass through hard decoder excitation circuit 3 and soft decoding respectively
Excitation circuit 4 obtains two-way rotation and becomes excitation signal, and rotation all the way is retained after excitation selects output circuit 5 and becomes excitation signal and inputs
To rotary transformer 6, rotary transformer 6 exports two groups of orthogonal differential signals and obtains two after signal distributes isolation circuit 7
The identical orthogonal differential signal of group, wherein one group of orthogonal differential signal, which is input to rotation by hard decoder conditioning circuit 8, becomes decoding core
In piece 2, rotation, which becomes decoding chip 2 and calculates, is sent to CPU1 by SPI after angle, obtains the method for angle as firmly through this circuit
Part decoding scheme, another group of orthogonal differential signal are input in the DSADC module of CPU1 by soft decoding conditioning circuit 9, DSADC
Module extracts the envelope of orthogonal differential signal and obtains angle information through overwinding softening part decoding algorithm, obtains through this circuit
The method of angle is as software decoding scheme.
When rotation become decoding apparatus there is bad wiring circuit contact or hardware circuit failure when, be input to hardware decoding chip 2 or
The voltage magnitude of the signal of the DSADC module of CPU1 can be obviously abnormal；Or the angle variable quantity that adjacent two period calculates is super
Angle change threshold value when permanent magnet synchronous motor is rotated out with maximum speed then can determine that hardware decoding scheme or software decoding side
The angle that case failure cuts off malfunction approach in time, and normal decoding scheme is used to calculate is as system feedback data, and system is still
Specified function can be completed, rotation becomes the control method of decoding redundant apparatus as shown in Fig. 2, including the following steps.
Step S1: judging to revolve whether the part decoding failure mark that is hardened sets 1, if so, determining to revolve the part decoding scheme mistake that is hardened
Effect, and enter step S2；If it is not, then entering step S3.
Step S2: judge to revolve whether softening part decoding failure mark sets 1, if so, entering step S4；If it is not, then into
Enter step S5.
Step S3: judgement revolves the part that is hardened and decoded the angle value at this secondary control moment obtained and the angle at upper secondary control moment
Whether the deviation of value exceeds given threshold (being -3.6 ° ~+3.6 ° in this model machine), if so, determining to revolve the part decoding scheme mistake that is hardened
Effect, enters step S2；If it is not, then final angle value=rotation is hardened decoding angle.
Step S4: judging that whether rotation becomes the source of excitation input signal into DSADC, if so, determining that rotation softening decoding is lost
Effect, enters step S6；If it is not, the excitation input signal source that rotation becomes then is switched to DSADC, softening part decoding failure will be revolved
Flag bit clear 0, according to upper secondary control moment permanent magnet synchronous motor direction of rotation, revolving speed, angle and control the period (be in this model machine
100us) estimate the angle at this secondary control moment, final angle value=estimation angle.
Step S5: the angle value and the angle at upper secondary control moment at this secondary control moment that judgement rotation softening part decoding obtains
Whether the deviation of value exceeds given threshold (being -3.6 ° ~+3.6 ° in this model machine), if so, determining that rotation softening part decoding scheme loses
Effect, enters step S6；If it is not, then final angle value=rotation softening decoding angle.
Step S6: according to upper secondary control moment permanent magnet synchronous motor direction of rotation, revolving speed, angle and control period (this sample
Estimate that the angle at this secondary control moment, final angle value=estimation angle determine that rotation becomes the decoding system failure in machine for 100us)
And it alarms.
Claims (5)
1. a kind of electric car driving is revolved with permanent magnet synchronous motor becomes decoding redundant apparatus and control method, which is characterized in that institute
Stating device includes CPU, rotation change decoding chip, excitation circuit, excitation selection output circuit, rotation transformation with DSADC module
Device, signal distribution isolation circuit and signal conditioning circuit.
2. control method according to claim 1, it is characterised in that: rotation becomes decoding chip and the DSADC module of CPU all may be used
To combine excitation circuit to provide excitation signal, and binding signal conditioning circuit processing rotation transformation as rotary transformer armature winding
The sine and cosine winding response signal (orthogonal differential signal) of device, rotation become decoding chip and calculate angle (hardware decoding) and pass through
SPI is transferred to CPU；The envelope of the extractable sine and cosine winding response signal out of the DSADC module of CPU, the envelope is through overwinding
Softening part decoding algorithm obtains angle (software decoding)；After the failure of hardware decoding scheme, it is switched to software decoding scheme, is used in combination
The angle information that software decoding scheme obtains is as data needed for system.
3. electric car driving according to claim 1 permanent magnet synchronous motor, which revolves, becomes decoding redundant apparatus, feature exists
In: the CPU with DSADC module and rotation change decoding chip are mutually indepedent, can cooperate respective excitation circuit and letter
Number conditioning circuit obtains angle information and Reflector；The excitation input signal source that the rotation becomes decoding chip can only be rotation
Become decoding chip or DSADC module, output circuit can be selected to switch over by the excitation.
4. the control method for becoming decoding redundant apparatus is revolved in electric car driving with permanent magnet synchronous motor according to claim 1,
It is characterized by comprising following step:
Step S1: judging to revolve whether the part decoding failure mark that is hardened sets 1, if so, determine to revolve the part decoding scheme failure that is hardened, and
Enter step S2；If it is not, then entering step S3；
Step S2: judge to revolve whether softening part decoding failure mark sets 1, if so, entering step S4；If it is not, then entering step
Rapid S5；
Step S3: judgement rotation was hardened the angle value of the angle value at this secondary control moment and upper secondary control moment that part decoding obtains
Whether deviation exceeds given threshold, if so, determining to revolve the part decoding scheme failure that is hardened, enters step S2；If it is not, then will rotation
The angle information for decoding and obtaining be hardened as final angle value；
Step S4: judging that whether rotation becomes the source of excitation input signal into DSADC, if so, determine rotation softening decoding failure, into
Enter step S6；If it is not, the excitation input signal source that rotation becomes then is switched to DSADC, softening part decoding failure mark will be revolved
Position clear 0, when estimating this secondary control according to upper secondary control moment permanent magnet synchronous motor direction of rotation, revolving speed, angle and control period
The angle at quarter, using the angle of estimation as final angle value；
Step S5: the angle value and the angle value at upper secondary control moment at this secondary control moment that judgement rotation softening part decoding obtains
Whether deviation exceeds given threshold, if so, determining rotation softening part decoding scheme failure, enters step S6；If it is not, then will rotation
The angle information for decoding and obtaining soften as final angle value；
Step S6: this secondary control is estimated according to upper secondary control moment permanent magnet synchronous motor direction of rotation, revolving speed, angle and control period
The angle at moment processed determines that rotation becomes the decoding system failure and alarms using the angle of estimation as final angle value.
5. the control method that rotation according to claim 4 becomes decoding redundant apparatus, it is characterised in that: step S3 and step S5
The given threshold is -3.6 ° ~+3.6 °, and the control period described in step S4 and step S6 is 100us.
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Cited By (14)
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|---|---|---|---|---|
| CN110233588A (en) * | 2019-06-18 | 2019-09-13 | 山东理工大学 | A kind of electric car driving permanent-magnet synchronous motor rotor position detection redundant apparatus and control method |
| CN110380733A (en) * | 2019-05-21 | 2019-10-25 | 日本电产凯宇汽车电器（江苏）有限公司 | A kind of automobile brake system controller rotary transformer coding/decoding method |
| CN111030551A (en) * | 2019-10-24 | 2020-04-17 | 中冶南方（武汉）自动化有限公司 | Electric automobile software and hardware decoding redundancy circuit and switching method |
| CN111193453A (en) * | 2019-12-31 | 2020-05-22 | 苏州绿控传动科技股份有限公司 | Method for realizing rotary soft decoding excitation sine wave by digital signal |
| CN111552204A (en) * | 2019-02-12 | 2020-08-18 | 株洲中车时代电气股份有限公司 | Resolver simulator based on FPGA |
| CN112067022A (en) * | 2020-09-07 | 2020-12-11 | 深圳市汇川技术股份有限公司 | Rotary transformer state detection method, device, digital signal processing chip and medium |
| CN112491306A (en) * | 2020-11-27 | 2021-03-12 | 苏州绿控传动科技股份有限公司 | Method and system for verifying rotation soft decoding precision |
| CN112542966A (en) * | 2020-11-27 | 2021-03-23 | 苏州绿控传动科技股份有限公司 | Rotary transformer decoding system |
| CN112583307A (en) * | 2020-12-15 | 2021-03-30 | 潍柴动力股份有限公司 | Permanent magnet synchronous motor and soft decoding method and system of rotary transformer of permanent magnet synchronous motor |
| CN113364382A (en) * | 2021-06-22 | 2021-09-07 | 东风电子科技股份有限公司 | Method, device and processor for optimizing rotary position sensor in new energy automobile motor drive and computer readable storage medium thereof |
| CN114039458A (en) * | 2021-10-12 | 2022-02-11 | 智新控制系统有限公司 | Permanent magnet synchronous motor rotation transformation decoding method and system |
| CN114421841A (en) * | 2022-01-19 | 2022-04-29 | 上汽通用五菱汽车股份有限公司 | Method, apparatus and medium for identifying motor rotation position signal by software decoding |
| CN116827204A (en) * | 2023-08-30 | 2023-09-29 | 南京理工大学 | Servo motor rotary transformer decoding system based on low-energy carrier feedback |
| CN117792199A (en) * | 2024-02-23 | 2024-03-29 | 潍柴动力股份有限公司 | Permanent magnet synchronous motor control method and device, vehicle and storage medium |
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| CN111552204A (en) * | 2019-02-12 | 2020-08-18 | 株洲中车时代电气股份有限公司 | Resolver simulator based on FPGA |
| CN110380733A (en) * | 2019-05-21 | 2019-10-25 | 日本电产凯宇汽车电器（江苏）有限公司 | A kind of automobile brake system controller rotary transformer coding/decoding method |
| CN110233588A (en) * | 2019-06-18 | 2019-09-13 | 山东理工大学 | A kind of electric car driving permanent-magnet synchronous motor rotor position detection redundant apparatus and control method |
| CN111030551B (en) * | 2019-10-24 | 2021-10-12 | 中冶南方（武汉）自动化有限公司 | Electric automobile software and hardware decoding redundancy circuit and switching method |
| CN111030551A (en) * | 2019-10-24 | 2020-04-17 | 中冶南方（武汉）自动化有限公司 | Electric automobile software and hardware decoding redundancy circuit and switching method |
| CN111193453A (en) * | 2019-12-31 | 2020-05-22 | 苏州绿控传动科技股份有限公司 | Method for realizing rotary soft decoding excitation sine wave by digital signal |
| CN112067022A (en) * | 2020-09-07 | 2020-12-11 | 深圳市汇川技术股份有限公司 | Rotary transformer state detection method, device, digital signal processing chip and medium |
| CN112491306A (en) * | 2020-11-27 | 2021-03-12 | 苏州绿控传动科技股份有限公司 | Method and system for verifying rotation soft decoding precision |
| CN112542966A (en) * | 2020-11-27 | 2021-03-23 | 苏州绿控传动科技股份有限公司 | Rotary transformer decoding system |
| CN112583307A (en) * | 2020-12-15 | 2021-03-30 | 潍柴动力股份有限公司 | Permanent magnet synchronous motor and soft decoding method and system of rotary transformer of permanent magnet synchronous motor |
| CN112583307B (en) * | 2020-12-15 | 2022-08-05 | 潍柴动力股份有限公司 | Permanent magnet synchronous motor and soft decoding method and system of rotary transformer of permanent magnet synchronous motor |
| CN113364382A (en) * | 2021-06-22 | 2021-09-07 | 东风电子科技股份有限公司 | Method, device and processor for optimizing rotary position sensor in new energy automobile motor drive and computer readable storage medium thereof |
| CN114039458A (en) * | 2021-10-12 | 2022-02-11 | 智新控制系统有限公司 | Permanent magnet synchronous motor rotation transformation decoding method and system |
| CN114421841A (en) * | 2022-01-19 | 2022-04-29 | 上汽通用五菱汽车股份有限公司 | Method, apparatus and medium for identifying motor rotation position signal by software decoding |
| CN114421841B (en) * | 2022-01-19 | 2024-02-13 | 上汽通用五菱汽车股份有限公司 | Method, device and medium for identifying motor rotation position signal through software decoding |
| CN116827204A (en) * | 2023-08-30 | 2023-09-29 | 南京理工大学 | Servo motor rotary transformer decoding system based on low-energy carrier feedback |
| CN116827204B (en) * | 2023-08-30 | 2023-11-21 | 南京理工大学 | Servo motor rotary transformer decoding system based on low-energy carrier feedback |
| CN117792199A (en) * | 2024-02-23 | 2024-03-29 | 潍柴动力股份有限公司 | Permanent magnet synchronous motor control method and device, vehicle and storage medium |
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