CN109167542A - A kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system - Google Patents
A kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system Download PDFInfo
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- CN109167542A CN109167542A CN201811033595.5A CN201811033595A CN109167542A CN 109167542 A CN109167542 A CN 109167542A CN 201811033595 A CN201811033595 A CN 201811033595A CN 109167542 A CN109167542 A CN 109167542A
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- weak magnetic
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Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
The present invention relates to a kind of, and the brushless motor field weakening control method based on electronic brake system,electronic antiskid system increases a weak magnetic speed-raising module under conditions of being based on motor vector control system before electric current loop module；The weak magnetic speed-raising module is adjusted the command signal of electric current loop according to motor speed and torque-demand during Intelligent brake system work in real time, determine whether present case is Quick brake, motor speed is such as checked more than rated speed, then carries out weak magnetic compensation and improves motor speed.The present invention phenomena such as feel becomes weight or even pause non helping hand can occur to avoid touching on the brake when driving, to improve the perceived quality of driver.
Description
Technical field
The present invention relates to intelligent braking technical fields, weak more particularly to a kind of brushless motor based on electronic brake system,electronic antiskid system
Magnetic control method.
Background technique
The braking of traditional combustion engine automobile needs to realize by vacuum booster, and required vacuum is provided by engine
Source.But for new-energy automobile, it does not have engine to provide vacuum, therefore loses vacuum source, to can only lead to
Independent electronic vacuum pump is crossed to provide vacuum degree and complete braking maneuver, but electronic vacuum pump needs continuous running, compares oil consumption.
Entire brake system will lose vacuum servo if electronic vacuum failure of pump simultaneously, influence reliability.And Intelligent brake system
(IBS) vacuum not being needed then, power-assisted being provided, only relying on motor just can bring enough power-assisteds, shorten braking distance, therefore making
Biggish promotion is had in dynamic performance and efficiency.Currently, the prospect of new energy vehicle be it is very wide, Intelligent brake system it is general
It and is also necessary.
As shown in Figure 1, Intelligent brake system (IBS) is by the pedal sense simulator A of pedal operation part, brake service
Partial tandem motor cylinder B, stroke sensor C, electrodynamic braking electronic control unit D composition.Stroke variation sensing
Device detects brake pedal movement, and electronic control unit sends signal to the motor of tandem motor cylinder, generates liquid by piston
Pressure generates brake force.When driver touches on the brake under normal circumstances, brushless motor operates within its rated speed, and operation is flat
Surely, efficiency is higher.When the urgent avoidance of driver, when quick pedal, needs motor moment to provide very big revolving speed, but motor exists
It cannot continue to rise after reaching certain revolving speed in short time, therefore cause driver when quickly touching on the brake, it may appear that pedal
Become bulky feeling so as to cause vehicle can not be checked in time.
Summary of the invention
The brushless motor weak magnetic control based on electronic brake system,electronic antiskid system that technical problem to be solved by the invention is to provide a kind of
Method, it is ensured that motor can provide corresponding revolving speed within the shortest time checks vehicle.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of based on the brushless of electronic brake system,electronic antiskid system
Motor field weakening control method increases a weak magnetic before electric current loop module and mentions under conditions of being based on motor vector control system
Fast module；The weak magnetic speed-raising module is during Intelligent brake system work according to motor speed and torque-demand to electric current loop
Command signal adjusted in real time, determine present case whether be Quick brake, such as check motor speed more than specified turn
Speed then carries out weak magnetic compensation and improves motor speed.
When carrying out weak magnetic compensation, it would be desirable to torque TeWith rotor speed ωrTo input, according toObtain current-order, wherein LdFor d axis electricity
Sense, ψfFor the magnetic linkage that rotor permanent magnet generates, umaxFor stator phase voltage limiting value, LqFor q axle inductance, idFor d shaft current, iqFor
Q shaft current, p are motor number of pole-pairs.
The amplitude of maximum weak magnetoelectricity stream is limited to
When more than rated speed, using 100rpm as step-length, each revolving speed point torque TeAgain using 0.1Nm as step size computation electricity
Above-mentioned data generation table is filled data not in the table using linear interpolation method by flow valuve.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit: the present invention can carry out the command signal of electric current loop according to motor speed and torque-demand during IBS works real-time
It adjusts, determines whether present case is Quick brake, such as check motor speed more than rated speed, then carry out weak magnetic compensation and mention
There is phenomena such as feel becomes weight or even pause non helping hand to avoid touching on the brake when driving, to improve in high motor speed
The perceived quality of driver.
Detailed description of the invention
Fig. 1 is Intelligent brake system schematic diagram in the prior art；
Fig. 2 is motor control architecture diagram in the present invention；
Fig. 3 is voltage limit circle and current limitation circle schematic diagram；
Fig. 4 is B-H characteristic curve diagram；
Fig. 5 is rated speed control current locus schematic diagram below；
Fig. 6 is weak magnetic control flow chart.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiments of the present invention are related to a kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system, this method
Under conditions of being based on motor vector control system, as shown in Fig. 2, it increases a weak magnetic speed-raising mould before electric current loop module
Block.The weak magnetic raises speed module can command signal during IBS works according to motor speed and torque-demand to electric current loop
It is adjusted in real time, determines whether present case is Quick brake, such as checked motor speed more than rated speed, then carry out weak
Magnetic compensation improves motor speed, feel change weight or even pause non helping hand etc. occurs now to avoid touching on the brake when driving
As to improve the perceived quality of driver.
Therefore, for brushless motor weak magnetic in electronic brake system,electronic antiskid system control as a result, on the one hand electric current will be directly influenced
The performance of ring controller, to influence the performance of entire electric machine control system；On the other hand motor can be improved with higher
Speed propelling piston generate it is hydraulic vehicle is stopped in the smallest stroke with the shorter time, to avoid uncontrollable
Accident occurs.In short, weak magnetic speed-raising strategy has very important meaning for improving controller performance and safety.
IBS real-time resolving can go out current motor revolving speed during operation by angular transducer, and be passed according to displacement
Current torque-demand is calculated by position ring and speed ring (being all PI controller) in sensor signal.According to actual speed come
It carries out weak magnetic control strategy: when motor speed is below rated speed, not needing weak magnetic algorithm, in motor control, work as electricity
When machine reaches rated speed or more, for the requirement for meeting motor output torque, current of electric can be continued to increase.But motor
Input voltage is a finite value, thus when electric current increase to electric moter voltage can corresponding electric current maximum value when, motor it is anti-
Electromotive force would not be further added by, i.e., motor speed would not be further added by.Such as motor is needed to continue growing revolving speed, common side
Method, which has, changes armature voltage speed regulation and reduction exciting current.Since DC side voltage of converter reaches maximum value (i.e. armature voltage
Reach maximum value) after can cause the saturation of current regulator, to obtain wider speed adjustable range, in the fast above high-speed cruising of base
It realizes constant-power speed regulation, needs to carry out weak magnetic control to motor.The thought of PMSM weak magnetic control is originated from DC motor with separate excitation
Adjustable magnetic control, when DC motor with separate excitation end, voltage reaches maximum voltage, can only by reduce motor exciting current,
Change magnetic flux makes electronic function output-constant operation in higher revolving speed under conditions of guaranteeing the balance of voltage.Namely
It says, DC motor with separate excitation can achieve the purpose that weak magnetism speed expansion by reducing exciting current.For PMSM, excitation magnetic is dynamic
Gesture can not be adjusted because permanent magnet generates, and can only increase stator d-axis (d axis) demagnetizing current component by adjusting stator current
Come the balance of voltage when maintaining high-speed cruising, achieve the purpose that weak magnetism speed expansion.
It is limited by inverter output voltage, when permanent magnet synchronous motor (PMSM) stable operation, voltage vector magnitude usAre as follows:
U in formulad、uq: it is respectively the instruction of d, q shaft voltage；
us: for voltage instruction vector magnitude；
umax: stator phase voltage limiting value；
It is known in dq axis coordinate system, motor stator voltage equation are as follows:
Wherein, ψd、ψqRespectively d, q axis magnetic linkage, RsFor stator resistance.
Known again when PMSM stable operation, and in the case where ignoring Stator resistance voltage dropping, voltage status equation can be with abbreviation
Are as follows:
I in formulad、iq: it is respectively d, q shaft current；
Ld、Lq: it is respectively d, q axle inductance；
ωr: for motor angular rate；
ψf: the magnetic linkage that rotor permanent magnet generates；
Bringing (1) into can obtain:
(Lqiq)2+(Ldid+ψf)2=(umax/ωr)2 (4)
Work as Ld=Lq=LoWhen, the available center of circle is in (- ψf/Lo, 0), radius umax/LoωrEquation of a circle
(iq)2+(id+ψf/Lo)2=(umax/Loωr)2 (5)
LoFor stator inductance.
After current regulator saturation, stator terminal phase voltage us=umax, rotational speed omega at this timerUnder corresponding running track be formula
(5) circle under dq coordinate system shown in, and it is called rotational speed omegarUnder voltage limit circle.It is apparent from certain rotational speed omegarUnder, stator electricity
Stream can only be run in the Circular test.And with rotational speed omegarIncrease, voltage limit circle can be gradually reduced.
It is limited by inverter output current and motor itself rated current, when PMSM stable operation, current phasor amplitude
For
I in formulas: for current phasor amplitude；
imax: rated current of motor；
As can be seen from the above equation, current phasor track is the circle using origin as the center of circle under dq coordinate system, and the circle is referred to as
Current limitation circle.When motor stabilizing is run, stator current vector no more than voltage limit circle, can not exceed current limitation
Circle, such as ωr=ωoWhen, current phasor isRange be limited in shadow region (revolving speed locating for A point be Rated motor revolving speed).
As seen from Figure 3, after current regulator is saturated, stator terminal phase voltage us=umaxTurn if to continue to increase
It is fast then can only by adjust idAnd iqIt realizes, here it is the weak magnetic motion mode of motor.Increase d-axis and removes magnetic component idIt is handed over reducing
Shaft current component iq, balanced with maintenance voltage, to obtain weak magnetic effect.But in order to ensure phase current is no more than limiting value,
Increase i when should ensure that weak magnetic controldWhile must accordingly reduce iq。
Weak magnetic control strategy can be realized the output-constant operation of motor, but if weak magnetoelectricity stream continues to increase, will lead to forever
The permanent degaussing of magnet, to damage motor.
The demagnetization characteristic of permanent-magnet material can use the removal of magnetic property curve description under B-H plane, as shown in figure 4, wherein H axis
For coercivity, and B axle is magnetic induction intensity.Wherein the focus of degaussing indicatrix and B axle is u, referred to as recoil permeability, and is gone
The focus H of magnetic indicatrix and H axisciMagnetic coercive force is removed for maximum, when coercivity is more than Hci, permanent-magnet material will permanently demagnetize.
And demagnetization curve is then normal degaussing working curve, when operating point is moved in curve, the demagnetization of permanent-magnet material can be extensive
It is multiple.The slope of load line is decided by air gap area, gas length, magnet area and magnet length, after the completion of motor manufacturing, bears
The slope for carrying line also determines that.And the focus of load line and H axis is decided by the electric current of d axis, and when stator current is 0, load line
Across origin.
Thus the maximum demagnetizing current of motor is decided by Hci, for most of motor, d shaft current must satisfy following relationship
Formula:
Wherein, ε0The amplitude of maximum weak magnetoelectricity stream is limited in present embodiment by the usually numerical value of 0.9-1
It is available according to above-mentioned principle: when motor is in rated speed or less, to consider Ld≠Lq, due to saliency,
Also need to consider the influence of reluctance torque, definition β is stator current isWith the angle of q shaft current, so as to obtain expression formula:
Ignore the influence of harmonic torque, available magneto battery torque TeAbout stator current isAnd β expression
Formula, wherein p is motor number of pole-pairs
According to the target of MTPA (maximum torque per ampere control), i.e., every Ampere currents generates maximum torque output,
The maximum value of formula (9) is sought, asks above formula to the first derivative and second dervative of β respectively, according to the relative theory for seeking extreme value, zero single order
Derivative is 0, and second dervative can be obtained less than 0
It solves equation to obtain the torque capacity phase for constant current
In view of d shaft current is negative, working curve (see Fig. 5) of the available system under MTPA control, peak torque
At A point.
Convolution (9) and formula (11) obtain TeWith isRelationship, i.e.,
Te=f (is) (12)
Since above formula is sufficiently complex, it is not easy to controller realization, therefore off-line calculation is first carried out using look-up table, is with 1A
Step-length seeks all corresponding torque T in current limitation circlee, while corresponding current phase β at this time is acquired by formula (11), then
The current-order of d axis and q axis is obtained by formula (8), above data is generated into table, can be realized and torque T it is expected by inpute?
It is given given with q shaft current to required d shaft current, for the data in no longer table, using linear interpolation method.
It is expectation torque to meet electric machine controller input, and apply weak magnetic control when motor is in rated speed or more
System strategy, needs another input, rotor speed ωr, joint type (4) and formula (9) obtain the equation of expectation electric current:
In formula, it is expected that torque TeWith rotor speed ωrFor input, unknown quantity only has d axis and q shaft current, it is contemplated that electric current pole
The round limitation with current symbol of limit, can uniquely determine non trivial solution, it may be assumed that
It is obtained after arrangement:
It can be according to torque T by above formulaeWith rotor speed ωrResolving obtains current-order, similarly more than rated speed
Using 100rpm as step-length, each revolving speed point torque TeAgain with 0.1Nm step size computation current value, above-mentioned data are generated into table, it is right
In data not in the table, equally filled using linear interpolation method.
Based on a kind of available realization stream of the brushless motor weak magnetic control strategy suitable for IBS of the above calculating process
Journey, the switching condition between MTPA and weak magnetic judge that a little, detailed process is as shown in Figure 6 according to formula (1).
It is not difficult to find that the present invention IBS work during, can be defeated according to actual needs if motor is below rated speed
Power torque out；If when more than Rated motor revolving speed, executing weak magnetic control so that motor more than rated speed can to the greatest extent can
Biggish torque output can be provided, it is ensured that motor can provide corresponding revolving speed within the shortest time checks vehicle, i.e., electric
Machine exportable constant torque below rated speed, the above power limitation control maximum output torque of rated speed realize high stable
Property motor weak magnetic speedup, guarantee vehicle running stability.
Claims (5)
1. a kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system, which is characterized in that be based on the control of motor vector
Under conditions of system processed, increase a weak magnetic speed-raising module before electric current loop module；The weak magnetic speed-raising module is in intelligent braking
System is adjusted the command signal of electric current loop according to motor speed and torque-demand during working in real time, and cause is worked as in judgement
Whether condition is Quick brake, such as checks motor speed more than rated speed, then carries out weak magnetic compensation and improve motor speed.
2. the brushless motor field weakening control method according to claim 1 based on electronic brake system,electronic antiskid system, which is characterized in that
When carrying out weak magnetic compensation, after current regulator saturation, increases d-axis and go magnetic component and reduce quadrature axis current component.
3. the brushless motor field weakening control method according to claim 1 based on electronic brake system,electronic antiskid system, which is characterized in that
When carrying out weak magnetic compensation, it would be desirable to torque TeWith rotor speed ωrTo input, according toObtain current-order, wherein LdFor d axis electricity
Sense, ψfFor the magnetic linkage that rotor permanent magnet generates, umaxFor stator phase voltage limiting value, LqFor q axle inductance, idFor d shaft current, iqFor
Q shaft current, p are motor number of pole-pairs.
4. the brushless motor field weakening control method according to claim 3 based on electronic brake system,electronic antiskid system, which is characterized in that most
The amplitude of big weak magnetoelectricity stream is limited to
5. the brushless motor field weakening control method according to claim 3 based on electronic brake system,electronic antiskid system, which is characterized in that
When more than rated speed, using 100rpm as step-length, each revolving speed point torque TeIt, will be upper again using 0.1Nm as step size computation current value
Data generation table is stated to be filled data not in the table using linear interpolation method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811033595.5A CN109167542A (en) | 2018-09-05 | 2018-09-05 | A kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811033595.5A CN109167542A (en) | 2018-09-05 | 2018-09-05 | A kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system |
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| CN109167542A true CN109167542A (en) | 2019-01-08 |
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| CN201811033595.5A Pending CN109167542A (en) | 2018-09-05 | 2018-09-05 | A kind of brushless motor field weakening control method based on electronic brake system,electronic antiskid system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112422003A (en) * | 2020-10-28 | 2021-02-26 | 珠海格力电器股份有限公司 | Permanent magnet synchronous motor, control method, protection system and storage medium |
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|---|---|---|---|---|
| US20100066283A1 (en) * | 2006-10-19 | 2010-03-18 | Hidetoshi Kitanaka | Vector controller for permanent-magnet synchronous electric motor |
| CN102223133A (en) * | 2011-06-02 | 2011-10-19 | 西北工业大学 | Maximum torque control method for salient-pole permanent-magnet synchronous motor |
| CN102826077A (en) * | 2011-06-13 | 2012-12-19 | 方文淋 | Intelligent auxiliary brake system of vehicle |
| CN103552556A (en) * | 2013-11-18 | 2014-02-05 | 扬州泰博汽车电子智能科技有限公司 | Dual-motor BBW (brake-by-wire) system with multiple working modes and voltage regulation modes |
| CN103762922A (en) * | 2014-01-24 | 2014-04-30 | 南京埃斯顿自动化股份有限公司 | Alternating-current servo flux-weakening speed-regulating method |
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2018
- 2018-09-05 CN CN201811033595.5A patent/CN109167542A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100066283A1 (en) * | 2006-10-19 | 2010-03-18 | Hidetoshi Kitanaka | Vector controller for permanent-magnet synchronous electric motor |
| CN102223133A (en) * | 2011-06-02 | 2011-10-19 | 西北工业大学 | Maximum torque control method for salient-pole permanent-magnet synchronous motor |
| CN102826077A (en) * | 2011-06-13 | 2012-12-19 | 方文淋 | Intelligent auxiliary brake system of vehicle |
| CN103552556A (en) * | 2013-11-18 | 2014-02-05 | 扬州泰博汽车电子智能科技有限公司 | Dual-motor BBW (brake-by-wire) system with multiple working modes and voltage regulation modes |
| CN103762922A (en) * | 2014-01-24 | 2014-04-30 | 南京埃斯顿自动化股份有限公司 | Alternating-current servo flux-weakening speed-regulating method |
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| CN112422003A (en) * | 2020-10-28 | 2021-02-26 | 珠海格力电器股份有限公司 | Permanent magnet synchronous motor, control method, protection system and storage medium |
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Application publication date: 20190108 |