CN109532514B - Locked-rotor protection method for electric drive system, motor controller and electric vehicle - Google Patents
Locked-rotor protection method for electric drive system, motor controller and electric vehicle Download PDFInfo
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- CN109532514B CN109532514B CN201811555191.2A CN201811555191A CN109532514B CN 109532514 B CN109532514 B CN 109532514B CN 201811555191 A CN201811555191 A CN 201811555191A CN 109532514 B CN109532514 B CN 109532514B
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
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- 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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Abstract
The embodiment of the invention provides an electric drive system locked-rotor protection method, a motor controller and an electric automobile, which are used for realizing locked-rotor protection of the motor controller of a new energy automobile. The embodiment method comprises the following steps: during the period that the rotating speed of the motor is continuously smaller than the first threshold value or the output frequency of the motor controller is continuously smaller than the second threshold value, continuously integrating the square of the actual maximum output current of the motor controller to obtain a first integral value; if the first integral value exceeds a third threshold value during the continuous integral operation, executing a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating; the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping prevention time length. The first integral value based on the continuous integral operation of the actual maximum output current square of the motor controller is used as the reference value of the heat productivity of the controller, the heat productivity of the controller is more accurate, the damage of an anti-blocking strategy to the anti-slide function can be avoided, and the safety of vehicle climbing is improved.
Description
Technical Field
The invention relates to the field of new energy automobiles, in particular to a locked-rotor protection method for an electric drive system, a motor controller and an electric automobile.
Background
At present, a power system of a new energy automobile is mainly realized by driving a power motor by a motor controller, the motor controller is a software-controlled power electronic system, a main loop of the power system is a three-phase inverter bridge as shown in figure 1, the three-phase inverter bridge inverts three-phase alternating current to drive the power motor, and the frequency of the three-phase alternating current is determined by the rotating speed of the motor. When the vehicle is started on a half slope, the speed of the vehicle is close to zero, the vehicle can be started and climbed, a driver must deeply step on an accelerator, a torque command is close to a peak torque, the current of a motor is close to a peak current, the low-frequency large current only flows through a plurality of fixed IGBTs, and the current conversion does not occur when the vehicle is not started successfully, so that the heat generation of one IGBT is very serious, and if necessary protection measures are not taken on the working condition, the IGBT overheating explosion machine is damaged, and a driver is damaged.
In the method in the prior art, the torque of a motor is corresponding to the opening degree of an accelerator, and if the signal of the accelerator pedal stepped by a driver is changed by stepping on the accelerator pedal, the situation cannot be protected, and a protection blind area exists. Secondly, a motor torque value is used as a basis for protection judgment, but in a salient pole type synchronous motor widely used by a new energy automobile, the motor torque and the three-phase IGBT instantaneous output current are not in a linear relation, and the current which really influences the heat loss of the IGBT is not the torque, so that the situation that the allowance is overlarge in some situations and the protection is not timely in some situations exists in the prior art. In view of the above, a new method for protecting the electric drive system from stalling is needed.
Disclosure of Invention
The embodiment of the invention provides an electric drive system locked-rotor protection method, a motor controller and an electric automobile, which are used for realizing locked-rotor protection of the motor controller of a new energy automobile.
The first aspect of the embodiment of the invention provides a locked-rotor protection method for an electric drive system, which is applied to a motor controller of an electric automobile, wherein the output end of the motor controller is connected with the input end of a motor, and the method comprises the following steps:
during the period that the rotating speed of the motor is continuously smaller than a first threshold value or the output frequency of the motor controller is continuously smaller than a second threshold value, continuously integrating the square of the actual maximum output current of the motor controller to obtain a first integral value;
if the first integral value exceeds a third threshold value during the continuous integral operation, executing a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating;
the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping-preventing time.
Optionally, as a possible implementation manner, in an embodiment of the present invention, after the executing a preset locked rotor protection policy, the method further includes:
if the output current of the motor controller is smaller than a fourth threshold value, the first integral value is decreased progressively according to a preset rate, and the fourth threshold value is not larger than 50% of the rated current of the motor;
and if the first integral value is reduced to be smaller than a fifth threshold value, stopping executing the preset locked-rotor protection strategy, wherein the fifth threshold value is not larger than 80% of the third threshold value.
Optionally, as a possible implementation manner, in an embodiment of the present invention, a time for decreasing the first integrated value from the third threshold to the fifth threshold at the preset rate is 3 seconds to 5 seconds.
Optionally, as a possible implementation manner, in an embodiment of the present invention, the preset locked rotor protection policy includes:
reducing the output current of the motor controller to be below a preset safe current value, wherein the preset safe current value is not more than 50% of the rated current of the motor;
or, reducing the output current of the motor controller to zero.
A second aspect of an embodiment of the present invention provides a motor controller, including:
the calculation module is used for performing continuous integral operation on the square of the actual maximum output current of the motor controller to obtain a first integral value during the period that the rotating speed of the motor is continuously smaller than a first threshold value or the output frequency of the motor controller is continuously smaller than a second threshold value;
the first processing module is used for executing a preset locked-rotor protection strategy if the first integral value exceeds a third threshold value during the continuous integral operation period so as to avoid damage of the motor controller due to overheating; the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping-preventing time.
Optionally, as a possible implementation manner, the motor controller in the embodiment of the present invention further includes:
the second processing module is used for decrementing the first integral value according to a preset rate if the output current of the motor controller is smaller than a fourth threshold, wherein the fourth threshold is not larger than 50% of the rated current of the motor;
and the third processing module stops executing the preset locked-rotor protection strategy if the first integral value is reduced to be smaller than a fifth threshold, wherein the fifth threshold is not larger than 80% of the third threshold.
Optionally, as a possible implementation manner, in an embodiment of the present invention, a time for decreasing the first integrated value from the third threshold to the fifth threshold at the preset rate is 3 seconds to 5 seconds.
Optionally, as a possible implementation manner, in an embodiment of the present invention, the preset locked rotor protection policy includes:
reducing the output current of the motor controller to be below a preset safe current value, wherein the preset safe current value is not more than 50% of the rated current of the motor;
or, reducing the output current of the motor controller to zero.
A third aspect of an embodiment of the present invention provides an electric vehicle, including a motor controller and a motor, where an output end of the motor controller is connected to an input end of the motor, and the motor controller executes the steps of the electric drive system stalling protection method according to any one of the first aspect and the first aspect.
A fourth aspect of embodiments of the present invention provides a motor controller, where the motor controller includes a processor and a memory, and the processor is configured to implement the steps of the electric drive system locked-rotor protection method according to any one of the first aspect and the first aspect when executing a computer program stored in the memory.
A fifth aspect of embodiments of the present invention provides a motor controller readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the electric drive system locked rotor protection method according to any one of the first aspect and the first aspect.
According to the technical scheme, the embodiment of the invention has the following advantages:
in the embodiment of the invention, during the period that the rotating speed of the motor is continuously less than the first threshold value, or the output frequency of the motor controller is continuously less than the second threshold value, namely the rotating speed of the motor is close to zero, under the condition, the motor controller is most likely to be in a locked-rotor working condition, the motor controller can perform continuous integral operation on the square of the actual maximum output current to obtain the first integral value, and if the first integral value exceeds the third threshold value during the continuous integral operation, a preset locked-rotor protection strategy is executed, so that the motor controller can be effectively prevented from being damaged due to overheating. Firstly, the embodiment of the invention is based on that the first integral value of the continuous integral operation of the square of the actual maximum output current of the motor controller is used as the reference value of the calorific value of the controller, compared with the prior art that the calorific value is calculated by using the motor torque, the calorific value of the controller is more accurate, and secondly, the preset locked rotor protection strategy is executed only after the first integral value exceeds the product of the square of the peak current of the motor and the preset anti-slope time length, so that the time from the start of locked rotor of the motor of the electric automobile to the entering of locked rotor protection is longer than the preset anti-slope time length, the damage of the anti-slope function caused by the anti-locked rotor strategy is avoided, and the safety of vehicle climbing is improved.
Drawings
FIG. 1 is a schematic diagram of a main circuit of an electric drive system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a locked-rotor protection method for an electric drive system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of a locked-rotor protection method for an electric drive system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an embodiment of a motor controller in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of another embodiment of a motor controller in accordance with an embodiment of the present invention;
fig. 6 is a schematic diagram of another embodiment of a motor controller according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an electric drive system locked-rotor protection method, a motor controller and an electric automobile, which are used for realizing locked-rotor protection of the motor controller of a new energy automobile.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
For convenience of understanding, a specific application scenario in the embodiment of the present invention is described below, a power system of a new energy vehicle is mainly implemented by driving a power motor by a motor controller, the motor controller is a software-controlled power electronic system, a main loop of the power electronic system is a three-phase inverter bridge as shown in fig. 1, the three-phase inverter bridge inverts three-phase alternating current to drive the power motor, and a frequency of the three-phase alternating current is determined by a motor rotation speed. When the vehicle speed is zero speed or close to zero speed, namely the motor speed is zero or close to zero, the current is changed from three-phase alternating current to direct current, and the current flows through three fixed IGBTs, as shown in figure 1, so that the flowing current of one IGBT is the largest, and the heat generation is the most serious. More specifically, when the vehicle is started on a half slope, the vehicle speed is close to zero speed, and the vehicle is required to be started and climbed, a driver inevitably and deeply steps on an accelerator, a torque command is close to a peak torque, the current of a motor is close to a peak current, and the low-frequency large current only flows through a plurality of fixed IGBTs, and does not change current when the vehicle is not started successfully, so that the situation that one IGBT generates heat seriously is inevitable, and if necessary protection measures are not taken on the working condition, the damage of the IGBT overheating explosion machine and the damage of a driver are inevitable. In the driving condition of a general automobile, a long-time deep stepping on the accelerator when the speed is zero is inevitable and not rare. Appropriate protective measures must be taken for such conditions.
For ease of understanding, the following describes a specific process in an embodiment of the present invention, and referring to fig. 2, an embodiment of a method for protecting a locked-rotor of an electric drive system in an embodiment of the present invention may include:
201. during the period that the rotating speed of the motor is continuously smaller than the first threshold value or the output frequency of the motor controller is continuously smaller than the second threshold value, continuously integrating the square of the actual maximum output current of the motor controller to obtain a first integral value;
the electric drive system locked-rotor protection method in the embodiment of the invention is applied to a motor controller of an electric automobile, and the output end of the motor controller is often connected with the input end of a motor. The embodiment of the invention can identify the locked-rotor working condition based on the real-time rotating speed information of the motor or the output frequency of the motor controller, and the motor can possibly enter the locked-rotor working condition when the rotating speed of the motor is continuously less than the first threshold value or the output frequency of the motor controller is continuously less than the second threshold value. The motor speed is defined to be close to zero speed, a first threshold value can be set, the absolute value of the motor speed is smaller than the threshold value, the motor speed is defined to be close to zero speed, the threshold value is not too large, the output frequency can be taken as a standard due to the fact that the output frequency completely corresponds to the motor speed, and a second threshold value is set, for example, the second threshold value can be set to be lower than the output frequency of 5Hz, and the preferred second threshold value is 2 Hz. The specific setting of the first threshold and the second threshold may be reasonably set according to actual requirements, and is not limited herein.
During the period that the rotating speed of the motor is continuously smaller than the first threshold value or the output frequency of the motor controller is continuously smaller than the second threshold value, the motor controller continuously integrates the square of the actual maximum output current to obtain a first integral value, and the first integral value can be used as a reference value of the heat generation amount of the IGBT in the motor controller.
202. And if the first integral value exceeds a third threshold value during the continuous integral operation period, executing a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating.
In the embodiment of the invention, after the reference value of the calorific value of the IGBT in the motor controller is calculated, a third threshold value needs to be set for avoiding the damage of the motor controller due to overheating, and if the first integral value exceeds the third threshold value during the continuous integral operation period, a preset locked rotor protection strategy is executed. Considering that in practical application, most automobiles are provided with the anti-slope-slipping time, a general host factory requires that the anti-slope-slipping function only lasts for a few seconds, for example, 3 seconds, and a large current output needs to be maintained within 3 seconds. In view of this, the third threshold is set to be not less than the product of the square of the peak current of the motor and the preset hill-drop prevention time. Only after the first integral value exceeds the product of the square of the peak current of the motor and the preset slope-sliding-prevention time length, the preset locked-rotor protection strategy is executed, so that the time from the locked rotor starting to the locked-rotor protection of the motor of the electric automobile is longer than the preset slope-sliding-prevention time length, the damage of the locked-rotor protection strategy to the slope-sliding-prevention function is avoided, and the vehicle climbing safety is improved.
Optionally, the preset locked-rotor protection strategy in the embodiment of the present invention may be that the output current of the motor controller is reduced to be below a preset safe current value, where the preset safe current value is a value that does not cause thermal damage to the motor controller in long-term stable operation, and the specific preset safe current value may be reasonably set according to the type of an IGBT in the vehicle controller and the power requirement of the vehicle, for example, is not greater than 50% of the rated current of the motor, and is not limited herein.
Preferably, the preset locked-rotor protection strategy may also be to reduce the output current of the motor controller to zero.
In the embodiment of the invention, during the period that the rotating speed of the motor is continuously less than the first threshold value, or the output frequency of the motor controller is continuously less than the second threshold value, namely the rotating speed of the motor is close to zero, under the condition, the motor controller is most likely to be in a locked-rotor working condition, the motor controller can perform continuous integral operation on the square of the actual maximum output current to obtain the first integral value, and if the first integral value exceeds the third threshold value during the continuous integral operation, a preset locked-rotor protection strategy is executed, so that the motor controller can be effectively prevented from being damaged due to overheating. Firstly, the embodiment of the invention is based on that the first integral value of the continuous integral operation of the square of the actual maximum output current of the motor controller is used as the reference value of the calorific value of the controller, compared with the prior art that the calorific value is calculated by using the motor torque, the calorific value of the controller is more accurate, and secondly, the preset locked rotor protection strategy is executed only after the first integral value exceeds the product of the square of the peak current of the motor and the preset anti-slope time length, so that the time from the start of locked rotor of the motor of the electric automobile to the entering of locked rotor protection is longer than the preset anti-slope time length, the damage of the anti-slope function caused by the anti-locked rotor strategy is avoided, and the safety of vehicle climbing is improved.
On the basis of the embodiment shown in fig. 2, after the preset locked-rotor protection strategy is executed, in order to avoid that the vehicle is in a powerless state for a long time and the locked-rotor protection needs to be exited in time, referring to fig. 3, another embodiment of the locked-rotor protection method for the electric drive system according to an embodiment of the present invention may include:
301. during the period that the rotating speed of the motor is continuously smaller than the first threshold value or the output frequency of the motor controller is continuously smaller than the second threshold value, continuously integrating the square of the actual maximum output current of the motor controller to obtain a first integral value;
302. if the first integral value exceeds a third threshold value during the continuous integral operation, executing a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating;
303. and if the output current of the motor controller is smaller than the fourth threshold value, the first integral value is decreased progressively according to a preset rate.
After the preset locked-rotor protection strategy is executed, in order to avoid that the vehicle is in an powerless state for a long time, the locked-rotor protection needs to be quitted in time. In the embodiment of the invention, after the preset locked-rotor protection strategy is executed, if the output current of the motor controller is smaller than the fourth threshold, the first integral value is decreased according to the preset rate, the specific fourth threshold is not larger than 50% of the rated current of the motor, and any value between zero and 50% of the rated current of the motor can be taken. The preset rate in the embodiment of the invention can be determined according to the heat dissipation rate of the IGBT in the motor controller measured under the actual working condition, the specific preset rate is related to the type of the IGBT and the environment of the actual working condition, and the specific preset rate is not limited here.
304. And if the first integral value is reduced to be smaller than the fifth threshold value, stopping executing the preset locked rotor protection strategy.
After the preset rate is decreased by the first integral value, a fifth threshold value may be set, and if the first integral value is smaller than the fifth threshold value, the preset locked-rotor protection policy is stopped from being executed in time, where the fifth threshold value is not greater than 80% of the third threshold value.
Optionally, the third threshold may further satisfy the condition that the time t for the first integrated value to decrease from the third threshold to the fifth threshold at the preset rate is 3 seconds to 10 seconds. For example, if the third threshold is CNT, the fifth threshold is CNT2, and the preset rate is K, then t ≦ CNT-CNT2)/K, i.e., 3 ≦ t ≦ 10, preferably 3 ≦ t ≦ 5.
In this embodiment, on the basis of the embodiment shown in fig. 2, when the output current is small, the current square integral CNT is decreased according to the rate K, a manner of describing the heat dissipation process in a proper manner is provided, so that the lock-rotor protection can be timely exited, the conflict with the conventional driving habits of the driver is avoided, and the user experience is improved.
It should be understood that, in various embodiments of the present invention, the sequence numbers of the above steps do not mean the execution sequence, and the execution sequence of each step should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The foregoing embodiment describes a method for protecting a locked-rotor protection of an electric drive system in an embodiment of the present invention, and referring to fig. 4, a motor controller in an embodiment of the present invention is described below, where an embodiment of a motor controller in an embodiment of the present invention may include:
the calculation module 401 is configured to perform continuous integral operation on a square of an actual maximum output current of the motor controller to obtain a first integral value during a period in which the rotation speed of the motor is continuously smaller than a first threshold value or during a period in which the output frequency of the motor controller is continuously smaller than a second threshold value;
the first processing module 402, if the integration operation period continues, and if the first integral value exceeds a third threshold value, executes a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating; the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping prevention time length.
In the embodiment of the invention, during the period that the rotating speed of the motor is continuously less than the first threshold value, or the output frequency of the motor controller is continuously less than the second threshold value, namely the rotating speed of the motor is close to zero, under the condition, the motor controller is most likely to be in a locked-rotor working condition, the motor controller can perform continuous integral operation on the square of the actual maximum output current to obtain the first integral value, and if the first integral value exceeds the third threshold value during the continuous integral operation, a preset locked-rotor protection strategy is executed, so that the motor controller can be effectively prevented from being damaged due to overheating. Firstly, the embodiment of the invention is based on that the first integral value of the continuous integral operation of the square of the actual maximum output current of the motor controller is used as the reference value of the calorific value of the controller, compared with the prior art that the calorific value is calculated by using the motor torque, the calorific value of the controller is more accurate, and secondly, the preset locked rotor protection strategy is executed only after the first integral value exceeds the product of the square of the peak current of the motor and the preset anti-slope time length, so that the time from the start of locked rotor of the motor of the electric automobile to the entering of locked rotor protection is longer than the preset anti-slope time length, the damage of the anti-slope function caused by the anti-locked rotor strategy is avoided, and the safety of vehicle climbing is improved.
Optionally, as a possible embodiment, referring to fig. 5, the motor controller in the embodiment of the present invention may further include:
the second processing module 403, if the output current of the motor controller is smaller than a fourth threshold, decrementing the first integral value according to a preset rate, where the fourth threshold is not greater than 50% of the rated current of the motor;
the third processing module 404 stops executing the preset locked rotor protection strategy if the first integral value decreases to be less than a fifth threshold, where the fifth threshold is not greater than 80% of the third threshold.
Optionally, as a possible embodiment, the time t for the first integrated value to decrease from the third threshold to the fifth threshold at the preset rate is 3 seconds to 5 seconds in the embodiment of the present invention.
Optionally, as a possible embodiment, the preset locked rotor protection policy in the embodiment of the present invention includes:
reducing the output current of the motor controller to be below a preset safe current value, wherein the preset safe current value is not more than 50% of the rated current of the motor;
or, the output current of the motor controller is reduced to zero.
In this embodiment, on the basis of the embodiment shown in fig. 4, when the output current is small, the current square integral CNT is decreased according to the rate K, a manner of describing the heat dissipation process in a proper manner is provided, so that the lock-rotor protection can be timely exited, the conflict with the conventional driving habits of the driver is avoided, and the user experience is improved.
The embodiment of the invention also provides an electric automobile which comprises a motor controller and a motor, wherein the output end of the motor controller is connected with the input end of the motor, and the motor controller executes the electric drive system locked-rotor protection method in any one of the embodiments shown in the figures 2 and 3.
The motor controller in the embodiment of the present application is described above from the perspective of the modular functional entity, and the motor controller in the embodiment of the present application is described below from the perspective of hardware processing:
the embodiment of the present application further provides a motor controller 6, as shown in fig. 6, for convenience of description, only the parts related to the embodiment of the present application are shown, and details of the specific technology are not disclosed, please refer to the method part of the embodiment of the present application.
Referring to fig. 6, the motor controller 6 includes: a power supply 610, a memory 620, a processor 630, a wired or wireless network interface 640, and computer programs stored in the memory and executable on the processor. The processor, when executing the computer program, implements the steps of the various electric drive system locked-rotor protection method embodiments described above, such as steps 101 through 104 shown in fig. 1. Alternatively, the processor, when executing the computer program, implements the functions of each module or unit in the above-described device embodiments.
In some embodiments of the present application, the processor is specifically configured to implement the following steps:
during the period that the rotating speed of the motor is continuously smaller than the first threshold value or the output frequency of the motor controller is continuously smaller than the second threshold value, continuously integrating the square of the actual maximum output current of the motor controller to obtain a first integral value;
if the first integral value exceeds a third threshold value during the continuous integral operation, executing a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating;
the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping prevention time length.
Optionally, in some embodiments of the present application, the processor may be further configured to implement the following steps:
if the output current of the motor controller is smaller than a fourth threshold value, the first integral value is decreased progressively according to a preset rate, and the fourth threshold value is not larger than 50% of the rated current of the motor;
and if the first integral value is reduced to be smaller than a fifth threshold value, stopping executing the preset locked-rotor protection strategy, wherein the fifth threshold value is not larger than 80% of the third threshold value.
Optionally, the time for decreasing the first integrated value from the third threshold value to the fifth threshold value at the preset rate is 3 seconds to 5 seconds.
Optionally, the preset locked-rotor protection policy includes:
reducing the output current of the motor controller to be below a preset safe current value, wherein the preset safe current value is not more than 50% of the rated current of the motor;
or, the output current of the motor controller is reduced to zero.
Illustratively, a computer program may be partitioned into one or more modules/units, which are stored in a memory and executed by a processor. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions, the instruction segments being used to describe the execution of a computer program in a motor controller.
Those skilled in the art will appreciate that the configuration shown in fig. 6 does not constitute a limitation of the motor controller 6, and that the motor controller 6 may include more or fewer components than shown, or some components may be combined, or a different arrangement of components, e.g., the motor controller may also include input-output devices, buses, etc.
The Processor may be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, or the like.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the motor controller by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The present application further provides a motor controller readable storage medium having a computer program stored thereon, which when executed by a processor, can implement the steps of:
during the period that the rotating speed of the motor is continuously smaller than the first threshold value or the output frequency of the motor controller is continuously smaller than the second threshold value, continuously integrating the square of the actual maximum output current of the motor controller to obtain a first integral value;
if the first integral value exceeds a third threshold value during the continuous integral operation, executing a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating;
the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping prevention time length.
Optionally, in some embodiments of the present application, the processor may be further configured to implement the following steps:
if the output current of the motor controller is smaller than a fourth threshold value, the first integral value is decreased progressively according to a preset rate, and the fourth threshold value is not larger than 50% of the rated current of the motor;
and if the first integral value is reduced to be smaller than a fifth threshold value, stopping executing the preset locked-rotor protection strategy, wherein the fifth threshold value is not larger than 80% of the third threshold value.
Optionally, the time for decreasing the first integrated value from the third threshold value to the fifth threshold value at the preset rate is 3 seconds to 5 seconds.
Optionally, the preset locked-rotor protection policy includes:
reducing the output current of the motor controller to be below a preset safe current value, wherein the preset safe current value is not more than 50% of the rated current of the motor;
or, the output current of the motor controller is reduced to zero.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the modules, the apparatuses and the modules described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A locked-rotor protection method for an electric drive system is applied to a motor controller of an electric automobile, the output end of the motor controller is connected with the input end of a motor, and the locked-rotor protection method is characterized by comprising the following steps:
during the period that the rotating speed of the motor is continuously smaller than a first threshold value or the output frequency of the motor controller is continuously smaller than a second threshold value, continuously integrating the square of the actual maximum output current of the motor controller to obtain a first integral value;
if the first integral value exceeds a third threshold value during the continuous integral operation, executing a preset locked-rotor protection strategy to avoid damage of the motor controller due to overheating;
the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping-preventing time.
2. The method of claim 1, wherein after said executing the preset locked rotor protection policy, the method further comprises:
if the output current of the motor controller is smaller than a fourth threshold value, the first integral value is decreased progressively according to a preset rate, and the fourth threshold value is not larger than 50% of the rated current of the motor;
and if the first integral value is reduced to be smaller than a fifth threshold value, stopping executing the preset locked-rotor protection strategy, wherein the fifth threshold value is not larger than 80% of the third threshold value.
3. The method of claim 2, wherein the time for the first integrated value to decrease from the third threshold value to the fifth threshold value at the preset rate is 3 seconds to 5 seconds.
4. The method according to any one of claims 1 to 3, wherein the preset locked rotor protection strategy comprises:
reducing the output current of the motor controller to be below a preset safe current value, wherein the preset safe current value is not more than 50% of the rated current of the motor;
or, reducing the output current of the motor controller to zero.
5. A motor controller, comprising:
the calculation module is used for performing continuous integral operation on the square of the actual maximum output current of the motor controller to obtain a first integral value during the period that the rotating speed of the motor is continuously smaller than a first threshold value or the output frequency of the motor controller is continuously smaller than a second threshold value;
the first processing module is used for executing a preset locked-rotor protection strategy if the first integral value exceeds a third threshold value during the continuous integral operation period so as to avoid damage of the motor controller due to overheating; the third threshold value is not less than the product of the square of the peak current of the motor and the preset slope-slipping-preventing time.
6. The motor controller of claim 5, further comprising:
the second processing module is used for decrementing the first integral value according to a preset rate if the output current of the motor controller is smaller than a fourth threshold, wherein the fourth threshold is not larger than 50% of the rated current of the motor;
and the third processing module stops executing the preset locked-rotor protection strategy if the first integral value is reduced to be smaller than a fifth threshold, wherein the fifth threshold is not larger than 80% of the third threshold.
7. A motor controller according to any of claims 5 to 6, wherein the preset stall protection strategy comprises:
reducing the output current of the motor controller to be below a preset safe current value, wherein the preset safe current value is not more than 50% of the rated current of the motor;
or, reducing the output current of the motor controller to zero.
8. An electric vehicle comprising a motor controller and a motor, an output of the motor controller being connected to an input of the motor, characterized in that the motor controller performs the electric drive system stall protection method according to any one of claims 1 to 4.
9. A motor controller, characterized in that the motor controller comprises a processor and a memory, the processor being configured to implement the steps of the electric drive system stall protection method according to any one of claims 1 to 4 when executing a computer program stored in the memory.
10. A motor controller readable storage medium having stored thereon a computer program, characterized in that: the computer program realizing the steps in the electric drive system stall protection method according to any one of claims 1 to 4 when being executed by a processor.
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| CN110492811B (en) * | 2019-07-18 | 2021-06-22 | 华为技术有限公司 | Slope-retaining capacity improving method and device |
| CN110829948B (en) * | 2019-10-24 | 2021-06-22 | 中国第一汽车股份有限公司 | Locked-rotor protection method and device for motor system, vehicle and storage medium |
| CN113059999B (en) * | 2019-12-30 | 2023-11-10 | 上汽通用五菱汽车股份有限公司 | Electric automobile motor locked-rotor protection method |
| CN111674268B (en) * | 2020-06-22 | 2023-03-10 | 东风电子科技股份有限公司 | Method for realizing slope-sliding prevention protection control of new energy electric automobile |
| CN112158102B (en) * | 2020-09-04 | 2024-03-19 | 开沃新能源汽车集团股份有限公司 | Peak current control method of vehicle-mounted lithium battery system |
| CN112290838B (en) * | 2020-10-15 | 2022-12-06 | 智新控制系统有限公司 | Method and system for controlling locked rotor of permanent magnet synchronous motor for electric automobile |
| CN115257381A (en) * | 2022-08-18 | 2022-11-01 | 岚图汽车科技有限公司 | Vehicle motor locked-rotor protection method, device, equipment and storage medium |
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| CN103448570B (en) * | 2012-06-01 | 2016-04-13 | 博世汽车部件(苏州)有限公司 | The power management system of battery-driven car and method |
| CN102856882A (en) * | 2012-06-04 | 2013-01-02 | 深圳博英特科技有限公司 | Motor locked rotor protection circuit and protection method thereof |
| CN103746626B (en) * | 2013-11-20 | 2017-02-08 | 广东威灵电机制造有限公司 | Locked rotor detection method and apparatus of motor control, and motor driver |
| JP6498473B2 (en) * | 2015-02-24 | 2019-04-10 | ローム株式会社 | Switch drive circuit |
| CN108736446B (en) * | 2018-05-29 | 2019-09-27 | 广东威灵电机制造有限公司 | Guard method, protection system and the permanent magnet synchronous motor of permanent magnet synchronous motor |
| CN108711831B (en) * | 2018-06-06 | 2019-12-31 | 深圳市道通智能航空技术有限公司 | Motor overcurrent locked-rotor protection method and device, electronic speed regulator and unmanned aerial vehicle |
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