CN109756167A - Evaluation method, controller and the automobile of controller bus current - Google Patents
Evaluation method, controller and the automobile of controller bus current Download PDFInfo
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- CN109756167A CN109756167A CN201711077532.5A CN201711077532A CN109756167A CN 109756167 A CN109756167 A CN 109756167A CN 201711077532 A CN201711077532 A CN 201711077532A CN 109756167 A CN109756167 A CN 109756167A
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Abstract
The invention belongs to new-energy automobile control technology fields, provide evaluation method, entire car controller and the new-energy automobile of a kind of electric machine controller bus current；The described method includes: obtaining the intermediate current value of the electric machine controller according to the busbar voltage of the dc power of electric machine controller and electric machine controller；When the motor is in different operating statuses, based on the intermediate current value of the electric machine controller, the bus current of the electric machine controller is obtained by calculation formula.When can efficiently solve the prior art through the invention using sensor detection electric machine controller bus current, testing cost is excessively high, electric machine controller internal structure is excessively complicated problem.
Description
Technical field
The invention belongs to new-energy automobile control technology field more particularly to a kind of estimations of electric machine controller bus current
Method, entire car controller and new-energy automobile.
Background technique
With the reinforcement of people's environmental consciousness, new-energy automobile receives the popular welcome of people, and new-energy automobile is not only
Using the clean energy, there is lower discharge amount of exhaust gas, and power consumption is lower, cost is lower；Since engine is for new
Energy automobile has the function of particularly important, it is therefore desirable to be started by the size of electric machine controller bus current to monitor in time
Machine runnability.The size of electric machine controller bus current is mainly calculated by sensor in the related technology existing,
Sensor is accessed in electric machine controller, and in engine operation, electric machine controller bus electricity can be measured by the sensor
Stream.
Therefore, following problem exists in the prior art: when estimating electric machine controller bus current, needing in motor control
Sensor is installed to detect the bus current inside device, when sensor is mounted on inside electric machine controller, can occupy biggish
Inner space causes the interior spatial structure of electric machine controller increasingly complex, excessively cumbersome to the detection process of bus current；And
And the sensor outside purchase volume is needed to detect the bus current of electric machine controller, the cost of detection is increased, practicability is low.
Summary of the invention
The present invention provides evaluation method, entire car controller and the new-energy automobile of a kind of electric machine controller bus current, purport
Solving, the prior art is excessively high to electric machine controller bus current cost and electric machine controller internal structure excessively complexity is asked
Topic.
First aspect present invention provides a kind of evaluation method of electric machine controller bus current, which comprises
Acquire the threephase stator electric current I of the electric machine controllera、Ib、Ic, electric machine controller busbar voltage Udc, rotor just
Beginning angular position theta；
Three-phase rectangular coordinate system XYZ is converted into two-phase stationary coordinate system ab by coordinate transform；
The two-phase stationary coordinate system ab is converted into two-phase rotating coordinate system dq；
According to the threephase stator electric current I of the electric machine controllera、Ib、IcAnd the initial position angle θ of rotor, it obtains described
The direct-axis current I of electric machine controllerdWith quadrature axis current Iq；
In the two-phase rotating coordinate system dq, equivalent transformation is carried out to the control circuit of the electric machine controller and is obtained respectively
To d axis equivalent circuit and q axis equivalent circuit；
D axis circuit mathematical model is established according to the d axis equivalent circuit, q axis circuit is established according to the q axis equivalent circuit
Mathematical model；
D axis input voltage V is obtained based on the d axis circuit mathematical modeld, q is obtained based on the q axis circuit mathematical model
Axis input voltage Vq；
The dc power P of the electric machine controller is calculated, wherein calculation formula are as follows:
P=Id×Vd+Iq×Vq；
According to the dc power P of the electric machine controller and electric machine controller busbar voltage Udc, obtain the electricity
The intermediate current value I of machine controller；
If the motor is in motoring condition, the electricity is calculated in the intermediate current value I based on the electric machine controller
Machine controller bus current is I1, wherein the calculation formula are as follows:
I1=A × I；
In above formula, A is a constant, the value range of A are as follows: 0.83-0.91；
If motor is in generating state, the motor control is calculated in the intermediate current value I based on the electric machine controller
Device bus current processed is I2, wherein the calculation formula are as follows:
I2=B × I；
In above formula, B is a constant, the value range of B are as follows: 0.86-0.94.
Second aspect of the present invention provides a kind of entire car controller, including memory, processor and storage are on a memory simultaneously
The computer program that can be run on a processor, the processor are realized in method as described above when executing the computer program
The step of.
Third aspect present invention provides a kind of new-energy automobile, including entire car controller as described above.
Existing advantageous effects are the present invention compared with prior art: the present invention is according to each seed ginseng of electric machine controller
Number, the bus current value of electric machine controller has more accurately been obtained by specifically calculating, to simplify electric machine controller
Internal structure reduces estimated cost for electric machine controller bus current；To efficiently solve prior art use
Sensor detects controller bus current, at high cost, electric machine controller internal structure complexity problem.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow chart of the evaluation method of electric machine controller bus current provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram that a kind of different coordinates provided in an embodiment of the present invention are converted；
Fig. 3 is a kind of d axis equivalent circuit structure chart provided in an embodiment of the present invention；
Fig. 4 is a kind of q axis equivalent circuit structure chart provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of entire car controller provided in an embodiment of the present invention；
Fig. 6 is a kind of structure chart of new-energy automobile provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 shows the implementation process of the evaluation method of electric machine controller bus current provided in an embodiment of the present invention, is
Convenient for explanation, only parts related to embodiments of the present invention are shown, details are as follows:
As shown in Figure 1, this method comprises:
Step S101: the threephase stator electric current I of the electric machine controller is acquireda、Ib、Ic, electric machine controller busbar voltage
Udc, rotor initial position angle θ.
Specifically, three phase mains passes through extraneous control protection electric circuit access when electric machine controller accesses three phase mains
The stator of electric machine controller, wherein the stator is made of stator core, stator winding and base three parts, the main work of stator
With for generate rotating excitation field；Wherein electric machine controller busbar voltage determines motor maximum input voltage virtual value；Due to motor
Initial time, the stator and rotor of electric machine controller, which not can guarantee, to be completely coincident, therefore in order to evaluate the defeated of electric machine controller
Performance out needs to acquire the initial position angle θ of rotor.
Step S102: three-phase rectangular co-ordinate XYZ is converted into two-phase stationary coordinate system ab by coordinate transform, and will be described
Two-phase stationary coordinate system ab is converted to obtain two-phase rotating coordinate system dq.
Specifically, the d axis positive direction of the two-phase rotating coordinate system dq is identical as the excitation flux linkage direction of rotor, it will
The d axis is rotated in the counterclockwise direction 90 ° and obtains the q axis of the two-phase rotating coordinate system dq；The wherein coordinate transform is
Refer to that by a coordinate system transformation be another coordinate system, after coordinate transform, the coordinate origin of two coordinate systems is remained unchanged；Due to
Motor has different mathematical models under various coordinate systems, calculates to simplify, and needs in practical application in different coordinates
Circuit for controlling motor is calculated under system；The mathematical model established according to electric machine controller, motor are sat at three-phase right angle
Mathematical model under mark system XYZ is extremely complex, the mathematical model more, high-order, non-linear, close coupling spy with control variable
It is fixed, it is difficult to obtain the operation characteristic of motor by the mathematical model under three-phase rectangular coordinate system XYZ；Therefore, it is necessary to by motor control
Mathematical model of the device processed at three-phase rectangular coordinate system XYZ is converted to the mathematical model at two-phase rotating coordinate system dq, due to
Two reference axis in two-phase rotating coordinate system dq are mutually perpendicular to, to will not have coupling between two phase windings of electric machine controller
It closes, greatly simplifies the mathematical model of electric machine controller, it can be accurately by the mathematical model under two-phase rotating coordinate system dq
Obtain the operation characteristic of electric machine controller.
Step S103: according to the threephase stator electric current I of the electric machine controllera、Ib、Ic, rotor initial position angle θ, obtain
To the direct-axis current I of electric machine controllerdWith quadrature axis current Iq。
Specifically, the threephase stator current phasor of electric machine controller is decomposed by the coordinate transform of electric machine controller
Two orthogonal direct-axis components and quadrature axis component, wherein d-axis and the mutually orthogonal decoupling of quadrature axis, can pass through direct-axis current
IdThe torque of motor is controlled, to be further simplified the space structure of electric machine controller.
Step S104: in the two-phase rotating coordinate system, it is defeated that d axis is obtained according to the control circuit of the electric machine controller
Enter voltage and q axis input voltage.
Specifically, carrying out equivalent change to the control circuit of the electric machine controller in the two-phase rotating coordinate system dq
It changes and respectively obtains d axis equivalent circuit and q axis equivalent circuit；Wherein the input power of electric machine controller does not change after equivalent transformation
Become, since there is the control circuit of electric machine controller multidimensional to control variable, if directly direct to the control circuit of electric saw controller
Mathematical modeling is carried out, then obtained electric machine controller loop-voltage equation and loop current equation will be excessively complicated, unfavorable
In for electric machine controller progress detailed analysis；Therefore d axis is decomposed by the control circuit to the electric machine controller
Equivalent circuit and q axis equivalent circuit respectively obtain d axis equivalent circuit voltage equation, the q axis equivalent voltage of the electric machine controller
Equation simplifies electric machine controller loop parameter model.
Further, d axis circuit mathematical model is established according to the d axis equivalent circuit, is built according to the q axis equivalent circuit
Vertical q axis circuit mathematical model；According between each component in the d axis equivalent circuit connection relationship and the q axis
Connection relationship in equivalent circuit between each component can establish d axis electricity in conjunction with Kirchoff s voltage and current law
Road mathematical model and q axis circuit mathematical model；
Further, d axis input voltage V is obtained based on the d axis circuit mathematical modeld, it is based on the q axis circuit number
It learns model and obtains q axis input voltage Vq；The wherein d axis input voltage VdWith the q axis input voltage VqIt is all electric machine controller
Calculated value under equivalent situation.
Step S105: according to d axis input voltage Vd, q axis input voltage Vq, direct-axis current IdWith quadrature axis current Iq, calculate
The dc power of electric machine controller out.
Specifically, calculate the dc power P of the electric machine controller, wherein calculation formula are as follows:
P=Id×Vd+Iq×Vq；
For example, motor in the process of running, d axis input voltage Vd=220V, q axis input voltage Vq=220V, d-axis electricity
Flow Id=1.2A, quadrature axis current Iq=1.6A, the then at this point, dc power of the electric machine controller are as follows:
P=Id×Vd+Iq×Vq=(1.2 × 220+1.6 × 220) W=616W；
The dc power 616W of motor at this time.
Step S106: according to the dc power P of the electric machine controller and electric machine controller busbar voltage Udc, obtain institute
State the intermediate current value I of electric machine controller.
Specifically, the intermediate current value I of the electric machine controller is calculated value, its calculation formula is:
I=P/Udc；
For example, the dc power P of electric machine controller is 616W, electric machine controller busbar voltage U at this timedcFor 200V, then:
I=P/Udc=(616/200) A=3.08A；
The intermediate current value I of the electric machine controller is 3.08A at this time.
Step S107: according to the intermediate current value I of the electric machine controller, calculate separately obtain motor be in it is electronic or
Electric machine controller bus current when generating state.
Specifically, if the motor is in motoring condition, the intermediate current value I based on the electric machine controller is calculated
It is I to the electric machine controller bus current1, wherein the calculation formula are as follows:
I1=A × I；
In above formula, A is a constant, the value range of A are as follows: 0.83-0.91.
Preferably, the value range of the A are as follows: 0.83-0.86.
If motor is in generating state, the motor control is calculated in the intermediate current value I based on the electric machine controller
Device bus current processed is I2, wherein the calculation formula are as follows:
I2=B × I；
In above formula, B is a constant, the value range of B are as follows: 0.86-0.94.
Preferably, the value range of the B are as follows: 0.86-0.90.
When being in different operating statuses due to motor, the characteristic of electric machine controller also has biggish difference, wherein electricity
The different operating statuses of machine have corresponding relationship with the revolving speed of rotor, therefore can pass through the revolving speed of detection rotor
The different operating statuses of situation you can get it motor.
Through the embodiment of the present invention, by calculating for electric machine controller model, motor can be accurately obtained
In the electric machine controller bus current value of different operating statuses；To effectively overcome the prior art need using sensor come
Detect electric machine controller bus current value, caused by cost is excessively high, problem of electric machine controller interior spatial structure complexity.
Fig. 2 shows the schematic diagrames that different coordinates are converted, and as described in Figure 2, electric machine controller includes turning for motor
Son 201 and stator 202, wherein ABC is respectively the three-phase input current of the stator 202, and A ' B ' C ' is respectively the stator
202 three-phase exports electric current；Using the central point of rotor 201 as coordinate origin, three-phase rectangular coordinate system XYZ is established, coordinate is passed through
Transformation obtains two-phase stationary coordinate system ab, wherein the X-axis of the three-phase rectangular coordinate system XYZ and the two-phase stationary coordinate system ab
A axis coincide, a axis of the two-phase stationary coordinate system ab rotates the d of θ angle Yu the two-phase rotating coordinate system dq counterclockwise
Axis coincides, and the three-phase rectangular coordinate system XYZ, the two-phase stationary coordinate system ab and the two-phase rotating coordinate system
The origin of dq is identical；
It is described that three-phase rectangular coordinate system XYZ is converted into two-phase stationary coordinate system ab, institute by coordinate transform in conjunction with Fig. 2
State coordinate transform specifically:
According to the space vector positional relationship of magnetic potential in the stator winding of the motor, the three-phase rectangular coordinate system is established
The phase inversion matrix of XYZ and the two-phase stationary coordinate system ab；It is identical according to rotating magnetic potential in the stator winding of the motor
Principle establishes phase inversion Matrix C ", as follows:
The wherein phase inversion Matrix C " in, θ " is preset parameter value.
Based on the phase inversion matrix, the three-phase rectangular coordinate system XYZ is converted into the two-phase stationary coordinate system ab,
Wherein the coordinate origin of the three-phase rectangular coordinate system XYZ is overlapped with the coordinate origin of the two-phase stationary coordinate system ab；According to
Each reference axis in the three-phase rectangular coordinate system XYZ, according to phase inversion Matrix C " mapping relations, be converted to the two-phase
Rest frame.
Specifically, described be converted to two-phase rotating coordinate system dq for the two-phase stationary coordinate system ab, comprising:
According to magnetic field equivalence principle, it is orthogonal with the two-phase rotating coordinate system dq's to establish the two-phase stationary coordinate system ab
Transformation matrix；Parametric component of the electric machine controller at two-phase stationary coordinate system ab can be become by the orthogonal transform matrix
DC quantity.
Based on the orthogonal transform matrix, the reference axis and two-phase rotation for obtaining the two-phase stationary coordinate system ab are sat
Rotation transformation equation between the reference axis of mark system dq；For example, the reference axis of two-phase stationary coordinate system ab and two-phase rotation are sat
Rotation transformation equation between the reference axis of mark system dq are as follows:
Wherein in above formula, Ad、AqRespectively the d axis component of two-phase rotating coordinate system dq and q axis component, Aa、AbRespectively two
The a axis component and b axis component of phase rest frame ab, ξ is between two-phase stationary coordinate system ab and two-phase rotating coordinate system dq
Angle.
Based on the rotation transformation equation, the two-phase stationary coordinate system ab is converted into two-phase rotating coordinate system dq,
Described in the coordinate origin of two-phase stationary coordinate system ab be overlapped with the coordinate origin of the two-phase rotating coordinate system dq；Therefore pass through
The rotation transformation equation realizes the conversion of two-phase stationary coordinate system ab Yu two-phase rotating coordinate system dq, simplifies motor control
The mathematical model of device.
Specifically, the threephase stator electric current I according to the motora、Ib、IcAnd the initial position angle of the rotor
θ obtains the direct-axis current I of the electric machine controllerdWith quadrature axis current Iq, comprising:
According to the phase difference of phase stator current every in the threephase stator electric current, the stator and rotor of the motor are obtained
Flux linkage equations；Such as the flux linkage equations are as follows:
In the flux linkage equations, ψi1、ψi2And ψi3Respectively magnetic linkage of the electric machine controller in every phase, L1、L2、L3、L4And L5
The respectively electrodynamic capacity of stator winding, i1、i2And i3Respectively every phase current of electric machine controller.
In the two-phase rotating coordinate system dq, based on the flux linkage equations by the threephase stator electric current I of the motora、
Ib、IcIt is converted into the direct-axis current I of the electric machine controllerdWith quadrature axis current Iq；For example, in the two-phase rotating coordinate system dq
In, direct-axis current IdWith quadrature axis current IqCalculation formula are as follows:
In above formula, ψsdFor the absolute magnetic linkage of electric machine controller, σ is electric machine controller magnetic leakage factor, LsFor electric machine controller
Equivalent inductance coefficent, i in two-phase rotating coordinate system dqsd、isqRespectively equivalent current and q axis of the electric machine controller in d axis
Equivalent current, npFor the revolving speed of electric machine controller；By by the threephase stator electric current I of electric machine controllera、Ib、IcIt is converted into two dimension
Direct-axis current IdWith quadrature axis current Iq, the parameter dimensions of electric machine controller are significantly reduced, electricity can be more easily analyzed
The circuit model of machine controller.
Specifically, it is described in the two-phase rotating coordinate system dq, the control circuit of the electric machine controller is carried out etc.
Effect transformation respectively obtains d axis equivalent circuit and q axis equivalent circuit, comprising:
According to the control circuit dynamic characteristic of the electric machine controller, the electric machine controller voltage equation is obtained；
For example, the voltage equation of electric machine controller are as follows:
In above formula, usd、usqRespectively electric machine controller is in the equivalent voltage of d axis and the equivalent voltage of q axis, RsFor motor control
Equivalent resistance of the device processed in two-phase rotating coordinate system dq, Id、IqRespectively direct-axis current and quadrature axis current, D are differential operator,
ψsdFor the absolute magnetic linkage of electric machine controller, ψsqThe stator magnetic linkage component for being electric machine controller in two-phase rotating coordinate system dq, ωk
For mutual inductance of the electric machine controller in two-phase rotating coordinate system dq；
Based on the voltage equation, the equivalent circuit of the electric machine controller under no-load condition is obtained；Due to basis
The electricity characteristic of all electric power components in the voltage equation you can get it electric machine controller, therefore can be flat according to the voltage
Weigh the equivalent circuit of equation reverse push export electric machine controller under no-load condition, which reflects electric machine controller and exist
Electric power component connection status when unloaded.
According to the contrast relationship of the stator of the motor and rotor, the equivalent circuit is decomposed into d axis equivalent circuit and q
Axis equivalent circuit.Since the stator and rotor of motor have specific influence for the operation characteristic of electric machine controller, by institute
Each electric power component can only be obtained to the influence degree of electric machine controller entirety, if passing through the equivalent circuit by stating equivalent circuit
The runnability of electric machine controller is analyzed, the process of analysis is excessively complicated, therefore, in two-phase rotating coordinate system dq
In, the equivalent circuit is decomposed into d axis equivalent circuit and q axis equivalent circuit, as shown in Figure 3 and Figure 4, Fig. 3 shows d axis etc.
Be worth circuit structure diagram, Fig. 4 shows q axis equivalent circuit structure chart, in conjunction with electric machine controller in Fig. 3 d axis equivalent voltage usd
With direct-axis current IdCircuit connection diagram, d axis equivalent circuit includes the equivalent circuit structure of stator 301, rotor 302, thus logical
Cross inductance L, magnetic linkage WqWeElectric machine controller d axis equivalent circuit is depicted etc. each electric power component；Similarly, q shown in Fig. 4
Axis equivalent circuit includes the circuit structure and inductance L of stator 301qDeng；In conjunction with Fig. 3 and Fig. 4, motor can be clearly understood
The control circuit model of controller, and then the various of electric machine controller can be calculated by the d axis equivalent circuit and q axis equivalent circuit
Operation characteristic parameter.
It should be noted that attached drawing 3 provided in this embodiment and attached drawing 4 are served only for explaining the present invention, this hair is not limited
Bright protection scope；In the control circuit analytic process of actual electric machine controller, since different electric machine controllers has
A variety of circuit structures and different working conditions are likely to be obtained different d axis equivalent circuits and different q axis equivalent circuits,
These still fall within protection scope of the present invention.
Optionally, the dc power P of the acquisition electric machine controller, specific steps are as follows:
Acquire the revolving speed n and torque T of the motor；
Calculate the output power P of the motor1, wherein calculation formula are as follows:
P1=(n × T)/9550,
In above formula, P1For the output power of the motor, n is the revolving speed of the motor, and T is the torque of the motor；
The dc power P of the electric machine controller is calculated, wherein calculation formula are as follows:
P=P1/ φ,
In above formula, P1For the output power of the motor, φ is the main flux of the motor.
Fig. 5 shows the schematic diagram of entire car controller provided in an embodiment of the present invention, and details are as follows:
The entire car controller 5 includes: processor 50, memory 51 and is stored in the memory 51 and can be described
The computer program 52 run on processor 50, the processor 50 realize above-mentioned motor control when executing the computer program 52
Step in the evaluation method embodiment of device bus current processed, such as step s101-s107 shown in FIG. 1.
Illustratively, the computer program 52 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 51, and are executed by the processor 50, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 52 in the entire car controller 5 is described.For example, the computer program 62 can be by
It is divided into synchronization module, summarizing module, obtains module, return module.
The entire car controller 5 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The entire car controller 5 may include, but be not limited only to, processor 50, memory 51.It will be understood by those skilled in the art that
Fig. 5 is only the example of entire car controller 5, does not constitute the restriction to entire car controller 5, may include more or more than illustrating
Few component perhaps combines certain components or different components, such as the entire car controller 5 can also include that input is defeated
Equipment, network access equipment, bus etc. out.
Alleged processor 50 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 51 can be the internal storage unit of the entire car controller 5, such as the hard disk of entire car controller 5
Or memory.The memory 51 is also possible to the External memory equipment of the entire car controller 5, such as the entire car controller 5
The plug-in type hard disk of upper outfit, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) block, flash card (Flash Card) etc..Further, the memory 51 can also both include the entire car controller 5
Internal storage unit also includes External memory equipment.The memory 51 is for storing the computer program and the vehicle
Other programs and data needed for controller 5.The memory 51, which can be also used for temporarily storing, have been exported or will
The data of output.
Fig. 6 shows the structure chart of new-energy automobile provided in an embodiment of the present invention, as shown in fig. 6, the new-energy automobile 6
Including foregoing entire car controller 5.
Through this embodiment, pass through simplifying step by step for electric machine controller circuit structure, available motor control
The circuit equivalent model of device can calculate motor by the detailed analysis of the circuit equivalent model for the electric machine controller
Electric machine controller bus current value under different operating statuses, so that the measurement cost of bus current is significantly reduced, letter
The interior spatial structure for having changed electric machine controller solves the prior art and needs to acquire bus current using sensor, causes
Electric machine controller bus current testing cost is higher, the problem of controller interior spatial structure complexity.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Distinguished with another entity, without necessarily requiring or implying between these entities there are any this actual relationship or
Person's sequence.And the terms "include", "comprise" or any other variant are intended to non-exclusive inclusion, so that packet
Include the product of a series of elements or the element that structure is intrinsic.In the absence of more restrictions, by sentence " packet
Include ... " or " including ... " limit element, it is not excluded that at process, method, article or end including the element
There is also other elements in end equipment.In addition, herein, " being greater than ", " being less than ", " being more than " etc. are interpreted as not including this
Number；" more than ", " following ", " within " etc. be interpreted as including this number.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of evaluation method of electric machine controller bus current, which is characterized in that the described method includes:
Acquire the threephase stator electric current I of the electric machine controllera、Ib、Ic, electric machine controller busbar voltage Udc, rotor initial bit
Angle setting θ；
Three-phase rectangular coordinate system XYZ is converted into two-phase stationary coordinate system ab by coordinate transform；
The two-phase stationary coordinate system ab is converted into two-phase rotating coordinate system dq；
According to the threephase stator electric current I of the electric machine controllera、Ib、IcAnd the initial position angle θ of rotor, obtain the motor
The direct-axis current I of controllerdWith quadrature axis current Iq；
In the two-phase rotating coordinate system dq, equivalent transformation is carried out to the control circuit of the electric machine controller and respectively obtains d
Axis equivalent circuit and q axis equivalent circuit；
D axis circuit mathematical model is established according to the d axis equivalent circuit, q axis circuit mathematics is established according to the q axis equivalent circuit
Model；
D axis input voltage V is obtained based on the d axis circuit mathematical modeld, show that q axis is defeated based on the q axis circuit mathematical model
Enter voltage Vq；
The dc power P of the electric machine controller is calculated, wherein calculation formula are as follows:
P=Id×Vd+Iq×Vq；
According to the dc power P of the electric machine controller and electric machine controller busbar voltage Udc, obtain the motor control
The intermediate current value I of device processed；
If the motor is in motoring condition, the motor control is calculated in the intermediate current value I based on the electric machine controller
Device bus current processed is I1, wherein the calculation formula are as follows:
I1=A × I；
In above formula, A is a constant, the value range of A are as follows: 0.83-0.91；
If motor is in generating state, the electric machine controller is calculated in the intermediate current value I based on the electric machine controller
Bus current is I2, wherein the calculation formula are as follows:
I2=B × I；
In above formula, B is a constant, the value range of B are as follows: 0.86-0.94.
2. the method according to claim 1, wherein the d axis positive direction of the two-phase rotating coordinate system dq and electricity
The excitation flux linkage direction of machine rotor is identical, and the d axis is rotated in the counterclockwise direction 90 ° and obtains the two-phase rotating coordinate system dq
Q axis.
3. the method according to claim 1, wherein the value range of the A are as follows: 0.83-0.86.
4. the method according to claim 1, wherein the value range of the B are as follows: 0.86-0.90.
5. the method according to claim 1, wherein described pass through coordinate transform for three-phase rectangular coordinate system XYZ
Be converted to two-phase stationary coordinate system ab, the coordinate transform specifically:
According to the space vector positional relationship of magnetic potential in the stator winding of the motor, the three-phase rectangular coordinate system XYZ is established
With the phase inversion matrix of the two-phase stationary coordinate system ab；
Based on the phase inversion matrix, the three-phase rectangular coordinate system XYZ is converted into the two-phase stationary coordinate system ab, wherein
The coordinate origin of the three-phase rectangular coordinate system XYZ is overlapped with the coordinate origin of the two-phase stationary coordinate system ab.
6. the method according to claim 1, wherein described be converted to two-phase for the two-phase stationary coordinate system ab
Rotating coordinate system dq, comprising:
According to magnetic field equivalence principle, the orthogonal transformation of the two-phase stationary coordinate system ab Yu the two-phase rotating coordinate system dq are established
Matrix；
Based on the orthogonal transform matrix, the reference axis and the two-phase rotating coordinate system of the two-phase stationary coordinate system ab is obtained
Rotation transformation equation between the reference axis of dq；
Based on the rotation transformation equation, the two-phase stationary coordinate system ab is converted into two-phase rotating coordinate system dq, wherein institute
The coordinate origin for stating two-phase stationary coordinate system ab is overlapped with the coordinate origin of the two-phase rotating coordinate system dq.
7. the method according to claim 1, wherein the threephase stator electric current I according to the motora、Ib、
IcAnd the initial position angle θ of the rotor, obtain the direct-axis current I of the electric machine controllerdWith quadrature axis current Iq, comprising:
According to the phase difference of phase stator current every in the threephase stator electric current, the stator of the motor and the magnetic linkage of rotor are obtained
Equation；
In the two-phase rotating coordinate system dq, based on the flux linkage equations by the threephase stator electric current I of the motora、Ib、Ic
It is converted into the direct-axis current I of the electric machine controllerdWith quadrature axis current Iq。
8. the method according to claim 1, wherein described in the two-phase rotating coordinate system dq, to described
The control circuit of electric machine controller carries out equivalent transformation and respectively obtains d axis equivalent circuit and q axis equivalent circuit, comprising:
According to the control circuit dynamic characteristic of the electric machine controller, the electric machine controller voltage equation is obtained；
Based on the voltage equation, the equivalent circuit of the electric machine controller under no-load condition is obtained；
According to the contrast relationship of the stator of the motor and rotor, the equivalent circuit is decomposed into d axis equivalent circuit and q axis etc.
It is worth circuit.
9. a kind of entire car controller, which is characterized in that on a memory and can be in processor including memory, processor and storage
The computer program of upper operation, the processor are realized as described in claim any one of 1-8 when executing the computer program
Step in method.
10. a kind of new-energy automobile, which is characterized in that including entire car controller as claimed in claim 9.
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