CN109884523B - Off-line detection method and system for electric drive system - Google Patents
Off-line detection method and system for electric drive system Download PDFInfo
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- CN109884523B CN109884523B CN201910180423.9A CN201910180423A CN109884523B CN 109884523 B CN109884523 B CN 109884523B CN 201910180423 A CN201910180423 A CN 201910180423A CN 109884523 B CN109884523 B CN 109884523B
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Abstract
The invention discloses an off-line detection method and system of an electric drive system, wherein the method comprises the following steps: after the dynamometer bench drags the motor to rotate according to the preset rotating speed, the motor controller calculates the assumed position of the rotor of the motor according to the assumed rotational angle initial value of the motor and the acquired rotational signal of the motor; setting the direct-axis current and quadrature-axis current of the motor as a first current value and a second current value respectively according to the assumed position of the rotor, and controlling the motor to operate and rotate; calculating and storing an actual rotation angle initial value of the motor according to the collected three-phase current, the first current value and the second current value of the motor; testing the preset performance of the motor by using the initial value of the rotation angle according to a test instruction sent by the upper computer; according to the invention, through self-learning of the actual rotation angle initial value of the motor by the motor controller, the process of manually correcting the rotation stator is reduced, dependence on the proficiency of operators is avoided, the tooling is reduced, the detection efficiency is improved, and the detection cost is reduced.
Description
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to an offline detection method and system of an electric drive system.
Background
The last procedure of the production of the electric drive system is offline detection, the performance detection of the motor assembly such as rotary change initial angle correction and external characteristics is realized through the offline detection, and the detection method is the last procedure of quality control before the delivery of the electric drive system and has an important effect.
In the prior art, for a conventional electric drive system, a motor (motor assembly) and a motor controller (motor controller assembly) are generally separated. As shown in figure 1, before offline detection, a motor assembly and a dynamometer rack are assembled and fixed, a motor controller assembly is fixed on a fixed platform through a mechanical tool, a high-voltage wire harness and a low-voltage wire harness are used for connecting a motor controller and a motor, the high-voltage wire harness is connected between a power supply and the motor controller, and an upper computer and the like are connected. The bench building process test fixture and the wiring harness are complex in connection, the consumed assembly time is long, and the equipment is complex.
However, when actually loading the vehicle, the motor assembly and the motor controller assembly are randomly matched, a fixed value of the initial value θ 1 of the rotation angle needs to be written in advance in the software of the motor controller assembly, all the motor assemblies need to adjust the initial value θ 2 of the rotation angle to be consistent with the software value θ 1 of the motor controller assembly, and the control precision can meet the requirement. Therefore, the initial value of the rotation angle of the motor assembly needs to be corrected by manually adjusting the position of the rotation stator. The process may require repeated corrections to adjust the initial value of the rotational angle of the motor to the correct position, and depends on the skill of the operator.
In the same way, the motor assembly and the motor controller assembly are randomly matched, the performance of the motor assembly and the performance of the motor controller assembly can be ensured to be qualified only by respectively passing the test, the motor test needs to be matched with the standard motor controller to test the external characteristics one by one, and the motor controller needs to test the current output capacity (or the external characteristics) one by one.
Therefore, the existing offline detection method has the defects of complex tooling, long time and high requirement on the proficiency of operators, becomes one of the main factors restricting the production rhythm at present, influences the production efficiency and increases the cost.
Therefore, how to reduce the tool of the electric drive system during offline detection, the workload of operators is reduced, the detection efficiency is improved, the detection cost is reduced, and the problem of urgent need to be solved nowadays is solved.
Disclosure of Invention
The invention aims to provide an offline detection method and system of an electric drive system, which are used for self-learning of an initial value of a rotation angle through a motor controller, reducing tools, improving detection efficiency and reducing detection cost.
In order to solve the above technical problem, the present invention provides an offline detection method for an electric drive system, including:
after a dynamometer bench drags a motor to rotate according to a preset rotating speed, a motor controller calculates the assumed position of a rotor of the motor according to the assumed rotation angle initial value of the motor and the acquired rotation signal of the motor;
setting the direct-axis current and quadrature-axis current of the motor as a first current value and a second current value respectively according to the assumed position of the rotor, and controlling the motor to operate and rotate;
calculating and storing an actual rotation angle initial value of the motor according to the collected three-phase current of the motor, the first current value and the second current value;
testing the preset performance of the motor by using the initial value of the rotation angle according to a test instruction sent by an upper computer; wherein the preset performance includes at least one of an external characteristic, torque accuracy and efficiency.
Optionally, the calculating, by the motor controller, the assumed rotor position of the motor according to the assumed rotation angle initial value of the motor and the collected rotation signal of the motor includes:
decoding the resolver signals to obtain the position of the rotary transformer;
and taking the difference between the position of the rotary transformer and the initial value of the assumed rotation angle as the assumed position of the rotor.
Optionally, the initial value of the assumed rotation angle is 0.
Optionally, when the first current value and the second current value are both 0, calculating and storing an actual rotation angle initial value of the motor according to the collected three-phase current of the motor, the first current value and the second current value, includes:
carrying out coordinate transformation on the three-phase current to obtain the actual direct-axis current and the actual quadrature-axis current of the motor;
calculating actual direct-axis voltage and actual quadrature-axis voltage of the motor according to the actual direct-axis current and the actual quadrature-axis current;
and calculating and storing the initial value of the rotation angle according to the actual direct-axis voltage and the actual quadrature-axis voltage.
Optionally, calculating an actual direct-axis voltage and an actual quadrature-axis voltage of the motor according to the actual direct-axis current and the actual quadrature-axis current includes:
by means of Ud＝Rsid-ωLqiqAnd Uq＝Rsiq+ωLdid+ωψPMCalculating the actual direct axis voltage and the actual quadrature axis voltage; wherein, UdAnd UqRespectively said actual direct axis voltage and said actual quadrature axis voltage, idAnd iqRespectively said actual direct axis current and actual quadrature axis current, RsIs stator resistance, ω is rotor angular velocity, LdIs a direct axis inductor, LqIs a quadrature axis inductance,. psiPMIs a magnetic linkage.
Optionally, the calculating and storing the initial value of the rotation angle according to the actual direct-axis voltage and the actual quadrature-axis voltage includes:
by using
Calculating and storing the initial value of the rotation angle; wherein θ is the initial value of the rotation angle.
In addition, the present invention also provides an offline detection system of an electric drive system, comprising: the device comprises an electric drive system, an upper computer, a power supply and a dynamometer stand;
the power supply is connected with the power measuring machine frame through a high-voltage wire harness; the motor controller is used for calculating an actual rotation angle initial value of the motor and testing the preset performance of the motor by using the rotation angle initial value according to a test instruction sent by the upper computer; wherein the preset performance includes at least one of an external characteristic, torque accuracy and efficiency.
Optionally, the upper computer is connected with the electric drive system through a CAN bus.
The invention provides an off-line detection method of an electric drive system, which comprises the following steps: after the dynamometer bench drags the motor to rotate according to the preset rotating speed, the motor controller calculates the assumed position of the rotor of the motor according to the assumed rotational angle initial value of the motor and the acquired rotational signal of the motor; setting the direct-axis current and quadrature-axis current of the motor as a first current value and a second current value respectively according to the assumed position of the rotor, and controlling the motor to operate and rotate; calculating and storing an actual rotation angle initial value of the motor according to the collected three-phase current, the first current value and the second current value of the motor; testing the preset performance of the motor by using the initial value of the rotation angle according to a test instruction sent by the upper computer; wherein the predetermined performance includes at least one of external characteristics, torque accuracy and efficiency;
therefore, the process of manually correcting the rotary variable stator can be reduced by self-learning the actual rotary variable angle initial value of the motor by the motor controller, and dependence on the proficiency of an operator is avoided; the motor controller can test the performance of the motor by utilizing the self-learned rotation angle initial value, so that the number of tools is reduced, the detection efficiency is improved, and the detection cost is reduced. In addition, the invention also provides an off-line detection system of the electric drive system, and the off-line detection system also has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic illustration of an offline test of a split motor and motor controller in the prior art;
FIG. 2 is a flow chart of a method for detecting an end-of-line condition of an electric drive system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating another method for detecting an end-of-line condition in an electric drive system in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of an off-line detection system for an electric drive system in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of an offline detection system of an electric drive system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Referring to fig. 2, fig. 2 is a flowchart illustrating an offline detection method of an electric drive system according to an embodiment of the present invention. The method can comprise the following steps:
step 101: after the dynamometer bench drags the motor to rotate according to the preset rotating speed, the motor controller calculates the assumed position of the rotor of the motor according to the assumed rotational angle initial value of the motor and the acquired rotational signal of the motor.
It is understood that the purpose of this step may be that the motor controller calculates the assumed rotor position of the motor (assumed rotor position) by using the collected rotation signal of the motor and the preset assumed rotation angle initial value after the dynamometer bench drags the motor to rotate at the preset rotation speed, so as to control the motor by using the assumed rotor position in the next step.
Correspondingly, the specific way of calculating the assumed position of the rotor of the motor by the motor controller in the step can be set by a designer according to the practical scene and the user requirement, such asAs shown in fig. 3, after the dynamometer bench drags the motor to rotate at the preset rotation speed n, the motor controller may set the initial value θ of the resolver angle to 0 (assuming the initial value of the resolver angle), decode the collected resolver signal of the motor to obtain the position ψ of the resolver, and then use the difference between the position ψ and 0 of the resolver as the assumed position of the rotor
Namely, it is
The present embodiment does not limit the assumed position of the rotor of the motor as long as the motor controller can calculate the assumed position of the rotor of the motor by using the assumed rotational angle initial value of the motor and the collected rotational signal of the motor.
Specifically, to the motor controller decode the resolver signal of the motor of gathering, obtain the concrete mode of resolver position, can be set up by the designer by oneself, if the motor controller can adopt prior art to decode the resolver signal of gathering through the hardware chip, obtain the resolver position, this embodiment does not do any restriction to this. Similarly, the specific value setting of the initial value of the assumed rotation angle may be set by the designer, and may be set to 0 as shown in fig. 3, or may be set to other values, which is not limited in this embodiment.
It should be noted that the preset rotation speed in this step may be a self-learned rotation speed that meets the initial value of the actual rotation angle of the motor and is set by a designer or a user, and the specific value setting of the preset rotation speed is not limited in this embodiment.
Step 102: and setting the direct-axis current and the quadrature-axis current of the motor as a first current value and a second current value respectively according to the assumed position of the rotor, and controlling the motor to operate and rotate.
It is understood that the purpose of this step may be to control the motor to operate and rotate by the motor controller by using the assumed rotor position and by setting the direct-axis current and the quadrature-axis current at preset values (the first current value and the second current value).
Specifically, the specific values of the direct-axis current and the quadrature-axis current of the motor, that is, the specific values of the first current value and the second current value, may be set by a designer, as shown in fig. 3, in order to facilitate the calculation of the initial value of the actual rotation angle of the motor in step 103, both the first current value of the direct-axis current (Id) and the second current value of the quadrature-axis current (Iq) may be set to 0; other values may be set. The present embodiment does not set any limit to this.
Step 103: and calculating and storing the actual rotation angle initial value of the motor according to the acquired three-phase current, the first current value and the second current value of the motor.
It can be understood that the purpose of this step may be to calculate and store the actual rotation angle initial value of the motor by collecting three-phase currents of the motor and controlling a given direct-axis current (a first current value) and quadrature-axis current (a second current value) of the motor after the motor controller controls the motor to operate and rotate, thereby implementing self-learning of the actual rotation angle initial value of the motor by the motor controller.
Correspondingly, the specific way that the motor controller calculates and stores the actual rotation angle initial value of the motor according to the collected three-phase current, the first current value and the second current value of the motor in the step can be set by a designer, if the first current value and the second current value are both 0, the motor controller can firstly carry out coordinate transformation on the collected three-phase current of the motor to obtain the actual direct axis current and the actual alternating axis current of the motor, and if the three-phase current (I) of the motor is fed back by the current sensorA、IBAnd IC) Obtaining the actual direct axis current i of the motor through three-phase to two-phase coordinate transformationdAnd the actual quadrature axis current iq(ii) a Calculating the actual direct-axis voltage and actual quadrature-axis voltage of the motor according to the actual direct-axis current and actual quadrature-axis current, if U can be usedd＝Rsid-ωLqiqAnd Uq＝Rsiq+ωLdid+ωψPMCalculating to obtain the actual direct axis voltage UdAnd the actual quadrature axis voltageUqWherein R issIs stator resistance, ω is rotor angular velocity, LdIs a direct axis inductor, LqIs a quadrature axis inductance,. psiPMIs a magnetic linkage; then, the actual rotation angle initial value of the motor is calculated and stored according to the actual direct-axis voltage and the actual quadrature-axis voltage, if available
And calculating to obtain an initial value theta of the actual rotation variable angle of the motor and storing the initial value theta in the memory space of the motor controller. As long as the motor controller calculates and stores the actual rotational angle initial value of the motor according to the collected three-phase current, the first current value and the second current value of the motor, the present embodiment does not limit this.
Step 104: testing the preset performance of the motor by using the initial value of the rotation angle according to a test instruction sent by the upper computer; wherein the predetermined performance includes at least one of external characteristics, torque accuracy and efficiency.
The purpose of this embodiment may be to enable the motor controller to test the preset performance of the motor according to the control of the upper computer by using the self-learned initial value of the rotation angle on the basis of realizing the self-learning of the initial value of the actual rotation angle of the motor by the motor controller, so that the electric drive system provided with the motor controller and the motor can complete the performance (preset performance) tests of the external characteristic, the torque accuracy, the efficiency and the like of the motor according to the control of the upper computer. That is, the motor and the motor control device can be directly collocated for testing.
It can be understood that, as to the specific manner in which the motor controller tests the preset performance of the motor by using the initial value of the rotation angle according to the test instruction sent by the upper computer in this step, the method may be implemented in a manner the same as or similar to the method for detecting the performance of the motor in the prior art, and this embodiment does not limit this. Similarly, the selection of the performance of the motor to be tested in this step, that is, the specific setting of the preset performance, may be set by the designer, for example, any one or more of the external characteristics, the torque accuracy, and the efficiency of the motor may be tested, and the other performances of the motor may also be tested by using the motor controller. This embodiment also does not impose any limitation.
It should be noted that, in this embodiment, the mechanical structures of the motor and the motor controller in the electric drive system are collocated in a one-to-one manner, and in order to further reduce the number of tools, the motor and the motor controller may be disposed on the dynamometer frame through a mechanical tool together as shown in fig. 4.
Specifically, this embodiment is only shown by taking detection of a motor in the electric drive system as an example, and detection can also be performed by controlling a motor controller collocated with the motor in the electric drive system through an upper computer. Further, the electric drive system may not only include the motor and the motor controller, but also integrate a speed reducer, a vehicle control unit, a charger, a DC-DC device, and the like, so that the method provided by this embodiment may detect more devices in the electric drive system.
In the embodiment, the motor controller self-learns the actual rotational angle initial value of the motor, so that the process of manually correcting the rotational stator can be reduced, and the dependence on the proficiency of an operator is avoided; the motor controller can test the performance of the motor by utilizing the self-learned rotation angle initial value, so that the number of tools is reduced, the detection efficiency is improved, and the detection cost is reduced.
Referring to fig. 5, fig. 5 is a block diagram illustrating an offline detection system of an electric drive system according to an embodiment of the present invention. The offline detection system may include:
in addition, the present invention also provides an offline detection system of an electric drive system, comprising: the system comprises an electric drive system 10, an upper computer 20, a power supply 30 and a dynamometer stand 40;
the power supply system comprises an electric drive system 10, a dynamometer stand 40, an upper computer 20, a power supply 30 and a power supply, wherein the electric drive system 10 is fixedly connected with the dynamometer stand 40 through a mechanical tool; the mechanical structures of a motor and a motor controller in the electric drive system 10 are matched in a one-to-one manner, the motor controller is used for calculating an actual rotation angle initial value of the motor, and testing the preset performance of the motor by using the rotation angle initial value according to a test instruction sent by an upper computer; wherein the predetermined performance includes at least one of external characteristics, torque accuracy and efficiency.
It can be understood that the purpose of the present embodiment may be to utilize self-learning of the motor controller in the electric drive system 10 to the actual rotation angle initial value of the motor, so as to implement a performance test on the motor controller and the motor in the electric drive system 10, which saves a lot of test time compared to the conventional method of separately testing the performance of the motor and the motor controller.
Specifically, the upper computer 20 and the electric drive system 10 may be connected by a CAN bus, that is, the electric drive system 10 may complete the testing of the performance of the external characteristics, the torque accuracy, the efficiency, and the like of the motor according to the control of the upper computer by the CAN bus.
In the embodiment, the motor controller in the electric drive system 10 self-learns the actual rotation angle initial value of the motor, so that the process of manually correcting the rotation stator can be reduced, and the dependence on the proficiency of an operator is avoided; the motor controller can test the performance of the motor by utilizing the self-learned rotation angle initial value, so that the number of tools is reduced, the detection efficiency is improved, and the detection cost is reduced.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The off-line detection method and system of the electric drive system provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the principles of the invention, and it is intended that such changes and modifications also fall within the scope of the appended claims.
Claims (8)
1. A method of detecting an end-of-line condition in an electric drive system, comprising:
after a dynamometer bench drags a motor to rotate according to a preset rotating speed, a motor controller calculates the assumed position of a rotor of the motor according to the assumed rotation angle initial value of the motor and the acquired rotation signal of the motor;
setting the direct-axis current and quadrature-axis current of the motor as a first current value and a second current value respectively according to the assumed position of the rotor, and controlling the motor to operate and rotate;
calculating and storing an actual rotation angle initial value of the motor according to the collected three-phase current of the motor, the first current value and the second current value;
testing the preset performance of the motor by using the initial value of the rotation angle according to a test instruction sent by an upper computer; wherein the preset performance includes at least one of an external characteristic, torque accuracy and efficiency.
2. An offline detection method for an electric drive system according to claim 1, wherein said motor controller calculates an assumed rotor position of said motor according to an initial assumed rotation angle value of said motor and a collected rotation signal of said motor, and comprises:
decoding the resolver signals to obtain the position of the rotary transformer;
and taking the difference between the position of the rotary transformer and the initial value of the assumed rotation angle as the assumed position of the rotor.
3. An end-of-line detection method for an electric drive system according to claim 2, wherein the assumed rotation angle initial value is 0.
4. An off-line detection method for an electric drive system according to claim 2, wherein when the first current value and the second current value are both 0, the calculating and storing an actual rotation angle initial value of the motor according to the collected three-phase current of the motor, the first current value and the second current value comprises:
carrying out coordinate transformation on the three-phase current to obtain the actual direct-axis current and the actual quadrature-axis current of the motor;
calculating actual direct-axis voltage and actual quadrature-axis voltage of the motor according to the actual direct-axis current and the actual quadrature-axis current;
and calculating and storing the initial value of the rotation angle according to the actual direct-axis voltage and the actual quadrature-axis voltage.
5. An off-line detection method for an electric drive system according to claim 4, wherein said calculating an actual direct-axis voltage and an actual quadrature-axis voltage of said motor from said actual direct-axis current and actual quadrature-axis current comprises:
by means of Ud＝Rsid-ωLqiqAnd Uq＝Rsiq+ωLdid+ωψPMCalculating the actual direct axis voltage and the actual quadrature axis voltage; wherein, UdAnd UqRespectively said actual direct axis voltage and said actual quadrature axis voltage, idAnd iqRespectively said actual direct axis current and actual quadrature axis current, RsIs stator resistance, ω is rotor angular velocity, LdIs a direct axis inductor, LqIs a quadrature axis inductance,. psiPMIs a magnetic linkage.
6. An offline detection method of an electric drive system according to claim 4, wherein said calculating and storing said initial value of the rotation angle according to said actual direct-axis voltage and said actual quadrature-axis voltage comprises:
by using
Calculating and storing the initial value of the rotation angle; wherein θ is the initial value of the rotation angle.
7. An end-of-line detection system for an electric drive system, comprising: the device comprises an electric drive system, an upper computer, a power supply and a dynamometer stand;
the power supply is connected with the power measuring machine frame through a high-voltage wire harness; the mechanical structures of a motor and a motor controller in the electric drive system are matched in a one-to-one manner, and the motor controller is used for calculating the assumed position of a rotor of the motor according to the assumed rotation angle initial value of the motor and the acquired rotation signal of the motor; setting the direct-axis current and quadrature-axis current of the motor as a first current value and a second current value respectively according to the assumed position of the rotor, and controlling the motor to operate and rotate; calculating and storing an actual rotation angle initial value of the motor according to the collected three-phase current of the motor, the first current value and the second current value; testing the preset performance of the motor by using the initial value of the rotation angle according to a test instruction sent by the upper computer; wherein the preset performance includes at least one of an external characteristic, torque accuracy and efficiency.
8. An off-line detection system for an electric drive system according to claim 7 wherein the host computer is connected to the electric drive system via a CAN bus.
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| CN111355412A (en) * | 2020-04-09 | 2020-06-30 | 吉利汽车研究院（宁波）有限公司 | Self-checking method and system for initial angle of rotary transformer zero position of permanent magnet synchronous motor |
| CN113030724B (en) * | 2021-03-17 | 2023-11-21 | 东莞市鸿盈电子科技有限公司 | Method and device for testing starting dead angle of multipole motor |
| CN113419173B (en) * | 2021-07-22 | 2023-05-12 | 广州小鹏汽车科技有限公司 | Motor offline detection method and device |
| CN114325055A (en) * | 2021-12-31 | 2022-04-12 | 重庆长安新能源汽车科技有限公司 | Device and method for testing voltage of motor shaft |
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