CN110949133B - High-speed protection method for rotary transformer fault of electric automobile - Google Patents
High-speed protection method for rotary transformer fault of electric automobile Download PDFInfo
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- CN110949133B CN110949133B CN201911303540.6A CN201911303540A CN110949133B CN 110949133 B CN110949133 B CN 110949133B CN 201911303540 A CN201911303540 A CN 201911303540A CN 110949133 B CN110949133 B CN 110949133B
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0805—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/093—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against increase beyond, or decrease below, a predetermined level of rotational 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
- B60L2240/421—Speed
Abstract
The invention relates to the technical field of electric vehicle fault protection, in particular to a high-speed protection method for a rotary transformer fault of an electric vehicle. The method comprises the steps of storing motor rotating speed information in real time, and when a rotary transformer fault occurs, calculating historical rotating speed of a t-a time point according to the stored motor rotating speed information, wherein t is the time point of the rotary transformer fault, and a is a set period of time; comparing the historical rotating speed with a high rotating speed protection threshold value, and if the historical rotating speed is smaller than the high rotating speed protection threshold value, closing the PWM wave; and if the historical rotating speed is not less than the high rotating speed protection threshold value, carrying out three-phase short-circuit protection processing. After the rotation-change fault occurs when the motor runs at a high speed, the motor control system can be effectively and reliably protected, the MCU can accurately estimate the rotating speed of the motor under the high-speed running, and then corresponding protection measures are executed according to the current rotating speed information.
Description
Technical Field
The invention relates to the technical field of electric vehicle fault protection, in particular to a high-speed protection method for a rotary transformer fault of an electric vehicle.
Background
The permanent magnet synchronous motor is widely applied to a power system of an electric automobile in view of the advantages of simple structure, small volume, high efficiency, high power factor and the like. In a power system, a Motor Controller (MCU) is used as a key component for controlling the operation of a permanent magnet synchronous motor, and in order to realize a high-performance, safe and reliable control system, it is an essential link to obtain accurate motor speed and position information in real time, and a resolver (referred to as a resolver) is widely used as a speed measuring device for reliably detecting the motor speed and position information of an electric vehicle.
At present, when the MCU detects that the motor reports the rotation fault, corresponding protection measures, specifically: when the actual rotating speed of the motor is less than a high rotating speed protection threshold (the rotating speed of the threshold is set according to the back electromotive force of the motor, and the rotating speed corresponding to the back electromotive force equal to the rated voltage of the battery pack is generally selected), the MCU directly closes the PWM wave and stops controlling the motor; when the actual rotating speed of the motor is greater than or equal to the high rotating speed protection threshold value, the MCU executes a three-phase short circuit protection function, and large back electromotive force generated by the high rotating speed of the motor is consumed in a heating mode through a motor winding so as to prevent the large back electromotive force from being directly added to the MCU, thereby avoiding the risk of the MCU exploding the machine. Therefore, correct execution of the three-phase short-circuit protection function is especially important for MCU safety.
When the rotary transformer of the existing vehicle breaks down due to the reasons of wire breakage, short circuit and the like, the MCU cannot acquire accurate motor rotating speed and position information, so that the MCU cannot execute correct protective measures, such as the execution and the stop of a three-phase short circuit protection function have no basis, and when the motor is in a high-speed running state, if the protective measures are not proper, the MCU has the risk of machine explosion.
Disclosure of Invention
The invention aims to provide a high-speed protection method for an electric vehicle resolver fault, which can acquire the historical rotating speed of a motor and track the rotating speed so as to correctly execute or stop a three-phase short-circuit protection function and avoid the MCU fryer, aiming at the defects of the prior art.
The invention discloses a high-speed protection method for a rotary transformer fault of an electric automobile, which adopts the technical scheme that:
the motor rotating speed information is stored in real time at intervals of 10 milliseconds, when a rotation transformation fault occurs, the historical rotating speed of a t-a time point is calculated according to the stored motor rotating speed information, wherein t is the time point of the rotation transformation fault, and a is a set period of time;
comparing the historical rotational speed to a high rotational speed protection threshold
If the historical rotating speed is less than the high rotating speed protection threshold value, closing the PWM wave;
and if the historical rotating speed is not less than the high rotating speed protection threshold value, carrying out three-phase short-circuit protection processing.
Preferably, the calculation of the historical rotation speed includes:
setting a plurality of storage units, updating and storing the latest acquired motor rotating speed value to the last storage unit, and transmitting the last stored motor rotating speed value of each storage unit to a storage unit for storage when data is updated every time, wherein the data of the first storage unit is stored in a covering manner;
when the rotation transformation fault occurs, taking the average value of the motor rotating speed values stored from the first storage unit to the ith storage unit as the historical rotating speed value;
the motor rotating speed value stored in the ith storage unit is the motor rotating speed value at the t-a time point.
Preferably, a is 50 ms.
Preferably, the three-phase short-circuit protection process includes:
after three-phase short-circuit protection is carried out for t1 seconds, the current rotating speed of the motor is estimated according to three-phase current obtained by the three-phase short-circuit protection;
comparing the current rotational speed with a high rotational speed protection threshold
If the current rotating speed is less than the high rotating speed protection threshold value, closing the PWM wave;
and if the current rotating speed is not less than the high rotating speed protection threshold value, continuously performing three-phase short-circuit protection until the current rotating speed is less than the high rotating speed protection threshold value, stopping the three-phase short-circuit protection, and closing the PWM wave.
Preferably, the estimating the current rotation speed of the motor according to the three-phase current obtained by the three-phase short-circuit protection includes:
counting by using a counter with an initial value of 0 and a counting time length of t2；
According to the formula
Calculating the current rotating speed n of the motor by k multiplied by Sum;
where p is the pole pair number of the motor and Pulse _ CNT is t2The number of counts in a time period, Sum being t2And k is the number of the phase current cycles in the time period, and the number counted by the counter in each phase current cycle.
The invention has the beneficial effects that:
1. the motor rotating speed information is stored in real time, and when a rotation fault occurs, the historical rotating speed at the moment 50ms before the fault time point can be calculated through the stored motor rotating speed information, so that protective measures can be started in time, and the MCU is prevented from exploding the machine.
2. The current rotating speed of the motor is estimated through three-phase current obtained through three-phase short-circuit protection, the current rotating speed is compared with a high rotating speed protection threshold value in real time, three-phase short-circuit protection can be stopped in time, and the MCU is further protected.
3. The principle that the counting value of the counter in each phase current period is fixed is utilized, the counter is utilized to count in a time period, the current rotating speed of the motor is further calculated by calculating the number of the phase current periods in the counting time period, the calculating mode is simple, and the accuracy is high.
Drawings
FIG. 1 is a schematic flow chart of a high-speed protection method for a rotary transformer fault of an electric vehicle according to the present invention;
FIG. 2 is a flow chart of a method for calculating the duration rotational speed of the rotational transformer during a rotational failure according to the present invention;
FIG. 3 is a circuit diagram of the three-phase short-circuit protection processing circuit of the present invention;
fig. 4 is a flow chart illustrating a method for calculating the tracking rotation speed of the motor.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1, the high-speed protection method for the rotary transformer fault of the electric vehicle according to the present invention comprises the following steps:
the method comprises the following steps: before the rotary transformer fails, the real-time motor rotating speed information acquired by the rotary transformer is correct, and the motor controller MCU records the rotating speed information once every 10 milliseconds and stores and updates the rotating speed information. When the rotation transformer fault occurs, because the acquired rotation speed of the rotation transformer is inaccurate, the rotation speed information is not updated in the MCU, but the historical rotation speed at the t-a time point is calculated according to the stored motor rotation speed information, t is the time point of the rotation transformer fault, and a is a set period of time. Preferably, the historical rotation speed is the historical rotation speed which is backwards for 50 milliseconds at the moment of the rotation fault. The calculation of the historical rotating speed comprises the following steps:
setting a plurality of storage units, updating and storing the latest collected motor rotating speed value to the last storage unit, and transmitting the last stored motor rotating speed value of each storage unit to a storage unit for storage when data is updated every time, wherein the data of the first storage unit is stored in an overlay manner (namely the data is covered by new data);
and when the rotation-change fault occurs, taking the average value of the motor rotating speed values stored from the first storage unit to the ith storage unit as a historical rotating speed value, wherein the motor rotating speed value stored in the ith storage unit is the motor rotating speed value at the t-a time point.
Example one
As shown in fig. 2, 10 memory cells are stored every 10 milliseconds, and an elapsed rotation speed corresponding to a 50-millisecond time point at the moment when the spin-on failure occurs is calculated.
A continuous storage unit (i.e. storage unit 0 to storage unit 9) with a length of 10 array elements is defined for storing the motor speed before the rotation failure is reported. Then, obtaining the value of each storage unit, and the specific process is as follows: the storage unit 9 is used for storing the motor rotating speed value acquired by the current rotary transformer all the time, the data stored in each storage unit at present is transmitted to the previous storage unit every 10ms, namely, the data stored in the storage unit 9 is transmitted to the storage unit 8, the data stored in the storage unit 8 is transmitted to the storage unit 7, the data stored in the storage unit 7 is transmitted to the storage unit 6, and so on until the data stored in the storage unit 1 is transmitted to the storage unit 0. The above-mentioned cycle is repeated, so that the value stored in the storage unit 4 is a value which is set back by 50 milliseconds based on the motor speed value acquired by the current revolution. Finally, when the spin-on failure occurs, the values stored in the storage units 0 to 4 are summed and averaged, and the average value is the historical rotation speed which is 50 milliseconds backward at the moment of the spin-on failure.
Step two: comparing the historical rotating speed with a high rotating speed protection threshold value, and if the historical rotating speed is smaller than the high rotating speed protection threshold value, closing the PWM wave; if the historical rotating speed is not less than the high rotating speed protection threshold value, three-phase short-circuit protection processing is carried out, and the duration time of the three-phase short-circuit protection processing is t1Second, this example is 1 second.
Principle of three-phase short-circuit protection processing: the three-phase upper bridge arm of the MCU is simultaneously conducted, and the three-phase lower bridge arm of the MCU is simultaneously turned off, so that a conducting loop is formed between each two of the three phases U, V, W of the motor and the corresponding three phases A, B, C of the MCU, and the large sine wave counter electromotive force generated by the motor at a high rotating speed is added to the resistance and the inductance of the motor, so that three-phase sine phase currents are formed, and the waveforms of the phase currents are different by 120 degrees from each other. Therefore, the large back electromotive force is consumed in a heat energy mode through the resistance and the inductance of the motor, and the MCU is protected.
As shown in FIG. 3, A, B, C is the three-phase output terminal of MCU, U, V, W is the three-phase connection terminal of motor, R1、R2、R3Is the phase resistance of the motor, L1、L2、L3Is a phase inductance of the motor and has R1＝R2＝R3＝R，L1＝L2＝L3＝L。
Step three: the three-phase current obtained by the three-phase short-circuit protection processing is in a stable sine wave state after the duration of 1 second, at the moment, the current motor rotating speed can be estimated by taking the three-phase sine wave current as a carrier through a corresponding algorithm, and the current motor rotating speed is defined as a tracking rotating speed. The calculation process is as follows:
counting by using a counter with an initial value of 0 and a counting time length of t2；
According to the formula
Calculating the current rotating speed n of the motor by k multiplied by Sum;
wherein p is the number of pole pairs of the motorPulse _ CNT is t2The number of counts in a time period, Sum being t2And k is the number of the phase current cycles in the time period, and the number counted by the counter in each phase current cycle.
Example two
In this embodiment, k is 6, t2The tracking speed is calculated for 100 milliseconds as an example. The calculation process is as follows:
1) the synchronous rotating speed calculation formula of the motor is as follows:
wherein n represents the rotational speed of the motor in rpm (revolutions per minute); f represents the electrical frequency of the motor in Hz (hertz); p represents the number of pole pairs of the motor.
The period T of the motor phase current can be obtained by the formula (1), and is shown as the formula (2):
in the formula, T represents a period of a motor phase current and has a unit of S (seconds).
2) Defining a variable Pulse _ CNT with an initial value of 0 to count 6 times every 1 phase current period, i.e. Pulse _ CNT ═ Pulse _ CNT + 6; when the count time of 100 msec is completed, the total count value Pulse _ CNT is read.
From this, the following relation can be obtained:
in the formula, Sum represents the number of current cycles in a phase of 100 milliseconds.
The total count value Pulse _ CNT can be obtained from the formula (3), as shown in the formula (4)
Therefore, from equation (4), an estimate of the motor speed n can be obtained, as in equation (5)
The estimated motor speed is the tracking speed.
Step four: comparing the current rotating speed with a high rotating speed protection threshold value, and if the current rotating speed is less than the high rotating speed protection threshold value, closing the PWM wave; and if the current rotating speed is not less than the high rotating speed protection threshold value, continuously performing three-phase short-circuit protection until the current rotating speed is less than the high rotating speed protection threshold value, stopping the three-phase short-circuit protection, and closing the PWM wave.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (4)
1. A high-speed protection method for a rotary transformer fault of an electric automobile is characterized by comprising the following steps:
the method comprises the steps of storing motor rotating speed information in real time, and when a rotary transformer fault occurs, calculating historical rotating speed of a t-a time point according to the stored motor rotating speed information, wherein t is the time point of the rotary transformer fault, and a is a set period of time;
comparing the historical rotational speed to a high rotational speed protection threshold
If the historical rotating speed is less than the high rotating speed protection threshold value, closing the PWM wave;
if the historical rotating speed is not less than the high rotating speed protection threshold value, carrying out three-phase short-circuit protection processing;
the three-phase short-circuit protection processing includes:
after three-phase short-circuit protection is carried out for t1 seconds, the current rotating speed of the motor is estimated according to three-phase current obtained by the three-phase short-circuit protection;
comparing the current rotational speed with a high rotational speed protection threshold
If the current rotating speed is less than the high rotating speed protection threshold value, closing the PWM wave;
and if the current rotating speed is not less than the high rotating speed protection threshold value, continuously performing three-phase short-circuit protection until the current rotating speed is less than the high rotating speed protection threshold value, stopping the three-phase short-circuit protection, and closing the PWM wave.
2. The high-speed protection method for the resolver fault of the electric vehicle according to claim 1, wherein the calculation of the historical rotation speed comprises:
setting a plurality of storage units, updating and storing the latest acquired motor rotating speed value to the last storage unit, and transmitting the last stored motor rotating speed value of each storage unit to a storage unit for storage when data is updated every time, wherein the data of the first storage unit is stored in a covering manner;
when the rotation transformation fault occurs, taking the average value of the motor rotating speed values stored from the first storage unit to the ith storage unit as the historical rotating speed value;
the motor rotating speed value stored in the ith storage unit is the motor rotating speed value at the t-a time point.
3. The high-speed protection method for the resolver fault of the electric vehicle according to claim 1, wherein a is 50 ms.
4. The high-speed protection method for the resolver fault of the electric vehicle according to claim 1, wherein the estimating the current rotation speed of the motor from the three-phase currents obtained by the three-phase short-circuit protection comprises:
counting by using a counter with an initial value of 0 and a counting time length of t2；
According to the formula
Calculating the current rotating speed n of the motor by using Pulse _ CNT (k multiplied by Sum);
where p is the pole pair number of the motor and Pulse _ CNT is t2The number of counts in a time period, Sum being t2The number of phase current cycles in a time period,k is the number of counter counts in each phase current cycle.
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| CN111409460B (en) * | 2020-04-09 | 2021-10-15 | 浙江吉利汽车研究院有限公司 | Method and system for monitoring rotation state of driving motor of electric automobile |
| CN113696736B (en) * | 2021-08-06 | 2023-07-28 | 上汽通用五菱汽车股份有限公司 | Vehicle rotation failure protection method and device and computer readable storage medium |
| CN113708344B (en) * | 2021-08-17 | 2024-03-26 | 精进电动科技股份有限公司 | Overvoltage protection method and circuit for DC bus of inverter and motor controller |
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| JP3328509B2 (en) * | 1996-05-29 | 2002-09-24 | 株式会社日立製作所 | Drive system for electric vehicles |
| KR20060024917A (en) * | 2004-09-15 | 2006-03-20 | 현대모비스 주식회사 | Apparatus for correcting the power of a actuator in a vehicle and method therefor |
| JP5321124B2 (en) * | 2009-02-23 | 2013-10-23 | 三菱電機株式会社 | Semiconductor switching device |
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| CN106602970B (en) * | 2016-12-21 | 2019-11-15 | 中冶南方（武汉）自动化有限公司 | A kind of Permanent Magnet Synchronous Motor Controller under-voltage fault guard method and system |
| CN106712605B (en) * | 2017-01-25 | 2019-03-29 | 北京经纬恒润科技有限公司 | A kind of anti-clip control method and device |
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| CN109743003B (en) * | 2018-12-03 | 2020-10-23 | 浙江零跑科技有限公司 | Permanent magnet synchronous motor end short-circuit protection method based on PI controller |
| CN109667728B (en) * | 2018-12-21 | 2020-09-08 | 北京金风科创风电设备有限公司 | Fault detection method and device for wind generating set rotating speed sensor |
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Address after: 430056 No.5 workshop, No.339, zhuanyang Avenue, Wuhan Economic and Technological Development Zone, Hubei Province Patentee after: Zhixin Control System Co.,Ltd. Address before: 430056 No. 5 Workshop, 339 Chaoyang Avenue, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province Patentee before: DONGFENG HANGSHENG (WUHAN) AUTOMOTIVE CONTROL SYSTEM Co.,Ltd. |