CN111064418B - Electric vehicle motor control method and system based on current detection - Google Patents

Electric vehicle motor control method and system based on current detection Download PDF

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CN111064418B
CN111064418B CN202010187092.4A CN202010187092A CN111064418B CN 111064418 B CN111064418 B CN 111064418B CN 202010187092 A CN202010187092 A CN 202010187092A CN 111064418 B CN111064418 B CN 111064418B
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current
value
motor
preset threshold
current value
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CN111064418A (en
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陈跃东
李文勇
刘启安
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Shenzhen Evsystem New Energy Technology Co ltd
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Shenzhen Evsystem New Energy Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • 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
    • 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
    • H02H7/085—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 excessive load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a permanent magnet synchronous motor technology, and provides a current detection-based electric vehicle motor control method and system. The method comprises the steps of acquiring the current rotating speed of a motor of the electric automobile in real time by using a rotating speed sensor, searching a preset mapping relation table according to a given torque command input by a user and the current rotating speed of the motor to acquire a first current value corresponding to the given torque command, acquiring the current three-phase current instantaneous value of the motor by using a Hall current sensor, calculating the difference value between the first current value and the current three-phase current instantaneous value, judging whether the difference value is larger than a first preset threshold value or not, and sending first early warning information and executing power limiting operation on the motor when the difference value is larger than or equal to the first preset threshold value. The invention can improve the detection efficiency of the fault current and realize the safety control of the motor.

Description

Electric vehicle motor control method and system based on current detection
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a current detection-based electric vehicle motor control method and system.
Background
The pure electric vehicle is provided with a power system driven by a motor, and a motor controller converts direct current into sine alternating current through inversion so as to drive a permanent magnet synchronous motor to operate and provide power for the vehicle. The power module of the motor controller is selected from an IGBT, and because the cost of the whole vehicle is considered, the power IGBT is difficult to select a high-specification high-current module, so the power module is basically selected according to the peak current of the motor, the controller is required to detect the current output fault in time, the output of the IGBT power module is closed, and the damage of the power module due to the overhigh PN junction temperature caused by the overhigh output current of the power module is prevented.
The current Hall sensors are additionally arranged on the U-phase output and the W-phase output of the controller on the market at present to acquire the output current of the power module, and then V-phase current sampling signals are synthesized through calculation. However, the protection has microsecond lag time from the fault to the protection due to the hardware circuit, and the damage of the IGBT power module can be caused when overcurrent protection is not timely under the limit condition. When the internal short circuit of the stator coil of a certain phase of the motor occurs, the three-phase current output collected by the controller is still within the overcurrent point, so that protection processing cannot be performed, but the phase has a fault and the output current is abnormal and large, so that the over-current bearing capacity of the IGBT power module is greatly reduced when the PN junction temperature is higher than that of other phases, and if the damage degree of the stator coil in the motor is increased and the inter-phase short circuit occurs, the over-current protection is lagged only through hardware at the moment, and the power module is damaged probably.
Therefore, how to efficiently detect the fault current and perform corresponding control on the motor has become an urgent technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a method and a device for controlling a motor of an electric vehicle based on current detection, and aims to solve the technical problem in the prior art that a power module of the motor is not protected in time due to a lag time of a hardware circuit detection failure.
In order to achieve the above object, the present invention provides a method for controlling an electric vehicle motor based on current detection, the method comprising:
acquiring the current rotating speed of the motor of the electric automobile in real time by using a rotating speed sensor;
searching a preset mapping relation table according to a given torque command input by a user and the current rotating speed of the motor to acquire a first current value corresponding to the given torque command;
acquiring the current three-phase current instantaneous value of the motor by using a Hall current sensor;
and calculating a difference value between the first current value and the current three-phase current instantaneous value, judging whether the difference value is greater than a first preset threshold value, and when the difference value is greater than or equal to the first preset threshold value, sending first early warning information and executing power-limiting operation on the motor.
Preferably, the method further comprises:
and when the difference value is smaller than the first preset threshold value, performing response operation on the motor according to the first current value.
Preferably, the method further comprises:
after the power limiting operation is performed on the motor, calculating to obtain a second current value corresponding to a given torque command after the power limiting operation is performed based on a preset calculation rule, judging whether the second current value is larger than or equal to a second preset threshold value, performing shutdown processing on the motor and sending second early warning information when the second current value is larger than or equal to the second preset threshold value, and if not, performing response operation on the motor based on the second current value.
Preferably, the preset calculation rule includes:
Figure 789673DEST_PATH_IMAGE001
，
wherein the content of the first and second substances,
Figure 972393DEST_PATH_IMAGE002
the second current value is represented by a value of,
Figure 548868DEST_PATH_IMAGE003
the first current value is represented by a first current value,
Figure 475235DEST_PATH_IMAGE004
representing the current three-phase current instantaneous value.
In order to achieve the above object, the present invention further provides a current detection-based electric vehicle motor control system, which further includes:
a first acquisition unit: acquiring the current rotating speed of the motor of the electric automobile in real time by using a rotating speed sensor;
a searching unit: searching a preset mapping relation table according to a given torque command input by a user and the current rotating speed of the motor to acquire a first current value corresponding to the given torque command;
a second acquisition unit: acquiring the current three-phase current instantaneous value of the motor by using a Hall current sensor;
a first control unit: and calculating a difference value between the first current value and the current three-phase current instantaneous value, judging whether the difference value is greater than a first preset threshold value, and when the difference value is greater than or equal to the first preset threshold value, sending first early warning information and executing power-limiting operation on the motor.
Preferably, the system further comprises:
a second control unit: and when the difference value is smaller than the first preset threshold value, performing response operation on the motor according to the first current value.
Preferably, the system further comprises:
a third control unit: after the power limiting operation is performed on the motor, calculating to obtain a second current value corresponding to a given torque command after the power limiting operation is performed based on a preset calculation rule, judging whether the second current value is larger than or equal to a second preset threshold value, performing shutdown processing on the motor and sending second early warning information when the second current value is larger than or equal to the second preset threshold value, and if not, performing response operation on the motor based on the second current value.
Preferably, the preset calculation rule includes:
Figure 555187DEST_PATH_IMAGE001
，
wherein the content of the first and second substances,
Figure 174387DEST_PATH_IMAGE002
the second current value is represented by a value of,
Figure 972579DEST_PATH_IMAGE003
the first current value is represented by a first current value,
Figure 204102DEST_PATH_IMAGE005
representing the current three-phase current instantaneous value.
The electric vehicle motor control method and system based on current detection provided by the invention utilize the characteristics of the control method of responding to the torque command to drive the motor to output the torque, the method comprises the steps of obtaining the magnitude of the instantaneous current output by three phases of the motor and the magnitude of the given torque current in real time, comparing the magnitude of the given torque current with the magnitude of the three-phase current output, judging whether the three-phase current output is abnormal or not, when one phase current is unbalanced and abnormal, reporting a feedback fault in time for power reduction protection, when the fault is continuously intensified, the given torque current is cleared and the shutdown is processed, the problem of time lag when the controller outputs current for abnormal protection is solved based on the control side direction, different from the traditional overcurrent protection method, the method is realized only by the control end of the controller without changing the original hardware power module, so that the fault detection efficiency is improved, and the safety control of the motor is realized.
Drawings
FIG. 1 is a flow chart of a method for controlling an electric vehicle motor based on current detection according to the present invention;
FIG. 2 is a schematic diagram of a structure of a current detection-based electric vehicle motor control system provided by the invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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.
Fig. 1 is a flowchart of a method for controlling a motor of an electric vehicle based on current detection according to a preferred embodiment of the present invention. The method for controlling the motor of the electric vehicle based on current detection as shown in fig. 1 is applied to a permanent magnet synchronous motor and a rotary transformer, and comprises the following steps:
s10: acquiring the current rotating speed of the motor of the electric automobile in real time by using a rotating speed sensor;
in this embodiment, when a driver steps on an accelerator, a rotation speed sensor is used for acquiring the current rotation speed of an electric vehicle motor in real time, a core component of the rotation speed sensor adopts a magnetic sensitive resistor as a detection element, noise is reduced through a brand new signal processing circuit, the function is more complete, the detected rotation speed has extremely small error and good consistency of linear characteristics through comparison with output waveforms of other types of tooth rotation speed sensors, and induction objects are magnetic materials or magnetic materials, such as magnetic steel, iron, electrical steel and the like. When the tested object is provided with a convex (or concave) magnetic or magnetic conductive material, the sensor outputs a pulse signal related to the rotation frequency along with the rotation of the tested object, so as to achieve the purpose of sending a signal for speed measurement or displacement detection. The commonly used wheel speed sensor mainly comprises a photoelectric type rotating speed sensor, a variable magnetic resistance type rotating speed sensor, a capacitance type wheel speed sensor and a Hall rotating speed sensor.
S20: searching a preset mapping relation table according to a given torque command input by a user and the current rotating speed of the motor to acquire a first current value corresponding to the given torque command;
in this embodiment, according to a given torque command input by a user and a current rotation speed of a motor, a pre-configured mapping table is searched to obtain a first current value corresponding to the given torque command, where the mapping table is a current mapping table of motor torque and the motor torque at different motor rotation speeds calibrated on a motor experiment alignment table in advance, and the mapping table may be imported into a storage unit of a motor controller through a format of a two-dimensional table.
S30: acquiring the current three-phase current instantaneous value of the motor by using a Hall current sensor;
in this embodiment, when a driver steps on an accelerator, in addition to acquiring the current rotation speed of the motor of the electric vehicle in real time by using the rotation speed sensor, the current three-phase current instantaneous value of the motor is also acquired by using the hall current sensor. The Hall current sensor is based on a magnetic balance type Hall principle, current Ic is led in from a control current end of a Hall element according to the Hall effect principle, a magnetic field with the magnetic induction intensity of B is applied in the normal direction of the plane of the Hall element, and a potential VH is generated in the direction vertical to the current and the magnetic field (namely between Hall output ends), is called Hall potential, and is in direct proportion to the product of the control current I and the magnetic induction intensity B. The Hall coefficient is determined by the material of the Hall element, I is control current, B is magnetic induction intensity, and VH is Hall potential.
S40: and calculating a difference value between the first current value and the current three-phase current instantaneous value, judging whether the difference value is greater than a first preset threshold value, and when the difference value is greater than or equal to the first preset threshold value, sending first early warning information and executing power-limiting operation on the motor.
In this embodiment, a difference value between a first current value corresponding to a given torque command and a current three-phase current instantaneous value is calculated, the calculated difference value is compared with a first preset threshold value, and when the difference value is greater than or equal to the first preset threshold value, first warning information (for example, information such as output current abnormality) is sent out, and power-limiting operation is performed on a motor of the electric vehicle. Wherein the first preset threshold may be 15% of the first current value.
Further, when the difference value is smaller than the first preset threshold value, response operation is performed on the motor according to the first current value. When the calculated difference is smaller than the first preset threshold, it indicates that the output current is normal, and there is no fault condition, and at this time, the response operation can be performed on the motor according to the current.
In one embodiment, the method further comprises: after the power-limited operation is performed on the motor, a second current value corresponding to a given torque command after the power-limited operation is performed is obtained through calculation based on a preset calculation rule, whether the second current value is larger than or equal to a second preset threshold value or not is judged, when the second current value is larger than or equal to the second preset threshold value, shutdown processing is performed on the motor and second early warning information (for example, the output current is serious in fault) is sent out, and if not, response operation is performed on the motor based on the second current value.
Wherein, the preset calculation rule comprises:
Figure 138560DEST_PATH_IMAGE001
，
wherein the content of the first and second substances,
Figure 928661DEST_PATH_IMAGE002
the second current value is represented by a value of,
Figure 214149DEST_PATH_IMAGE003
the first current value is represented by a first current value,
Figure 279057DEST_PATH_IMAGE005
representing the current three-phase current instantaneous value.
The method utilizes the characteristics of a control method for driving the motor to output torque in response to a torque command, obtains the magnitude of the instantaneous current output by three phases of the motor and the magnitude of the given torque current in real time, compares the magnitude of the given torque current with the magnitude of the three-phase current output, judges whether the three-phase current output is abnormal or not, reports a feedback fault in time for power reduction protection when a certain phase current is unbalanced and abnormal, and resets the given torque current and stops the motor when the fault is continuously aggravated. The problem of time lag during abnormal protection of the output current of the controller is solved based on the direction of the control side, and the method is different from the traditional overcurrent protection method, only needs to be realized by the control end of the controller, does not need to change the original hardware power module, improves the fault detection efficiency, and realizes the safe control of the motor.
Fig. 2 is a schematic diagram of a structure of a current detection-based electric vehicle motor control system provided by the invention. Electric automobile motor control system based on current detection includes:
a first acquisition unit: acquiring the current rotating speed of the motor of the electric automobile in real time by using a rotating speed sensor;
a searching unit: searching a preset mapping relation table according to a given torque command input by a user and the current rotating speed of the motor to acquire a first current value corresponding to the given torque command;
a second acquisition unit: acquiring the current three-phase current instantaneous value of the motor by using a Hall current sensor;
a first control unit: and calculating a difference value between the first current value and the current three-phase current instantaneous value, judging whether the difference value is greater than a first preset threshold value, and when the difference value is greater than or equal to the first preset threshold value, sending first early warning information and executing power-limiting operation on the motor.
In one embodiment, the electric vehicle motor control system based on current detection further comprises:
a second control unit: and when the difference value is smaller than the first preset threshold value, performing response operation on the motor according to the first current value.
In one embodiment, the electric vehicle motor control system based on current detection further comprises:
a third control unit: after the power limiting operation is performed on the motor, calculating to obtain a second current value corresponding to a given torque command after the power limiting operation is performed based on a preset calculation rule, judging whether the second current value is larger than or equal to a second preset threshold value, performing shutdown processing on the motor and sending second early warning information when the second current value is larger than or equal to the second preset threshold value, and if not, performing response operation on the motor based on the second current value.
In one embodiment, the preset calculation rules include:
Figure 428541DEST_PATH_IMAGE001
，
wherein the content of the first and second substances,
Figure 983019DEST_PATH_IMAGE002
the second current value is represented by a value of,
Figure 490224DEST_PATH_IMAGE003
the first current value is represented by a first current value,
Figure 562085DEST_PATH_IMAGE006
representing the current three-phase current instantaneous value.
The specific embodiment of the electric vehicle motor control system based on current detection according to the present invention is substantially the same as the specific embodiment of the electric vehicle motor control method based on current detection, and will not be described herein again.
It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (2)

1. A method for controlling an electric vehicle motor based on current detection is applied to an electric vehicle motor control system based on current detection, and is characterized by comprising the following steps:
acquiring the current rotating speed of the motor of the electric automobile in real time by using a rotating speed sensor;
searching a preset mapping relation table according to a given torque command input by a user and the current rotating speed of the motor to acquire a first current value corresponding to the given torque command;
acquiring the current three-phase current instantaneous value of the motor by using a Hall current sensor;
calculating a difference value between the first current value and the instantaneous value of the current three-phase current, judging whether the difference value is larger than a first preset threshold value, when the difference value is larger than or equal to the first preset threshold value, sending first early warning information and executing power limiting operation on the motor, when the difference value is smaller than the first preset threshold value, executing response operation on the motor according to the first current value, after the power limiting operation is executed on the motor, calculating a second current value corresponding to a given torque command after the power limiting operation is executed based on a preset calculation rule, judging whether the second current value is larger than or equal to a second preset threshold value, when the second current value is larger than or equal to the second preset threshold value, executing shutdown processing on the motor and sending second early warning information, if not, executing response operation on the motor based on the second current value, the preset calculation rule comprises the following steps:
Figure 651398DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 215235DEST_PATH_IMAGE002
the second current value is represented by a value of,
Figure 8879DEST_PATH_IMAGE003
the first current value is represented by a first current value,
Figure 909838DEST_PATH_IMAGE004
representing the current three-phase current instantaneous value.
2. An electric vehicle motor control system based on current detection, the system comprising:
a first acquisition unit: acquiring the current rotating speed of the motor of the electric automobile in real time by using a rotating speed sensor;
a searching unit: searching a preset mapping relation table according to a given torque command input by a user and the current rotating speed of the motor to acquire a first current value corresponding to the given torque command;
a second acquisition unit: acquiring the current three-phase current instantaneous value of the motor by using a Hall current sensor;
a first control unit: calculating a difference value between the first current value and the current three-phase current instantaneous value, judging whether the difference value is greater than a first preset threshold value, and when the difference value is greater than or equal to the first preset threshold value, sending first early warning information and executing power-limiting operation on the motor;
a second control unit: when the difference value is smaller than the first preset threshold value, performing response operation on the motor according to the first current value;
a third control unit: after the power-limited operation is performed on the motor, calculating to obtain a second current value corresponding to a given torque command after the power-limited operation is performed based on a preset calculation rule, judging whether the second current value is greater than or equal to a second preset threshold value, performing shutdown processing on the motor and sending second early warning information when the second current value is greater than or equal to the second preset threshold value, and if not, performing response operation on the motor based on the second current value, wherein the preset calculation rule comprises:
Figure 941379DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 269593DEST_PATH_IMAGE002
the second current value is represented by a value of,
Figure 789348DEST_PATH_IMAGE003
the first current value is represented by a first current value,
Figure 493999DEST_PATH_IMAGE004
representing the current three-phase current instantaneous value.
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