CN111251903A - Torque output control method and device of motor controller - Google Patents

Torque output control method and device of motor controller Download PDF

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Publication number
CN111251903A
CN111251903A CN202010128856.2A CN202010128856A CN111251903A CN 111251903 A CN111251903 A CN 111251903A CN 202010128856 A CN202010128856 A CN 202010128856A CN 111251903 A CN111251903 A CN 111251903A
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China
Prior art keywords
torque
output
determining
current
output torque
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Pending
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CN202010128856.2A
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Chinese (zh)
Inventor
练杨
李天顺
陈作
张谦
程波
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Chongqing Sokon Industry Group Co Ltd
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Chongqing Sokon Industry Group 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
    • 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
    • B60L2240/423—Torque
    • 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 application relates to a torque output control method and device of a motor controller, wherein the method comprises the following steps: acquiring a required output torque of a vehicle and a current output torque of a motor; determining a torque output limit value according to the current output torque; the smaller value between the required output torque and the torque output limit is determined as the execution output torque. The scheme of this application is based on the parallelly connected IGBT structural feature of single tube, through formulating a strategy that is applicable to the parallelly connected IGBT machine controller of single tube, not only can solve the problem that the IGBT temperature rise is high under the peak torque, can also prolong machine controller peak value peak current output time, and then extension motor peak torque output actual time guarantees to satisfy whole car performance requirement.

Description

Torque output control method and device of motor controller
Technical Field
The application relates to the technical field of electric commercial automobiles, in particular to a torque output control method and device of a motor controller.
Background
With the continuous development of new energy industry, the acceptance of new energy vehicles is gradually improved, but China subsidies new energy vehicles to move back and forth year by year, the cost of lithium batteries is high, and the cost pressure of new energy vehicles for enterprises and whole vehicles is continuously improved. In order to reduce the cost of the whole vehicle, the motor controller technology which is one of three electrical key parts is absolutely necessary.
From the existing condition of the current industry, the motor controller is mainly divided into a modular IGBT and a single-tube parallel IGBT. The modularized IGBT motor controller is high in integration level, good in heat dissipation effect, large in current design redundancy, but high in cost, and runs counter to the original principle of technology reduction. The single-tube parallel IGBT motor controller is low in cost, small in current design redundancy, general in heat dissipation effect under large current and high in consistency requirement. Considering the cost of the whole vehicle, the single-tube parallel connection IGBT becomes the focus of attention of more and more new energy host plants. Therefore, in order to ensure that the IGBT achieves an ideal temperature rise effect under a large current, a reasonable motor controller control strategy is made.
In the related art, compared with a modularized IGBT motor controller, the single-tube parallel IGBT motor controller has the advantages of high cost and low current design redundancy. Therefore, under the condition that the peak current outputs the peak torque, the temperature of the single-tube parallel IGBT is increased, and the duration under the working condition is short. Especially for commercial vehicles, the short peak torque output time will result in the inability to meet the performance requirements of the entire vehicle.
Disclosure of Invention
To overcome, at least to some extent, the problems in the related art, the present application provides a torque output control method and apparatus of a motor controller.
According to a first aspect of embodiments of the present application, there is provided a torque output control method of a motor controller, including:
acquiring a required output torque of a vehicle and a current output torque of a motor;
determining a torque output limit value according to the current output torque;
the smaller value between the required output torque and the torque output limit is determined as the execution output torque.
Further, the determining a torque output limit based on the current output torque includes:
determining a heat generation amount according to the current output torque;
the torque output limit value is determined according to the heat generation amount.
Further, the determining a heat generation amount according to the current output torque includes:
determining a current value according to the current output torque of the motor;
the heat generation amount of the IGBT is calculated according to the current value.
Further, the determining a current value according to the current output torque of the motor includes:
reading a corresponding relation between a preset output torque and a preset current value;
and determining the current value according to the current output torque and the corresponding relation.
Further, the calculating the heat generation amount of the IGBT according to the current value includes:
and integrating the current value in a period of time to obtain the heat productivity of the IGBT.
Further, the determining a torque output limit value according to the heat generation amount;
acquiring a corresponding relation between a preset heating value and a torque output limit value;
the torque output limit value is determined based on the heat generation amount and the correspondence relationship.
Further, the determining a torque output limit value according to the heat generation amount includes:
when Q is less than or equal to Q1, a torque output limit U is determinedL＝U1；
When Q1<When Q is less than or equal to Q2, determining a torque output limit value UL＝U2；
When Q is>Q2, determine Torque output Limit UL＝U3；
Wherein Q is a heating value, Q1 is a first threshold, Q2 is a second threshold, and U1> U2> U3; q1, Q2, U1, U2 and U3 are all values determined experimentally in advance.
Further, the determining a torque output limit based on the current output torque includes:
when the duration of Un-Umax reaches t1, a torque output limit U is determinedL＝U2；
When the duration of Un-Umax reaches t1 and then the duration of Un-U2 reachesAt t2, a torque output limit U is determinedL＝U3；
Wherein Un is the current output torque, and Umax is the maximum output torque of the motor; umax > U2> U3, t1, t2, U2, U3 are all values determined experimentally beforehand.
Further, the acquiring a required output torque of the vehicle and a current output torque of the motor includes:
acquiring an input command signal of a vehicle, and determining a required output torque according to the input command signal;
and acquiring a detection signal of a vehicle sensor, and determining the current output torque of the motor according to the detection signal.
According to a second aspect of the embodiments of the present application, there is provided a torque output control apparatus of a motor controller, including:
the acquisition module is used for acquiring the required output torque of the vehicle and the current output torque of the motor;
the determining module is used for determining a torque output limit value according to the current output torque;
and the comparison module is used for determining the smaller value between the required output torque and the torque output limit value as the execution output torque.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
based on the structural characteristics of the single-tube parallel IGBT, by formulating a strategy suitable for the single-tube parallel IGBT motor controller, the problem of high temperature rise of the IGBT under peak torque can be solved, the peak current output time of the motor controller can be prolonged, the peak torque output actual time of the motor can be further prolonged, and the requirement on the use performance of the whole vehicle can be met.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart illustrating a method of torque output control of a motor controller according to an exemplary embodiment.
FIG. 2 is a schematic block diagram illustrating a torque output control scheme for a motor controller according to an exemplary embodiment.
Fig. 3 is a climbing gradient graph of a certain vehicle type.
FIG. 4 is a temperature test data chart of a single-tube parallel IGBT motor controller of a certain vehicle type.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of methods and apparatus consistent with certain aspects of the present application, as detailed in the appended claims.
FIG. 1 is a flow chart illustrating a method of torque output control of a motor controller according to an exemplary embodiment. The method can be applied to a motor controller of an automobile and comprises the following steps:
step S1: acquiring a required output torque of a vehicle and a current output torque of a motor;
step S2: determining a torque output limit value according to the current output torque;
step S3: the smaller value between the required output torque and the torque output limit is determined as the execution output torque.
The scheme of this application is based on the parallelly connected IGBT structural feature of single tube, through formulating a strategy that is applicable to the parallelly connected IGBT machine controller of single tube, not only can solve the problem that the IGBT temperature rise is high under the peak torque, can also prolong machine controller peak value peak current output time, and then extension motor peak torque output actual time guarantees to satisfy whole car performance requirement.
In some embodiments, the obtaining the required output torque of the vehicle and the current output torque of the motor includes:
acquiring an input command signal of a vehicle, and determining a required output torque according to the input command signal;
and acquiring a detection signal of a vehicle sensor, and determining the current output torque of the motor according to the detection signal.
Specifically, the input command signal is a control signal generated by actual operation (e.g., pressing a switch, pressing an accelerator) of a driver of the vehicle. The current output torque is the torque actually output by the motor at the current moment.
In some embodiments, determining the torque output limit based on the current output torque comprises:
determining a heat generation amount according to the current output torque;
the torque output limit value is determined according to the heat generation amount.
In some embodiments, the determining the heat generation amount according to the current output torque includes:
determining a current value according to the current output torque of the motor;
the heat generation amount of the IGBT is calculated according to the current value.
In some embodiments, the determining the current value according to the current output torque of the motor includes:
reading a corresponding relation between the output torque and the current value;
and determining the current value according to the current output torque and the corresponding relation.
The corresponding relation is obtained through experimental tests and is stored in the MCU of the motor controller in advance. And the MCU acquires the actual execution output torque of the motor, determines the current value through a preset corresponding relation, and records the current value.
In some embodiments, the calculating the heat generation amount of the IGBT according to the current value includes:
and integrating the current value in a period of time to obtain the heat productivity of the IGBT.
And the MCU of the motor controller carries out integral operation on the current value in a period of time according to the recorded current value, so that the heat productivity of the IGBT device in the period of time is obtained. The specific length of time period can be determined by actual experimental tests.
In some embodiments, the determining a torque output limit based on the heat generation amount;
acquiring a corresponding relation between a preset heating value and a torque output limit value;
the torque output limit value is determined based on the heat generation amount and the correspondence relationship.
The principle of determining the torque output limit value according to the calorific value is that after the MCU calculates the calorific value, the temperature of the IGBT device can be calculated according to the calorific value, and then the torque output limit value is determined according to the temperature; if the temperature of the IGBT device is higher, the torque output limit value is reduced, and the IGBT device is prevented from further heating; if the temperature of the IGBT device is low, the torque output limit value is increased to meet the use requirement of the vehicle.
As shown in fig. 2, in the scheme of the application, the heat generation amount of the IGBT is estimated and the damage of parts due to the overhigh temperature of the IGBT is prevented by means of current integration and carrier frequency variation, so that the peak current output time of the motor controller is prolonged, and the control is specifically as follows:
a. the MCU control unit compares the maximum allowable output torque of the MCU with the allowable output torque of the VCU, and ensures that the output torque of the motor meets the requirement of the whole vehicle;
b. the MCU controls the motor to execute output torque, obtains current MCU control three-phase current through an algorithm, and obtains current output time and IGBT heat productivity through current integration;
c. the temperature of the IGBT can reflect the three-phase current or the heat productivity of the IGBT under the condition that the torque is output for a long time, and the MCU limits the maximum allowable output torque of the motor according to the temperature of the IGBT, so that the purpose of protecting components such as the IGBT is achieved.
In some embodiments, the determining a torque output limit from the heat generation amount includes:
when Q is less than or equal to Q1, a torque output limit U is determinedL＝U1；
When Q1<When Q is less than or equal to Q2, determining a torque output limit value UL＝U2；
When Q is>Q2, determine Torque output Limit UL＝U3；
Wherein Q is a heating value, Q1 is a first threshold, Q2 is a second threshold, and U1> U2> U3; q1, Q2, U1, U2 and U3 are all values determined experimentally in advance.
In some embodiments, determining the torque output limit based on the current output torque comprises:
when the duration of Un-Umax reaches t1, a torque output limit U is determinedL＝U2；
Determining the torque output limit U when the duration of Un-Umax reaches t1 and then the duration of Un-U2 reaches t2L＝U3；
Wherein Un is the current output torque, and Umax is the maximum output torque of the motor; umax > U2> U3, t1, t2, U2, U3 are all values determined experimentally beforehand.
The following describes the scheme of the present application in an expanded manner with reference to a specific application scenario.
Fig. 3 shows the maximum creep slope at different torques. The total weight of the vehicle is 2050kg, the peak current of the selected motor controller is 200A, and the peak torque of the motor is 150Nm (namely Umax is 150 Nm).
According to the climbing gradient under different torques in fig. 3, in the case that the required output torque is always 150Nm (i.e. the electric gate is always stepped to the bottom, keeping the maximum requirement), the relevant strategy is made as follows:
first stage, torque output limit ULThe initial value U1(U1 can be set to any large value, and it is sufficient that U1 ≧ Umax, for example, U1 ≧ 999), the execution output torque of the motor controller is the required output torque; therefore, the current output torque Un at this stage is 150Nm, and 60s is continuously output (t1 is 60 s);
in the second stage, the torque is output to a limit value ULDown to 140Nm (140 Nm for U2), resulting in the motor controller executing an output torque down to 140 Nm; therefore, the current output torque Un at this stage is 140Nm (U2), and the output is continuously 150s (t2 is 150 s);
in the third stage, the torque is output to a limit value ULDown to 130Nm (130 Nm for U3), resulting in the motor controller executing an output torque down to 130 Nm; so the current output at this stageThe output torque Un-U3-130 Nm keeps the output constant.
The experimental data are shown in figure 4, according to the above strategy. From the experimental data in the figure, it can be seen that: the temperature rise of the IGBT is 43K, the requirements of parts are met, the strategy is reasonable to formulate, the temperature rise of the IGBT of the motor controller is controllable, the temperature application range of the IGBT is met, the peak torque output time of the motor is prolonged, and the use requirements of commercial vehicles are met. The above strategy can meet the 20% maximum grade required by commercial vehicles.
The present application further provides the following embodiments:
a torque output control apparatus of a motor controller, the apparatus comprising:
the acquisition module is used for acquiring the required output torque of the vehicle and the current output torque of the motor;
the determining module is used for determining a torque output limit value according to the current output torque;
and the comparison module is used for determining the smaller value between the required output torque and the torque output limit value as the execution output torque.
With regard to the apparatus in the above embodiment, the specific steps in which the respective modules perform operations have been described in detail in the embodiment related to the method, and are not described in detail herein.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

1. A torque output control method of a motor controller, comprising:
acquiring a required output torque of a vehicle and a current output torque of a motor;
determining a torque output limit value according to the current output torque;
the smaller value between the required output torque and the torque output limit is determined as the execution output torque.
2. The method of claim 1, wherein determining a torque output limit based on the current output torque comprises:
determining a heat generation amount according to the current output torque;
the torque output limit value is determined according to the heat generation amount.
3. The method of claim 2, wherein determining a heat generation amount based on the current output torque comprises:
determining a current value according to the current output torque of the motor;
the heat generation amount of the IGBT is calculated according to the current value.
4. The method of claim 3, wherein determining the current value based on the current output torque of the motor comprises:
reading a corresponding relation between a preset output torque and a preset current value;
and determining the current value according to the current output torque and the corresponding relation.
5. The method according to claim 3, wherein the calculating the heat generation amount of the IGBT according to the current value comprises:
and integrating the current value in a period of time to obtain the heat productivity of the IGBT.
6. The method according to any one of claims 2-5, wherein the determining a torque output limit value is based on a heat generation amount;
acquiring a corresponding relation between a preset heating value and a torque output limit value;
the torque output limit value is determined based on the heat generation amount and the correspondence relationship.
7. The method of claim 6, wherein determining a torque output limit based on a heat generation amount comprises:
when Q is less than or equal to Q1, a torque output limit U is determinedL＝U1；
When Q1<When Q is less than or equal to Q2, determining a torque output limit value UL＝U2；
When Q is>Q2, determine Torque output Limit UL＝U3；
Wherein Q is a heating value, Q1 is a first threshold, Q2 is a second threshold, and U1> U2> U3; q1, Q2, U1, U2 and U3 are all values determined experimentally in advance.
8. The method of claim 1, wherein determining a torque output limit based on the current output torque comprises:
when the duration of Un-Umax reaches t1, a torque output limit U is determinedL＝U2；
When the duration of Un ═ Umax reaches t1, and then UnDetermining a torque output limit U when the duration of U2 reaches t2L＝U3；
Wherein Un is the current output torque, and Umax is the maximum output torque of the motor; umax > U2> U3, t1, t2, U2, U3 are all values determined experimentally beforehand.
9. The method according to any one of claims 1-5, 7-8, wherein the obtaining a demanded output torque of the vehicle and a current output torque of the electric machine comprises:
acquiring an input command signal of a vehicle, and determining a required output torque according to the input command signal;
and acquiring a detection signal of a vehicle sensor, and determining the current output torque of the motor according to the detection signal.
10. A torque output control apparatus of a motor controller, characterized by comprising:
the acquisition module is used for acquiring the required output torque of the vehicle and the current output torque of the motor;
the determining module is used for determining a torque output limit value according to the current output torque;
and the comparison module is used for determining the smaller value between the required output torque and the torque output limit value as the execution output torque.
CN202010128856.2A 2020-02-28 2020-02-28 Torque output control method and device of motor controller Pending CN111251903A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07322401A (en) * 1994-05-19 1995-12-08 Fuji Heavy Ind Ltd Motor output limiter for electric car
JP2002051583A (en) * 2000-07-31 2002-02-15 Aisin Aw Co Ltd Motor driver, and motor driving method
CN101897115A (en) * 2007-12-14 2010-11-24 株式会社东芝 Inverter, electric vehicle equipped with the inverter, and hybrid vehicle equipped with the inverter
CN105329105A (en) * 2014-07-30 2016-02-17 比亚迪股份有限公司 Motor controller, IGBT over-temperature protection method and apparatus for same
US20170141716A1 (en) * 2015-11-13 2017-05-18 Denso Corporation Rotary electric machine control apparatus
CN108512479A (en) * 2017-02-24 2018-09-07 联合汽车电子有限公司 Electric machine controller and its method for calculating Motor torque predicted value

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07322401A (en) * 1994-05-19 1995-12-08 Fuji Heavy Ind Ltd Motor output limiter for electric car
JP2002051583A (en) * 2000-07-31 2002-02-15 Aisin Aw Co Ltd Motor driver, and motor driving method
CN101897115A (en) * 2007-12-14 2010-11-24 株式会社东芝 Inverter, electric vehicle equipped with the inverter, and hybrid vehicle equipped with the inverter
CN105329105A (en) * 2014-07-30 2016-02-17 比亚迪股份有限公司 Motor controller, IGBT over-temperature protection method and apparatus for same
US20170141716A1 (en) * 2015-11-13 2017-05-18 Denso Corporation Rotary electric machine control apparatus
CN108512479A (en) * 2017-02-24 2018-09-07 联合汽车电子有限公司 Electric machine controller and its method for calculating Motor torque predicted value

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Application publication date: 20200609