CN111347886B - Motor driving apparatus, control method, vehicle, and readable storage medium - Google Patents

Motor driving apparatus, control method, vehicle, and readable storage medium Download PDF

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CN111347886B
CN111347886B CN201811574095.2A CN201811574095A CN111347886B CN 111347886 B CN111347886 B CN 111347886B CN 201811574095 A CN201811574095 A CN 201811574095A CN 111347886 B CN111347886 B CN 111347886B
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phase
target
voltage
motor
duty ratio
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CN111347886A (en
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潘华
谢飞跃
黄日
郑益浩
其他发明人请求不公开姓名
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BYD Co Ltd
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BYD 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • 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 technical scheme of the application provides a motor driving device, a control method, a vehicle and a readable storage medium, wherein the control method of the motor driving device comprises the following steps: acquiring required heating power, a motor torque output value and a target voltage of a bus capacitor; and controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase motor and enable the three-phase inverter and the three-phase motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase motor. According to the technical scheme, on the basis that the additional boosting module and the heating module are not added, the bus capacitor voltage control, the torque output and the cooperative control over heating of the vehicle internal equipment are achieved, the heating function can heat the power battery to wait for the heating part and can also heat the passenger compartment, and the electric vehicle has the advantages of being simple in circuit structure, low in cost and small in failure risk.

Description

Motor driving apparatus, control method, vehicle, and readable storage medium
Technical Field
The present disclosure relates to the field of motor driving technologies, and in particular, to a motor driving apparatus, a control method, a vehicle, and a readable storage medium.
Background
At present, the problems of energy crisis and environmental pollution become more serious, and the electric automobile can realize zero emission as a novel vehicle, has the advantages of simple structure, high energy utilization rate, low noise and the like, and occupies a leading position in the automobile development in future. For the new energy automobile of setting up direct current circuit, can obtain the electric energy through the direct current power supply line and be used for driving three-phase motor output torque, consider going of vehicle under the low temperature environment, so the vehicle still needs to possess the heating function, heat the inside low temperature equipment of vehicle promptly, at present, the process of the torque output process to three-phase motor and heating the inside equipment of vehicle all is controlled respectively, lead to the inside overall control strategy of vehicle relatively complicated, in addition, prior art is through increasing boost DC in motor drive circuit and accomplishes the conversion of battery low-voltage to motor controller high voltage, satisfy the demand that motor controller becomes the bus voltage, but increase boost DC can increase motor drive unit's cost and volume.
Disclosure of Invention
The application aims to provide a motor driving device, a control method, a vehicle and a readable storage medium, which can realize the adjustment of the voltage of a bus of a motor controller on the premise of not increasing boosting DC and the simultaneous control of the torque output process of a three-phase alternating current motor and the heating process of internal equipment of the vehicle.
The present application is realized like this, and the first aspect of the present application provides a motor drive device, motor drive device includes three-phase alternating current motor, three-phase inverter and bus capacitance, the tie point of three-phase coil of three-phase alternating current motor is connected to power module's positive terminal, three-phase coil of three-phase alternating current motor connects respectively three-phase inverter's three-phase bridge arm, three-phase inverter's first end is connected bus capacitance's first end, three-phase inverter's second end is connected bus capacitance's second end with power module's negative pole end.
A second aspect of the present application provides a control method of a motor drive apparatus according to the first aspect, the control method of the motor drive apparatus including:
acquiring required heating power, a motor torque output value and a target voltage of a bus capacitor;
and controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to adjust the voltage of the bus capacitor and control the output torque of the three-phase alternating current motor and the heating process of a device to be heated.
A third aspect of the present application provides a motor driving device based on the first aspect, the motor driving device further including:
the data acquisition module is used for acquiring the required heating power, the torque output value of the motor and the target voltage of the bus capacitor;
and the control module is used for controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
A fourth aspect of the present application provides a vehicle comprising a memory, a processor; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for implementing the control method according to the third aspect.
A fifth aspect of the present application is a non-transitory computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the control method of the third aspect.
The technical scheme of the application provides a motor driving device, a control method, a vehicle and a readable storage medium, wherein the control method of the motor driving device comprises the following steps: acquiring required heating power, a motor torque output value and a target voltage of a bus capacitor; and controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor. According to the technical scheme, on the basis that the additional boosting module and the heating module are not added, the bus voltage control, the torque output and the cooperative control method for heating the vehicle internal equipment are realized, the heating function can be used for heating the power battery to wait for the heating part and heating the passenger compartment, and the automobile internal heating system has the advantages of being simple in circuit structure, low in cost, small in failure risk and the like.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a motor driving device according to an embodiment of the present application;
fig. 2 is another schematic structural diagram of a motor driving device according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a control method of a motor driving apparatus according to a second embodiment of the present application;
fig. 4 is a flowchart of step S20 in the control method of the motor driving device according to the second embodiment of the present application;
fig. 5 is a flowchart of step S201 in a control method of a motor driving device according to a second embodiment of the present application;
fig. 6 is another flowchart of step S20 in the driving method of the motor driving device according to the second embodiment of the present application;
fig. 7 is a flowchart of step S203 in a driving method of a motor driving device according to a second embodiment of the present application;
fig. 8 is another flowchart of step S20 in the driving method of the motor driving device according to the second embodiment of the present application;
fig. 9 is another flowchart after step S22 in the control method of the motor driving apparatus according to the second embodiment of the present application;
fig. 10 is a schematic diagram of three-phase control pulses in a control method of a motor driving device according to a second embodiment of the present application;
fig. 11 is a control structure block diagram of a control method of a motor driving device according to a second embodiment of the present application;
fig. 12 is a schematic structural diagram of a motor driving device according to a third embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
An embodiment of the present application provides a motor driving apparatus, as shown in fig. 1, the motor driving apparatus includes: the three-phase alternating current motor 102, the three-phase inverter 101 and the bus capacitor C1, wherein the connection point of three-phase coils of the three-phase alternating current motor 102 is connected to the positive end of the power supply module 103, the three-phase coils of the three-phase alternating current motor 102 are respectively connected to three-phase arms of the three-phase inverter 101, the first end of the three-phase inverter 101 is connected to the first end of the bus capacitor C1, and the second end of the three-phase inverter 101 is connected to the second end of the bus capacitor C1 and the negative end of the power supply module 103.
For the three-phase inverter 101, specifically, the three-phase inverter 101 includes a first power switch unit, a second power switch unit, a third power switch unit, a fourth power switch unit, a fifth power switch, and a sixth power switch, input terminals of the first power switch unit, the third power switch unit, and the fifth power switch unit are connected in common and constitute a first end of the three-phase inverter 101, output terminals of the second power switch unit, the fourth power switch unit, and the sixth power switch unit are connected in common and constitute a second end of the three-phase inverter 101, a first phase coil of the three-phase ac motor 102 is connected to an output terminal of the first power switch unit and an input terminal of the fourth power switch unit, a second phase coil of the three-phase ac motor 102 is connected to an output terminal of the third power switch unit and an input terminal of the sixth power switch unit, and a third phase coil of the three-phase ac motor 102 is connected to an output terminal of the fifth power switch unit and an input terminal of the second power switch unit.
The first power switch unit in the three-phase inverter 101 comprises a first upper bridge arm VT1 and a first upper bridge diode VD1, the second power switch unit comprises a second lower bridge arm VT2 and a second lower bridge diode VD2, the third power switch unit comprises a third upper bridge arm VT3 and a third upper bridge diode VD3, the fourth power switch unit comprises a fourth lower bridge arm VT4 and a fourth lower bridge diode VD4, the fifth power switch unit comprises a fifth upper bridge arm VT5 and a fifth upper bridge diode VD5, the sixth power switch unit comprises a sixth lower bridge arm VT6 and a sixth lower bridge diode VD6, the three-phase alternating current motor 102 is a three-phase four-wire system and can be a permanent magnet synchronous motor or an asynchronous motor, a neutral wire is led out from a three-phase coil connection, the neutral wire is connected with the power supply module 103, and the three-phase coil of the motor is respectively connected with the midpoint between the upper and lower bridge arms of A, B, C phases in the three-phase inverter 101.
The power supply module 103 may supply power to the three-phase ac motor through a dc power supply line through a connection point of a three-phase coil of the three-phase ac motor, and a power supply of the dc power supply line may be from outside the vehicle, for example, a dc power provided by the dc charging pile, or a dc power output by the single-phase or three-phase ac charging pile after rectification; the power supply of the direct current power supply line can be from the inside of the vehicle, for example, the power supply can also be generated by a power battery, or can be in the form of a power supply such as a range extender, for example, a generator driven by the rotation of an engine, direct current rectified by a generator controller, and the like.
According to the embodiment of the application, the three-phase inverter, the three-phase alternating current motor and the power supply module are arranged, the power supply module is connected through the connection point of the three-phase coil of the three-phase alternating current motor, the current input by the power supply module is received, when the motor driving device receives a control instruction for promoting bus voltage, heating and motor torque output, the target voltage of a bus capacitor, the required heating power and the motor torque output value are obtained, the three-phase bridge arm of the three-phase inverter is controlled according to the target voltage of the bus capacitor, the required heating power and the motor torque output value, and therefore the target voltage of the bus capacitor, the heating process and the motor torque output process are conducted simultaneously.
Further, as shown in fig. 2, the motor driving apparatus further includes an inductor L, a first end of the inductor L is connected to a connection point of three-phase coils of the three-phase ac motor 102, and a second end of the inductor L is connected to the power supply module 103. The inductor is used for filtering and storing energy.
An embodiment of the present application provides a control method of a motor driving apparatus based on the first embodiment, and as shown in fig. 3, the control method of the motor driving apparatus includes:
and S10, acquiring the required heating power, the torque output value of the motor and the target voltage of the bus capacitor.
And S20, controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
For step S10, the required heating power may be obtained by detecting the temperature of the component to be heated by the vehicle controller, for example, the component to be heated may be a rechargeable battery, the required heating power is calculated according to the current temperature of the battery, the rotation speed of the motor is related to the voltage of the bus capacitor of the motor controller and the output torque of the motor, the rotation speed of the motor may be used as a control basis for the bus voltage of the motor controller and the output torque of the motor, and the bus target voltage of the motor controller and the output torque of the motor corresponding to the rotation speed of the motor are obtained when the rotation speed of the motor is in a low speed or medium-high speed region.
For step S20, outputting the heating power, controlling the on-off state of the three-phase bridge arm according to the heating power, so that the three-phase inverter and the three-phase ac motor are in the heating state, and since the three-phase inverter and the three-phase ac motor both have a heat exchange medium pipeline passing through, the heat generated by the three-phase inverter and the three-phase ac motor when heating can heat the heat exchange medium in the heat exchange medium pipeline, when the heat exchange medium flows through the component to be heated, the temperature of the component to be heated can be increased, for example, the component to be heated is a power battery, so that the heat exchange medium flows through a link medium pipeline passing through the power battery, and then the power battery is heated; the heating area can be heated, for example, the heating area is a passenger area, and the temperature of the passenger area is improved by enabling the heated heat exchange medium to flow through the heat exchange system of the passenger area.
In this embodiment, a control signal for controlling a three-phase bridge arm is obtained according to a preset algorithm according to a required heating power, a motor torque output value, a target voltage of a bus capacitor, and a voltage of a power supply module, where the control signal is a PWM signal duty ratio satisfying the required heating power, the motor torque output value, and the target voltage of the bus capacitor, and the PWM signal duty ratio is applied to each phase of the bridge arm, so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of a three-phase ac motor, and enable the three-phase inverter and the three-phase ac motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase ac motor, and realize a cooperative control method for torque output, the target voltage of the bus capacitor, and power battery heating without adding an additional heating module, thereby effectively solving the problem that a vehicle which does not erect a dc power supply line in the whole process outputs the required torque, The heating device has the advantages of simple circuit structure, low cost, small failure risk and the like.
As an embodiment, as shown in fig. 4, the step S20 of controlling the on/off state of the three-phase arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor, and the power supply voltage of the power supply module includes:
step S201, acquiring a target input current of the three-phase alternating current motor and a first target duty ratio of a control pulse of each phase of bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the power supply voltage of the power supply module.
And S202, receiving the input current of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio.
As an embodiment, as shown in fig. 5, step S201 includes:
and S211, calculating target input current according to the required heating power, the motor torque output value and the power supply voltage of the power supply module.
In step S211, the driving power is calculated according to the motor torque output value, which may be according to the formula
Figure GDA0003671508310000071
Calculating the driving power; n is the motor speed, Te is the motor torque, P 1 For driving power, according to the formula
Figure GDA0003671508310000072
Calculating a target input current, P being the required heating power, U 2 The supply voltage of the power supply module.
Further, as shown in fig. 5, step S201 further includes:
s212, acquiring target current of each phase of electricity of the three-phase alternating current motor according to the required heating power, the motor torque output value and the target input current;
s213, acquiring a first average duty ratio of the three-phase electric control pulse according to the target voltage of the bus capacitor, the power supply voltage of the power supply module and the target input current;
and S214, acquiring a first target duty ratio of the control pulse of each phase bridge arm according to the first average duty ratio, the target current of each phase of electricity and the target input current.
Wherein, step S212 includes:
calculating a target current of each phase of electricity of the three-phase alternating current motor according to the following formula 1, formula 2 and formula 3, based on the motor rotor position, the required heating power, the motor torque output value and the target input current:
equation 1:
Figure GDA0003671508310000081
Figure GDA0003671508310000082
equation 2: IA + IB + IC ═ I
Equation 3: p ═ i (IA × IA + IB × IB + IC × IC) × R
Wherein alpha is the lag angle of the rotor, IA, IB, IC are each phase current of the three-phase coil, I is the target input current, Te is the torque output value of the motor, lambda, rho, L d ,L q The motor parameters are P, the heating power is P, and the equivalent impedance of the three-phase alternating current motor is R.
Wherein, step S213 includes:
obtaining a first average duty ratio of the three-phase electric control pulse according to the target voltage of the bus capacitor, the power supply voltage of the power supply module and the target input current through the following formula:
equation 4: u shape 1 ＝U 2 ×D 0 RI, wherein U 2 Is the target voltage of the bus capacitor, U 1 Supply voltage for the power supply module, D 0 And the first average duty ratio of the three-phase electric control pulse is I, the target input current of the three-phase alternating current motor is I, and the equivalent impedance of the three-phase alternating current motor is R.
Wherein, step S214 includes:
obtaining a first target duty ratio of the control pulse of each phase bridge arm according to the following formula according to the first average duty ratio, the target current of each phase of electricity and the target input current:
equation 5:
Figure GDA0003671508310000083
wherein, I 1 Target current for each phase of electricity, R 1 Equivalent impedance of each phase coil, D 1 Is a first target duty cycle of the control pulse for each phase leg.
The voltage of the connection point of each phase bridge arm and each phase coil is equal to the sum of the voltage drop of the phase coil and the target voltage of the capacitor at the voltage reduction side, namely U 1 ×D 1 ＝R 1 ×I 1 +U 2 In combination with the above equation 4, equation 5 can be obtained, that is, the first target duty ratio of the control pulse of each phase of the bridge arm can be obtained.
In the circuit diagram shown in fig. 2, the motor drive apparatus further includes an inductor;
step S213 includes:
obtaining a first average duty ratio of the three-phase electric control pulse according to the target voltage of the bus capacitor, the voltage of the power supply module and the target input current through the following formula:
U 2 ＝U 1 ×D 0 -I×R-I×R L wherein, U 2 For the target voltage of the buck-side capacitor, U 1 Is the voltage of the power cell, D 0 Average duty ratio of three-phase electric control pulse, I is target input current, R is equivalent impedance of three-phase AC motor L Is an inductive impedance.
Since the inductor is provided and has an inductive impedance, the formula also includes a voltage drop across the inductor.
Obtaining a first target duty ratio of a control pulse of each phase bridge arm according to the first average duty ratio, the target current of each phase of electricity and the target input current:
Figure GDA0003671508310000091
wherein, I 1 Target current for each phase of electricity, R 1 Equivalent impedance of each phase coil, D 1 The first target duty ratio of the control pulse of each phase of bridge arm is R, the equivalent impedance of the three-phase alternating current motor is R, and I is a target input current.
The method comprises the steps of calculating a target input current of a three-phase alternating current motor according to required heating power, a motor torque output value and a power supply voltage of a power supply module, and then obtaining a target current of each phase of electricity of the three-phase alternating current motor according to a motor rotor position, the required heating power, the target input current and the motor torque output value; and then, a first target duty ratio of a control pulse of each phase of bridge arm is calculated according to the target voltage of the bus capacitor, the target input current and the target current of each phase of electricity of the three-phase alternating current motor, the three-phase bridge arms are controlled according to the first target duty ratio, a cooperative control method of torque output, the target voltage of the bus capacitor and power battery heating is realized on the basis of not adding an additional boosting module and a heating module, the problem that a vehicle which is not provided with a direct current power supply line in the whole process works cooperatively on required torque output and heating functions is effectively solved, the heating function can heat not only the power battery, but also the passenger compartment, and the electric vehicle has the advantages of simple circuit structure, low cost, small failure risk and the like.
Further, as shown in fig. 6, in step S202, controlling each phase of the bridge arm according to the first target duty ratio further includes:
s203, acquiring the working voltage of the power supply module, and performing PID control operation through a PID regulator according to the working voltage and the power supply voltage of the power supply module to obtain the average duty ratio variation of the three-phase electric control pulse;
s204, obtaining a second target duty ratio according to the first target duty ratio and the average duty ratio variation;
and S205, controlling each phase of bridge arm according to a second target duty ratio to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
In step S203, a PID regulator performing PID control (proportional-integral-derivative control) is a feedback loop component common in industrial control applications, and is composed of a proportional unit P, an integral unit I, and a derivative unit D. The current deviation of the proportional reaction system can be adjusted by a proportional coefficient to reduce errors, the accumulated deviation of the integral reaction system can be adjusted to eliminate steady-state errors, and the error-free degree is improved.
As an embodiment, as shown in fig. 7, step S203 includes:
s231, acquiring a voltage difference value between the working voltage and the power supply voltage of the power supply module;
s232, when the working voltage of the power supply module is larger than the power supply voltage, calculating the average duty ratio change increment of the three-phase electric control pulse according to the voltage difference value and the proportional coefficient of the PID regulator;
and S233, when the working voltage of the power supply module is smaller than the power supply voltage, calculating the average duty ratio change decrement of the three-phase electric control pulse according to the voltage difference value and the proportional coefficient of the PID regulator.
In step S204, when the operating voltage of the power supply module is greater than the power supply voltage, the average duty ratio of the output three-phase electric control pulses is gradually increased to decrease the actual operating voltage of the power battery, and when the actual charging voltage of the power supply module is less than the target charging voltage, the average duty ratio of the output three-phase electric control pulses is gradually decreased to increase the actual charging voltage of the power battery.
In the above step, the working voltage of the power supply module is realized by the motor controller through adjusting the average duty ratio of the three-phase electric control pulses, and the power supply voltage of the power supply module is assumed to be U * If the actual working voltage of the power supply module is obtained as U, the voltage difference value (U) is obtained * U) is input into a PID regulator, and the average duty ratio K (U) of the three-phase pulse is output after being calculated by the PID regulator * U), where K is the scaling factor set in the PID regulator, if the actual operating voltage U of the supply module is less than the supply voltage U of the supply module * In the process, the average duty ratio of the three-phase electric control pulse output by the PID regulator is reduced, so that the actual working voltage of the power supply module is increased; on the contrary, the actual charging voltage U of the power supply module is greater than the target charging voltage U of the power supply module * In the meantime, the average duty ratio of the three-phase electric control pulses output by the PID regulator will be increased, so that the actual charging voltage of the power supply module is reduced.
In addition, except for the control voltage, the average duty ratio can be controlled according to the control input current, so that the actual input current reaches the target input current, when the actual input current is smaller than the target input current, the three-phase average duty ratio is reduced, conversely, when the actual input current is larger than the target input current, the three-phase average duty ratio is increased, and the control of the input current can be completed by automatically controlling the PID regulator, so that the actual charging current is always near the target.
Further, as shown in fig. 8, in step S202, each phase of the bridge arm is controlled according to the first target duty ratio, and then the method further includes:
and S206, acquiring the actual current of each phase of electricity, and performing PID control operation through a PID regulator according to the actual current and the target current of each phase of electricity to obtain the duty ratio variable quantity of the control pulse of each phase of bridge arm.
And S207, obtaining a third target duty ratio according to the first target duty ratio and the duty ratio variation.
And S208, controlling each phase of bridge arm according to a third target duty ratio so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
As shown in fig. 9, step S206 includes:
and S261, acquiring a current difference value between the actual current and the target current of each phase of electricity.
And S262, when the target current of each phase of electricity is larger than the actual current, calculating the duty ratio change increment of the phase bridge arm according to the current difference and the proportional coefficient of the PID regulator.
And S263, when the target current of each phase of electricity is smaller than the actual current, calculating the duty ratio change decrement of the phase bridge arm according to the current difference and the proportional coefficient of the PID regulator.
In the above steps, when the target current of each phase of bridge arm is greater than the actual current, the output duty ratio change increment is gradually increased to increase the actual current of each phase of bridge arm; and when the target current of each phase of bridge arm is smaller than the actual current, the change of the output duty ratio is reduced and gradually increased so as to reduce the actual current of each phase of bridge arm. For the control of the three-phase bridge arm current, the control is realized by superposing increments on the basis of the average duty ratio of three-phase electric control pulses. And (3) assuming that the target current output by the phase A Is and the target value Is, inputting the current difference (Is-Is) into a PID controller, and outputting the incremental value of the duty ratio of the phase A pulse after PID calculation. If the actual current Is of the phase A Is smaller than the target value Is, the duty ratio of the phase A output by the PID Is increased, so that the output current of the phase A Is increased; on the contrary, when the actual current Is of the phase a Is greater than the target value Is, the duty ratio of the phase a output by the PID Is reduced, so that the output current of the phase a Is reduced, and the voltage control of the phase B and the phase C Is the same as that of the phase a, which Is not described in detail.
In the present embodiment, an overlap amount is added on the basis of the average duty ratio to complete the control of the three-phase current, so that the actual value of the three-phase current reaches the target value of the three-phase current. When the actual charging current of a certain phase is smaller than the target value, the superposition amount of the duty ratio of the phase is increased, and conversely, when the actual charging current is larger than the target value, the superposition amount of the duty ratio is reduced, and the PID automatic control can also be used for enabling the actual current of three phases to be close to the target all the time, so that the control of torque output and heating is realized through the control of three-phase current.
The examples of the present application are further illustrated by the following specific examples:
firstly, a torque output target value, required heating power, a motor torque output value and a target voltage of a bus capacitor are obtained according to a vehicle running requirement and a heating requirement in a low-temperature environment.
And then, calculating a three-phase current target value according to the torque output and the heating power, wherein a calculation formula is shown as follows.
Figure GDA0003671508310000131
IA+IB+IC＝I
P＝(IA×IA+IB×IB+IC×IC)×R1
Wherein, alpha is the lag angle of the rotor, IA, IB, IC are each phase current of the three-phase coil, I is the input current of the three-phase AC motor, the power requirements of driving, battery charging and heating are met, Te is the torque output value of the motor, lambda, rho, L d ,L q Is the motor parameter, and P is the heating power.
The three-phase current value is controlled by the superposition amount of the duty ratio of each phase, when the actual charging current of a certain phase is smaller than a target value, the superposition amount of the duty ratio of the phase is increased, and when the actual charging current is larger than the target value, the superposition amount of the duty ratio is reduced, or the PID automatic control is adopted, so that the actual current of the three phases is always close to the target, the control of the three-phase current is completed, and the cooperative control of torque output and heating is also completed. As shown in detail on the right side of fig. 10, the three-phase duty cycles are not equal.
The three-phase current and charging current are cooperatively controlled as shown in fig. 11, the average duty ratio of the three phases is used for controlling the charging current, the overlapping amount of the duty ratio of each phase is used for controlling the current value of the three phases, the three-phase current value is respectively adjusted through respective PIDs, so that the actual output current is consistent with the target value, and finally, the overlapping amount of the duty ratios of the phases and the average duty ratio of the three phases are added to obtain the final duty ratios of the three phases and are applied to respective IGBTs.
And finally, the temperature of the motor, the electric control and the inductor is continuously detected, and when the temperature is too high, the power is reduced, so that the device is prevented from being burnt.
According to the technical scheme, on the basis of the original electric driving system, through a cooperative control method of torque output, power battery charging and power battery heating, the torque output of the motor is realized, so that the torque safety of the whole vehicle during charging is ensured, and the charging and heating requirements of the power battery under a low-temperature environment are met.
In an embodiment of the present application, a third motor driving device is provided, where based on the above motor driving device, as shown in fig. 12, the motor driving device further includes:
the data acquisition module 501 is used for acquiring the required heating power, the motor torque output value and the target voltage of the bus capacitor;
a control module 502, configured to control the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor, and the voltage of the power supply module, so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase ac motor, and enable the three-phase inverter and the three-phase ac motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase ac motor.
Another embodiment of the present invention provides a vehicle comprising a memory, a processor;
the processor reads the executable program code stored in the memory to run the program corresponding to the executable program code, so as to implement the control method provided by the second embodiment.
Another embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the control method provided in the second embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (17)

1. A motor driving device is characterized by comprising a three-phase alternating current motor, a three-phase inverter and a bus capacitor, wherein the connection point of three-phase coils of the three-phase alternating current motor is connected to the positive end of a power supply module, the three-phase coils of the three-phase alternating current motor are respectively connected with three-phase bridge arms of the three-phase inverter, the first end of the three-phase inverter is connected with the first end of the bus capacitor, and the second end of the three-phase inverter is connected with the second end of the bus capacitor and the negative end of the power supply module;
the motor drive device is used for:
acquiring required heating power, a motor torque output value and a target voltage of a bus capacitor;
and controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
2. The motor drive of claim 1, further comprising an inductor connected between a connection point of three-phase coils of said three-phase alternating current motor and a positive terminal of said power supply module.
3. A control method of a motor drive apparatus according to claim 1 or 2, characterized by comprising:
acquiring required heating power, a motor torque output value and a target voltage of a bus capacitor;
and controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
4. The control method according to claim 3, wherein the controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor, and the supply voltage of the power supply module comprises:
acquiring a target input current of a three-phase alternating current motor and a first target duty ratio of a control pulse of each phase of bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the power supply voltage of the power supply module;
and receiving the input current of the power supply module according to the target input current, and controlling each phase of bridge arm according to the first target duty ratio.
5. The control method according to claim 4, wherein obtaining a target input current of a three-phase alternating current motor and a first target duty ratio of a control pulse of each phase bridge arm according to the required heating power, the motor torque output value, a target voltage of the bus capacitor, and a supply voltage of the power supply module comprises:
and calculating the target input current according to the required heating power, the motor torque output value and the power supply voltage of the power supply module.
6. The control method according to claim 5, wherein obtaining a target input current of a three-phase alternating current motor and a first target duty ratio of a control pulse of each phase bridge arm according to the required heating power, the motor torque output value, a target voltage of the bus capacitor, and a supply voltage of the power supply module comprises:
acquiring target current of each phase of electricity of the three-phase alternating current motor according to the position of a motor rotor, the required heating power, the motor torque output value and the target input current;
acquiring a first average duty ratio of three-phase electric control pulses according to the target voltage of the bus capacitor, the power supply voltage of the power supply module and the target input current;
and acquiring a first target duty ratio of the control pulse of each phase of bridge arm according to the first average duty ratio, the target current of each phase of electricity and the target input current.
7. The control method of claim 6, wherein said deriving a first average duty cycle of three-phase electrical control pulses from a target voltage of the bus capacitance and a supply voltage of the power supply module comprises:
obtaining a first average duty ratio of three-phase electric control pulses according to the target voltage of the bus capacitor, the power supply voltage of the power supply module and the target input current by the following formula:
U 1 ＝U 2 ×D 0 RI, wherein U 2 Is the target voltage of the bus capacitor, U 1 Supply voltage for the power supply module, D 0 And the first average duty ratio of the three-phase electric control pulse is I, the target input current of the three-phase alternating current motor is I, and the equivalent impedance of the three-phase alternating current motor is R.
8. The control method of claim 7, wherein said deriving a first target duty cycle for control pulses for each phase leg from the first average duty cycle, the target current for each phase of electricity, and the target input current comprises:
obtaining a first target duty ratio of a control pulse of each phase bridge arm according to the first average duty ratio, the target current of each phase of electricity and the target input current according to the following formula:
Figure FDA0003688003550000031
wherein, I 1 For a target current of each phase, I is an input current of the three-phase AC motor, R 1 Is the equivalent impedance between the positive pole of the power supply module and the midpoint of each phase bridge arm, D 1 R is the equivalent impedance of the three-phase ac motor, which is the first target duty ratio of the control pulse of each phase bridge arm.
9. The control method of claim 6, wherein the motor drive further comprises an inductor; the obtaining of the first average duty ratio of the three-phase electric control pulse according to the target voltage of the bus capacitor and the voltage of the power supply module includes:
obtaining a first average duty ratio of three-phase electric control pulses according to the target voltage of the bus capacitor, the voltage of the power supply module and the target input current by the following formula:
U 1 ＝U 2 ×D 0 -I×R-I×R L wherein, U 2 Is the target voltage of the bus capacitor, U 1 Supply voltage for the power supply module, D 0 Average duty ratio of three-phase electric control pulse, I is the target input current, R is equivalent impedance of three-phase AC motor L Is an inductive impedance;
the obtaining a first target duty ratio of a control pulse of each phase bridge arm according to the first average duty ratio, the target current of each phase of electricity and the target input current includes:
according to the first average duty ratio, the target current of each phase of electricity and the target input current, the first target duty ratio of the control pulse of each phase of bridge arm is selected as follows:
Figure FDA0003688003550000041
wherein, I 1 Target current for each phase of electricity, R 1 Equivalent impedance of each phase coil, D 1 R is the equivalent impedance of the three-phase ac motor, which is the first target duty ratio of the control pulse of each phase bridge arm.
10. The control method of claim 4, wherein said controlling each phase leg according to the first target duty cycle further comprises:
acquiring the working voltage of the power supply module, and carrying out PID control operation through a PID regulator according to the working voltage and the power supply voltage of the power supply module to obtain the average duty ratio variable quantity of the three-phase electric control pulse;
obtaining a second target duty ratio according to the first target duty ratio and the average duty ratio variation;
and controlling each phase of bridge arm according to the second target duty ratio so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
11. The control method according to claim 10, wherein the obtaining of the average duty ratio variation of the three-phase electric control pulse by performing PID control operation through a PID regulator according to the operating voltage and the supply voltage of the power supply module comprises:
acquiring a voltage difference value between the working voltage and the power supply voltage of the power supply module;
when the working voltage of the power supply module is larger than the power supply voltage, calculating the average duty ratio change increment of the three-phase electric control pulse according to the voltage difference value and the proportional coefficient of the PID regulator;
and when the working voltage of the power supply module is smaller than the power supply voltage, calculating the average duty ratio change decrement of the three-phase electric control pulse according to the voltage difference value and the proportional coefficient of the PID regulator.
12. The control method of claim 6, wherein said controlling each phase leg according to the first target duty cycle further comprises:
acquiring the actual current of each phase of electricity, and carrying out PID control operation through a PID regulator according to the actual current of each phase of electricity and the target current to obtain the duty ratio variable quantity of the control pulse of each phase of bridge arm;
obtaining a third target duty ratio according to the first target duty ratio and the duty ratio variation;
and controlling each phase of bridge arm according to the third target duty ratio so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
13. The control method according to claim 12, wherein the obtaining of the duty ratio variation of the control pulse of each phase bridge arm by performing PID control operation through a PID regulator according to the actual current and the target current of each phase current comprises:
acquiring a current difference value between the actual current and the target current of each phase of electricity;
when the target current of each phase of electricity is larger than the actual current, calculating the duty ratio change increment of the phase of bridge arm according to the current difference and the proportional coefficient of the PID regulator;
and when the target current of each phase of electricity is smaller than the actual current, calculating the duty ratio change decrement of the phase bridge arm according to the current difference and the proportional coefficient of the PID regulator.
14. The control method according to claim 3, wherein the three-phase inverter and the three-phase alternating current motor are caused to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor, and thereafter further comprising:
when the part to be heated is a power battery or the part to be heated and the power supply module are both power batteries, the heat exchange medium flows through the power battery to heat the power battery;
when the area to be heated is a passenger compartment, the heat exchange medium is subjected to heat exchange with the passenger compartment to heat the passenger compartment.
15. A motor drive device according to any one of claims 1 and 2, further comprising:
the data acquisition module is used for acquiring the required heating power, the torque output value of the motor and the target voltage of the bus capacitor;
and the control module is used for controlling the on-off state of the three-phase bridge arm according to the required heating power, the motor torque output value, the target voltage of the bus capacitor and the voltage of the power supply module so as to simultaneously adjust the voltage of the bus capacitor, control the output torque of the three-phase alternating current motor and enable the three-phase inverter and the three-phase alternating current motor to heat a heat exchange medium flowing through at least one of the three-phase inverter or the three-phase alternating current motor.
16. A vehicle comprising a memory, a processor;
wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the control method according to any one of claims 3 to 14.
17. A non-transitory computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the control method according to any one of claims 3 to 14.
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