CN111352012B - Vehicle, motor driving system and insulation detection method and device thereof - Google Patents
Vehicle, motor driving system and insulation detection method and device thereof Download PDFInfo
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- CN111352012B CN111352012B CN201811572722.9A CN201811572722A CN111352012B CN 111352012 B CN111352012 B CN 111352012B CN 201811572722 A CN201811572722 A CN 201811572722A CN 111352012 B CN111352012 B CN 111352012B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/14—Circuits therefor, e.g. for generating test voltages, sensing circuits
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
Abstract
The invention provides a vehicle, a motor driving system and an insulation detection method and device thereof, wherein the motor driving system comprises a motor and a motor controller, the motor controller is used for converting direct current into alternating current in an inverse mode to drive the motor, and the method comprises the following steps: acquiring current setting information of a motor after a vehicle stops and before a motor driving system is powered off; generating a control signal according to the current setting information so that the motor controller drives the motor according to the control signal; collecting the current of a motor, and generating current detection information according to the collected current of the motor; whether the insulation condition of the motor driving system is normal or not is judged according to the current detection information and the current setting information, therefore, the motor driving system is subjected to insulation detection through the existing structure of the motor driving system, an additional hardware circuit is not required to be added, the system structure is simplified, and the reduction of the system cost and the improvement of the system reliability are facilitated.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a vehicle, a motor driving system, and an insulation detection method and device thereof.
Background
The motor drive system is a main converter part of the vehicle, for example, a traction system of rail transit adopts the motor drive system to realize electric traction, and a hybrid power or pure electric vehicle is also driven by the motor drive system. There is high-pressure safety risk not carrying out insulation detection at the AC side of motor drive system, in case there is a problem in the AC side insulation, system insulation further worsens can appear in the continued normal use, damages whole motor drive system, may bring personal safety risk when serious.
In the related art, insulation detection is realized by providing a dedicated insulation detection circuit on the ac side of the motor drive system, but there are problems in that the system becomes more complicated, the system cost increases, the cost reduction of the motor drive system is not utilized, and the reliability of insulation detection is not performed.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide an insulation detection method for a motor driving system, so as to perform insulation detection on the motor driving system through an existing structure of the motor driving system, without adding an additional hardware circuit.
A second object of the present invention is to provide an insulation detecting apparatus for a motor driving system.
A third object of the present invention is to provide a motor drive system.
A fourth object of the invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides an insulation detection method for a motor drive system, the motor drive system including a motor and a motor controller, the motor controller being configured to invert a direct current into an alternating current to drive the motor, the method including the steps of: acquiring current setting information of the motor after the vehicle stops and before the motor driving system is powered off; generating a control signal according to the current setting information so that the motor controller drives the motor according to the control signal; collecting the current of the motor, and generating current detection information according to the collected current of the motor; and judging whether the insulation condition of the motor driving system is normal or not according to the current detection information and the current setting information.
According to the insulation detection method of the motor driving system provided by the embodiment of the invention, after a vehicle stops and before the motor driving system is powered off, the current setting information is obtained, the control signal is generated according to the current setting information, so that the motor controller drives the motor according to the control signal, then the current of the motor is collected, the current detection information is generated according to the collected current of the motor, and the insulation condition of the motor driving system is judged according to the current detection information and the current setting information, therefore, the insulation detection is carried out on the motor driving system through the existing structure of the motor driving system, whether the circuit damage and the short circuit condition exist at the alternating current side of the motor driving system or whether the abnormal conditions such as turn-to-turn short circuit or interphase short circuit exist at the motor or not are effectively detected, the electrical insulation detection is simply and effectively carried out on the alternating current side of the whole motor driving system, and an additional hardware circuit, the system structure is simplified, and the system cost is reduced and the system reliability is improved.
To achieve the above object, a second aspect of the present invention provides an insulation detecting apparatus for a motor driving system, the motor driving system including a motor and a motor controller for inverting a direct current into an alternating current to drive the motor, the apparatus including: the acquisition module is used for acquiring current setting information of the motor after the vehicle stops and before the motor driving system is powered off; the generating module is used for generating a control signal according to the current setting information so that the motor controller drives the motor according to the control signal; the acquisition module is used for acquiring the current of the motor and generating current detection information according to the acquired current of the motor; and the judging module is used for judging whether the insulation condition of the motor driving system is normal or not according to the current detection information and the current setting information.
According to the insulation detection device of the motor driving system provided by the embodiment of the invention, after a vehicle stops and before the motor driving system is powered off, the acquisition module acquires the current setting information of the motor, then the generation module generates the control signal according to the current setting information so that the motor controller drives the motor according to the control signal, the acquisition module acquires the current of the motor, the judgment module generates the current detection information according to the acquired current of the motor, and judges the insulation condition of the motor driving system according to the current detection information and the current setting information, so that the insulation detection is carried out on the motor driving system through the existing structure of the motor driving system, whether the circuit damage and the short circuit condition exist on the alternating current side of the motor driving system or whether the motor has the abnormal conditions such as turn-to-turn short circuit or inter-phase short circuit and the like is effectively detected, the electrical insulation detection is simply and effectively carried out on the alternating current side of the, and an additional hardware circuit is not required to be added, so that the system structure is simplified, and the system cost is reduced and the system reliability is improved.
In order to achieve the above object, a third aspect of the present invention provides a motor driving system, which includes the insulation detecting device of the motor driving system of the foregoing embodiments.
According to the motor driving system provided by the embodiment of the invention, the existing structure of the motor driving system is used for carrying out insulation detection on the motor driving system, whether the alternating current side of the motor driving system has line damage and short circuit conditions or whether the motor has abnormal conditions such as turn-to-turn or interphase short circuit and the like is effectively detected, the electrical insulation detection is simply and effectively carried out on the alternating current side of the whole motor driving system, an additional hardware circuit is not required to be added, the system structure is simplified, and the reduction of the system cost and the improvement of the system reliability are facilitated.
In order to achieve the above object, a fourth aspect embodiment of the invention proposes a vehicle including the motor drive system of the foregoing embodiment.
According to the vehicle provided by the embodiment of the invention, the motor driving system is subjected to insulation detection through the existing structure of the motor driving system, whether the AC side of the motor driving system has line damage and short circuit conditions or whether the motor has abnormal conditions such as turn-to-turn or interphase short circuit and the like is effectively detected, the electrical insulation detection is simply and effectively carried out on the AC side of the whole motor driving system, an additional hardware circuit is not required to be added, the system structure is simplified, and the reduction of the system cost and the improvement of the system reliability are facilitated.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an insulation detection method of a motor driving system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a motor drive system according to one embodiment of the present invention;
FIG. 3 is a flow chart of a method of insulation detection for a motor drive system according to one embodiment of the present invention;
fig. 4 is a flowchart of an insulation detection method of a motor driving system according to another embodiment of the present invention;
FIG. 5 is a block schematic diagram of an insulation detection device of a motor drive system according to an embodiment of the present invention;
fig. 6 is a block schematic diagram of an insulation detection device of a motor drive system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle, a motor drive system, and an insulation detection method and apparatus thereof according to embodiments of the present invention are described below with reference to the accompanying drawings.
According to the embodiment of fig. 2, the motor driving system includes a motor 100 and a motor controller 200, and the motor controller 200 is used to invert a direct current into an alternating current to drive the motor 100.
Specifically, motor controller 200 includes power module 201, bus capacitor C1, bus bars, control board 202, and drive board 203. The power module 201 adopts a three-phase full-bridge inverter topology structure constructed by six IGBT tubes, the direct current side of the power module 201 is connected with a direct current source such as a power battery, the alternating current side of the power module 201 is connected with the motor 100, a bus capacitor C1 is connected in parallel with the direct current side of the power module 201, and a passive discharge resistor R1 is connected in parallel with the direct current side of the power module 201. Specifically, the bus capacitor C1, i.e., the dc-side capacitor, is a film capacitor integrated with the bus bar.
The driving board 203 receives a control signal, such as a PWM signal, output by the control board 202, performs power amplification on the control signal, and then controls the on and off of the six IGBT tubes, respectively. The control board 202 may generate a control signal based on an insulation detection method of the motor driving system mentioned in the following embodiments, thereby implementing control of the motor by the driving board 20.
The insulation detection method of the motor drive system of the embodiment of the invention is described in detail below.
Fig. 1 is a flowchart of an insulation detection method of a motor driving system according to an embodiment of the present invention. As shown in fig. 1, the insulation detection method of the motor drive system according to the embodiment of the present invention includes the steps of:
s1: and acquiring current setting information of the motor after the vehicle stops and before the motor driving system is powered off.
According to one embodiment of the invention, after the vehicle is stopped, the vehicle is locked by a locking mechanism of the vehicle, and the motor driving system is controlled to be powered off after a preset time is delayed.
That is, after the vehicle is stopped, the motor stops driving the wheels to rotate, the vehicle is locked by a locking mechanism of the vehicle, for example, by P-range locking, and the motor drive system is powered down with a delay, so that the motor drive system is subjected to insulation detection before being powered down, for example, the alternating current side of the motor drive system is subjected to insulation detection.
It is understood that in the embodiment of the present invention, "insulation detection on the ac side of the motor drive system" may refer to detection of insulation of the ac output side of the inverter topology in the motor controller to the ac loop between the motors.
As a specific example, after receiving a vehicle parking instruction, the vehicle controller controls the vehicle to park and sends a power-off instruction to the motor controller, for example, the motor controller may communicate with the vehicle controller to receive the power-off instruction, after receiving the power-off instruction, the motor controller obtains a rotation speed of the motor, and when the rotation speed of the motor is less than a preset rotation speed, performs P-gear locking and detects whether locking is completed, and after the locking is completed, delays a preset time to control power-off, and the motor controller enters an ac insulation detection mode.
Specifically, the ac insulation detection process of the motor controller after the vehicle is parked may be as shown in fig. 3, and for example, includes the following steps:
s101: and (4) parking the vehicle, and sending a power-off instruction by the VCU of the vehicle controller.
S102: and the motor controller MCU judges whether a power-off instruction is received or not and whether the rotating speed of the motor is less than a preset rotating speed or not.
If so, namely a power-off instruction is received and the rotating speed of the motor is less than the preset rotating speed, executing the step S104; if not, that is, no power-off instruction is received or the rotation speed of the motor is greater than or equal to the preset rotation speed, step S103 is executed.
S103: wait, return to step S102.
S104: p-gear locking is performed.
S105: and detecting whether locking is completed.
If yes, go to step S106; if not, step S104 is executed.
S106: and the motor controller enters an alternating current insulation detection mode.
S2: and generating a control signal according to the current setting information so that the motor controller drives the motor according to the control signal.
In the present embodiment, when the motor controller drives the motor according to the control signal, the motor driving system has a current, for example, a current exists in an ac loop between the ac output side of the inverter topology and the motor, but the current is small and cannot overcome the torque of the motor, so the motor does not operate.
In one embodiment of the present invention, the current setting information may include a direct-axis current setting value and a quadrature-axis current setting value. It should be understood that the direct axis current setting and quadrature axis current setting may be preset based on actual conditions and stored in the motor controller.
Specifically, the quadrature axis current setting value is 0A, and the direct axis current setting value can be set according to the actual test condition of the motor driving system. As a preferred example, the direct axis current set point may be-20A and the quadrature axis current set point may be 0A.
It should be understood that the current of the motor can be controlled by the motor controller, i.e. preset current setting information is applied, for example, a direct-axis current setting value Id _ ref is applied to the direct axis, and a quadrature-axis current setting value Iq _ ref is applied to the quadrature axis (for example, Id _ ref ═ 20A, Iq _ ref ═ 0), and then the current flows through the corresponding ac path by controlling the on or off of the IGBT tubes in the inverter through the motor control algorithm. As an example, the motor controller and the motor are formed into a loop, and the current in the loop can flow as indicated by the arrow in fig. 2 to form a corresponding ac path.
The control panel in the motor controller generates a control signal according to the current setting information so that the motor controller drives the motor according to the control signal, and the specific control process is as follows: respectively carrying out current correction on the direct-axis current Id and the quadrature-axis current Iq according to a direct-axis current set value Id _ ref and a quadrature-axis current set value Iq _ ref to obtain a direct-axis voltage Vd and a quadrature-axis voltage Vq, then carrying out coordinate conversion on the direct-axis voltage Vd and the quadrature-axis voltage Vq to obtain three-phase voltages Va, Vb and Vc of a control motor, generating control signals according to the three-phase voltages Va, Vb and Vc of the motor, and controlling the on or off of an IGBT (insulated gate bipolar transistor) in the power module through a driving plate according to the control signals to drive the motor. In this embodiment, the direct-axis current Id and the quadrature-axis current Iq may be obtained by collecting three-phase currents Ia, Ib, and Ic of the motor and performing coordinate conversion on the three-phase currents Ia, Ib, and Ic.
S3: and collecting the current of the motor, and generating current detection information according to the collected current of the motor.
In one embodiment of the present invention, the current detection information includes a direct-axis current detection value and a quadrature-axis current detection value.
In a specific example of the present invention, the motor controller further comprises 3 phase current sensors, the 3 phase current sensors respectively collecting three phase currents of the motor, for example hall current sensors disposed on the ac side of the power module. Wherein, control panel among the motor controller can be according to the electric current generation electric current detection information of the motor of gathering, and specific process is as follows: after the current flows through the alternating current path, the three-phase currents Ia, Ib and Ic of the motor can be collected through the Hall current sensor on the alternating current side, and then the three-phase currents Ia, Ib and Ic are subjected to coordinate conversion to obtain a direct-axis current detection value Id and an alternating-axis current detection value Iq. For example, the three-phase currents Ia, Ib, and Ic may be first subjected to clarke coordinate conversion to obtain two-phase currents iaalpha and Ibeta, and then subjected to park coordinate conversion according to the angle (detectable or estimated) of the rotor to obtain a direct-axis current detection value Id and an quadrature-axis current detection value Iq. Thus, the obtained direct-axis current detection value Id and quadrature-axis current detection value Iq can be used for the determination of the insulation condition.
S4: and judging whether the insulation condition of the motor driving system is normal or not according to the current detection information and the current setting information.
It will be appreciated that in a specific implementation, when the vehicle is stopped, before de-energizing, the motor controller is output with a preset direct current set-point Id _ ref and quadrature current set-point Iq _ ref, with current flowing through the windings of the motor in a predetermined sequence, and power is gradually dissipated in the form of heat. In the process, the current value of the alternating current side of the motor driving system, namely the three-phase currents Ia, Ib and Ic of the motor can be detected through the Hall current sensor of the alternating current side in the motor controller, and the insulation condition of the motor driving system is detected by judging the detected current value. That is, after the vehicle is stopped and locked by the lock mechanism of the vehicle, the power is turned off with a delay, the given current is controlled by the motor controller, and the insulation condition of the motor drive system, for example, the insulation condition of the ac side of the motor drive system, is detected and judged by detecting the current in the circuit.
Specifically, as shown in fig. 3, after step S106, the method further includes:
s107: and judging whether the difference value between the current detection information and the current setting information meets a preset difference value range or not.
If yes, go to step S108; if not, step S109 is performed.
S108: the insulation is considered normal, i.e. the insulation on the ac side of the motor drive system is normal, and the motor drive system is powered off.
S109: and considering that the insulation is abnormal, namely the insulation on the alternating current side of the motor driving system is abnormal, and powering off the motor driving system and sending alarm information.
Therefore, the motor driving system is subjected to insulation detection through the existing structure of the motor driving system, whether the abnormal conditions such as circuit damage and short circuit exist on the alternating current side of the motor driving system or whether the abnormal conditions such as turn-to-turn or interphase short circuit exist on the motor are effectively detected, the electrical insulation detection is simply and effectively carried out on the alternating current side of the whole motor driving system, an additional hardware circuit is not required to be added, the system structure is simplified, and the reduction of the system cost and the improvement of the system reliability are facilitated.
According to an embodiment of the present invention, the step S4 of determining whether the insulation condition of the motor driving system is normal according to the current detection information and the current setting information includes:
when the current difference between the direct-axis current set value and the direct-axis current detection value is larger than or equal to a first threshold value or the current difference between the quadrature-axis current set value and the quadrature-axis current detection value is larger than or equal to a second threshold value, judging that the insulation of the motor driving system is abnormal;
and when the current difference between the direct-axis current set value and the direct-axis current detection value is smaller than a first threshold value and the current difference between the quadrature-axis current set value and the quadrature-axis current detection value is smaller than a second threshold value, judging that the insulation of the motor driving system is normal.
It will be appreciated that normally the insulation of the motor drive system may mean that the motor drive system is insulated, for example the ac return path between the ac output side of the inverter topology to the motor is insulated. An insulation anomaly of the motor drive system may refer to the motor drive system being uninsulated, e.g. the ac loop between the ac output side of the inverter topology to the motor is uninsulated.
Specifically, when a current flows through a loop formed by the motor controller and the motor, the hall current sensor on the ac side can detect the current in the loop, for example, the three-phase currents Ia, Ib, and Ic of the motor, and obtain the direct-axis current detection value Id and the quadrature-axis current detection value Iq according to the three-phase currents Ia, Ib, and Ic. The obtained direct-axis current detection value Id and quadrature-axis current detection value Iq are compared with a preset direct-axis current setting value Id _ ref and quadrature-axis current setting value Iq _ ref, respectively.
Therefore, the absolute value is obtained by performing difference calculation according to the obtained direct-axis current detection value Id and quadrature-axis current detection value Iq and a preset direct-axis current setting value Id _ ref and quadrature-axis current setting value Iq _ ref preset by program control, if the absolute value of the difference satisfies a preset difference range, such as | Id-Id _ ref | <3A and | Iq-Iq _ ref | <3A, the insulation is considered to be normal, and if the absolute value of the difference does not satisfy the preset difference range, such as | Id-Id _ ref | ≧ 3A or | Iq-Iq _ ref | ≧ 3A, the insulation is considered to be abnormal.
It should be noted that the first threshold and the second threshold may be preset according to actual situations, and the first thresholds may be the same or different, and may be both 3A, for example. It should be understood that the first threshold value and the second threshold value may be obtained by off-line tests, such as detecting the actual feedback current value of the ac hall after applying the control direct-axis current set value Id _ ref and the quadrature-axis current set value Iq _ ref to the motor controller in a normal control state, and observing the response of the variables of the direct-axis current detection value Id and the quadrature-axis current detection value Iq in the program, thereby determining to set the first threshold value and the second threshold value.
Further, the method of the embodiment of the present invention further includes: when the insulation of the motor driving system is abnormal, warning information is sent out, and the motor driving system is forbidden to operate.
It will be appreciated that if the insulation is normal, the high voltage is cut off, for example to disconnect the motor drive system from the dc source, and the next time a normal start is possible. If the insulation is abnormal, the high voltage is cut off, for example, the motor driving system is disconnected with the direct current source, a warning signal is sent out, the subsequent maintenance detection processing needs to be carried out on the vehicle, and the vehicle can be normally started after maintenance, so that the insulation power-off detection process is completed.
Therefore, when the insulation abnormality occurs, warning information is sent out to remind a driver that the vehicle needs to be sent to a professional detection mechanism for relevant processing.
As described above, as shown in fig. 4, the method of the embodiment of the present invention may include the steps of:
s201: after the vehicle stops, the whole vehicle completes P gear locking, and is powered off in a delayed mode, and the motor controller enters an insulation detection mode such as an alternating current insulation detection mode.
S202: a given current is controlled by the motor controller, and preset current setting information is applied (for example, Id _ ref is-20A, Iq _ ref is 0).
S203: and the on and off of the inverter are controlled through a motor control algorithm, and the current can flow through a corresponding alternating current path.
S204: when current flows in a loop formed by the motor controller and the motor, the hall current sensor on the alternating current side can detect the current in the loop, acquire a direct-axis current detection value Id and a quadrature-axis current detection value Iq according to the detected current, and compare the direct-axis current detection value Id and the quadrature-axis current detection value Iq with a preset direct-axis current set value Id _ ref and a preset quadrature-axis current set value Iq _ ref respectively.
S205: and calculating an absolute value according to the difference between the direct-axis current detection value Id and the quadrature-axis current detection value Iq and a direct-axis current set value Id _ ref and a quadrature-axis current set value Iq _ ref preset by program control, and judging whether the absolute value of the difference meets a preset difference range.
If yes, go to step S206; if not, step S207 is performed.
S206: the insulation is normal, namely the insulation on the alternating current side of the motor driving system is normal, the high voltage is cut off, and the motor driving system can be started normally next time.
S207: and (4) insulation abnormity, namely insulation abnormity on the alternating current side of the motor driving system, high voltage is cut off, a warning is given, and subsequent maintenance detection processing needs to be carried out on the vehicle.
Therefore, in the embodiment of the invention, through the structure of the existing motor driving system, no additional hardware circuit is needed to be added, a loop formed by a motor controller and a motor adopts a proper control strategy, on the premise of not influencing the function of an electric driving system, the alternating current side of the motor driving system is subjected to insulation detection on the condition that the motor driving system stops running and the system is powered off, whether the circuit is damaged or short-circuited on the alternating current side or whether the motor has abnormal conditions such as turn-to-turn short circuit or interphase short circuit or the like is observed, and the electrical insulation detection is simply and effectively carried out on the alternating current side of the whole power system structure.
In summary, according to the insulation detection method of the motor driving system provided by the embodiment of the invention, after the vehicle is stopped and before the motor driving system is powered off, the current setting information is obtained, the control signal is generated according to the current setting information, so that the motor controller drives the motor according to the control signal, then the current of the motor is collected, the current detection information is generated according to the collected current of the motor, and the insulation condition of the motor driving system is judged according to the current detection information and the current setting information, thereby, the insulation detection is performed on the motor driving system through the existing structure of the motor driving system, whether the line damage and the short circuit condition exist on the alternating current side of the motor driving system or whether the motor has the abnormal conditions such as turn-to-turn short circuit or inter-phase short circuit exists on the alternating current side of the motor driving system is effectively detected, the electrical insulation detection is simply and, and an additional hardware circuit is not required to be added, so that the system structure is simplified, and the system cost is reduced and the system reliability is improved.
In order to implement the insulation detection method of the motor driving system in the above embodiment, an embodiment of the present invention further provides an insulation detection apparatus of a motor driving system.
Fig. 5 is a block schematic diagram of an insulation detecting device of a motor driving system according to an embodiment of the present invention. The motor drive system includes a motor and a motor controller for inverting a direct current into an alternating current to drive the motor.
As shown in fig. 5, the insulation detecting apparatus of the motor driving system includes: the device comprises an acquisition module 10, a generation module 20, an acquisition module 30 and a judgment module 40.
The obtaining module 10 is configured to obtain current setting information of the motor after the vehicle is parked and before the motor driving system is powered off; the generating module 20 is configured to generate a control signal according to the current setting information, so that the motor controller drives the motor according to the control signal; the collecting module 30 is used for collecting the current of the motor; the judging module 40 is configured to generate current detection information according to the collected current of the motor, and judge whether the insulation condition of the motor driving system is normal according to the current detection information and the current setting information.
According to an embodiment of the present invention, the current setting information includes a direct-axis current setting value and a quadrature-axis current setting value, the current detection information includes a direct-axis current detection value and a quadrature-axis current detection value, and the determining module 40 is configured to determine that the insulation of the motor driving system is abnormal when a current difference between the direct-axis current setting value and the direct-axis current detection value is greater than or equal to a first threshold value or a current difference between the quadrature-axis current setting value and the quadrature-axis current detection value is greater than or equal to a second threshold value, and determine that the insulation of the motor driving system is normal when the current difference between the direct-axis current setting value and the direct-axis current detection value is less than the first threshold value and the current difference between the quadrature-axis current setting value and the quadrature-axis current.
Wherein, the quadrature axis current set value is 0A. The direct-axis current setting value can be set according to the actual test condition of the motor driving system, and is-20A for example.
According to one embodiment of the invention, after the vehicle is stopped, the vehicle is locked by a locking mechanism of the vehicle, and the motor driving system is controlled to be powered off after a preset time is delayed.
According to an embodiment of the present invention, as shown in fig. 6, the insulation detecting apparatus of the motor driving system further includes a warning module 50, and the warning module 50 is configured to issue a warning message when the insulation of the motor driving system is abnormal, and prohibit the motor driving system from operating.
It should be noted that the insulation detection device of the motor driving system may be integrated into a motor controller of the motor driving system, and more specifically, the insulation detection device of the motor driving system may be integrated into a control board of the motor controller.
It should be understood that the foregoing explanation of the embodiment of the insulation detection method for a motor driving system also applies to the insulation detection apparatus for a motor driving system of this embodiment, and will not be described herein again.
According to the insulation detection device of the motor driving system provided by the embodiment of the invention, after a vehicle stops and before the motor driving system is powered off, the acquisition module acquires current setting information, then the generation module generates a control signal according to the current setting information so that the motor controller drives the motor according to the control signal, the acquisition module acquires the current of the motor, the judgment module generates current detection information according to the acquired current of the motor, and judges the insulation condition of the motor driving system according to the current detection information and the current setting information, so that the insulation detection of the motor driving system is carried out through the existing structure of the motor driving system, whether the circuit is damaged or the short circuit condition exists on the alternating current side of the motor driving system or whether the motor has abnormal conditions such as turn-to-turn short circuit or inter-phase short circuit and the like is effectively detected, and the electrical insulation detection is simply and effectively carried out on the alternating current side of the whole motor, and an additional hardware circuit is not required to be added, so that the system structure is simplified, and the system cost is reduced and the system reliability is improved.
The embodiment of the invention also provides a motor driving system, which comprises the insulation detection device of the motor driving system of the embodiment.
According to the motor driving system provided by the embodiment of the invention, the existing structure of the motor driving system is used for carrying out insulation detection on the motor driving system, whether the alternating current side of the motor driving system has line damage and short circuit conditions or whether the motor has abnormal conditions such as turn-to-turn or interphase short circuit and the like is effectively detected, the electrical insulation detection is simply and effectively carried out on the alternating current side of the whole motor driving system, an additional hardware circuit is not required to be added, the system structure is simplified, and the reduction of the system cost and the improvement of the system reliability are facilitated.
An embodiment of the present invention further provides a vehicle including the motor drive system of the foregoing embodiment.
According to the vehicle provided by the embodiment of the invention, the motor driving system is subjected to insulation detection through the existing structure of the motor driving system, whether the AC side of the motor driving system has line damage and short circuit conditions or whether the motor has abnormal conditions such as turn-to-turn or interphase short circuit and the like is effectively detected, the electrical insulation detection is simply and effectively carried out on the AC side of the whole motor driving system, an additional hardware circuit is not required to be added, the system structure is simplified, and the reduction of the system cost and the improvement of the system reliability are facilitated.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
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 steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention 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 invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention 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. 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 invention 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. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. An insulation detecting method of a motor drive system, the motor drive system including a motor and a motor controller for inverting a direct current into an alternating current to drive the motor, the method comprising the steps of:
after a vehicle stops and before the motor driving system is powered off, acquiring current setting information of the motor, wherein the current setting information comprises a direct-axis current setting value and a quadrature-axis current setting value, and the direct-axis current setting value and the quadrature-axis current setting value are preset according to actual conditions and stored in a motor controller;
generating a control signal according to the current setting information so that the motor controller drives the motor according to the control signal, wherein when the motor controller drives the motor according to the control signal, a motor driving system has current but cannot overcome the torque of the motor, and the motor does not run;
collecting the current of the motor, and generating current detection information according to the collected current of the motor;
and judging whether the insulation condition of the motor driving system is normal or not according to the current detection information and the current setting information.
2. The method of claim 1, wherein the current detection information includes a direct-axis current detection value and a quadrature-axis current detection value, and wherein determining whether the insulation of the motor drive system is normal according to the current detection information and the current setting information comprises:
and when the current difference between the direct-axis current set value and the direct-axis current detection value is greater than or equal to a first threshold value or the current difference between the quadrature-axis current set value and the quadrature-axis current detection value is greater than or equal to a second threshold value, judging that the insulation of the motor driving system is abnormal.
3. The method of claim 2, further comprising:
and when the current difference between the direct-axis current set value and the direct-axis current detection value is smaller than the first threshold value and the current difference between the quadrature-axis current set value and the quadrature-axis current detection value is smaller than the second threshold value, judging that the insulation of the motor driving system is normal.
4. A method according to claim 2 or 3, wherein the quadrature current set point is 0A.
5. The method of claim 1, further comprising:
after the vehicle is stopped, the vehicle is locked through a locking mechanism of the vehicle, and the motor driving system is controlled to be powered off after the preset time is delayed.
6. The method of claim 2, further comprising:
and when the insulation of the motor driving system is abnormal, warning information is sent out, and the motor driving system is forbidden to operate.
7. An insulation detecting apparatus of a motor drive system, the motor drive system including a motor and a motor controller for inverting a direct current into an alternating current to drive the motor, the apparatus comprising:
the acquisition module is used for acquiring current setting information of the motor after a vehicle stops and before the motor driving system is powered off, wherein the current setting information comprises a direct-axis current setting value and a quadrature-axis current setting value, and the direct-axis current setting value and the quadrature-axis current setting value are preset according to actual conditions and stored in a motor controller;
the generating module is used for generating a control signal according to the current setting information so that the motor controller drives the motor according to the control signal, wherein when the motor controller drives the motor according to the control signal, a motor driving system has current but cannot overcome the torque of the motor, and the motor does not run;
the acquisition module is used for acquiring the current of the motor;
and the judging module is used for generating current detection information according to the collected current of the motor and judging whether the insulation condition of the motor driving system is normal or not according to the current detection information and the current setting information.
8. The apparatus of claim 7, wherein the current detection information includes a direct-axis current detection value and a quadrature-axis current detection value, and the determining module is configured to determine that the motor driving system is abnormally insulated when a current difference between the direct-axis current setting value and the direct-axis current detection value is equal to or greater than a first threshold value or a current difference between the quadrature-axis current setting value and the quadrature-axis current detection value is equal to or greater than a second threshold value, and determine that the motor driving system is normally insulated when the current difference between the direct-axis current setting value and the direct-axis current detection value is less than the first threshold value and the current difference between the quadrature-axis current setting value and the quadrature-axis current detection value is less than the second threshold value.
9. The apparatus of claim 7, wherein the vehicle is locked by a locking mechanism of the vehicle after the vehicle is stopped, and the motor driving system is controlled to be powered off after a preset time delay.
10. The apparatus of claim 7, further comprising:
the warning module is used for sending warning information when the insulation of the motor driving system is abnormal and forbidding the motor driving system to operate.
11. A motor drive system characterized by comprising the insulation detection device of the motor drive system according to any one of claims 7 to 10.
12. A vehicle characterized by comprising the motor drive system according to claim 11.
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| CN201811572722.9A CN111352012B (en) | 2018-12-21 | 2018-12-21 | Vehicle, motor driving system and insulation detection method and device thereof |
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| CN201811572722.9A CN111352012B (en) | 2018-12-21 | 2018-12-21 | Vehicle, motor driving system and insulation detection method and device thereof |
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| CN114545228B (en) * | 2022-01-26 | 2022-11-22 | 图湃(北京)医疗科技有限公司 | OCT system ball screw wear state monitoring method based on motor current feedback |
| CN116660702B (en) * | 2023-07-31 | 2023-10-20 | 季华实验室 | Three-phase motor insulation resistance detection method and related equipment thereof |
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| CN111352012A (en) | 2020-06-30 |
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