CN111355407B - Load self-adaptive soft start control system and method for vehicle-mounted brushless direct current motor - Google Patents

Load self-adaptive soft start control system and method for vehicle-mounted brushless direct current motor Download PDF

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CN111355407B
CN111355407B CN202010141580.1A CN202010141580A CN111355407B CN 111355407 B CN111355407 B CN 111355407B CN 202010141580 A CN202010141580 A CN 202010141580A CN 111355407 B CN111355407 B CN 111355407B
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CN111355407A (en
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桂临秋
罗杰
杨旭
刘超群
李�昊
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Wuhan University of Technology WUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor

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Abstract

The invention discloses a load self-adaptive soft start control system and method for a vehicle-mounted brushless direct current motor, and solves the problems that the vehicle-mounted brushless direct current motor is difficult to perform self-adaptive soft start according to load torque and the starting safety is low in the prior art. A vehicle-mounted brushless direct current motor load self-adaptive soft start controller comprises a back electromotive force detection module, a soft start control module and a soft start control module, wherein the back electromotive force detection module is used for acquiring the rotating speed of a motor; the current acquisition module is used for acquiring the current value of a motor bus; the extended state observer functional module is used for acquiring load torque; the double closed-loop control module is used for acquiring the duty ratio delta of the PWM control signal; the PWM control signal generation module is used for sending the PWM control signal with the duty ratio delta to the motor drive bridge module; and the motor drive bridge module is used for driving the motor to rotate according to the PWM control signal with the duty ratio delta. The self-adaptive soft starting of the vehicle-mounted brushless direct current motor can be realized according to the load torque, and the starting safety of the vehicle-mounted brushless direct current motor is improved.

Description

Load self-adaptive soft start control system and method for vehicle-mounted brushless direct current motor
Technical Field
The invention relates to the technical field of vehicle-mounted motor control, in particular to a load self-adaptive soft start control system and method for a vehicle-mounted brushless direct current motor.
Background
The brushless direct current motor is composed of an electric main body and an electronic driver, is an electromechanical integrated product which is commutated by the electronic driver, has the characteristics of high efficiency, low power consumption, long service life, low noise and the like, has the load characteristic of low speed and large torque, very meets the requirement of an electric automobile on the load characteristic, and is attached to a vehicle-mounted service environment.
Nowadays, automobiles are rapidly changing from mechanical type to electric dominant equipment, brushless direct current motors are used more and more widely on automobiles, a great number of parts on automobiles use the brushless direct current motors, the automobile configuration is higher, the number of the brushless direct current motors is more and more, and along with the improvement of the electronic degree of automobiles, the automatic driving and the intelligent development, the brushless direct current motors are applied more and more in the automobiles and are more and more common.
However, in the prior art, the vehicle-mounted brushless direct current motor is difficult to perform self-adaptive soft start according to load torque, the starting safety is low, so that the problem of overload impact current exists in the starting process of the brushless direct current motor, and the motor winding and the controller driving component are burnt; meanwhile, the excessive current affects external power supply, the bus voltage is reduced, other control devices on the whole load are in failure, false triggering protection is caused, and the whole system is likely to be crashed; part of soft start strategies cannot adjust driving current according to different self-adaption load torques, so that the speed of the motor rises too fast in no-load, and mechanical vibration is large; when the motor is fully loaded, the set driving current is too small, and the requirement of starting time cannot be met.
Disclosure of Invention
The invention aims to overcome at least one technical defect and provides a load self-adaptive soft start control system of a vehicle-mounted brushless direct current motor.
On one hand, the invention provides a load self-adaptive soft start control system of a vehicle-mounted brushless direct current motor, which comprises a back electromotive force detection module, a current acquisition module, an extended state observer function module, a double closed-loop control module, a PWM control signal generation module and a motor drive bridge module;
the back electromotive force detection module is used for collecting the back electromotive force of a three-phase winding of the motor, determining the position of the motor rotor by determining the zero crossing point of the motor rotor through the back electromotive force, and acquiring the rotating speed of the motor according to the position of the motor rotor;
the current acquisition module is used for acquiring the current value of a motor bus; the extended state observer functional module is used for observing a motor load torque according to the motor bus current value and the motor rotating speed and acquiring a current maximum set value according to the motor load torque;
the double closed-loop control module is used for acquiring the duty ratio delta of the PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value;
the PWM control signal generation module is used for sending the PWM control signal with the duty ratio delta to the motor drive bridge module; and the motor drive bridge module is used for driving the motor to rotate according to the PWM control signal with the duty ratio delta.
Further, the extended state observer function module observes the motor load torque according to the motor bus current value and the motor speed, and specifically includes establishing a motor state space equation by using the motor bus current value and the motor speed as state quantities, establishing an extended state equation according to the motor state space equation, and observing the motor load torque according to the extended state equation.
Further, the extended state observer function module obtains a current maximum set value according to the motor load torque, specifically including according to a formula im＝k1Tl+k2Obtaining the maximum set value i of the currentmWherein, TlFor motor load torque, k1、k2Are all calibration coefficients.
Further, the double closed-loop control module obtains the duty ratio Δ of the PWM control signal according to the motor rotation speed, the motor bus current value, and the maximum current setting value, and specifically includes taking the difference between the motor rotation speed setting value and the motor rotation speed as the input of the outer loop control, taking the difference between the maximum current setting value and the motor bus current value as the input of the inner loop control, and outputting the duty ratio Δ of the PWM control signal.
Further, the vehicle-mounted brushless direct current motor load self-adaptive soft start control system further comprises an LIN communication function module, wherein the LIN communication function module is used for receiving a motor rotating speed set value sent by an upper computer and sending the motor rotating speed set value to the double-closed-loop control module.
On the other hand, the invention also provides a load self-adaptive soft start control method of the vehicle-mounted brushless direct current motor, which comprises the following steps:
collecting the back electromotive force of a three-phase winding of the motor, determining the zero crossing point of a motor rotor through the back electromotive force to determine the position of the motor rotor, and acquiring the rotating speed of the motor according to the position of the motor rotor;
acquiring a motor bus current value, observing a motor load torque according to the motor bus current value and the motor rotating speed, and acquiring a current maximum set value according to the motor load torque;
acquiring the duty ratio delta of a PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value;
and driving the motor to rotate according to the PWM control signal with the duty ratio delta.
Further, observing the motor load torque according to the motor bus current value and the motor rotating speed, specifically comprising establishing a motor state space equation by taking the motor bus current value and the motor rotating speed as state quantities, establishing an expansion state equation according to the motor state space equation, and observing the motor load torque according to the expansion state equation.
Further, obtaining a current maximum set value according to the motor load torque specifically includes obtaining a current maximum set value according to a formula im＝k1Tl+k2Obtaining the maximum set value i of the currentmWherein, TlFor motor load torque, k1、k2Are all calibration coefficients.
Further, acquiring the duty ratio delta of the PWM control signal according to the motor rotation speed, the motor bus current value, and the maximum current setting value, specifically including taking the difference between the motor rotation speed setting value and the motor rotation speed as the input of the outer loop control, taking the difference between the maximum current setting value and the motor bus current value as the input of the inner loop control, and outputting the duty ratio delta of the PWM control signal.
Compared with the prior art, the invention has the beneficial effects that: acquiring the back electromotive force of a three-phase winding of the motor through the back electromotive force detection module, determining the position of a motor rotor through the zero crossing point of the motor rotor through the back electromotive force, and acquiring the rotating speed of the motor according to the position of the motor rotor; the current acquisition module acquires a current value of a motor bus; the extended state observer functional module is used for observing a motor load torque according to the motor bus current value and the motor rotating speed and acquiring a current maximum set value according to the motor load torque; the double closed-loop control module acquires the duty ratio delta of the PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value; the PWM control signal generation module is used for sending the PWM control signal with the duty ratio delta to the motor drive bridge module; the motor drive bridge module is used for driving a motor to rotate according to the PWM control signal with the duty ratio delta; the self-adaptive soft starting of the vehicle-mounted brushless direct current motor can be realized according to the load torque, and the starting safety of the vehicle-mounted brushless direct current motor is improved.
Drawings
Fig. 1 is a schematic structural diagram of a load adaptive soft start control system of a vehicle-mounted brushless dc motor according to embodiment 1 of the present invention;
fig. 2 is a general block diagram of a load adaptive soft start control system of a vehicle-mounted brushless dc motor according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of the dual closed-loop control according to embodiment 2 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The invention provides a load self-adaptive soft start control system of a vehicle-mounted brushless direct current motor, which has a structural schematic diagram, and as shown in figure 1, the system comprises a back electromotive force detection module, a current acquisition module, an extended state observer function module, a double closed-loop control module, a PWM control signal generation module and a motor drive bridge module;
the back electromotive force detection module is used for collecting the back electromotive force of a three-phase winding of the motor, determining the position of the motor rotor by determining the zero crossing point of the motor rotor through the back electromotive force, and acquiring the rotating speed of the motor according to the position of the motor rotor;
the current acquisition module is used for acquiring the current value of a motor bus; the extended state observer functional module is used for observing a motor load torque according to the motor bus current value and the motor rotating speed and acquiring a current maximum set value according to the motor load torque;
the double closed-loop control module is used for acquiring the duty ratio delta of the PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value;
the PWM control signal generation module is used for sending the PWM control signal with the duty ratio delta to the motor drive bridge module; and the motor drive bridge module is used for driving the motor to rotate according to the PWM control signal with the duty ratio delta.
In specific implementation, the load self-adaptive soft start control system of the vehicle-mounted brushless direct current motor further comprises a power supply module, wherein the power supply module comprises a voltage stabilizing circuit, an anti-reverse circuit and an anti-overshoot circuit; the power supply module is used for supplying power to the motor, the counter electromotive force detection module, the current acquisition module, the extended state observer functional module, the double closed-loop control module, the PWM control signal generation module, the motor drive bridge module and other modules;
the system is powered by a vehicle-mounted 12V battery, the voltage stabilizing circuit is used for stabilizing the voltage of a power supply through a filter capacitor, the overshoot protection circuit is used for performing overshoot protection through a TVS (transient voltage suppressor), and the anti-overshoot circuit is used for protecting the circuit by stopping and breaking an N-MOS (metal oxide semiconductor) tube under the condition that the positive electrode and the negative electrode of the power supply are reversely connected;
the drive bridge module is a three-phase full-bridge inverter circuit consisting of 6N-MOS (N-metal oxide semiconductor) devices, and electronically commutates the drive voltage of the winding end of the permanent magnet motor according to the drive signal output by the PWM control signal generation module to drive the permanent magnet motor to operate;
the back electromotive force detection module, the current acquisition module, the extended state observer function module, the double closed-loop control module and the PWM control signal generation module can be integrated on a TLE9869 high-integration chip, the chip is supplied with 12V voltage by the power supply module, and a DC/DC voltage reduction unit is contained in the chip to supply power to the logic unit;
in one embodiment, the current collection module utilizes a low-resistance high-precision resistor and a chip internal resistorThe circuit 16bit A/D conversion collects the voltage at two ends of the resistor, and further calculates the bus current value i according to the voltage at two ends of the resistordc；
The back electromotive force detection module can collect the back electromotive force of the three-phase winding of the permanent magnet motor, further detect the zero crossing point of the motor rotor to determine the position of the rotor and calculate the rotating speed w of the motor by combining an on-chip timern；
The PWM control signal generation functional module consists of a timer and a booster circuit in a TLE9869 high integrated chip and can drive the N-MOS (metal oxide semiconductor) transistors of the upper and lower bridge arms of a full-bridge inverter circuit (a motor drive bridge module) simultaneously in a PWM control mode; in one embodiment, the general block diagram of the vehicle-mounted brushless dc motor load adaptive soft start control system is shown in fig. 2;
preferably, the extended state observer function module observes the motor load torque according to the motor bus current value and the motor speed, and specifically includes establishing a motor state space equation by using the motor bus current value and the motor speed as state quantities, establishing an extended state equation according to the motor state space equation, and observing the motor load torque according to the extended state equation.
In a specific embodiment, the extended state observer function module is implemented by software, and is capable of establishing a space state equation according to a dynamic model and an electric model of the brushless direct current motor, and establishing an extended state observer according to the space state equation; when the motor starts to run, the bus current i is converted intodcMotor speed wnAnd a control voltage udcThe input observer can observe the load torque Tl；
The extended state observer is established according to the following steps;
firstly, establishing a power model and a power model of the brushless direct current motor, wherein the power model and the direct current motor model of the brushless direct current motor are basically similar from the perspective of energy conversion;
select idcAnd wnAs a state quantity, establishing a model equation;
Figure BDA0002398084610000051
wherein u ise＝Kewn、Te＝KTidc；
Load torque TlIt varies with the influence of fluid density, rotation speed, mechanical friction, etc. and is difficult to measure, so it is considered as unknown disturbance term in the formuladc、wnAll can be obtained by sampling;
establishing a state space equation on the basis of a model equation
Figure BDA0002398084610000052
Wherein
Figure BDA0002398084610000053
The expansion state equation established on the basis of the space state equation of the brushless direct current motor is
Figure BDA0002398084610000061
Wherein the content of the first and second substances,
Figure BDA0002398084610000062
setting reasonable parameters delta, beta and alpha for a filter function according to the characteristics of the extended state observer, and setting the extended state lambda2The unknown disturbance DT can be followed, so that the load torque T can be observedl；
Preferably, the extended state observer function module obtains a current maximum set value according to the motor load torque, and specifically includes obtaining a current maximum set value according to a formula im＝k1Tl+k2Obtaining the maximum set value i of the currentmWherein, TlFor motor load torque, k1、k2Are all calibration coefficients.
In one embodiment, the formula i is given bym＝k1Tl+k2Maximum current obtainedConstant value imAnd the method is used for a double closed-loop control link at the rear end. The empirical coefficient k1And k2Can be calibrated in the course of preliminary experiments, where k2Marking the minimum starting current.
Preferably, the double closed-loop control module obtains the duty ratio Δ of the PWM control signal according to the motor rotation speed, the motor bus current value, and the maximum current setting value, and specifically includes taking a difference between the motor rotation speed setting value and the motor rotation speed as an input of the outer loop control, taking a difference between the maximum current setting value and the motor bus current value as an input of the inner loop control, and outputting the duty ratio Δ of the PWM control signal.
In specific implementation, the double closed-loop control function module is realized by software in a chip and can input the rotating speed wnAnd bus current idcThe feedback value of the controller is calculated to obtain the duty ratio of an output PWM control signal, and the PWM control signal is combined with the drive of a PWM control signal generation functional module and a drive axle module to control electric soft start and speed regulation operation;
the double closed-loop control function module comprises two negative feedback closed-loop regulators of rotating speed and current, the two negative feedback closed-loop regulators are connected in series, the current loop is an inner loop, the rotating speed loop is an outer loop, and both the two regulators adopt PID regulators; when the motor is started, the rotating speed is too low, the output of the outer ring is saturated, and the current value is mainly adjusted by the inner ring at the moment; when the motor normally runs, the rotating speed value is mainly adjusted by the outer ring; therefore, the double closed-loop control function module can achieve the purposes of soft start and normal operation speed regulation;
preferably, the vehicle-mounted brushless direct current motor load self-adaptive soft start control system further comprises an LIN communication function module, wherein the LIN communication function module is used for receiving a motor rotating speed set value sent by an upper computer and sending the motor rotating speed set value to the double-closed-loop control module.
In specific implementation, the LIN communication functional module receives a rotating speed control signal of an upper computer based on an LIN transceiver and an LIN communication protocol integrated by a chip, and transmits a fault signal to the upper computer, wherein the upper computer can be a whole vehicle controller; the vehicle-mounted brushless direct current motor can be applied to a vehicle-mounted water pump.
Example 2
The invention also provides a load self-adaptive soft start control method of the vehicle-mounted brushless direct current motor, which comprises the following steps:
collecting the back electromotive force of a three-phase winding of the motor, determining the zero crossing point of a motor rotor through the back electromotive force to determine the position of the motor rotor, and acquiring the rotating speed of the motor according to the position of the motor rotor;
acquiring a motor bus current value, observing a motor load torque according to the motor bus current value and the motor rotating speed, and acquiring a current maximum set value according to the motor load torque;
acquiring the duty ratio delta of a PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value;
and driving the motor to rotate according to the PWM control signal with the duty ratio delta.
Preferably, the motor load torque is observed according to the motor bus current value and the motor speed, and specifically includes establishing a motor state space equation by using the motor bus current value and the motor speed as state quantities, establishing an expansion state equation according to the motor state space equation, and observing the motor load torque according to the expansion state equation.
Preferably, obtaining the maximum current set value according to the motor load torque includes specifically obtaining the maximum current set value according to formula im＝k1Tl+k2Obtaining the maximum set value i of the currentmWherein, TlFor motor load torque, k1、k2Are all calibration coefficients.
Preferably, the duty ratio Δ of the PWM control signal is obtained according to the motor rotation speed, the motor bus current value, and the maximum current setting value, and specifically includes that the difference between the motor rotation speed setting value and the motor rotation speed is used as the input of the outer loop control, and the difference between the maximum current setting value and the motor bus current value is used as the input of the inner loop control, and the duty ratio Δ of the PWM control signal is output.
In one embodiment, the schematic diagram of the double closed-loop control is shown in fig. 3, the main control process of the load adaptive soft start of the vehicle-mounted brushless dc motor is realized by a state observer and the double closed-loop control, and the steps are as follows,
when the motor starts to operate, the motor speed wnSmaller, outer loop controller input (w)s-wn) At the moment, the output saturation of the outer ring controller exceeds the maximum set value (limiting current value) i of the current according to the action of the outer ring PID regulatormThus outer ring regulation is disabled, imPlays a main regulating role;
will bus current idcMotor speed wnAnd a control voltage udcThe input observer can observe the load torque Tl(ii) a The bus current idcCollected by the current collecting function module; the rotating speed w of the motornCollected by a back electromotive force detection functional module; control voltage udcThe duty ratio of the PWM control signal is converted to obtain the PWM control signal; by the formula im＝k1Tl+k2Obtaining the maximum set value i of the currentm(ii) a The empirical coefficient k1And k2Can be calibrated in a preliminary test process, wherein k2Marking a minimum starting current;
imminus the bus current idcAs an input value of a rear-end current loop, the duty ratio of a PWM control signal of the motor is output under the regulation action of a current loop PID regulator; at the moment, the bus current is controlled to be output i of the observermLimited by the size of the load; therefore, when the motor is started, the current can be adjusted through the inner ring to avoid overcurrent, and meanwhile, the motor is adaptive to load change and balanced to accelerate;
when the rotation speed of the motor rises, the input of the outer ring controller is rapidly reduced, and the output of the outer ring controller is rapidly smaller than the limit current value i according to the action of the PID regulatormAt this time imThe regulation function of the system is invalid, and the system formed by the whole state observer and the double closed-loop control is basically equivalent to the rotating speed w of the motornFollow setting input wsThe motor enters a normal operation state.
It should be noted that the description of example 1 and example 2, which is not repeated, can be referred to each other.
The invention discloses a load self-adaptive soft start control system and method of a vehicle-mounted brushless direct current motor, wherein the back electromotive force detection module is used for collecting the back electromotive force of a three-phase winding of the motor, determining the zero crossing point of a motor rotor through the back electromotive force to determine the position of the motor rotor, and acquiring the rotating speed of the motor according to the position of the motor rotor; the current acquisition module acquires a current value of a motor bus; the extended state observer functional module is used for observing a motor load torque according to the motor bus current value and the motor rotating speed and acquiring a current maximum set value according to the motor load torque; the double closed-loop control module acquires the duty ratio delta of the PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value; the PWM control signal generation module is used for sending the PWM control signal with the duty ratio delta to the motor drive bridge module; the motor drive bridge module is used for driving a motor to rotate according to the PWM control signal with the duty ratio delta; the self-adaptive soft starting of the vehicle-mounted brushless direct current motor can be realized according to the load torque, and the starting safety of the vehicle-mounted brushless direct current motor is improved.
The vehicle-mounted brushless direct current motor can be safely and stably soft started by adjusting the appropriate adjusting driving current according to different load torques; in addition, the technical scheme of the invention also adopts a highly integrated design scheme, thereby greatly improving the real-time performance of the self-adaptive soft start control and reducing the hardware cost.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (7)

1. A load self-adaptive soft start control system of a vehicle-mounted brushless direct current motor is characterized by comprising a back electromotive force detection module, a current acquisition module, an extended state observer function module, a double closed-loop control module, a PWM control signal generation module and a motor drive bridge module;
the back electromotive force detection module is used for collecting the back electromotive force of a three-phase winding of the motor, determining the position of the motor rotor by determining the zero crossing point of the motor rotor through the back electromotive force, and acquiring the rotating speed of the motor according to the position of the motor rotor;
the current acquisition module is used for acquiring the current value of a motor bus; the extended state observer functional module is used for establishing a motor state space equation by taking a motor bus current value and a motor rotating speed as state quantities, establishing an extended state equation according to the motor state space equation, observing a motor load torque according to the extended state equation, and acquiring a current maximum set value according to the motor load torque;
the double closed-loop control module is used for acquiring the duty ratio delta of the PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value;
the PWM control signal generation module is used for sending the PWM control signal with the duty ratio delta to the motor drive bridge module; and the motor drive bridge module is used for driving the motor to rotate according to the PWM control signal with the duty ratio delta.
2. The vehicle-mounted brushless direct-current motor load adaptive soft-start control system according to claim 1, wherein the extended state observer function module obtains a current maximum set value according to the motor load torque, and specifically comprises obtaining a current maximum set value according to a formula im＝k1Tl+k2Obtaining the maximum set value i of the currentmWherein, TlFor motor load torque, k1、k2Are all calibration coefficients.
3. The system according to claim 1, wherein the dual closed-loop control module obtains the duty ratio Δ of the PWM control signal according to the motor speed, the motor bus current value, and the maximum current setting value, and specifically includes taking a difference between the motor speed setting value and the motor speed as an input of an outer loop control, and taking a difference between the maximum current setting value and the motor bus current value as an input of an inner loop control, and outputting the duty ratio Δ of the PWM control signal.
4. The vehicle-mounted brushless direct current motor load adaptive soft start control system according to claim 1, further comprising an LIN communication function module, wherein the LIN communication function module is used for receiving a motor rotating speed set value sent by an upper computer and sending the motor rotating speed set value to the double-closed-loop control module.
5. A load self-adaptive soft start control method for a vehicle-mounted brushless direct current motor is characterized by comprising the following steps:
collecting the back electromotive force of a three-phase winding of the motor, determining the zero crossing point of a motor rotor through the back electromotive force to determine the position of the motor rotor, and acquiring the rotating speed of the motor according to the position of the motor rotor;
acquiring a motor bus current value, establishing a motor state space equation by taking the motor bus current value and the motor rotating speed as state quantities, establishing an expansion state equation according to the motor state space equation, observing a motor load torque according to the expansion state equation, and acquiring a current maximum set value according to the motor load torque;
acquiring the duty ratio delta of a PWM control signal according to the motor rotating speed, the motor bus current value and the current maximum set value;
and driving the motor to rotate according to the PWM control signal with the duty ratio delta.
6. The method for controlling load adaptive soft start of a vehicle-mounted brushless DC motor according to claim 5, wherein obtaining a current maximum setting value according to the motor load torque specifically comprises obtaining a current maximum setting value according to formula im＝k1Tl+k2Obtaining the maximum set value i of the currentmWherein, TlFor motor load torque, k1、k2Are all calibration coefficients.
7. The method according to claim 5, wherein the obtaining of the duty ratio Δ of the PWM control signal is performed according to the motor speed, the motor bus current value, and the maximum current setting value, and specifically comprises taking a difference between the motor speed setting value and the motor speed as an input of an outer loop control, taking a difference between the maximum current setting value and the motor bus current value as an input of an inner loop control, and outputting the duty ratio Δ of the PWM control signal.
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