CN111900901B - Start control method and device for oil pump motor, automobile, medium and processor - Google Patents
Start control method and device for oil pump motor, automobile, medium and processor Download PDFInfo
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- CN111900901B CN111900901B CN202010783435.3A CN202010783435A CN111900901B CN 111900901 B CN111900901 B CN 111900901B CN 202010783435 A CN202010783435 A CN 202010783435A CN 111900901 B CN111900901 B CN 111900901B
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- oil pump
- pump motor
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- controlling
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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
- H02P6/21—Open loop start
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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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
- H02P6/28—Arrangements for controlling current
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses a starting control method and a starting control device for an oil pump motor, an automobile, a storage medium and a processor, wherein the method comprises the following steps: under the condition that a starting instruction for controlling the starting of the oil pump motor is received, determining the initial position of the starting of the oil pump motor; executing the control process of the open-loop dragging and the current closed-loop of the oil pump motor; in the process, the starting current of the oil pump motor is controlled to be increased and then reduced; under the condition that the running time of the oil pump motor is longer than the set time, controlling the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor; and after the rotating speed of the oil pump motor is increased, controlling the oil pump motor to operate according to the current frequency of the oil pump motor so as to complete the starting process of the oil pump motor. According to the scheme, the problem that the oil pump motor adopts the permanent magnet synchronous motor and is easily influenced by loads in the starting process to cause starting failure can be solved, and the effect of avoiding the starting failure of the oil pump motor is achieved.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a starting control method and device of an oil pump motor, an automobile, a storage medium and a processor.
Background
In an electric automobile control system, an oil pump motor adopts a permanent magnet synchronous motor, and is easily influenced by a load in a starting process to cause step loss, so that starting failure is caused.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention aims to provide a starting control method and device of an oil pump motor, an automobile, a storage medium and a processor, so as to solve the problem that the oil pump motor is easy to be influenced by load in the starting process to cause starting failure due to the adoption of a permanent magnet synchronous motor, and achieve the effect of avoiding the starting failure of the oil pump motor.
The invention provides a starting control method of an oil pump motor, which comprises the following steps: under the condition that a starting instruction for controlling the starting of the oil pump motor is received, determining the initial position of the starting of the oil pump motor; executing the control process of the open-loop dragging and the current closed-loop of the oil pump motor; in the control process of the open-loop dragging and current closed-loop of the oil pump motor, the starting current of the oil pump motor is controlled to be increased and then reduced; under the condition that the running time of the oil pump motor is longer than the set time, controlling the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor; and after the rotating speed of the oil pump motor is increased, controlling the oil pump motor to operate according to the current frequency of the oil pump motor so as to complete the starting process of the oil pump motor.
Optionally, determining an initial position of the oil pump motor start comprises: and giving a first set current, locking a rotating shaft of the oil pump motor, and taking the position of the rotating shaft of the oil pump motor at the moment as the starting position of starting of the oil pump motor.
Optionally, controlling the starting current of the oil pump motor to increase first and then decrease includes: controlling the starting current of the oil pump motor to increase from a first set initial current, and simultaneously controlling the reference current of the oil pump motor to decrease from a second set initial current; the reference current is a current value within a set safe current range of the starting current; the first set initial current is smaller than the second set initial current; controlling the starting current to decrease as the rotation speed of the oil pump motor increases, in a case where the starting current is equal to the reference current.
Optionally, controlling the operation of the oil pump motor according to the current frequency of the oil pump motor includes: determining the current frequency of the oil pump motor based on the initial position of the oil pump motor; determining whether the current frequency is greater than a set frequency; if the current frequency is greater than the set frequency, continuing to control the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor to the rated rotating speed of the oil pump motor; and controlling the oil pump motor to enter a speed loop closed-loop control; and if the current frequency is less than or equal to the set frequency, controlling the oil pump motor to keep running at a set low rotating speed, and controlling the oil pump motor to run according to the load of the oil pump motor.
Optionally, controlling the operation of the oil pump motor according to the load of the oil pump motor includes: determining whether a load of the oil pump motor is reduced; if the load is reduced, continuously controlling the acceleration of the oil pump motor to increase; and if the load is not reduced, continuously controlling the oil pump motor to keep the set low-speed operation.
In accordance with the above method, another aspect of the present invention provides a start control apparatus for an oil pump motor, including: a determination unit configured to determine an initial position at which the oil pump motor is started, in a case where a start instruction for controlling the start of the oil pump motor is received; the control unit is used for executing the control processes of open-loop dragging and current closed-loop of the oil pump motor; in the control process of the open-loop dragging and current closed-loop of the oil pump motor, the starting current of the oil pump motor is controlled to be increased and then reduced; the control unit is further used for controlling the acceleration of the oil pump motor to increase under the condition that the running time of the oil pump motor is greater than the set time, so that the rotating speed of the oil pump motor is increased; the control unit is also used for controlling the oil pump motor to run according to the current frequency of the oil pump motor after the rotating speed of the oil pump motor is increased so as to complete the starting process of the oil pump motor.
Optionally, the determining unit determines an initial position where the oil pump motor is started, including: and giving a first set current, locking a rotating shaft of the oil pump motor, and taking the position of the rotating shaft of the oil pump motor at the moment as the starting position of starting of the oil pump motor.
Optionally, the controlling unit controls the starting current of the oil pump motor to increase first and then decrease, and includes: controlling the starting current of the oil pump motor to increase from a first set initial current, and simultaneously controlling the reference current of the oil pump motor to decrease from a second set initial current; the reference current is a current value within a set safe current range of the starting current; the first set initial current is smaller than the second set initial current; controlling the starting current to decrease as the rotation speed of the oil pump motor increases, in a case where the starting current is equal to the reference current.
Optionally, the control unit controls the oil pump motor to operate according to a current frequency of the oil pump motor, and includes: determining the current frequency of the oil pump motor based on the initial position of the oil pump motor; determining whether the current frequency is greater than a set frequency; if the current frequency is greater than the set frequency, continuing to control the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor to the rated rotating speed of the oil pump motor; and controlling the oil pump motor to enter a speed loop closed-loop control; and if the current frequency is less than or equal to the set frequency, controlling the oil pump motor to keep running at a set low rotating speed, and controlling the oil pump motor to run according to the load of the oil pump motor.
Optionally, the control unit controls the oil pump motor to operate according to a load of the oil pump motor, and includes: determining whether a load of the oil pump motor is reduced; if the load is reduced, continuously controlling the acceleration of the oil pump motor to increase; and if the load is not reduced, continuously controlling the oil pump motor to keep the set low-speed operation.
In accordance with the above apparatus, a further aspect of the present invention provides an automobile comprising: the start control device of the oil pump motor.
In accordance with the above method, a further aspect of the present invention provides a storage medium including a stored program, wherein the apparatus in which the storage medium is located is controlled to execute the above start control method of the oil pump motor when the program is executed.
In accordance with the above method, a further aspect of the present invention provides a processor for executing a program, wherein the program executes the above start control method of the oil pump motor.
Therefore, in the scheme of the invention, the starting current line of the motor is reduced after being increased in the starting process of the motor, and the acceleration of the motor is increased after the motor is operated in an open loop for a preset time, so that the starting speed of the motor is accelerated, the problem that the oil pump motor is easy to be influenced by a load in the starting process to cause the starting failure is solved, and the effect of avoiding the starting failure of the oil pump motor is achieved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic flowchart of an embodiment of a start control method of an oil pump motor according to the present invention;
FIG. 2 is a schematic flow chart illustrating an embodiment of controlling the starting current of the oil pump motor to increase and then decrease in the method of the present invention;
FIG. 3 is a schematic flow chart illustrating an embodiment of the method for controlling the operation of the oil pump motor according to the current frequency of the oil pump motor;
FIG. 4 is a schematic flow chart illustrating an embodiment of the method for controlling the operation of the oil pump motor according to the load of the oil pump motor;
fig. 5 is a schematic structural view of an embodiment of a start control device of an oil pump motor of the present invention;
FIG. 6 is a schematic diagram of a current waveform for a rapid start of an oil pump motor;
FIG. 7 is a schematic diagram of a current waveform for a secondary start of the oil pump motor;
fig. 8 is a schematic diagram of a control structure of the permanent magnet synchronous motor;
fig. 9 is a schematic diagram of a start control flow of the oil pump motor.
The reference numbers in the embodiments of the present invention are as follows, in combination with the accompanying drawings:
102-a determination unit; 104-control unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
According to an embodiment of the present invention, a method for controlling the start of an oil pump motor is provided, as shown in fig. 1, which is a schematic flow chart of an embodiment of the method of the present invention. The start control method of the oil pump motor may include: step S110 to step S140.
At step S110, in case of receiving a start instruction that can be used to control the start of the oil pump motor, (i.e., in case of receiving a user-initiated start instruction that can be used to control the start of the oil pump motor), an initial position of the start of the oil pump motor is determined.
Alternatively, the determining the initial position of the oil pump motor start in step S110 may include: and giving a first set current, locking a rotating shaft of the oil pump motor, and taking the position of the rotating shaft of the oil pump motor at the moment as the starting position of starting of the oil pump motor.
For example: and receiving a starting instruction. And (5) giving current, locking the rotating shaft of the motor, and taking the position as an initial position. That is, given a current, the motor rotor is fixed in a position, with the position being the initial position. By applying a stator dc current, the rotor can be fixed in one position, as the subsequent position and the initial position of the speed observer 0 °.
At step S120, performing a control process of the oil pump motor open-loop dragging and current closed-loop; and controlling the starting current of the oil pump motor to increase and then decrease in the control process of the open-loop dragging and current closed-loop of the oil pump motor. For example: open-loop dragging and current closed-loop control. And setting the starting current and frequency according to a preset rule.
Optionally, with reference to a schematic flow chart of an embodiment of controlling the starting current of the oil pump motor to increase first and then decrease in the method of the present invention shown in fig. 2, a specific process of controlling the starting current of the oil pump motor to increase first and then decrease in step S120 is further described, and the specific process may include: step S210 and step S220.
Step S210, controlling the starting current of the oil pump motor to increase from a first set initial current, and simultaneously controlling the reference current of the oil pump motor to decrease from a second set initial current. The reference current is a current value within a set safe current range of the starting current, such as a maximum current value within the set safe current range of the starting current. The first set initial current is less than the second set initial current.
And step S220, controlling the starting current to be reduced along with the increase of the rotating speed of the oil pump motor under the condition that the starting current is equal to the reference current.
For example: the motor is dragged in an open loop mode, and in the process, the given law of starting current is divided into two sections: in the first phase, the starting current I1 is gradually increased from an initial value with time, while the reference current I2 is decreased from a larger initial value with increasing rotation speed; when the starting current I1 equals the reference current I2, entering the second segment setpoint, the starting current equals the reference current, decreasing with increasing speed. Through in the open-loop dragging process, the starting current of the first section is gradually increased, so that the torque during starting can be improved, and the moment of static inertia during starting can be overcome. The starting current of the second section is reduced along with the increase of the speed, so that the motor tends to run stably.
In step S130, in the case that the operation time of the oil pump motor is greater than a set time, that is, in the case that the oil pump motor performs a control process of the oil pump motor open-loop dragging and current closed-loop for a set time or more, controlling the acceleration of the oil pump motor to increase so as to increase the rotation speed of the oil pump motor; and under the condition that the running time of the oil pump motor is not more than the set time, continuously executing the control process of the open-loop dragging and the current closed-loop of the oil pump motor.
For example: judging whether the running time of the motor is greater than preset time t1, and if the running time of the motor is greater than preset time t1, increasing the acceleration of the motor to enable the motor to rapidly increase the speed; and if the running time of the motor is not more than the preset time t1, returning to the control process of the oil pump motor open-loop dragging and current closed-loop. By increasing the acceleration of the motor when the running time reaches the preset time t1, the change of the given current frequency is accelerated, so that the rotating speed of the motor is increased more quickly, and the speed ring can be switched into closed-loop operation within 1s under an ideal condition to finish starting. The motor acceleration at the beginning is small, so that the motor can be started more smoothly and stably without losing synchronization; the acceleration of the motor is greatly larger than that of the motor at the beginning, so that the stability of the motor at the moment of starting is ensured, the motor is allowed to rapidly increase in speed, and the rotating speed of the motor is increased to a reliable speed within the reaction time of a driver.
At step S140, after the rotation speed of the oil pump motor is increased, the oil pump motor is controlled to operate according to the current frequency of the oil pump motor, so as to complete the starting process of the oil pump motor.
From this, through when oil pump motor starts, confirm the initial position of oil pump motor's pivot, reduce the rotational speed of oil pump motor after increasing earlier, increase oil pump motor's rotational speed again to quick start oil pump motor, and oil pump motor's boot-up speed is faster, and the start-up process is more smooth.
Optionally, a specific process of controlling the operation of the oil pump motor according to the current frequency of the oil pump motor in step S140 may be further described with reference to a flowchart of an embodiment of controlling the operation of the oil pump motor according to the current frequency of the oil pump motor in the method of the present invention shown in fig. 3, and may include: step S310 to step S340.
Step S310, determining the current frequency of the oil pump motor based on the initial position of the oil pump motor starting.
For example: the output of the position and speed observer, current frequency (rotational speed), is judged, and the target current frequency (rotational speed) is changed to the rated current frequency (rated rotational speed).
Step S320, determining whether the current frequency is greater than a set frequency.
Step S330, if the current frequency is greater than the set frequency, continuing to control the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor to the rated rotating speed of the oil pump motor; controlling the oil pump motor to enter a speed loop closed-loop control to complete the starting process of the oil pump motor;
for example: and acquiring the current frequency through flux linkage observation, and if the current frequency reaches a preset frequency f1, allowing the current frequency to continuously increase to the rated rotating speed, performing closed-loop operation at the cut-in speed, and finishing the starting. Specifically, after the current frequency reaches preset f1, the motor is allowed to further increase the speed to the rated speed, and the motor enters speed loop closed-loop control to complete starting. The target rotating speed is set as the rated rotating speed, so that the motor can continue to increase the speed, and the moment of successfully switching into the closed-loop operation of the speed ring is generally regarded as the completion of starting. After that, the oil pump motor can stably increase the speed even if a load exists. If the motor does not work in a low rotating speed state, the steering wheel is guaranteed not to stop working, the motor is switched into a speed ring to run in a closed loop mode when the motor does not reach the target rotating speed, the error between the switching-in instant position and the rotating speed is large, and overcurrent faults are caused.
Specifically, in the initial stage of the start-up, the target rotational speed is smaller than the rated rotational speed and slightly larger than the preset rotational speed. In the starting process, if a driver does not control a steering wheel, the oil pump motor is started almost without load, the current frequency can quickly reach a preset frequency f1 (namely the rotating speed reaches a preset rotating speed which is lower than the rated rotating speed and belongs to a low speed), the motor is directly allowed to further increase the speed to the rated rotating speed, and the speed ring is subjected to closed-loop control to finish the starting; if the driver immediately operates the steering wheel at the moment of starting, the oil pump motor is started with load at the moment, the speed is increased slowly, and when the current frequency does not reach the preset frequency, the motor is started to work in a low-rotating-speed state, so that the steering wheel is guaranteed not to stop working.
And step S340, if the current frequency is less than or equal to the set frequency, controlling the oil pump motor to keep running at a set low rotating speed, and controlling the oil pump motor to run according to the load of the oil pump motor.
For example: the current frequency is obtained through flux linkage observation, if the current frequency does not reach the preset frequency f1, namely if the steering wheel is turned on when a driver starts the steering wheel, the instant load is increased during starting, and the current frequency does not reach the standard, the motor is kept working under the low-rotating-speed state, and the steering wheel is ensured not to stop working.
More optionally, the specific process of controlling the operation of the oil pump motor according to the load of the oil pump motor in step S340 may further be described with reference to a flowchart of an embodiment of controlling the operation of the oil pump motor according to the load of the oil pump motor in the method of the present invention shown in fig. 4, and may include: step S410 to step S430.
Step S410, it is determined whether the load of the oil pump motor is reduced.
And step S420, if the load decreases, continuously controlling the acceleration of the oil pump motor to increase so as to continuously increase the rotation speed of the oil pump motor.
And step S430, if the load is not reduced, continuing to control the oil pump motor to keep the set low-speed operation.
For example: and under the condition that the motor is kept to operate at a low rotating speed, judging whether the load is reduced or not, if so, returning to enable the motor to continuously and rapidly increase the speed, and if not, continuously keeping the low rotating speed to operate.
Specifically, because oil pump motor rotational speed is lower, the helping hand that provides is less, and the required power of navigating mate control steering wheel can be great this moment, can be as the warning signal for navigating mate, and the suggestion its unclamps the steering wheel. At the moment when the steering wheel is released, the load is reduced, so that the motor can continue to increase in speed, and the judgment of whether the current frequency obtained through flux linkage observation reaches the preset frequency f1 is performed again.
The target rotating speed is kept unchanged and is slightly larger than the preset rotating speed. At the moment, the rotating speed of the motor is low, the actual rotating speed is slightly lower than the preset rotating speed due to the load relationship, the steering wheel can still be controlled at the moment, the driving safety is guaranteed, and the resistance is large. If the steering wheel is loosened or pulled back to the initial position, the oil pump motor is almost in a no-load state, the rotating speed can be continuously increased to the current target rotating speed, when the rotating speed is greater than the preset rotating speed, the motor is allowed to further increase the speed to the rated rotating speed, and the motor enters speed ring closed-loop control to finish starting.
Through a large number of tests, the technical scheme of the embodiment is adopted, and in the starting process of the motor, the starting current is given according to two sections, and the current is increased and then decreased; meanwhile, when the open-loop dragging operation is carried out for a preset time, the motor acceleration is increased, the starting speed of the motor is higher, the starting process is smoother, the problems that the starting speed of the oil pump motor is low, the stability of the starting process is poor, and the starting failure is easily caused by the influence of a load are solved, the stability of the starting process of the electric motor is improved, the starting failure caused by the influence of the load when the oil pump motor is started is avoided, and the starting reliability of the oil pump motor is improved.
According to an embodiment of the present invention, there is also provided a start control device of an oil pump motor corresponding to the start control method of the oil pump motor. Referring to fig. 5, a schematic diagram of an embodiment of the apparatus of the present invention is shown. The start control device of the oil pump motor may include: a determination unit 102 and a control unit 104.
In an alternative example, the determining unit 102 may be configured to determine the initial position of the oil pump motor start when a start instruction that can be used to control the oil pump motor start is received (i.e., when a user-initiated start instruction that can be used to control the oil pump motor start is received). The specific function and processing of the determination unit 102 are referred to in step S110.
Alternatively, the determining unit 102 may determine an initial position of the oil pump motor start, and may include: the determining unit 102 may be further configured to lock the rotating shaft of the oil pump motor when a first set current is given, and use the rotating shaft position of the oil pump motor as a starting position for starting the oil pump motor.
For example: and receiving a starting instruction. And (5) giving current, locking the rotating shaft of the motor, and taking the position as an initial position. That is, given a current, the motor rotor is fixed in a position, with the position being the initial position. By applying a stator dc current, the rotor can be fixed in one position, as the subsequent position and the initial position of the speed observer 0 °.
In an optional example, the control unit 104 may be configured to perform a control process of the oil pump motor open-loop dragging and current closed-loop; and controlling the starting current of the oil pump motor to increase and then decrease in the control process of the open-loop dragging and current closed-loop of the oil pump motor. For example: open-loop dragging and current closed-loop control. And setting the starting current and frequency according to a preset rule. The specific function and processing of the control unit 104 are referred to in step S120.
Alternatively, the controlling unit 104 controls the starting current of the oil pump motor to increase first and then decrease, and may include:
the control unit 104 may be further configured to control the starting current of the oil pump motor to increase from a first set initial current, and control the reference current of the oil pump motor to decrease from a second set initial current. The reference current is a current value within a set safe current range of the starting current, such as a maximum current value within the set safe current range of the starting current. The first set initial current is less than the second set initial current. The specific functions and processes of the control unit 104 are also referred to in step S210.
The control unit 104 may be specifically configured to control the starting current to decrease as the rotation speed of the oil pump motor increases, when the starting current is equal to the reference current. The specific functions and processes of the control unit 104 are also referred to in step S220.
For example: the motor is dragged in an open loop mode, and in the process, the given law of starting current is divided into two sections: in the first phase, the starting current I1 is gradually increased from an initial value with time, while the reference current I2 is decreased from a larger initial value with increasing rotation speed; when the starting current I1 equals the reference current I2, entering the second segment setpoint, the starting current equals the reference current, decreasing with increasing speed. In the open-loop dragging process, the starting current of the first section is gradually increased, so that the torque during starting can be improved, and the static inertia at the starting moment can be overcome; the starting current of the second section is reduced along with the increase of the speed, so that the motor tends to run stably.
In an optional example, the control unit 104 may be further configured to control the acceleration of the oil pump motor to increase so as to increase the rotation speed of the oil pump motor when the operation time of the oil pump motor is greater than a set time, that is, when the oil pump motor performs a control process of the open-loop dragging of the oil pump motor and the closed-loop current control for a set time or more; and under the condition that the running time of the oil pump motor is not more than the set time, continuously executing the control process of the open-loop dragging and the current closed-loop of the oil pump motor. The specific function and processing of the control unit 104 are also referred to in step S130.
For example: judging whether the running time of the motor is greater than preset time t1, and if the running time of the motor is greater than preset time t1, increasing the acceleration of the motor to enable the motor to rapidly increase the speed; and if the running time of the motor is not more than the preset time t1, returning to the control process of the oil pump motor open-loop dragging and current closed-loop. By increasing the acceleration of the motor when the running time reaches the preset time t1, the change of the given current frequency is accelerated, so that the rotating speed of the motor is increased more quickly, and the speed ring can be switched into closed-loop operation within 1s under an ideal condition to finish starting. The motor acceleration at the beginning is small, so that the motor can be started more smoothly and stably without losing synchronization; the acceleration of the motor is greatly larger than that of the motor at the beginning, so that the stability of the motor at the moment of starting is ensured, the motor is allowed to rapidly increase in speed, and the rotating speed of the motor is increased to a reliable speed within the reaction time of a driver.
In an optional example, the control unit 104 may be further configured to control the oil pump motor to operate according to a current frequency of the oil pump motor after the rotation speed of the oil pump motor is increased, so as to complete a starting process of the oil pump motor. The specific function and processing of the control unit 104 are also referred to in step S140.
From this, through when oil pump motor starts, confirm the initial position of oil pump motor's pivot, reduce the rotational speed of oil pump motor after increasing earlier, increase oil pump motor's rotational speed again to quick start oil pump motor, and oil pump motor's boot-up speed is faster, and the start-up process is more smooth.
Alternatively, the control unit 104 controls the oil pump motor to operate according to the current frequency of the oil pump motor, and may include:
the control unit 104 may be further configured to determine a current frequency of the oil pump motor based on an initial position of the oil pump motor. The specific functions and processes of the control unit 104 are also referred to in step S310.
For example: the output of the position and speed observer, current frequency (rotational speed), is judged, and the target current frequency (rotational speed) is changed to the rated current frequency (rated rotational speed).
The control unit 104 may be further configured to determine whether the current frequency is greater than a set frequency. The specific functions and processes of the control unit 104 are also referred to in step S320.
The control unit 104 may be further configured to, if the current frequency is greater than the set frequency, continue to control the acceleration of the oil pump motor to increase, so that the rotation speed of the oil pump motor is increased to the rated rotation speed of the oil pump motor; and controlling the oil pump motor to enter a speed loop closed-loop control to complete the starting process of the oil pump motor. The specific functions and processes of the control unit 104 are also referred to in step S330.
For example: and acquiring the current frequency through flux linkage observation, and if the current frequency reaches a preset frequency f1, allowing the current frequency to continuously increase to the rated rotating speed, performing closed-loop operation at the cut-in speed, and finishing the starting. Specifically, after the current frequency reaches preset f1, the motor is allowed to further increase the speed to the rated speed, and the motor enters speed loop closed-loop control to complete starting. The target rotating speed is set as the rated rotating speed, so that the motor can continue to increase the speed, and the moment of successfully switching into the closed-loop operation of the speed ring is generally regarded as the completion of starting. After that, the oil pump motor can stably increase the speed even if a load exists. If the motor does not work in a low rotating speed state, the steering wheel is guaranteed not to stop working, the motor is switched into a speed ring to run in a closed loop mode when the motor does not reach the target rotating speed, the error between the switching-in instant position and the rotating speed is large, and overcurrent faults are caused.
Specifically, in the initial stage of the start-up, the target rotational speed is smaller than the rated rotational speed and slightly larger than the preset rotational speed. In the starting process, if a driver does not control a steering wheel, the oil pump motor is started almost without load, the current frequency can quickly reach a preset frequency f1 (namely the rotating speed reaches a preset rotating speed which is lower than the rated rotating speed and belongs to a low speed), the motor is directly allowed to further increase the speed to the rated rotating speed, and the speed ring is subjected to closed-loop control to finish the starting; if the driver immediately operates the steering wheel at the moment of starting, the oil pump motor is started with load at the moment, the speed is increased slowly, and when the current frequency does not reach the preset frequency, the motor is started to work in a low-rotating-speed state, so that the steering wheel is guaranteed not to stop working.
The control unit 104 may be further configured to control the oil pump motor to keep running at a set low rotation speed if the current frequency is less than or equal to the set frequency, and control the oil pump motor to run according to a load of the oil pump motor. The specific functions and processes of the control unit 104 are also referred to in step S340.
For example: the current frequency is obtained through flux linkage observation, if the current frequency does not reach the preset frequency f1, namely if the steering wheel is turned on when a driver starts the steering wheel, the instant load is increased during starting, and the current frequency does not reach the standard, the motor is kept working under the low-rotating-speed state, and the steering wheel is ensured not to stop working.
More alternatively, the control unit 104 controls the operation of the oil pump motor according to the load of the oil pump motor, and may include:
the control unit 104 may be specifically configured to determine whether the load of the oil pump motor is reduced. The specific functions and processes of the control unit 104 are also referred to in step S410.
The control unit 104 may be further configured to, if the load decreases, continue to control the acceleration of the oil pump motor to increase so as to continue to increase the rotation speed of the oil pump motor. The specific function and processing of the control unit 104 are also referred to in step S420.
The control unit 104 may be further configured to continue to control the oil pump motor to maintain the set low rotation speed operation if the load is not reduced. The specific functions and processes of the control unit 104 are also referred to in step S430.
For example: and under the condition that the motor is kept to operate at a low rotating speed, judging whether the load is reduced or not, if so, returning to enable the motor to continuously and rapidly increase the speed, and if not, continuously keeping the low rotating speed to operate.
Specifically, because oil pump motor rotational speed is lower, the helping hand that provides is less, and the required power of navigating mate control steering wheel can be great this moment, can be as the warning signal for navigating mate, and the suggestion its unclamps the steering wheel. At the moment when the steering wheel is released, the load is reduced, so that the motor can continue to increase in speed, and the judgment of whether the current frequency obtained through flux linkage observation reaches the preset frequency f1 is performed again.
The target rotating speed is kept unchanged and is slightly larger than the preset rotating speed. At the moment, the rotating speed of the motor is low, the actual rotating speed is slightly lower than the preset rotating speed due to the load relationship, the steering wheel can still be controlled at the moment, the driving safety is guaranteed, and the resistance is large. If the steering wheel is loosened or pulled back to the initial position, the oil pump motor is almost in a no-load state, the rotating speed can be continuously increased to the current target rotating speed, when the rotating speed is greater than the preset rotating speed, the motor is allowed to further increase the speed to the rated rotating speed, and the motor enters speed ring closed-loop control to finish starting.
Since the processes and functions implemented by the apparatus of this embodiment substantially correspond to the embodiments, principles and examples of the method shown in fig. 1 to 4, the description of this embodiment is not detailed, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
Through a large number of tests, the technical scheme of the invention is adopted, and in the starting process of the motor, if the rotating speed is not increased to the preset rotating speed under the influence of the load, the motor is kept to operate at a low speed; when the load is reduced, the rotating speed can be increased to the preset rotating speed, further acceleration is allowed, the cut-in speed is in closed-loop operation, the problem that the steering wheel cannot be operated and danger is brought to driving due to the fact that the oil pump motor is stopped after the first start failure can be solved, the reliability of motor start is improved, and driving is safer.
According to an embodiment of the present invention, there is also provided an automobile corresponding to the start control device of the oil pump motor. The automobile may include: the start control device of the oil pump motor.
In electric automobile control system, the steering wheel passes through mechanical structure, can be convenient for the navigating mate change front wheel angle to control car direction of motion, in order to overcome the resistance that turns to the in-process, can adopt the mode that the oil pump was ordered about to the motor among the electric automobile structure, provide the helping hand at the in-process of navigating mate control steering wheel. The oil pump motor usually adopts a permanent magnet synchronous motor, the permanent magnet synchronous motor has better control effect and larger frequency modulation range, but has higher control difficulty, and is easy to be influenced by load in the starting process to cause step loss, thus leading to starting failure.
In addition, in the driving process of the automobile, the oil pump motor needs to deal with various road conditions and operations of a driver, for example, the road conditions are rough at the moment of starting or the driver immediately drives a steering wheel, at the moment, the load is changed rapidly, the starting rotating speed is influenced, the starting fails, the oil pump motor cannot work, and the dangerous condition that the steering wheel cannot be operated occurs.
In an alternative embodiment, the invention provides a starting control scheme of the oil pump motor, which is suitable for occasions where all oil pump motors are suitable for completing starting under various driving conditions.
Specifically, to the problem that oil pump motor start speed is slow, and the start-up process stability is relatively poor, receives the load influence easily and causes the start failure. According to the scheme, in the starting process of the motor, the starting current is given according to the two-section type, and the current is increased and then decreased; meanwhile, when the open loop is dragged for a preset time, the acceleration of the motor is increased. Therefore, the starting speed of the motor is higher, and the starting process is smoother.
Fig. 6 is a schematic diagram of a current waveform for quick start of the oil pump motor. By enhancing the open-loop starting stability and accelerating the starting speed of the oil pump motor, the closed-loop operation can be switched in within a very short time, as shown in fig. 6. After a driver starts the vehicle, the motor is started before the steering wheel is controlled to change the load of the oil pump motor, and the driving habit is met.
Further, the steering wheel is stopped after the oil pump motor is failed to start for the first time, so that the steering wheel cannot be operated, and danger is brought to driving. According to the scheme, in the starting process of the motor, if the rotating speed is not increased to the preset rotating speed under the influence of the load, the motor is kept to operate at a low speed; when the load is reduced and the rotating speed can be increased to the preset rotating speed, further acceleration is allowed, and the cut-in speed is operated in a closed loop mode. Therefore, the reliability of the motor starting is improved, and the driving is safer.
Fig. 7 is a schematic diagram of a current waveform of a secondary start of the oil pump motor. If the oil pump motor fails to start due to a large load in the starting process, the oil pump motor can be kept in a low rotating speed state, the rotating speed is raised immediately after the load is reduced, the starting is completed, and the driving safety is guaranteed, as shown in fig. 7. FIG. 6 is a current waveform diagram of a rapid start of the oil pump motor under no load conditions; FIG. 7 is a graph of current waveforms for a first failed start and a second successful start with load effects during start-up.
Fig. 8 is a schematic control structure diagram of the permanent magnet synchronous motor, specifically, a control block diagram of a current loop and a speed loop. In some schemes, the control process of the permanent magnet synchronous motor can refer to the example shown in fig. 8, and is a control mode of current and speed double closed loops.
In the starting stage of the motor, because the rotating speed is low, the error of the non-sensing speed position observer is large, and the speed ring is greatly influenced, when the motor is started, a starting mode of open-loop dragging and matching with current closed-loop is generally adopted, and the motor is switched into the speed ring to run in a closed-loop mode after running for a period of time. When the motor is used as an oil pump motor, in the starting process, the condition that the road surface is rugged or a driver immediately drives a steering wheel can exist, so that the load is changed rapidly, the lifting of the rotating speed is influenced, if the speed does not reach the specified rotating speed in the cut-in closed-loop operation, the starting failure can be caused, and the steering wheel cannot work.
Fig. 9 is a schematic diagram of a start control flow of the oil pump motor. In the present invention, the output of the position and speed observer, i.e., the current frequency (rotation speed), is determined, so as to change the target current frequency (rotation speed) to the rated current frequency (rated rotation speed), and the determination logic may refer to the example shown in fig. 9.
As shown in fig. 9, an aspect of the present invention provides a start control method for an oil pump motor of an electric vehicle, which may include:
step 1, receiving a starting instruction.
And 2, giving current, locking the motor rotating shaft and taking the position as an initial position. That is, given a current, the motor rotor is fixed in a position, with the position being the initial position. By applying a stator dc current, the rotor can be fixed in one position, as the subsequent position and the initial position of the speed observer 0 °. The position observation provides the angular difference between the current position and the initial position of the rotor, the angular difference of unit time, namely the speed, is further calculated, and the angular difference is also used for setting the three-phase voltage of the subsequent vector control.
And step 3, open-loop dragging and current closed-loop control.
And 4, setting the starting current and frequency according to a preset rule. That is, the motor is dragged in an open loop, and in the process, the given law of starting current is divided into two sections: in the first phase, the starting current I1 is gradually increased from an initial value with time, while the reference current I2 is decreased from a larger initial value with increasing rotation speed; when the starting current I1 equals the reference current I2, entering the second segment setpoint, the starting current equals the reference current, decreasing with increasing speed.
In the open-loop dragging process, the starting current of the first section is gradually increased, so that the torque during starting can be improved, and the static inertia at the moment of starting is overcome; the starting current of the second section is reduced along with the increase of the speed, so that the motor tends to run stably.
Wherein the reference current can be regarded as the maximum value of the starting current. The starting current increases along with the increase of time, and the reference current decreases along with the increase of the rotating speed; when the two are equal, the starting current is given as the reference current and decreases as the rotation speed increases. The specific increase and decrease range is determined according to the actual debugging effect.
Step 5, judging whether the running time of the motor is greater than preset time t1, and if the running time of the motor is greater than preset time t1, increasing the acceleration of the motor to enable the motor to rapidly increase the speed; and if the running time of the motor is not greater than the preset time t1, returning to the step 3.
Specifically, when the running time reaches the preset time t1, the acceleration of the motor is increased, the given current frequency change is accelerated, and the rotating speed of the motor is increased more quickly. The step enables the acceleration of the motor to be much larger than that of the motor at the beginning, so that the stability of the motor at the moment of starting is ensured, the motor is allowed to quickly increase in speed, and the rotating speed of the motor is increased to a reliable speed within the reaction time of a driver. The motor acceleration at the beginning is small, so that the motor can be started more slowly and stably without losing synchronization; when the running time reaches preset time t1, the acceleration is increased, so that the motor is accelerated rapidly, and the speed loop can be switched into to run in a closed loop in 1s under an ideal condition to finish starting.
And 6, after the motor is rapidly accelerated, acquiring the current frequency of the motor, judging whether the current frequency is greater than a preset frequency f1, executing the step 8 if the current frequency is greater than the preset frequency f1, and executing the step 7 if the current frequency is not greater than the preset frequency f 1.
Specifically, the current frequency is obtained by flux linkage observation, and if the current frequency reaches the preset frequency f1, step 8 is performed. And (4) if the driver turns on the steering wheel while starting, so that the instant load of starting is increased, and the current frequency does not reach the standard, entering the step 7.
In the initial starting stage, the target rotating speed is smaller than the rated rotating speed and slightly larger than the preset rotating speed. In the starting process, if a driver does not operate a steering wheel, the oil pump motor is started almost without load, the current frequency can quickly reach the preset frequency f1 (namely the rotating speed reaches the preset rotating speed which is lower than the rated rotating speed and belongs to a low speed), and the step 8 is directly carried out; if the driver immediately operates the steering wheel at the moment of starting, the oil pump motor is started with load at the moment, the speed is increased slowly, and when the current frequency does not reach the preset frequency, the step 7 is carried out.
And 7, keeping the motor running at a low rotating speed, judging whether the load is reduced, returning to the step 6 if the load is reduced, and keeping the motor running at the low rotating speed if the load is not reduced.
For example: the low speed is based on the frequency setting that allows the cut-in speed closed loop. If the program sets the cut-in speed closed loop when the current frequency reaches x Hz, the low speed is set to (x-2) Hz. The above frequencies are much smaller than the nominal frequency. And judging according to the magnitude of the stator current. If the current decreases, the load is decreasing.
Specifically, the motor is kept working in a low rotating speed state, and the steering wheel is guaranteed not to stop working. Because oil pump motor rotational speed is lower, the helping hand that the event provided is less, and the required power of navigating mate control steering wheel can be great this moment, can be as the warning signal for navigating mate, and the suggestion it loosens the steering wheel. At the instant the steering wheel is released, the load is reduced, allowing the motor to continue to increase in speed, again making the determination of step 6.
The target rotating speed is kept unchanged and is slightly larger than the preset rotating speed. At the moment, the rotating speed of the motor is low, the actual rotating speed is slightly lower than the preset rotating speed due to the load relationship, the steering wheel can still be controlled at the moment, the driving safety is guaranteed, and the resistance is large. If the steering wheel is loosened or snapped back to the initial position, the oil pump motor is almost in a no-load state, the rotating speed can be continuously increased to the current target rotating speed, and the step 8 is carried out when the rotating speed is greater than the preset rotating speed.
And 8, allowing the speed to be continuously increased to the rated rotating speed, carrying out closed-loop operation at the cut-in speed, and finishing the starting.
Specifically, after the current frequency reaches preset f1, the motor is allowed to further increase the speed to the rated speed, and the motor enters speed loop closed-loop control to complete starting.
The target rotating speed is set as the rated rotating speed, so that the motor can continue to increase the speed, and the moment of successfully switching into the closed-loop operation of the speed ring is generally regarded as the completion of starting. After that, the oil pump motor can stably increase the speed even if a load exists. If step 7 is not available, the motor is switched into the speed ring to operate in a closed loop mode when the target rotating speed is not reached, so that the error between the switching-in instant position and the rotating speed is large, and overcurrent faults are caused.
Since the processing and functions of the automobile of this embodiment are basically corresponding to the embodiment, principle and example of the device shown in fig. 5, the description of this embodiment is not given in detail, and reference may be made to the related description in the foregoing embodiment, which is not described herein again.
Through a large number of tests, the technical scheme of the invention can be used for improving the stability and the reliability of the starting of the oil pump motor by enhancing the open-loop starting stability of the oil pump motor and accelerating the starting speed and switching into the closed-loop operation within a very short time.
According to an embodiment of the present invention, there is also provided a storage medium corresponding to a start control method of an oil pump motor, the storage medium including a stored program, wherein an apparatus in which the storage medium is located is controlled to execute the above-described start control method of the oil pump motor when the program is run.
Since the processing and functions implemented by the storage medium of this embodiment substantially correspond to the embodiments, principles, and examples of the methods shown in fig. 1 to fig. 4, details are not described in the description of this embodiment, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.
Through a large number of tests, the technical scheme of the invention is adopted, and the open-loop starting stability of the oil pump motor is enhanced and the starting speed is accelerated, so that after a driver starts a vehicle, the motor is started before the steering wheel is controlled to change the load of the oil pump motor, and the driving habit is met.
According to an embodiment of the present invention, there is also provided a processor corresponding to the start control method of the oil pump motor, the processor being configured to execute a program, wherein the program executes the above-described start control method of the oil pump motor when running.
Since the processing and functions implemented by the processor of this embodiment substantially correspond to the embodiments, principles, and examples of the methods shown in fig. 1 to fig. 4, details are not described in the description of this embodiment, and reference may be made to the related descriptions in the foregoing embodiments, which are not described herein again.
Through a large number of tests, the technical scheme of the invention ensures that if the oil pump motor fails to start due to a large load in the starting process, the oil pump motor can be kept in a low-rotation-speed state, and the rotation speed is raised immediately after the load is reduced, so that the starting is completed, and the driving safety is ensured.
In summary, it is readily understood by those skilled in the art that the advantageous modes described above can be freely combined and superimposed without conflict.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (11)
1. A start control method of an oil pump motor, characterized by comprising:
under the condition that a starting instruction for controlling the starting of the oil pump motor is received, determining the initial position of the starting of the oil pump motor;
executing the control process of the open-loop dragging and the current closed-loop of the oil pump motor; in the control process of the open-loop dragging and current closed-loop of the oil pump motor, the starting current of the oil pump motor is controlled to be increased and then reduced; wherein, control the starting current of oil pump motor increases earlier afterwards reduces, includes: controlling the starting current of the oil pump motor to increase from a first set initial current, and simultaneously controlling the reference current of the oil pump motor to decrease from a second set initial current; the reference current is a current value within a set safe current range of the starting current; the first set initial current is smaller than the second set initial current; controlling the starting current to decrease as the rotation speed of the oil pump motor increases, in a case where the starting current is equal to the reference current;
under the condition that the running time of the oil pump motor is longer than the set time, controlling the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor;
and after the rotating speed of the oil pump motor is increased, controlling the oil pump motor to operate according to the current frequency of the oil pump motor so as to complete the starting process of the oil pump motor.
2. The start control method of the oil pump motor according to claim 1, wherein determining an initial position at which the oil pump motor is started includes:
and giving a first set current, locking a rotating shaft of the oil pump motor, and taking the position of the rotating shaft of the oil pump motor at the moment as the starting position of starting of the oil pump motor.
3. The start control method of the oil pump motor according to claim 1 or 2, characterized in that controlling the operation of the oil pump motor according to a current frequency of the oil pump motor includes:
determining the current frequency of the oil pump motor based on the initial position of the oil pump motor;
determining whether the current frequency is greater than a set frequency;
if the current frequency is greater than the set frequency, continuing to control the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor to the rated rotating speed of the oil pump motor; and controlling the oil pump motor to enter a speed loop closed-loop control;
and if the current frequency is less than or equal to the set frequency, controlling the oil pump motor to keep running at a set low rotating speed, and controlling the oil pump motor to run according to the load of the oil pump motor.
4. The start control method of the oil pump motor according to claim 3, wherein controlling the operation of the oil pump motor in accordance with the load of the oil pump motor includes:
determining whether a load of the oil pump motor is reduced;
if the load is reduced, continuously controlling the acceleration of the oil pump motor to increase;
and if the load is not reduced, continuously controlling the oil pump motor to keep the set low-speed operation.
5. A start control device of an oil pump motor, characterized by comprising:
a determination unit configured to determine an initial position at which the oil pump motor is started, in a case where a start instruction for controlling the start of the oil pump motor is received;
the control unit is used for executing the control processes of open-loop dragging and current closed-loop of the oil pump motor; in the control process of the open-loop dragging and current closed-loop of the oil pump motor, the starting current of the oil pump motor is controlled to be increased and then reduced; wherein, the control unit control the starting current of oil pump motor increases earlier afterwards reduces, includes: controlling the starting current of the oil pump motor to increase from a first set initial current, and simultaneously controlling the reference current of the oil pump motor to decrease from a second set initial current; the reference current is a current value within a set safe current range of the starting current; the first set initial current is smaller than the second set initial current; controlling the starting current to decrease as the rotation speed of the oil pump motor increases, in a case where the starting current is equal to the reference current;
the control unit is further used for controlling the acceleration of the oil pump motor to increase under the condition that the running time of the oil pump motor is greater than the set time, so that the rotating speed of the oil pump motor is increased;
the control unit is also used for controlling the oil pump motor to run according to the current frequency of the oil pump motor after the rotating speed of the oil pump motor is increased so as to complete the starting process of the oil pump motor.
6. The start control device of the oil pump motor according to claim 5, wherein the determining unit determines an initial position at which the oil pump motor is started, including:
and giving a first set current, locking a rotating shaft of the oil pump motor, and taking the position of the rotating shaft of the oil pump motor at the moment as the starting position of starting of the oil pump motor.
7. The start control device of the oil pump motor according to claim 5 or 6, wherein the control unit controls the operation of the oil pump motor according to a current frequency of the oil pump motor, including:
determining the current frequency of the oil pump motor based on the initial position of the oil pump motor;
determining whether the current frequency is greater than a set frequency;
if the current frequency is greater than the set frequency, continuing to control the acceleration of the oil pump motor to increase so as to increase the rotating speed of the oil pump motor to the rated rotating speed of the oil pump motor; and controlling the oil pump motor to enter a speed loop closed-loop control;
and if the current frequency is less than or equal to the set frequency, controlling the oil pump motor to keep running at a set low rotating speed, and controlling the oil pump motor to run according to the load of the oil pump motor.
8. The start control device of the oil pump motor according to claim 7, wherein the control unit controls the operation of the oil pump motor in accordance with a load of the oil pump motor, including:
determining whether a load of the oil pump motor is reduced;
if the load is reduced, continuously controlling the acceleration of the oil pump motor to increase;
and if the load is not reduced, continuously controlling the oil pump motor to keep the set low-speed operation.
9. An automobile, comprising: the start control device of the oil pump motor according to any one of claims 5 to 8.
10. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is stored is controlled to execute the start control method of the oil pump motor according to any one of claims 1 to 4 when the program is executed.
11. A processor characterized by being configured to execute a program, wherein the program executes a start control method of the oil pump motor according to any one of claims 1 to 4 when executed.
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