CN112305417A - Method and device for detecting state of permanent magnet in permanent magnet synchronous motor and vehicle - Google Patents
Method and device for detecting state of permanent magnet in permanent magnet synchronous motor and vehicle Download PDFInfo
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- CN112305417A CN112305417A CN201910683358.1A CN201910683358A CN112305417A CN 112305417 A CN112305417 A CN 112305417A CN 201910683358 A CN201910683358 A CN 201910683358A CN 112305417 A CN112305417 A CN 112305417A
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses a method and a device for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle and the vehicle, wherein the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle comprises the following steps: acquiring the current running state of the vehicle; if the vehicle is in a neutral sliding state at present, acquiring the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor; calculating a permanent magnet flux linkage value according to the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor; and judging whether the permanent magnet is in an abnormal state or not according to the flux linkage value of the permanent magnet. According to the method for detecting the state of the permanent magnet, the state of the permanent magnet is judged through the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor, other equipment does not need to be added, and the method is simple and effective and is beneficial to timely processing when the permanent magnet is in an abnormal state.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a method for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle, a device for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle and the vehicle.
Background
At present, a traction system of rail transit mainly adopts a motor for traction, and new energy vehicles such as hybrid electric vehicles and pure electric vehicles are also driven by the motor. The permanent magnet synchronous motor has been widely applied to a rail traction system and a new energy automobile driving system due to the advantages of higher power density, higher operating efficiency and the like. The permanent magnet is a key component for providing a main magnetic field in the permanent magnet synchronous motor, and the health state of the permanent magnet synchronous motor can determine whether the permanent magnet synchronous motor can normally output torque. When the rotor temperature exceeds a temperature limit (e.g. 150 c), the permanent magnets will have a large risk of demagnetization. When the permanent magnet is demagnetized, the torque output of the motor is affected. Therefore, monitoring and protection of the permanent magnet is very important.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a method for detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle, so as to simply and conveniently detect the state of the permanent magnet.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a device for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle.
A fourth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle, including the steps of: acquiring the current running state of the vehicle; if the vehicle is in a neutral sliding state at present, acquiring the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor; calculating a permanent magnet flux linkage value according to the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor; and judging whether the permanent magnet is in an abnormal state or not according to the flux linkage value of the permanent magnet.
According to the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle, the current running state of the vehicle is firstly acquired, whether the current running state of the vehicle is in a neutral sliding state or not is further judged, if yes, the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor are acquired, the flux linkage value of the permanent magnet is calculated according to the rotating speed and the quadrature axis voltage, whether the permanent magnet is in an abnormal state or not is judged according to the flux linkage value of the permanent magnet, and therefore corresponding processing operation is conducted when the permanent magnet is in the abnormal state. The detection method can detect the health state of the permanent magnet by monitoring the rotating speed and the quadrature axis voltage value of the permanent magnet synchronous motor, does not need to add other equipment, and is simple and effective.
In addition, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle further includes: judging whether the rotating speed of the permanent magnet synchronous motor is greater than a rotating speed lower limit value and less than a rotating speed upper limit value or not; and if the rotating speed of the permanent magnet synchronous motor is greater than the rotating speed lower limit value and less than the rotating speed upper limit value, calculating the permanent magnet flux linkage value according to the rotating speed of the permanent magnet synchronous motor and the quadrature axis voltage.
According to an embodiment of the present invention, the determining whether the permanent magnet is in an abnormal state according to the permanent magnet flux linkage includes: calculating the difference value between the permanent magnet flux linkage and a preset flux linkage value; if the absolute value of the difference value is smaller than a preset threshold value, judging that the permanent magnet is in a normal state; and if the absolute value of the difference is greater than or equal to the preset threshold, judging that the permanent magnet is in an abnormal state.
According to an embodiment of the present invention, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle further includes: acquiring the temperature of a stator winding of the permanent magnet motor; correcting the preset flux linkage value according to the temperature of the stator winding to obtain a preset flux linkage correction value; and judging whether the permanent magnet is in an abnormal state or not according to the permanent magnet flux linkage value and the preset flux linkage correction value.
According to one embodiment of the invention, the data is represented by a formula
Correcting the preset magnetic linkage value, wherein psi'f0For said predetermined flux linkage correction value, #f0For the preset flux linkage value, T is the stator winding temperature, T0A preset stator winding temperature, k, corresponding to the preset flux linkage valuecoffIs the temperature coefficient of the permanent magnet material.
According to an embodiment of the present invention, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle further includes: acquiring an initial maximum output torque of the vehicle; controlling the maximum output torque of the vehicle to be a product of an initial maximum output torque and a degradation coefficient when the permanent magnet is in an abnormal state, wherein the degradation coefficient is greater than 0 and less than 1.
According to one embodiment of the invention, the flux linkage value of the permanent magnet is calculated by:
wherein psifIs the flux linkage value of the permanent magnet, omega is the rotation speed of the permanent magnet synchronous motor, UqIs the quadrature axis voltage.
According to one embodiment of the invention, the upper limit value of the rotating speed is 5500-6500 rpm, and the lower limit value of the rotating speed is 1500-2500 rpm.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the program, when executed by a processor, implementing the method for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle described in the above embodiment.
The computer-readable storage medium of the embodiment of the invention can simply and conveniently realize the detection of the state of the permanent magnet by executing the computer program stored on the computer-readable storage medium and corresponding to the detection method of the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle by the processor.
In order to achieve the above object, a third aspect of the present invention provides an apparatus for detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle, including: the first acquisition module is used for acquiring the current running state of the vehicle; the second acquisition module is used for acquiring the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor when the vehicle is in a neutral sliding state at present; the calculation module is used for calculating a permanent magnet flux linkage value according to the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor; and the judging module is used for judging whether the permanent magnet is in an abnormal state or not according to the flux linkage value of the permanent magnet.
According to the detection device for the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle, the current running state of the vehicle is obtained through the first obtaining module, the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor are obtained through the second obtaining module, the flux linkage value of the permanent magnet is calculated through the calculating module, and then the state of the permanent magnet is judged through the judging module, so that the detection for the health state of the permanent magnet can be simply and effectively achieved without adding other equipment.
To achieve the above object, a fourth aspect of the present invention provides a vehicle, including: a permanent magnet synchronous machine and a device for detecting the state of a permanent magnet in a permanent magnet synchronous machine for a vehicle according to the third aspect of the embodiment.
The vehicle provided by the embodiment of the invention adopts the detection device for the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle, so that the detection of the health state of the permanent magnet can be simply and effectively realized.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a method of detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to a first embodiment of the present invention;
fig. 2 is a flowchart of a method for detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to a second embodiment of the present invention;
FIG. 4 is a flowchart of a method for detecting the state of permanent magnets in a permanent magnet synchronous motor for a vehicle according to a third embodiment of the present invention
Fig. 5 is a schematic structural view of a detection device of a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to realize the monitoring and protection of the permanent magnet, the method adopted in the related technology is as follows: when the permanent magnet synchronous motor is controlled, the temperature of the stator winding is detected through the temperature sensor embedded in the stator winding of the permanent magnet synchronous motor, so that the running temperature of the permanent magnet synchronous motor is prevented from being too high.
However, the inventor finds that embedding a temperature sensor in the stator winding of a permanent magnet synchronous motor does not effectively monitor the motor rotor temperature in time, and thus does not effectively monitor the state of the permanent magnet. When the permanent magnet is demagnetized, the detection cannot be carried out, and the information whether the permanent magnet is demagnetized or not cannot be obtained. Once the permanent magnet synchronous motor is demagnetized, the permanent magnet synchronous motor will be gradually deteriorated, and the demagnetization and the damage of the motor are accelerated.
Therefore, the invention provides a method and a device for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle and the vehicle.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method and an apparatus for detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle and a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention. As shown in fig. 1, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle includes the following steps:
and S1, acquiring the current running state of the vehicle.
Specifically, the current operating state of the vehicle may be obtained according to the vehicle speed, the wheel speed, the opening degree of a brake pedal, the opening degree of an accelerator pedal, the road surface gradient, the motor driving force, the gear information, and the like of the vehicle, for example, when the vehicle speed is less than a certain value, the vehicle may be considered to be in a medium-low speed operating state; when the gear information is an acceleration gear, the vehicle can be considered to be in an acceleration running state; the gear information is neutral (namely the permanent magnet synchronous motor is in a 0 torque control mode), and when the vehicle speed is greater than 0, the vehicle can be considered to be in a neutral sliding state.
And S2, if the vehicle is in a neutral sliding state at present, acquiring the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor.
The rotating speed of the permanent magnet synchronous motor can be detected by a rotating speed sensor arranged on the permanent magnet synchronous motor, and the quadrature axis voltage of the permanent magnet synchronous motor can be obtained by monitoring the internal control variable of the motor controller.
And S3, calculating the flux linkage value of the permanent magnet according to the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor.
And S4, judging whether the permanent magnet is in an abnormal state or not according to the flux linkage value of the permanent magnet.
In the embodiment, when the vehicle is in a neutral sliding state, the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor are acquired, then the permanent magnet flux linkage value is calculated according to the rotating speed and the quadrature axis voltage, and the state of the permanent magnet is judged according to the calculated permanent magnet flux linkage value so as to determine whether the permanent magnet is in an abnormal state or not. The detection method can detect the health state of the permanent magnet by monitoring the rotating speed and the quadrature axis voltage value of the permanent magnet synchronous motor, does not need to add other equipment, and is simple and effective.
Further, when the permanent magnet is in an abnormal state, the torque output of the vehicle can be degraded and used, and alarm information can be sent out, such as an acoustic/optical alarm, so that the vehicle can be timely sent to a professional detection mechanism for relevant processing, and the damage of the permanent magnet synchronous motor is reduced or avoided.
Wherein applying the derating to the torque output of the vehicle may include: the method comprises the steps of obtaining initial maximum output torque of a vehicle, and controlling the maximum output torque of the vehicle to be the product of the initial maximum output torque and a degradation coefficient when a permanent magnet is in an abnormal state, wherein the degradation coefficient is larger than 0 and smaller than 1, and specific values can be set according to needs.
In an embodiment of the present invention, as shown in fig. 2, the step S4 may include:
and S41, calculating the difference value between the permanent magnet flux linkage and the preset flux linkage value.
And S42, if the absolute value of the difference is smaller than the preset threshold, judging that the permanent magnet is in a normal state.
And S43, if the absolute value of the difference is larger than or equal to the preset threshold, judging that the permanent magnet is in an abnormal state.
The preset flux linkage value can be an average value of all permanent magnet flux linkage values when the permanent magnet synchronous motor normally operates, and the preset threshold value can be set according to the permanent magnet flux linkage values when the motor normally operates.
In an embodiment of the present invention, as shown in fig. 3, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle further includes:
and S5, judging whether the rotating speed of the permanent magnet synchronous motor is greater than the rotating speed lower limit value and less than the rotating speed upper limit value.
In this embodiment, when the rotation speed of the permanent magnet synchronous motor is greater than the lower limit rotation speed and less than the upper limit rotation speed, the permanent magnet flux linkage value is calculated according to the rotation speed of the permanent magnet synchronous motor and the quadrature axis voltage.
Wherein, the user can set the rotating speed upper limit value and the rotating speed lower limit value according to the requirement. Specifically, a certain detection rotation speed range may be set for accurate detection, because the current command value input by the motor controller is Id 0 and Iq 0 at the medium and low speeds. For example, the upper limit of the rotation speed is set to 5500-6500 rpm, such as 6000rpm, the lower limit of the rotation speed is set to 1500-2500 rpm, such as 2000rpm, when the rotation speed falls within the range of 2000-6000rpm, the effective detection is performed.
Specifically, the flux linkage value of the permanent magnet can be calculated by the following formula:
wherein psifIs the flux linkage value of the permanent magnet, omega is the rotating speed of the permanent magnet synchronous motor, UqIs the quadrature voltage.
Specifically, the voltage mathematical equation in the steady state of the permanent magnet synchronous motor is shown as follows:
wherein, UdIs the direct-axis voltage, U, of a permanent magnet synchronous motorqIs the quadrature axis voltage, i, of a permanent magnet synchronous machinedIs the direct-axis current of a permanent magnet synchronous motor iqIs quadrature axis current of the PMSM, R is phase resistance of the PMSM, LdIs a direct-axis inductor of a permanent magnet synchronous motor, LqQuadrature axis inductance, psi, for permanent magnet synchronous machinesfThe flux linkage value of the permanent magnet synchronous motor, and omega is the rotating speed of the permanent magnet synchronous motor.
When the vehicle is coasting in neutral, 0 torque is given, at which time iqBy the above mathematical equation of voltage, the flux linkage value of the permanent magnet can be obtained as:
when the vehicle is in neutral gear coasting at medium and low speeds, 0 torque is given, and the current command i is appliedd＝0、iqWhen the magnetic flux linkage value is equal to 0, the magnetic flux linkage value of the permanent magnet in the steady state of the permanent magnet synchronous motor is changed into:
therefore, when the motor is demagnetized, the quadrature axis voltage value U isqAn exception may also occur. Therefore, the quadrature axis voltage U can be detectedqAnd indirectly detecting the flux linkage value of the permanent magnet.
In one embodiment of the invention, because the flux linkage value of the permanent magnet decreases with increasing temperature, the flux linkage value of the permanent magnet decreases by a certain value for every 100 ℃ increase of the permanent magnet, for example, for the permanent magnet made of rubidium, iron and boron, the flux linkage value decreases by about 12% for every 100 ℃ increase of the permanent magnet. Therefore, the preset flux linkage value can be corrected through temperature sampling of the permanent magnet synchronous motor, so that the judgment error of whether the permanent magnet is in an abnormal state is reduced.
Specifically, as shown in fig. 4, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle further includes:
and S6, acquiring the stator winding temperature of the permanent magnet motor.
And S7, correcting the preset flux linkage value according to the temperature of the stator winding to obtain a preset flux linkage correction value.
Specifically, the preset flux linkage value may be corrected by the following formula:
wherein psi'f0For presetting flux linkage correction value, #f0For a predetermined flux linkage value, T is the stator winding temperature, T0For a predetermined stator winding temperature, k, corresponding to a predetermined flux linkage valuecoffIs the temperature coefficient of the permanent magnet material, wherein k is the temperature coefficient of the permanent magnet material if the permanent magnet material is a rubidium-iron-boron materialcoff＝12％。
And S8, judging whether the permanent magnet is in an abnormal state according to the flux linkage value of the permanent magnet and the preset flux linkage correction value.
In summary, the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle according to the embodiment of the invention can obtain the flux linkage condition of the permanent magnet by monitoring the control variable of the motor controller, does not need to add other devices, and is simple and reliable; when the permanent magnet is abnormal, the influence of the permanent magnet synchronous motor on the driving of the vehicle can be reduced by performing degrading application on the output torque of the vehicle; the judgment accuracy of the state of the permanent magnet can be improved by correcting the preset flux linkage value.
Further, the present invention proposes a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the method of detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle in the above-described embodiments.
The computer-readable storage medium of the embodiment of the invention can simply and conveniently realize the detection of the state of the permanent magnet by executing the computer program stored on the computer-readable storage medium and corresponding to the detection method of the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle by the processor.
Fig. 5 is a schematic structural diagram of a device for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention. As shown in fig. 5, a detection apparatus 100 for detecting a state of a permanent magnet in a permanent magnet synchronous motor for a vehicle includes: a first obtaining module 110, a second obtaining module 120, a calculating module 130 and a judging module 140.
The first obtaining module 110 is configured to obtain a current operating state of the vehicle; the second obtaining module 120 is configured to obtain a rotation speed and a quadrature axis voltage of the permanent magnet synchronous motor when the vehicle is currently in a neutral sliding state; the calculation module 130 is configured to calculate a permanent magnet flux linkage value according to the rotation speed and the quadrature axis voltage of the permanent magnet synchronous motor; the judging module 140 is configured to judge whether the permanent magnet is in an abnormal state according to the flux linkage value of the permanent magnet.
It should be noted that, for other specific embodiments of the device 100 for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle according to the embodiment of the present invention, reference may be made to the above description of the specific embodiment of the method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle according to the embodiment of the present invention, and details are not repeated here.
According to the detection device for the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle, the current running state of the vehicle is obtained through the first obtaining module, the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor are obtained through the second obtaining module, the flux linkage value of the permanent magnet is calculated through the calculating module, and then the state of the permanent magnet is judged through the judging module, so that the detection for the health state of the permanent magnet can be simply and effectively achieved without adding other equipment.
Fig. 6 is a schematic structural view of a vehicle according to an embodiment of the present invention. As shown in fig. 6, the vehicle 1000 includes: permanent magnet synchronous machine 200 and detection device 100 for detecting the state of permanent magnet in permanent magnet synchronous machine for vehicle of the above-described embodiment.
The vehicle provided by the embodiment of the invention adopts the detection device for the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle, so that the detection of the health state of the permanent magnet can be simply and effectively realized.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
In the description of the invention, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps in custom logic functions or processes, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory. The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A method for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle is characterized by comprising the following steps:
acquiring the current running state of the vehicle;
if the vehicle is in a neutral sliding state at present, acquiring the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor;
calculating a permanent magnet flux linkage value according to the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor;
and judging whether the permanent magnet is in an abnormal state or not according to the flux linkage value of the permanent magnet.
2. The method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle according to claim 1, further comprising:
judging whether the rotating speed of the permanent magnet synchronous motor is greater than a rotating speed lower limit value and less than a rotating speed upper limit value or not;
and if the rotating speed of the permanent magnet synchronous motor is greater than the rotating speed lower limit value and less than the rotating speed upper limit value, calculating the permanent magnet flux linkage value according to the rotating speed of the permanent magnet synchronous motor and the quadrature axis voltage.
3. The method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle according to claim 1, wherein the judging whether the permanent magnet is in an abnormal state according to the permanent magnet flux linkage comprises:
calculating the difference value between the permanent magnet flux linkage and a preset flux linkage value;
if the absolute value of the difference value is smaller than a preset threshold value, judging that the permanent magnet is in a normal state;
and if the absolute value of the difference is greater than or equal to the preset threshold, judging that the permanent magnet is in an abnormal state.
4. The method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle according to claim 1, further comprising:
acquiring the temperature of a stator winding of the permanent magnet motor;
correcting the preset flux linkage value according to the temperature of the stator winding to obtain a preset flux linkage correction value;
and judging whether the permanent magnet is in an abnormal state or not according to the permanent magnet flux linkage value and the preset flux linkage correction value.
5. The method for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to claim 4, wherein the preset flux linkage value is corrected by the following formula:
wherein psi'f0For said predetermined flux linkage correction value, #f0For the preset flux linkage value, T is the stator winding temperature, T0A preset stator winding temperature, k, corresponding to the preset flux linkage valuecoffIs the temperature coefficient of the permanent magnet material.
6. The method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle according to claim 1, further comprising:
acquiring an initial maximum output torque of the vehicle;
controlling a maximum output torque of the vehicle to be a product of an initial maximum output torque and a degradation coefficient when the permanent magnet is in an abnormal state, wherein the degradation coefficient is greater than 0 and less than 1.
7. The method of detecting the state of the permanent magnet in the permanent magnet synchronous motor for a vehicle according to claim 2, wherein the flux linkage value of the permanent magnet is calculated by:
wherein psifIs the flux linkage value of the permanent magnet, omega is the rotation speed of the permanent magnet synchronous motor, UqIs the quadrature axis voltage.
8. The method for detecting the state of the permanent magnet in the permanent magnet synchronous motor for the vehicle according to claim 2, wherein the upper limit value of the rotating speed is 5500 to 6500rpm, and the lower limit value of the rotating speed is 1500 to 2500 rpm.
9. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the method of detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle according to any one of claims 1 to 8.
10. A detection device for detecting the state of a permanent magnet in a permanent magnet synchronous motor for a vehicle, characterized by comprising:
the first acquisition module is used for acquiring the current running state of the vehicle;
the second acquisition module is used for acquiring the rotating speed and the quadrature axis voltage of the permanent magnet synchronous motor when the vehicle is in a neutral sliding state at present;
a value;
and the judging module is used for judging whether the permanent magnet is in an abnormal state or not according to the flux linkage value of the permanent magnet.
11. A vehicle, characterized by comprising: a permanent magnet synchronous machine and a device for detecting the state of a permanent magnet in a permanent magnet synchronous machine for a vehicle according to claim 10.
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