CN112564564A - Motor torque closed-loop control method based on torque estimation - Google Patents

Motor torque closed-loop control method based on torque estimation Download PDF

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CN112564564A
CN112564564A CN202011363866.0A CN202011363866A CN112564564A CN 112564564 A CN112564564 A CN 112564564A CN 202011363866 A CN202011363866 A CN 202011363866A CN 112564564 A CN112564564 A CN 112564564A
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torque
loop control
motor
closed
electromagnetic
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CN112564564B (en
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朱相军
罗建武
张红霞
饶健
尤长坤
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to a motor torque closed-loop control method based on torque estimation, which comprises the following steps: dividing the motor torque into an electromagnetic torque part and a reluctance torque part for storing a number table; at normal temperature t0For non-normal temperature t1Time magnetic chain
Figure DDA0002804843190000011
Establishing a compensation relation according to the torque variation caused by the variation of the torque; and a torque control outer ring is added on the basis of torque open-loop control, sliding mode filtering calculation is carried out on the torque control outer ring through an estimated torque error, a torque command is compensated, and torque closed-loop control is realized. The invention divides the motor torque into two parts for storing a number table, and considers the temperature compensation of the electromagnetic torque part, thereby improving the estimation precision of the electromagnetic torque; on the basis of the traditional open-loop control, a torque control outer ring is added to compensate a torque commandRealizing torque closed-loop control; the compensation loop adopts a sliding mode controller to carry out output filtering, so that the response speed can be ensured, and the steady-state error caused by adding a feedback loop to the system can be reduced.

Description

Motor torque closed-loop control method based on torque estimation
Technical Field
The invention relates to the technical field of torque estimation, in particular to a motor torque closed-loop control method based on torque estimation.
Background
The permanent magnet synchronous motor electric drive system is used as a mainstream scheme of a new energy vehicle and is widely applied to vehicle types such as pure electric vehicles, hybrid vehicles and the like. Because the cost of using a torque sensor is high, and the current and the torque have a direct functional relationship, the open-loop control of the torque is usually realized by calibrating the current, and by current closed-loop control, representing the specific torque by the specific current. However, when the method is applied to a complex use environment of a new energy automobile, the open-loop calibrated current is more and can only reflect the trend of torque change along with the changes of environment temperature, motor working temperature and the like, or when the stability of current control is reduced and the current control has static difference.
In the prior art, Id and Iq after motor PARK conversion are arranged into a two-dimensional number table, and the table lookup is continuously carried out in the driving process to carry out torque estimation. The torque estimation has no temperature adaptability and can only compensate the torque error caused by the steady state error of the current control.
In addition, a bus current sensor is added to measure bus voltage and bus current, direct current bus power is measured, motor loss and controller loss under various working conditions are analyzed, the active power of the motor is estimated by subtracting the thermal power from the bus power, and finally the torque of the motor is calculated through the estimated active power of the motor and the rotating speed of the motor. The method has the disadvantages that additional components are required to be added, the later-period fixed cost is high, the thermal power loss is related to the IGBT module frequency of the controller, the harmonic quantity of the motor and the operation condition multivariable of the motor, and the calibration difficulty and accuracy are low.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a motor torque closed-loop control method based on torque estimation aiming at the defects in the prior art, the motor torque is estimated through a certain algorithm, more accurate current motor torque is calculated, the torque is subjected to closed-loop control, and steady-state errors caused by motor temperature in the motor control process of an electric drive system are compensated.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a closed-loop control method for motor torque based on torque estimation comprises the following steps:
step S1, dividing the motor torque into two parts of electromagnetic torque and reluctance torque to carry out table storage
Figure BDA0002804843170000021
(id，iq，tii)，iqRepresenting the q-axis current, idThe d-axis current is shown as,
Figure BDA0002804843170000022
representing electromagnetic torque, tiiRepresenting a reluctance torque;
step S2, electromagnetic torque temperature compensation: at normal temperature t0For non-normal temperature t1Time magnetic chain
Figure BDA0002804843170000023
Establishing a compensation relation according to the torque variation caused by the variation of the torque;
step S3, motor torque closed-loop control: and a torque control outer ring is added on the basis of torque open-loop control, sliding mode filtering calculation is carried out on the torque control outer ring through an estimated torque error, a torque command is compensated, and torque closed-loop control is realized.
In the above scheme, in step S1:
Figure BDA0002804843170000024
tii＝p(Ld-Lq)idiq (2)
Figure BDA0002804843170000025
in the formula, p is the number of pole pairs of the motor,
Figure BDA0002804843170000026
is a permanent magnet flux linkage, LdInductance of d-axis, LqAn inductance of q-axis; t is teRepresenting the motor torque, which is the sum of the electromagnetic torque and the reluctance torque.
In the above scheme, in step S2, the compensation relationship is established as follows:
Figure BDA0002804843170000027
in the formula, alpha is a torque coefficient constant related to the magnetic steel material,
Figure BDA0002804843170000028
respectively at an extraordinary temperature t1And normal temperature t0Electromagnetic torque under the condition of equal q-axis current.
In the foregoing solution, in step S3, the torque open-loop control specifically includes the following steps:
step S3.1, inputting a torque command;
s3.2, mapping the torque command to the corresponding d-axis current command and q-axis current command according to the torque lookup table;
and S3.3, controlling the motor according to the current instruction.
In the foregoing solution, in step S3, the increased torque control outer ring specifically includes the following steps:
step S3.4, dq decoupling current input: performing coordinate transformation on the stationary ABC axis three-phase current sampling result to a rotating dq axis;
step S3.5, torque error estimation: estimating a torque error according to the compensation relationship established in step S2;
step S3.6, slip-form filtering calculation is carried out on the torque error: and carrying out low-pass filtering on the torque error by using real-time average in a certain period, and participating in feedback control after the torque error is amplified.
In the above scheme, the certain period is selected to be a control period far greater than the current.
The invention has the beneficial effects that:
1. the invention divides the motor torque into an electromagnetic torque part and a reluctance torque part for storing a data table, and considers the temperature compensation of the electromagnetic torque part, thereby improving the estimation precision of the electromagnetic torque.
2. The invention adds a torque control outer ring on the basis of the current control instruction to compensate the torque instruction and realize the torque closed-loop control.
3. The compensation loop adopts a sliding mode controller to carry out output filtering, so that the response speed can be ensured, and the steady-state error caused by adding a feedback loop to the system can be reduced.
4. The method can improve the stability and response precision of the whole vehicle torque control during the vehicle running.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method of closed loop control of motor torque based on torque estimation in accordance with the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The invention provides a motor torque closed-loop control method based on torque estimation, which comprises the following steps:
step S1, dividing the motor torque into two parts of electromagnetic torque and reluctance torque to store a number table (t)q，
Figure BDA0002804843170000041
)，(id，iq，tii)，iqRepresenting quadrature (q-axis) current, idRepresenting the direct axis (d-axis) current,
Figure BDA0002804843170000042
representing electromagnetic torque, tiiRepresenting the reluctance torque, and:
Figure BDA0002804843170000043
tii＝p(Ld-Lq)idiq (2)
Figure BDA0002804843170000044
in the formula, p is the number of pole pairs of the motor,
Figure BDA0002804843170000045
is a permanent magnet flux linkage, LdInductance of d-axis, LqAn inductance of q-axis; t is teRepresenting the motor torque, which is the sum of the electromagnetic torque and the reluctance torque.
In the above calculation method, the electromagnetic torque
Figure BDA0002804843170000046
Mainly linked to q-axis current and flux
Figure BDA0002804843170000047
And (4) correlating. Reluctance torque tiiMainly related to q-axis current and d-axis current, since temperature has little influence on inductance, the value of (i) isd，iq，tii) The calculation precision of the point-stored two-dimensional table lookup table on the reluctance torque is high. But with
Figure BDA0002804843170000048
The point-stored electromagnetic torque one-dimensional table look-up can only measure a certain temperature with higher precision.
Step S2, electromagnetic torque temperature compensation:
at normal temperature t0For non-normal temperature t1Time magnetic chain
Figure BDA0002804843170000049
The compensation relationship is established as follows:
Figure BDA00028048431700000410
in the formula, alpha is a torque coefficient constant related to the magnetic steel material,
Figure BDA00028048431700000411
respectively at an extraordinary temperature t1And normal temperature t0Electromagnetic torque under the condition of equal q-axis current.
Step S3, motor torque closed-loop control:
generally, motor torque control directly performs table lookup on an input torque command to obtain a current control command, so as to realize torque open-loop control, which specifically includes the following steps, referring to fig. 1:
step S3.1, inputting a torque command;
s3.2, mapping the torque command to the corresponding d-axis current command and q-axis current command according to the torque lookup table;
and S3.3, controlling the motor according to the current instruction.
The invention adds a torque control outer ring on the basis, the torque control outer ring carries out sliding mode filtering calculation through the estimated torque error, and compensates the torque instruction, thereby realizing torque closed-loop control. With continued reference to fig. 1, the torque control outer ring specifically includes the steps of:
step S3.4, dq decoupling current input: performing coordinate transformation on the stationary ABC axis three-phase current sampling result to a rotating dq axis;
step S3.5, torque error estimation: the torque error is estimated using equation (4) as
Figure BDA0002804843170000051
Step S3.6, slip-form filtering calculation is carried out on the torque error: the torque error is subjected to low-pass filtering by using real-time average within a period of 10ms and is amplified to participate in feedback control, so that the response speed can be ensured, and the steady-state error caused by adding a feedback loop in a system can be reduced.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (6)

1. A closed-loop control method for motor torque based on torque estimation is characterized by comprising the following steps:
step S1, dividing the motor torque into two parts of electromagnetic torque and reluctance torque to carry out table storage
Figure FDA0002804843160000011
(id，iq，tii)，iqRepresenting the q-axis current, idThe d-axis current is shown as,
Figure FDA0002804843160000012
representing electromagnetic torque, tiiRepresenting a reluctance torque;
step S2, electromagnetic torque temperature compensation: at normal temperature t0For non-normal temperature t1Time magnetic chain
Figure FDA0002804843160000013
Establishing a compensation relation according to the torque variation caused by the variation of the torque;
step S3, motor torque closed-loop control: and a torque control outer ring is added on the basis of torque open-loop control, sliding mode filtering calculation is carried out on the torque control outer ring through an estimated torque error, a torque command is compensated, and torque closed-loop control is realized.
2. The torque estimation based motor torque closed loop control method according to claim 1, characterized in that in step S1:
Figure FDA0002804843160000014
tii＝p(Ld-Lq)idiq (2)
Figure FDA0002804843160000015
in the formula, p is the number of pole pairs of the motor,
Figure FDA0002804843160000016
is a permanent magnet flux linkage, LdInductance of d-axis, LqAn inductance of q-axis; t is teRepresenting the motor torque, which is the sum of the electromagnetic torque and the reluctance torque.
3. The torque estimation based motor torque closed loop control method according to claim 1, wherein in step S2, the compensation relationship is established as follows:
Figure FDA0002804843160000017
in the formula, alpha is a torque coefficient constant related to the magnetic steel material,
Figure FDA0002804843160000018
respectively at an extraordinary temperature t1And normal temperature t0Electromagnetic torque under the condition of equal q-axis current.
4. The torque estimation based motor torque closed-loop control method according to claim 1, characterized in that in step S3, the torque open-loop control specifically comprises the steps of:
step S3.1, inputting a torque command;
s3.2, mapping the torque command to the corresponding d-axis current command and q-axis current command according to the torque lookup table;
and S3.3, controlling the motor according to the current instruction.
5. The torque estimation based motor torque closed loop control method according to claim 1, wherein the added torque control outer loop in step S3 comprises the steps of:
step S3.4, dq decoupling current input: performing coordinate transformation on the stationary ABC axis three-phase current sampling result to a rotating dq axis;
step S3.5, torque error estimation: estimating a torque error according to the compensation relationship established in step S2;
step S3.6, slip-form filtering calculation is carried out on the torque error: and carrying out low-pass filtering on the torque error by using real-time average in a certain period, and participating in feedback control after the torque error is amplified.
6. The torque estimation based motor torque closed loop control method of claim 5 wherein the certain period is selected to be a control period greater than current.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102710208A (en) * 2012-06-01 2012-10-03 杭州万工科技有限公司 Permanent magnet synchronous motor self-adaptation control method based on temperature variation
CN103931096A (en) * 2011-02-23 2014-07-16 迪尔公司 Method and system for controlling an electrical motor with temperature compensation
CN104360171A (en) * 2014-11-17 2015-02-18 长春工程学院 Method for measuring inductance parameter of permanent magnet synchronous motor
EP2889999A1 (en) * 2013-12-27 2015-07-01 Deere & Company Methods of torque estimation and compensation and systems thereof
CN106655940A (en) * 2016-12-28 2017-05-10 广东美芝制冷设备有限公司 Air conditioner and harmonic torque compensation method and control method and device of compressor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103931096A (en) * 2011-02-23 2014-07-16 迪尔公司 Method and system for controlling an electrical motor with temperature compensation
CN102710208A (en) * 2012-06-01 2012-10-03 杭州万工科技有限公司 Permanent magnet synchronous motor self-adaptation control method based on temperature variation
EP2889999A1 (en) * 2013-12-27 2015-07-01 Deere & Company Methods of torque estimation and compensation and systems thereof
CN104360171A (en) * 2014-11-17 2015-02-18 长春工程学院 Method for measuring inductance parameter of permanent magnet synchronous motor
CN106655940A (en) * 2016-12-28 2017-05-10 广东美芝制冷设备有限公司 Air conditioner and harmonic torque compensation method and control method and device of compressor

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