CN112751467A - Self-heating method and water inlet maintenance method for driving motor - Google Patents
Self-heating method and water inlet maintenance method for driving motor Download PDFInfo
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- CN112751467A CN112751467A CN202011590927.7A CN202011590927A CN112751467A CN 112751467 A CN112751467 A CN 112751467A CN 202011590927 A CN202011590927 A CN 202011590927A CN 112751467 A CN112751467 A CN 112751467A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/12—Impregnating, heating or drying of windings, stators, rotors or machines
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Abstract
The invention discloses a self-heating method and a water inlet maintenance method for a driving motor, wherein the self-heating method is executed by a driving motor controller and comprises the following steps: receiving a temperature set value and an actual temperature value of a driving motor; calculating a difference value between the temperature set value and the actual temperature value, and obtaining a current instruction according to the difference value; obtaining a quadrature-direct axis voltage given signal according to the current instruction and current feedback of the driving motor; the method comprises the steps that a driving voltage signal is obtained through coordinate transformation by utilizing a quadrature-direct axis voltage given signal and a rotor position signal obtained from a rotor position simulator, the driving voltage signal is subjected to pulse width modulation and then is transmitted to an inverter to generate three-phase alternating current to drive a driving motor to operate, and meanwhile, the three-phase alternating current generates heat when passing through a stator winding of the driving motor to regulate the temperature of the driving motor. According to the scheme, the water inlet maintenance of the motor can be realized only by modifying the motor control algorithm without hardware investment, the cost is low, the safety and the controllability are realized, and the water removal efficiency is high and the effect is good.
Description
Technical Field
The invention belongs to the technical field of motor maintenance, and particularly relates to a self-heating method and a water inlet maintenance method for a driving motor.
Background
Because of the advantages of high torque inertia ratio, high power factor, high efficiency, small volume, reliable operation and the like of a Permanent Magnet Synchronous Motor (PMSM), the permanent magnet synchronous motor is widely applied to electric automobiles, and when the permanent magnet synchronous motor is applied to electric buses or electric buses, the motor body can be arranged at the rear end of the vehicle, the shaft end is exposed outside and is close to the ground, because the southern climate in China is humid and hot and rainy, the electric automobile can run on the road condition with accumulated water for a long time, water drops excited by the running of the automobile can splash at the shaft end of the motor, when a gap appears due to long-term rotation of the shaft end, water drops can enter the motor, so that the insulation resistance value of the three-phase end of the motor and the motor shell is low, the whole vehicle reports insulation faults, the vehicle cannot run, meanwhile, short-circuit faults can occur due to low insulation resistance value, and the safety of people in the vehicle is damaged.
When the motor has a water inlet problem, the existing treatment mode is to disassemble the motor, return the motor to a manufacturer, heat the motor to a certain high temperature in a thermostat, dry the motor, and discharge water through an exhaust hole, so that the purpose of eliminating high-voltage insulation faults is achieved; the existing treatment mode needs to disassemble the motor, and irreparable damage can be caused to a motor system in the disassembling and assembling processes.
Disclosure of Invention
In view of the above problems, the present invention discloses a self-heating method and a water inlet maintenance method for a driving motor to overcome or at least partially solve the above problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a self-heating method of a driving motor, which is executed by a driving motor controller and comprises the following steps:
receiving a temperature set value and an actual temperature value of a driving motor, calculating a difference value between the temperature set value and the actual temperature value, and obtaining a current instruction according to the difference value;
obtaining a quadrature-direct axis voltage given signal according to the current instruction and current feedback of the driving motor;
and the driving voltage signal is subjected to pulse width modulation processing and then is transmitted to an inverter to generate three-phase alternating current, so that the driving motor operates, and meanwhile, the three-phase alternating current generates heat when passing through a stator winding of the driving motor, and the temperature of the driving motor is adjusted.
Optionally, the current feedback is obtained by performing coordinate transformation on the three-phase alternating current and the rotor position signal.
Optionally, the rotor position signal obtained from the rotor position simulator specifically includes:
setting the frequency of the current input into the driving motor to be any value of 0-5 Hz, and obtaining a rotor position signal by using the rotor position simulator according to the frequency.
Optionally, the frequency is any value between 0 and 2 hertz.
Optionally, the operating the driving motor specifically includes: gradually increasing the current to a preset limit value which is larger than a rated current value under the condition of no load, keeping the temperature of the stator winding unchanged to the preset temperature after the preset limit value is reached, and slowly changing the electrical angle of the current from 0-360 degrees during the process of keeping the current unchanged to drive the rotor of the driving motor to rotate in a reciprocating manner.
Optionally, the obtaining of the current command according to the difference includes: and calculating the difference value by using a PI regulator to obtain the current instruction.
Optionally, the driving motor is a permanent magnet synchronous motor, and the temperature setting value of the stator winding is 100-130 ℃.
The invention provides a maintenance method for water inflow of a driving motor of a new energy automobile, which comprises the following steps:
receiving heating function information sent by a CAN protocol, analyzing and judging whether the heating function information comprises an active heating function starting request or not;
if so, further judging whether the rotating speed of the driving motor is less than 10rpm, whether the gear of the new energy automobile is a forward gear and whether the connection between the driving motor and the battery is normal;
if yes, executing the self-heating method.
Optionally, the maintenance method further includes:
and judging whether a braking instruction and/or a fault signal is received, if not, continuing to execute the self-heating method, and if so, stopping execution.
Optionally, the maintenance method further includes:
and receiving an active heating function termination request sent by a CAN protocol after detecting that the insulation resistance value of the drive motor shell reaches a preset value range, and terminating execution of self-heating.
The invention has the advantages and beneficial effects that:
the motor control algorithm is modified without hardware investment, and the method is simple and easy to implement;
low frequency alternating current (less than 5Hz, preferably less than 2Hz, more preferably less than 1Hz) is introduced, so that the influence of unbalanced stator inductance is eliminated;
the mode adopts stator winding heating, so that the heating is more uniform;
the heating temperature is controllable, and the effect is obvious after heating;
and in the heating process, safety monitoring is carried out in real time, so that the working safety is ensured.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic flow chart of a self-heating method for a driving motor according to an embodiment of the present invention;
FIG. 2 is a block diagram of the control logic for the self-heating of the drive motor in one embodiment of the present invention;
FIG. 3 is a schematic graph of the rotor position over time in a drive motor according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of the magnitude of current loading in a drive motor over time in accordance with an embodiment of the present invention;
fig. 5 is a control logic block diagram of the drive motor during maintenance of water inflow according to an embodiment of the present invention.
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 described in detail and fully with reference to 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.
It is to be understood that the terms "comprises/comprising," "consisting of … …," or any other variation, are intended to cover a non-exclusive inclusion, such that a product, device, process, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product, device, process, or method if desired. Without further limitation, an element defined by the phrases "comprising/including … …," "consisting of … …," or "comprising" does not exclude the presence of other like elements in a product, device, process, or method that comprises the element.
The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to a flow chart diagram of a self-heating method of a driving motor shown in fig. 1 and combining with a control logic block diagram of the driving motor shown in fig. 2 to realize self-heating, the self-heating method comprises the following steps:
and S110, receiving a temperature set value and an actual temperature value of the driving motor by using a controller of the driving motor, wherein the temperature set value is predetermined according to the evaporation of the water entering the driving motor by heating the driving motor, the preferred range is 100-130 ℃, and the actual temperature of the driving motor is detected according to a temperature sensor arranged in a shell of the driving motor. After the two temperature values are obtained, the difference value between the temperature set value and the actual temperature value is calculated, and a current instruction required for driving and heating the driving motor is determined according to the difference value.
Preferably, in practice, the current command may be obtained by calculating the difference between the temperatures by using a PI regulator. PI is an abbreviation for proportion, integral, respectively, and mainly plays a role in proportion regulation: is the deviation of a proportional reaction system, and once the deviation occurs in the system, the proportional adjustment immediately generates an adjusting effect to reduce the deviation. The proportion effect is large, the adjustment can be accelerated, and the error is reduced; in addition, the method can also play a role in integral regulation, so that the system eliminates steady-state errors and improves the tolerance. Because of the error, the integral adjustment is carried out until no difference exists, the integral adjustment is stopped, and the integral adjustment outputs a constant value.
And S120, obtaining a quadrature-direct axis voltage given signal according to the current instruction and the current feedback of the driving motor. Specifically, the current closed-loop regulator is used for receiving the current instruction and the current feedback signal, and voltage components on a direct axis and a quadrature axis are obtained after operation processing.
The current feedback is obtained by combining three-phase alternating current in the inverter and the driving motor with the rotor position signal and performing coordinate transformation.
And S130, converting coordinates by using the alternating-direct axis voltage given signal and a rotor position signal obtained from the rotor position simulator to obtain a driving voltage signal, carrying out pulse width modulation processing on the driving voltage signal, and then transmitting the driving voltage signal to an inverter to generate three-phase alternating current so that the driving motor operates, and meanwhile, heating the driving motor when the three-phase alternating current passes through a stator winding of the driving motor, so as to raise the temperature of the driving motor.
It should be noted that, in order to reduce the loss of the rotation of the driving motor and mainly use the energy for heating the driving motor, the embodiment also sets the frequency of the current, uses the current frequency with very low frequency, such as the frequency less than or equal to 5Hz, preferably the frequency less than or equal to 2Hz, and more preferably the frequency less than or equal to 1Hz, and then inputs the set frequency into the rotor position simulator, and performs the coordinate transformation by using the rotor position generated by the rotor position simulator, which results in that: the range of the rotation angle of the motor rotor is small, slow swing in a small range can be achieved, and meanwhile, three-phase alternating current passing through the stator winding is uniform, heating is uniform, and therefore a good technical effect is achieved.
In summary, as can be seen from fig. 2, the rotor position change step length is set by frequency setting for vector control of the coordinate transformation angle, and the current instruction to be output can be obtained by inputting the motor temperature collected in real time and the temperature setting value into the temperature closed-loop regulator, and the current in the motor winding is adjusted by current closed-loop control, so as to adjust the motor temperature.
In addition, considering the problem that the speed ratio of the transmission system of the vehicle and the low-frequency current cause the rotor of the driving motor to move in a small range, the rotor position of the output of the rotor position simulator is limited after the low-frequency current is utilized, the rotor position is ensured to move repeatedly in a certain range, and the change curve of the rotor position is shown in fig. 3 below.
In an embodiment, in the initial stage of current loading, since the current ratio is relatively small, torque which can change the rotor position cannot be generated, so that in the initial stage, a current which generates 0Nm of torque is loaded by using the actual rotor position, the current is slowly increased to a current limit value, then the rotor position is slowly changed according to, for example, 1Hz through simulation, the change range is 0-360 ° of an electrical angle, the generated torque can enable the whole vehicle to move back and forth along with the change of the rotor position shown in fig. 3, when the temperature reaches a set value, the temperature of the stator winding of the driving motor reaches a balance value by adjusting the magnitude of a current instruction, and the loading process of the current is as shown in fig. 4 below.
In an embodiment, with reference to the control logic block diagram of the drive motor during maintenance of driving water shown in fig. 5, an embodiment of the present invention further discloses a method for maintaining driving water of a new energy vehicle, where a maintenance worker uses a special tool to perform the maintenance after the vehicle stops, where the method is performed by a controller of the new energy vehicle, and specifically includes:
and receiving heating function information sent by a CAN protocol, analyzing the heating function information, and judging whether the heating function information comprises an active heating function starting request.
If the active heating function starting request is included, whether the rotating speed of the driving motor is smaller than a small rotating speed of 10rpm or the like or even in a basically non-rotating state is further judged, whether the gear of the new energy automobile is a forward gear or not and whether the high-voltage connection between the driving motor and a battery is normal or not can also be judged, and therefore the forward and backward movement of the automobile is achieved subsequently.
If the judgment result is yes, executing the self-heating method; if the result of any judgment is negative, the active heating function is closed.
In a preferred embodiment, the repair method further comprises: judging whether a braking instruction and/or a fault signal are received, if not, continuing to execute the self-heating method, if so, stopping execution, wherein the step is designed for safely starting the vehicle, and if the braking instruction or other fault signals exist, stopping the heating operation.
In one embodiment, the repair method further comprises: after heating for a period of time, the insulation resistance value of the drive motor shell is continuously detected, the insulation resistance value is smaller due to water inflow at first, when the insulation resistance value reaches a normal preset value range, the moisture in the drive motor is indicated to be evaporated, and then an active heating function termination request sent by a CAN protocol CAN be received by the controller, so that the maintenance task is completed.
Finally, the above-mentioned scheme is further explained by taking a specific example as an example. An actually measured 8.5m bus carries a permanent magnet synchronous motor with the peak torque of 1500Nm and the number of pole pairs of 6 pairs of poles, the final reduction ratio is 6.17, the problem of low insulation caused by the water inlet problem of the motor is solved, the self-heating of the stator is realized by the low-frequency current self-heating method, the rotor of the motor is driven to slowly rotate within the range of 60 degrees of mechanical angle, and the tire slowly moves within the range of less than 10 degrees of mechanical angle.
By testing on a real vehicle through the method, before the stator winding is self-heated, the resistance value of the three-phase terminal to the motor shell is 0.5M omega, and after heating and drying, the insulation resistance value is changed into 5.1M omega. Therefore, the self-heating scheme can effectively improve the insulation resistance of the driving motor and improve the safety and reliability of the whole vehicle.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A drive motor self-heating method performed by a drive motor controller, the self-heating method comprising:
receiving a temperature set value and an actual temperature value of a driving motor, calculating a difference value between the temperature set value and the actual temperature value, and obtaining a current instruction according to the difference value;
obtaining a quadrature-direct axis voltage given signal according to the current instruction and current feedback of the driving motor;
and the driving voltage signal is subjected to pulse width modulation processing and then is transmitted to an inverter to generate three-phase alternating current, so that the driving motor operates, and meanwhile, the three-phase alternating current generates heat when passing through a stator winding of the driving motor, and the temperature of the driving motor is adjusted.
2. A self-heating method according to claim 1, wherein the current feedback is obtained by coordinate transformation from the three-phase alternating current and the rotor position signal.
3. A self-heating method according to claim 1, wherein the rotor position signal derived from the rotor position simulator comprises in particular:
setting the frequency of the current input into the driving motor to be any value of 0-5 Hz, and obtaining a rotor position signal by using the rotor position simulator according to the frequency.
4. A method of self-heating according to claim 3, wherein the frequency is any value between 0 and 2 hz.
5. The self-heating method according to claim 1, wherein the causing the driving motor to operate specifically includes: gradually increasing the current to a preset limit value which is larger than a rated current value under the condition of no load, keeping the temperature of the stator winding unchanged to the preset temperature after the preset limit value is reached, and slowly changing the electrical angle of the current from 0-360 degrees during the process of keeping the current unchanged to drive the rotor of the driving motor to rotate in a reciprocating manner.
6. A self-heating method as claimed in claim 1, wherein said deriving a current command from said difference comprises: and calculating the difference value by using a PI regulator to obtain the current instruction.
7. The self-heating method as claimed in claim 1, wherein the driving motor is a permanent magnet synchronous motor, and the temperature setting value of the stator winding is 100-130 ℃.
8. A maintenance method for water inflow of a driving motor of a new energy automobile is characterized by comprising the following steps:
receiving heating function information sent by a CAN protocol, analyzing and judging whether the heating function information comprises an active heating function starting request or not;
if so, further judging whether the rotating speed of the driving motor is less than 10rpm, whether the gear of the new energy automobile is a forward gear and whether the connection between the driving motor and the battery is normal;
if so, performing the self-heating method of any one of claims 1-7.
9. The repair method of claim 8, further comprising:
and judging whether a braking instruction and/or a fault signal is received, if not, continuing to execute the self-heating method, and if so, stopping executing the self-heating.
10. The repair method according to claim 8 or 9, further comprising:
and receiving an active heating function termination request sent by a CAN protocol after detecting that the insulation resistance value of the drive motor shell reaches a preset value range, and terminating execution of self-heating.
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