CN112787309A - Circuit protection control method and system of motor controller - Google Patents

Circuit protection control method and system of motor controller Download PDF

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Publication number
CN112787309A
CN112787309A CN202110180343.0A CN202110180343A CN112787309A CN 112787309 A CN112787309 A CN 112787309A CN 202110180343 A CN202110180343 A CN 202110180343A CN 112787309 A CN112787309 A CN 112787309A
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China
Prior art keywords
rotating speed
motor
braking torque
curve
threshold value
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CN202110180343.0A
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Chinese (zh)
Inventor
李帆远
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Leadrive Technology Shanghai Co Ltd
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Leadrive Technology Shanghai Co Ltd
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Priority to CN202110180343.0A priority Critical patent/CN112787309A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0822—Integrated protection, motor control centres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error
    • 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 provides a circuit protection control method and a system of a motor controller, which comprises the following steps: calibrating a first braking torque-rotating speed curve and a second braking torque-rotating speed curve of the motor in an ASC (automatic braking control) and SPO (spin-rotor) state; calibrating a safe torque curve, wherein the safe torque curve is intersected with a first braking torque-rotating speed curve at a first intersection point, and the first braking torque-rotating speed curve is intersected with a second braking torque-rotating speed curve at a second intersection point; determining a first rotation speed threshold value and a second rotation speed threshold value; detecting the current rotating speed of the motor, and executing SPO protection when the current rotating speed is less than or equal to a first rotating speed threshold value; when the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, performing ASC or SPO alternative protection; and when the current rotating speed is greater than or equal to the second rotating speed threshold value, performing ASC protection. After the technical scheme is adopted, the method is suitable for the active safety control of various pure electric/hybrid vehicle type motor controllers, and provides flexible control logic for various use working conditions.

Description

Circuit protection control method and system of motor controller
Technical Field
The invention relates to the field of motor control, in particular to a circuit protection control method and system of a motor controller.
Background
In new energy automobile application, the normal operation of an electric drive system consisting of a motor and a motor controller is extremely important, and once the electric drive system fails, device damage and even casualties can be caused. Therefore, in the event of a fault in the electric drive system, the electric drive system needs to be protected from the fault and enter active safety control, and zero torque or acceptable safe braking torque is output to slowly stop the vehicle, so that the driver can safely drive away from the lane. Two of the most common active safety control measures are spo (switching Pulse off), i.e., fully closed state, and asc (active Short circuit), i.e., active Short circuit. The SPO realizes that the switching tubes are completely disconnected, and the ASC realizes the separation of other high-voltage components such as a battery and an electric driving system by short-circuiting an upper bridge or a lower bridge.
Under the SPO state, the back electromotive force of the permanent magnet synchronous motor is increased along with the rotating speed, and the excessively high back electromotive force can possibly pass through a rectifier diode of a three-phase bridge to reversely charge a battery, so that other devices are damaged; the ASC has a high braking torque at a medium-low speed, which affects safe operation, and a short-circuit current generated in the ASC state also damages a motor and a motor controller.
In the prior art, the condition that the motor controller determines whether to enter the above two states is to set a fixed rotation speed value, execute ASC when the rotation speed of the motor reaches or exceeds the fixed rotation speed value, and perform SPO when the rotation speed is lower than the fixed rotation speed value. Therefore, under the complicated application condition, especially in the middle speed region, the zero torque or the safe braking torque can not be ensured, and the device damage caused by the overhigh reverse charging voltage can also be avoided.
Therefore, a novel circuit protection control method and system for a motor controller are needed, characteristics of the ASC/SPO in a full rotation speed range are defined, actual measurement voltage, rotation speed or other related variables are combined, zero torque is met or braking torque is controlled to be within a safe torque under a complex application condition, and damage to devices due to excessively high reverse charging voltage is avoided.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide a circuit protection control method and a circuit protection control system for a motor controller, which are suitable for the active safety control of various pure electric/hybrid vehicle type motor controllers and provide flexible control logic corresponding to various use conditions.
The invention discloses a circuit protection control method of a motor controller, which comprises the following steps:
calibrating the relation between the braking torque and the motor rotating speed of a motor in the states of active short circuit and full pipe closing to form a first braking torque-rotating speed curve and a second braking torque-rotating speed curve;
calibrating a safe torque curve of the motor in the braking torque-rotating speed curve, so that the safe torque curve and the first braking torque-rotating speed curve are intersected at a first intersection point, and the first braking torque-rotating speed curve and the second braking torque-rotating speed curve are intersected at a second intersection point;
determining the motor rotating speeds corresponding to the first intersection point and the second intersection point as a first rotating speed threshold value and a second rotating speed threshold value;
detecting the current rotating speed of the motor, and comparing the current rotating speed with a first rotating speed threshold value and/or a second rotating speed threshold value;
when the current rotating speed is less than or equal to the first rotating speed threshold value, the motor controller performs full-shutdown protection on the motor;
when the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, the motor controller performs active short circuit or full-pipe-closing alternative protection on the motor;
and when the current rotating speed is greater than or equal to the second rotating speed threshold value, the motor controller executes active short-circuit protection on the motor.
Preferably, when the current rotation speed is greater than the first rotation speed threshold and less than the second rotation speed threshold, the step of performing active short-circuit or full-off alternative protection on the motor by the motor controller includes:
when the current rotating speed is greater than the first rotating speed threshold value and less than the second rotating speed threshold value, the motor controller executes active short-circuit protection on the motor, or
When the current rotating speed is greater than the first rotating speed threshold value and less than the second rotating speed threshold value, the motor controller executes full-closed protection on the motor, or
When the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, detecting the direct current voltage of the motor, and comparing the direct current voltage with the reverse charging voltage of the motor at the current rotating speed;
when the direct-current voltage is less than or equal to the reverse charging voltage, the motor controller performs active short-circuit protection on the motor;
when the direct current voltage is greater than or equal to the reverse charging voltage, the motor controller performs full-shutdown protection on the motor.
Preferably, before the step of detecting the dc voltage of the motor and comparing the dc voltage with the reverse charging voltage of the motor when the current rotation speed is greater than the first rotation speed threshold and less than the second rotation speed threshold, the method further includes:
a voltage threshold value is also arranged in the motor controller;
comparing a reverse charging voltage of the motor to a voltage threshold;
when the reverse charging voltage is less than or equal to the voltage threshold, the motor controller performs full-shutdown protection on the motor;
when the reverse charging voltage is greater than the voltage threshold, the direct current voltage of the motor is detected and compared with the reverse charging voltage of the motor.
Preferably, the step of determining the motor rotation speeds corresponding to the first intersection point and the second intersection point as the first rotation speed threshold and the second rotation speed threshold includes:
acquiring a first motor rotating speed and a second motor rotating speed corresponding to the first intersection point and the second intersection point;
acquiring a first rotating speed interval before and after the rotating speed of the first motor and a second rotating speed interval before and after the rotating speed of the second motor based on a rotating speed redundancy ratio;
and defining the first rotating speed interval and the second rotating speed interval as a first rotating speed threshold value and a second rotating speed threshold value.
Preferably, the method further comprises the following steps:
when the current rotating speed jumps inside and outside the first rotating speed interval, the motor controller is maintained to perform full-shutdown protection on the motor;
and when the current rotating speed jumps inside and outside the second rotating speed interval, maintaining the motor controller to perform active short-circuit protection on the motor.
Preferably, a time threshold is provided in the motor controller, and at least the time threshold is maintained when the motor controller performs a full-shutdown protection or an active short-circuit protection on the motor.
Preferably, the method further comprises the following steps:
correcting a first braking torque-rotating speed curve and a second braking torque-rotating speed curve based on the change of the motor at different rotor temperatures;
the first and second speed thresholds are determined based on a rotor temperature.
The invention also discloses a circuit protection control system of the motor controller, the motor controller is connected with a motor and controls the working state of the motor, the motor controller comprises:
the calibration module calibrates the relation between the braking torque and the motor rotating speed of the motor in the states of active short circuit and full pipe closing to form a first braking torque-rotating speed curve and a second braking torque-rotating speed curve and stores the first braking torque-rotating speed curve, and calibrates the safety torque curve of the motor in the braking torque-rotating speed curve to ensure that the safety torque curve and the first braking torque-rotating speed curve are intersected at a first intersection point and the first braking torque-rotating speed curve and the second braking torque-rotating speed curve are intersected at a second intersection point;
the processing module is used for determining the motor rotating speeds corresponding to the first intersection point and the second intersection point as a first rotating speed threshold value and a second rotating speed threshold value;
the control module detects the current rotating speed of the motor and compares the current rotating speed with a first rotating speed threshold value and/or a second rotating speed threshold value; when the current rotating speed is less than or equal to the first rotating speed threshold value, performing full-shutdown protection on the motor; when the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, performing active short circuit or total pipe closing alternative protection on the motor; and when the current rotating speed is greater than or equal to the second rotating speed threshold value, performing active short-circuit protection on the motor.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. optimizing the entering condition of the ASC/SPO from two aspects of avoiding excessive braking torque and avoiding the influence of a back electromotive force reverse charging battery;
2. the condition of entering the ASC/SPO is flexibly judged by combining actually measured voltage, rotating speed and other conditions, and the problem that other devices are caused by a reverse charging battery due to overlarge back electromotive force of the SPO is avoided.
Drawings
FIG. 1 is a schematic flow chart of a circuit protection control method for a motor controller according to a preferred embodiment of the present invention;
FIG. 2 is a schematic illustration of a first braking torque-speed curve and a second braking torque-speed curve in accordance with a preferred embodiment of the present invention;
fig. 3 is a flow chart illustrating a circuit protection control method of a motor controller according to a preferred embodiment of the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Referring to fig. 1, a schematic flow chart of a circuit protection control method of a motor controller according to a preferred embodiment of the present invention is shown, in which the circuit protection control method includes the following steps:
s100: calibrating the relation between the braking torque and the motor rotating speed of a motor in the states of active short circuit and full pipe closing to form a first braking torque-rotating speed curve and a second braking torque-rotating speed curve
As mentioned above, in the event of a fault in an electric drive system, it is necessary to failsafe it and to enter active safety control. The two most common Active protection measures are the total pipe-closing (SPO) and the Active Short Circuit (ASC). The SPO is realized by completely disconnecting the switching tubes; the ASC is a device that separates other high voltage components, such as a battery, from the motor and controller by short-circuiting the upper bridge or the lower bridge. For a motor to be controlled, the relationship between the braking torque and the motor speed of the motor in the ASC and SPO states is calibrated, and the braking torque is a variable of the y-axis when the different motor speeds are used as variables of the x-axis, so that a first braking torque-speed curve and a second braking torque-speed curve as shown in fig. 2 are calibrated. That is, the first braking torque-rotational speed curve and the second braking torque-rotational speed curve represent braking torques that the electric machine will generate at different rotational speeds in the ASC and SPO states, respectively. It can be known from the first braking torque-rotation speed curve that in the ASC state, the braking torque will rise first and then fall as the rotation speed of the motor increases, and the braking torque is maximum in the low-speed region, and it can be known from the second braking torque-rotation speed curve that in the SPO state, in contrast to the ASC, the braking torque will continuously approach 0 as the rotation speed of the motor increases, and the braking torque will increase as the rotation speed of the motor continuously increases, and if there is a reverse charging voltage, and will change as the reverse charging condition changes. The first braking torque-rotating speed curve and the second braking torque-rotating speed curve are calibrated in the same coordinate axis, so that the relation between the braking torque and the rotating speed of the motor is formed.
It can be understood that a back electromotive force-rotating speed curve is formed according to the relation between the back electromotive force and the rotating speed of the motor in a fully-closed state, and further calculation is carried out, so that a back charging voltage-rotating speed curve of the back electromotive force rectified by the three-phase bridge can be formed.
S200: a safe torque curve of the motor is calibrated in the first braking torque-rotating speed curve and the second braking torque-rotating speed curve, so that the safe torque curve and the first braking torque-rotating speed curve are intersected at a first intersection point, and the first braking torque-rotating speed curve and the second braking torque-rotating speed curve are intersected at a second intersection point
And a safety torque curve is added in the first braking torque-rotating speed curve and the second braking torque-rotating speed curve in the same coordinate axis, and the safety torque value is defined according to the requirements of the whole vehicle manufacturer. Generally, the safe torque value is a fixed value, so in this coordinate axis, the safe torque curve will be plotted as a straight line almost parallel to the x-axis. Thereby, the safety torque curve will intersect the first braking torque-rotational speed curve and the second braking torque-rotational speed curve. And when the first braking torque-rotating speed curve and the second braking torque-rotating speed curve are originally calibrated, the two curves are intersected. On the basis of this, the intersection position of the safety torque curve and the first braking torque-rotational speed curve is defined as a first intersection point, and the first braking torque-rotational speed curve and the second braking torque-rotational speed curve intersect at a second intersection point. It will be appreciated that due to the nature of the first braking torque-speed curve, it will intersect the safety torque curve at two points, for which it is generally possible to select the first intersection point in the direction of increasing motor speed as the first intersection point.
S300: determining the motor rotating speeds corresponding to the first intersection point and the second intersection point as a first rotating speed threshold value and a second rotating speed threshold value
After the first intersection point and the second intersection point are provided, the x-axis positions corresponding to the first intersection point and the second intersection point, that is, the corresponding motor rotation speeds are respectively defined as a first rotation speed threshold and a second rotation speed threshold.
S400: detecting the current rotation speed of the motor and comparing the current rotation speed with a first rotation speed threshold value and/or a second rotation speed threshold value
And after the first rotating speed threshold value and the second rotating speed threshold value are obtained, detecting the current rotating speed of the motor in real time, and comparing the detection result with the first rotating speed threshold value and/or the second rotating speed threshold value. It can be understood that, since the first rotation speed threshold and the second rotation speed threshold divide the rotation speed of the motor into three gears, when comparing, the comparison can be performed with the first rotation speed threshold and the second rotation speed threshold at the same time, or with the first rotation speed threshold and the second rotation speed threshold successively, so as to save the control flow. S410: when the current rotating speed is less than or equal to the first rotating speed threshold value, the motor controller executes full-shutdown protection on the motor
And when the comparison result shows that the current rotating speed is less than or equal to the first rotating speed threshold value, the current rotating speed of the motor is smaller and falls into an area with larger braking torque in an ASC state and smaller braking torque in an SPO state, and for this reason, the motor controller performs full-closed SPO protection on the motor, so that the braking torque of the motor is controlled to be smaller, and the braking torque is ensured to be smaller than the safe torque.
S420: when the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, the motor controller executes active short circuit or full-off alternative protection on the motor
When the comparison result shows that the current rotating speed is greater than the first rotating speed threshold value and less than the second rotating speed threshold value, the current rotating speed is in a middle gear region, and the braking torques in the ASC and SPO states are both less than the safe torque in the region, so that the selection of the ASC or SPO protection measures is acceptable in terms of the dimension of the safe torque, and any one of the ASC or SPO protection measures can be selected as the protection logic.
S430: when the current rotating speed is greater than or equal to the second rotating speed threshold value, the motor controller executes active short-circuit protection on the motor
When the current rotating speed is greater than or equal to the second rotating speed threshold value, the current rotating speed is larger and falls into a high-grade area with smaller braking torque in an ASC state and larger braking torque caused by high reverse charging voltage in an SPO state.
In summary, in the present invention, the fixed rotation speed is no longer used as a solidification standard for controlling the motor to enter the ASC and SPO states, and on the contrary, the safe torque is used as a constant guarantee source, thereby avoiding the problem that the safe torque cannot adapt to the change of the motors of different models and the fixed rotation speed in different usage scenes in the original scheme.
It is understood that, before the above steps S410-430, the relationship between the reverse charging voltage and the rotation speed in the SPO state needs to be determined, that is, the values of the reverse charging voltage at different rotation speeds of the motor can be calibrated in advance for the subsequent comparison.
In a preferred embodiment, when the current rotation speed is greater than the first rotation speed threshold and less than the second rotation speed threshold, the step S420 of the motor controller performing active short-circuit or full-off alternative protection on the motor includes:
s421: when the current rotating speed is greater than the first rotating speed threshold value and less than the second rotating speed threshold value, the motor controller executes active short-circuit protection on the motor
As described above, the ASC and SPO may select one execution when the current rotational speed is in the middle range region. In the embodiment, the logic control of the protective measures is to skip the selection process and directly select the controller to execute the ASC protection on the motor when the current rotating speed is in the middle gear area, so as to omit the intermediate program processing process.
On the other hand, S420 may include:
s421': when the current rotating speed is greater than the first rotating speed threshold value and less than the second rotating speed threshold value, the motor controller executes full-closed protection on the motor
In the embodiment, the logic control of the protective measures is to skip the selection process and directly select the controller to execute the SPO protection on the motor when the current rotating speed is in the middle gear area, and the intermediate program processing process can also be omitted.
S421': when the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, detecting the direct current voltage of the motor, and comparing the direct current voltage with the reverse charging voltage of the motor;
referring to fig. 3, in another preferred embodiment, for the logical control of the protective measures, another decision dimension is added. Specifically, when the current rotation speed is in the middle gear region, the direct-current voltage U will be detectedrealDetecting the obtained DC voltage UrealWill be compared to the reverse charge voltage of the motor. It is understood that the motor reversely charges the voltage to the battery, and for the battery and other devices using the same power source, once the reversely charged voltage is too large, the other devices may be damaged, so the reversely charged voltage is used as the second determination dimension in the present embodiment.
S422': when the direct-current voltage is less than or equal to the reverse charging voltage, the motor controller performs active short-circuit protection on the motor;
when the comparison result of the two is: when the dc voltage is less than or equal to the reverse charging voltage, it means that if the SPO protection is performed, the reverse charging voltage generated by the motor is too large, and thus it is easy to cause impact on other devices. Then in step S422 ″, the motor controller performs ASC protection on the motor without generating a reverse charging voltage.
S423': when the DC voltage is greater than or equal to the reverse charging voltage, the motor controller performs full-shutdown protection on the motor
On the other hand, when the comparison result is: when the direct current voltage is greater than or equal to the reverse charging voltage, the SPO protection is executed, the motor back electromotive force cannot be actually reversely charged to the battery to raise the direct current voltage, and impact on other devices cannot be caused. Then, in step S423 ″, the motor controller performs SPO protection on the motor, and avoids damage to the electric control of the motor due to the ASC short-circuit current while ensuring that the braking torque is smaller than the safe torque.
Further, in the above determining logic, when the current rotation speed is greater than the first rotation speed threshold and less than the second rotation speed threshold, the step S421 ″ of detecting the dc voltage of the motor and comparing the dc voltage with the reverse charging voltage of the motor further includes:
s420 "-1: a voltage threshold value is also arranged in the motor controller;
considering that the consumer itself, for example, another electronic device, has an acceptable voltage threshold, there is a precondition for using the dc voltage as the decision dimension, i.e. the voltage threshold of the consumer itself, which is known from the electronics on the motherboard and stored in the motor controller.
S420 "-2: comparing a reverse charging voltage of the motor to a voltage threshold;
when the comparison result of the current rotating speed and the first rotating speed threshold value and the second rotating speed threshold value is as follows: when the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, the back charging voltage of the motor is detected in the embodiment in such a way that a back electromotive force-rotating speed curve of the motor in an SPO state can be obtained in advance, after the current rotating speed of the motor is obtained, the back electromotive force is inquired and calculated in the back electromotive force-rotating speed curve, the corresponding back charging voltage is obtained through three-phase rectification, and the back charging voltage is compared with the voltage threshold.
S420 "-3: when the reverse charging voltage is less than or equal to the voltage threshold, the motor controller performs full-shutdown protection on the motor;
the comparison result of the steps is as follows: when the reverse charging voltage is less than or equal to the voltage threshold, the reverse charging voltage in the current state cannot cause damage to the electric appliance no matter how the relationship between the reverse charging voltage and the direct-current voltage is, and the motor controller can perform SPO protection on the motor.
S420 "-4: when the reverse charging voltage is greater than the voltage threshold, the DC voltage of the motor is detected and compared with the reverse charging voltage of the motor
The comparison result of the steps is as follows: when the reverse charging voltage is greater than the voltage threshold, step S421 ″ will be executed to compare the dc voltage with the reverse charging voltage of the motor.
Through the configuration, by means of the multilayer comparison of the voltage threshold and the direct current voltage, the state of the motor can be controlled based on different use requirements, such as the normal use of electronic devices, the energy saving of the motor reverse charging and the like.
In another preferred embodiment, the step S300 of determining the motor rotation speeds corresponding to the first intersection point and the second intersection point as the first rotation speed threshold and the second rotation speed threshold includes:
s310: acquiring a first motor rotating speed and a second motor rotating speed corresponding to the first intersection point and the second intersection point;
after the first braking torque-rotation speed curve and the second braking torque-rotation speed curve are obtained through calibration, the x-axis numerical values of the first intersection point and the second intersection point obtained as described above correspond to the first motor rotation speed and the second motor rotation speed.
S320: acquiring a first rotating speed interval before and after the rotating speed of the first motor and a second rotating speed interval before and after the rotating speed of the second motor based on a rotating speed redundancy ratio;
a rotation speed redundancy ratio is preset in the motor controller, for example, 5%, 10%, 15%, and the like, and the rotation speed redundancy ratio expands the values of the first rotation speed threshold and the second rotation speed threshold. According to the method, a first rotation speed interval and a second rotation speed interval before and after two data are respectively calculated under two specific rotation speeds of a first motor rotation speed and a second motor rotation speed, for example, the first motor rotation speed (1-rotation speed redundancy ratio) is the lower limit of the first rotation speed interval, and the first motor rotation speed (1+ rotation speed redundancy ratio) is the upper limit of the first rotation speed interval.
S330: defining a first rotating speed interval and a second rotating speed interval as a first rotating speed threshold value and a second rotating speed threshold value
After the first rotating speed interval and the second rotating speed interval are obtained, the first rotating speed threshold value and the second rotating speed threshold value are respectively defined, so that the first rotating speed threshold value and the second rotating speed threshold value are expanded into range data, and the ping-pong effect caused by repeated jumping of the ASC state and the SPO state when the current rotating speed changes near the first rotating speed threshold value is avoided.
Further, the circuit protection control method further includes the steps of:
s500: when the current rotating speed jumps inside and outside the first rotating speed interval, the motor controller is maintained to perform full-shutdown protection on the motor;
s600: and when the current rotating speed jumps inside and outside the second rotating speed interval, maintaining the motor controller to perform active short-circuit protection on the motor.
That is, if the current rotational speed repeatedly jumps when the first and second rotational speed thresholds are within the interval range, the ASC or SPO protection measures performed by the motor controller on the motor will be maintained even if the above-mentioned determination control logic is violated. Furthermore, a time threshold is set in the motor controller, and when the motor controller performs ASC or SPO protection on the motor, at least the time threshold is maintained regardless of the current rotation speed, braking torque or dc voltage variation within the time threshold, so as to prevent damage to the motor when protection measures are repeatedly switched.
In other embodiments, additional auxiliary parameters, such as rotor temperature, may be added to the calibration of the first and second braking torque-speed curves so that the first and second braking torque-speed curves more accurately describe the condition of the electric machine. Specifically, the circuit protection control method further includes the steps of: correcting a first braking torque-rotating speed curve and a second braking torque-rotating speed curve based on the change of the motor at different rotor temperatures; the first and second speed thresholds are determined based on a rotor temperature. Or when other parameters are referred, it can be considered that under the condition that the direct-current voltage is very low, even if the reverse charging voltage is provided, the voltage is raised to a certain degree, and the SPO can be selected under the condition that the device is not damaged, so that the damage of the ASC short-circuit current to the electric control of the motor is avoided; when the device has high bearing capacity, the SPO can be allowed to be raised to a certain degree.
The invention also discloses a circuit protection control system of the motor controller, the motor controller is connected with a motor and controls the working state of the motor, the motor controller comprises: the calibration module calibrates the relation between the braking torque and the motor speed of the motor in the states of active short circuit and full tube closing to form a first braking torque-rotating speed curve and a second braking torque-rotating speed curve and stores the first braking torque-rotating speed curve and the second braking torque-rotating speed curve, and calibrates the safety torque curve of the motor in the braking torque-rotating speed curve to ensure that the safety torque curve and the first braking torque-rotating speed curve are intersected at a first intersection point and the first braking torque-rotating speed curve and the second braking torque-rotating speed curve are intersected at a second intersection point; the processing module is used for determining the motor rotating speeds corresponding to the first intersection point and the second intersection point as a first rotating speed threshold value and a second rotating speed threshold value; the control module detects the current rotating speed of the motor and compares the current rotating speed with a first rotating speed threshold value and/or a second rotating speed threshold value; when the current rotating speed is less than or equal to the first rotating speed threshold value, performing full-shutdown protection on the motor; when the current rotating speed is greater than the first rotating speed threshold and less than the second rotating speed threshold, performing active short circuit or total pipe closing alternative protection on the motor; and when the current rotating speed is greater than or equal to the second rotating speed threshold value, performing active short-circuit protection on the motor.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.

Claims (8)

1. A circuit protection control method of a motor controller is characterized by comprising the following steps:
calibrating the relation between the braking torque and the motor rotating speed of a motor in the states of active short circuit and full pipe closing to form a first braking torque-rotating speed curve and a second braking torque-rotating speed curve;
calibrating a safety torque curve of the electric machine within the first and second braking torque-rotational speed curves such that the safety torque curve intersects the first braking torque-rotational speed curve at a first intersection point and the first and second braking torque-rotational speed curves intersect at a second intersection point;
determining the motor rotating speeds corresponding to the first intersection point and the second intersection point as a first rotating speed threshold value and a second rotating speed threshold value;
detecting the current rotating speed of the motor, and comparing the current rotating speed with the first rotating speed threshold value and/or the second rotating speed threshold value; when the current rotating speed is less than or equal to the first rotating speed threshold value, the motor controller performs full-closed protection on the motor;
when the current rotating speed is greater than a first rotating speed threshold and less than a second rotating speed threshold, the motor controller performs active short circuit or full-off alternative protection on the motor;
and when the current rotating speed is greater than or equal to the second rotating speed threshold value, the motor controller executes active short-circuit protection on the motor.
2. The circuit protection control method of claim 1,
when the current rotating speed is greater than a first rotating speed threshold and less than a second rotating speed threshold, the step of performing active short circuit or total pipe closing alternative protection on the motor by the motor controller comprises the following steps:
when the current rotating speed is greater than a first rotating speed threshold and less than a second rotating speed threshold, the motor controller executes active short-circuit protection on the motor, or
When the current rotating speed is greater than a first rotating speed threshold value and less than a second rotating speed threshold value, the motor controller performs full-closed protection on the motor, or
When the current rotating speed is greater than a first rotating speed threshold and less than a second rotating speed threshold, detecting the direct current voltage of the motor, and comparing the direct current voltage with the reverse charging voltage of the motor at the current rotating speed;
when the direct current voltage is less than or equal to a reverse charging voltage, the motor controller performs active short-circuit protection on the motor; when the direct current voltage is greater than or equal to a reverse charging voltage, the motor controller performs full-shutdown protection on the motor.
3. The circuit protection control method of claim 2,
when the current rotation speed is greater than a first rotation speed threshold and less than a second rotation speed threshold, detecting a direct current voltage of the motor, and comparing the direct current voltage with a reverse charging voltage of the motor, the method further includes:
a voltage threshold value is also arranged in the motor controller;
comparing a reverse charge voltage of the motor to the voltage threshold;
when the reverse charging voltage is less than or equal to the voltage threshold, the motor controller performs full-shutdown protection on the motor;
when the reverse charging voltage is greater than the voltage threshold, detecting a direct current voltage of the motor and comparing the direct current voltage with the reverse charging voltage of the motor.
4. The circuit protection control method of claim 1, wherein the step of determining the motor speed corresponding to the first intersection point and the second intersection point as a first speed threshold and a second speed threshold comprises:
acquiring a first motor rotating speed and a second motor rotating speed corresponding to the first intersection point and the second intersection point;
acquiring a first rotating speed interval before and after the rotating speed of the first motor and a second rotating speed interval before and after the rotating speed of the second motor based on a rotating speed redundancy ratio;
and defining the first rotating speed interval and the second rotating speed interval as a first rotating speed threshold value and a second rotating speed threshold value.
5. The circuit protection control method of claim 4, further comprising the steps of:
when the current rotating speed jumps inside and outside the first rotating speed interval, maintaining a motor controller to perform full-closed protection on the motor;
and when the current rotating speed jumps inside and outside the second rotating speed interval, maintaining the motor controller to perform active short-circuit protection on the motor.
6. The motor control protection method of claim 5,
a time threshold is arranged in the motor controller, and when the motor controller executes full-shutdown protection or active short-circuit protection on the motor, at least the time threshold is maintained.
7. The motor control protection method of claim 1, further comprising the steps of:
correcting a first braking torque-rotating speed curve and a second braking torque-rotating speed curve based on the change of the motor at different rotor temperatures;
the first and second speed thresholds are determined based on a rotor temperature.
8. A circuit protection control system of a motor controller, the motor controller is connected with a motor, controls the operating condition of the motor, characterized in that, the motor controller includes:
the calibration module calibrates the relation between the braking torque and the motor rotating speed of the motor in an active short circuit and full-closed state to form a first braking torque-rotating speed curve and a second braking torque-rotating speed curve and stores the first braking torque-rotating speed curve and the second braking torque-rotating speed curve, and calibrates a safety torque curve of the motor in the first braking torque-rotating speed curve and the second braking torque-rotating speed curve so that the safety torque curve and the first braking torque-rotating speed curve are intersected at a first intersection point and the first braking torque-rotating speed curve and the second braking torque-rotating speed curve are intersected at a second intersection point;
the processing module is used for determining the motor rotating speeds corresponding to the first intersection point and the second intersection point as a first rotating speed threshold value and a second rotating speed threshold value;
the control module detects the current rotating speed of the motor and compares the current rotating speed with the first rotating speed threshold value and/or the second rotating speed threshold value; when the current rotating speed is less than or equal to the first rotating speed threshold value, performing full-closed-tube protection on the motor; when the current rotating speed is greater than a first rotating speed threshold and less than a second rotating speed threshold, performing active short circuit or total pipe closing alternative protection on the motor; and when the current rotating speed is greater than or equal to the second rotating speed threshold value, performing active short-circuit protection on the motor.
CN202110180343.0A 2021-02-08 2021-02-08 Circuit protection control method and system of motor controller Pending CN112787309A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114162071A (en) * 2021-12-02 2022-03-11 臻驱科技（上海）有限公司 Internal power supply architecture and method of motor controller and electric vehicle
CN114435137A (en) * 2022-01-21 2022-05-06 岚图汽车科技有限公司 Active short circuit control method, device, equipment and medium of motor controller

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114162071A (en) * 2021-12-02 2022-03-11 臻驱科技（上海）有限公司 Internal power supply architecture and method of motor controller and electric vehicle
CN114435137A (en) * 2022-01-21 2022-05-06 岚图汽车科技有限公司 Active short circuit control method, device, equipment and medium of motor controller
CN114435137B (en) * 2022-01-21 2023-05-30 岚图汽车科技有限公司 Active short-circuit control method, device, equipment and medium of motor controller

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