CN112810595B - Motor electric braking control method and device for electrically driven vehicle - Google Patents

Motor electric braking control method and device for electrically driven vehicle Download PDF

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Publication number
CN112810595B
CN112810595B CN201911119389.0A CN201911119389A CN112810595B CN 112810595 B CN112810595 B CN 112810595B CN 201911119389 A CN201911119389 A CN 201911119389A CN 112810595 B CN112810595 B CN 112810595B
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China
Prior art keywords
motor
braking
rotating speed
mode
value
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CN112810595A (en
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丁晓帆
杨大成
文宇良
黄佳德
连国一
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Hunan Power Action Technology Co ltd
CRRC Zhuzhou Institute Co Ltd
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Hunan Power Action Technology Co ltd
CRRC Zhuzhou Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • 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
    • B60L15/2009—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 for braking
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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 discloses a motor electric brake control method and device for an electrically driven vehicle, wherein the method comprises the following steps: s1, when a vehicle enters a braking working condition, controlling and adjusting the braking torque of a motor according to a torque mode taking the torque as a follow-up control target so as to reduce the rotating speed of the motor; s2, when the speed of the motor is reduced to a specified switching threshold value, controlling to switch to a rotating speed mode taking the rotating speed as a follow-up control target, and controlling the rotating speed of the motor to be reduced to zero speed according to the rotating speed mode; and S3, after the rotating speed of the motor is zero and continues for a specified time, switching to a position mode which takes the position as a follow-up control target, and controlling the position state of the motor rotor according to the position mode. The invention has the advantages of simple realization method, low cost, capability of realizing pure electric control braking, capability of preventing the wheel from reversing, good control effect and the like.

Description

Motor electric braking control method and device for electrically driven vehicle
Technical Field
The invention relates to the technical field of motor braking of an electrically driven vehicle, in particular to a motor electric braking control method and device for the electrically driven vehicle.
Background
In vehicles powered by electric drive, a combined braking mode of combined action of mechanical braking and electric braking is generally used, that is, when the vehicle needs braking, the electric braking is switched on first, when the rotating speed is lower than a certain rotating speed, the electric braking force is gradually reduced, the mechanical braking force is gradually increased, and finally, when the rotating speed is zero, the electric braking force is 0, and all wheels are maintained to be not rotated by the mechanical braking. However, the combined braking mode of the electric braking and the mechanical braking must rely on the mechanical braking, and the mechanical braking has the condition of quick capability failure, so that when the mechanical braking is reduced or fails, the electric braking cannot complete the function of braking the vehicle to zero, and particularly for special vehicles which need to frequently run on complex roads, the mechanical braking is very easy to fail, and the braking is very easy to fail.
As described above, if the vehicle is controlled in the torque mode during the electric braking process, and the torque mode is a control target of the torque, and if it is considered that the braking is directly performed in the conventional electric braking control mode, when the rotation speed approaches zero speed, the torque is still maintained, and there is a possibility that the wheel is reversely rotated. When the frequency converter is used for controlling electricity, the waveform of the controlled current is alternating current when the motor is in a rotating process, and the current is changed into direct current when the rotating speed of the motor is zero, so that the current can be averagely shared by three IGBT bridge arms (during rotation) in a fixed period of time, and is changed into the current which is mostly shared by one IGBT bridge arm (during stalling) and the sum of three-phase currents is zero, so that the bridge arm IGBT bears larger heating pressure, and even the limit load capacity of a heat dissipation system can be exceeded, and the IGBT is damaged.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a motor electric brake control method and device for an electrically driven vehicle, which have the advantages of simple implementation method, low cost, capability of realizing pure electric control braking, capability of preventing the reverse rotation of wheels, good control effect, safety and reliability.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a motor electric brake control method for an electrically driven vehicle, the steps comprising:
s1, when a vehicle enters a braking working condition, controlling and adjusting the braking torque of a motor according to a torque mode taking the torque as a follow-up control target so as to reduce the rotating speed of the motor;
s2, when the speed of the motor is reduced to a specified switching threshold value, controlling to switch to a rotating speed mode taking the rotating speed as a follow-up control target, and controlling the rotating speed of the motor to be reduced to zero speed according to the rotating speed mode;
and S3, after the rotating speed of the motor is zero and continues for a specified time, switching to a position mode which takes the position as a follow-up control target, and controlling the position state of the motor rotor according to the position mode.
Further, in the step S1, the braking torque of the motor is controlled and adjusted according to the real-time acceleration of the motor and the torque mode; the step of controlling and adjusting the braking torque of the motor according to the real-time acceleration of the motor and the torque mode comprises the following steps: when the real-time acceleration of the motor exceeds the motor shaft side acceleration threshold aElectric machineAt the motor shaft side acceleration threshold aElectric machineThe braking torque of the electric motor is controlled for the target, so that the braking torque of the electric motor is controlled in accordance with the maximum permissible acceleration.
Further, PID adjustment is specifically adopted when the braking torque of the motor is controlled and adjusted.
Further, the motor shaft side acceleration threshold aElectric machineFor angular acceleration alpha at different braking torques depending on the load only at the target wheelWheelDesired angular acceleration alpha distributed to the target wheel at different braking torques during normal running of the vehicleVehicle with wheelsObtaining configuration; the motor shaft side acceleration threshold aElectric machineThe specific configuration satisfies the following conditions: a isVehicle/axle≤aElectric machine<aWheel/axleWherein a isWheel/axleFor angular acceleration a at different braking torques by load only at the target wheelWheelConverted acceleration of the motor shaft side, aVehicle/axleFor distributing desired angular acceleration alpha to target wheels under different braking torques during normal running of the vehicleVehicle with a detachable front coverThe obtained acceleration on the motor shaft side is converted.
Further, in step S2, when the speed V of the motor is less than or equal to k1 × VHandoverWhen the control is switched to the rotating speed mode, wherein k1 is a parameter of a preset switching rotating speed mode, VHandoverTo switch the threshold value, and VHandover＝a*tResponse toA is the real-time acceleration of the motor, tResponse toThe response time of the system is controlled by the upper layer.
Further, the motor is controlled according to the rotation speed mode in the step S2Reducing the rotational speed to zero includes: setting the given value of the rotating speed as 0, and setting the maximum value of an inner ring torque ring or a current ring of a rotating speed closed ring as the current braking force T of the motorBraking deviceOr current braking force T of motorBraking deviceThe corresponding current value.
Further, the step S3 of controlling the position state of the motor rotor according to the position mode includes: and controlling the motor rotor to be sequentially switched to the specified position according to the preset position value switching sequence according to the current position of the electronic rotor.
Further, controlling the motor rotor to switch to the specified position in sequence according to the preset position value switching sequence specifically includes: and forming a position value switching sequence table by a plurality of position value angles in advance according to a preset switching sequence, selecting a value angle value closest to the position value switching sequence table as an initial position angle value of the motor rotor according to the current position value of the motor rotor during switching, and sequentially switching according to each position value angle in the position value sequence switching table by taking the initial position angle value as a starting point.
Further, the position value taking angles sequentially arranged according to the priority in the position value order switching table are as follows: 30 °, 90 °, 150 °, 210 °, 270 °, 330 °.
Further, when the speed V of the motor exceeds a preset switching threshold value or the vehicle is in a non-braking working condition, the control switching is controlled to be in the torque mode, and the motor is controlled to operate according to the torque mode.
A motor electric brake control apparatus for an electrically driven vehicle includes a processor having an executable computer program stored therein, the processor being configured to execute the motor electric brake control method described above.
Compared with the prior art, the invention has the advantages that:
1. the invention relates to a motor electric brake control method and a device for an electrically driven vehicle, which are used for controlling motor braking according to a moment mode when the vehicle brakes, rapidly reducing the rotating speed by braking in the moment mode, and precisely reducing the rotating speed to zero speed by using a rotating speed mode at low speed.
2. The motor electric braking control method and device for the electrically driven vehicle have the advantages that the electric braking can independently complete the capability of braking the vehicle to zero, so that the mechanical braking can be changed from a necessary function to a safety auxiliary function, the motor electric braking control method and device are particularly suitable for vehicles which need to frequently run on complex roads, the condition that the mechanical braking is quickly abraded under extreme working conditions can be effectively improved, and the braking capability of the whole vehicle can be improved under the condition that equipment is not added.
3. The invention relates to a motor electric braking control method and device for an electrically driven vehicle, which further limit the braking force by judging the current acceleration, so that the acceleration does not exceed a reasonable range during braking, the change speed of the motor rotating speed does not exceed the response speed of a control system, wheels of the vehicle cannot slip due to overlarge braking force, and the rotating speed can be quickly reduced by controlling and adjusting the braking torque of the motor according to the maximum acceleration, thereby reducing the steering and braking capacity.
4. The invention relates to a motor electric brake control method and a device for an electric drive vehicle, which further calculate and control a switching point for switching to a rotating speed mode according to the real-time acceleration of a motor, so that the rotating speed mode can be switched in time at low speed, the reverse rotation of wheels is prevented, and the pause and frustration feeling in the switching mode can be greatly reduced.
5. The invention further enables the motor rotor to switch back and forth according to the designated position to operate, tracks the motor in a small range through the circulation of the position signal, and avoids the condition that a certain IGBT is in a working state for a long time at partial positions, thereby ensuring the three-phase load balance when the motor and the controller are locked, reducing the damage risk caused by a large amount of heat generation of the IGBT, and basically having no influence on the use experience.
Drawings
Fig. 1 is a schematic flow chart of an implementation of a motor electric brake control method for an electrically driven vehicle according to the embodiment.
Fig. 2 is a detailed flow chart of the implementation of the electromechanical brake control according to the present embodiment.
Fig. 3 is a schematic configuration diagram of the electric motor brake control apparatus for an electrically driven vehicle of the present embodiment.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the steps of the motor electric brake control method for an electrically driven vehicle of the present embodiment include:
s1, when a vehicle enters a braking working condition, controlling and adjusting the braking torque of a motor according to the real-time acceleration of the motor and a torque mode taking the torque as a follow-up control target so as to reduce the rotating speed of the motor;
s2, when the speed of the motor is reduced to a specified switching threshold value, controlling to switch to a rotating speed mode taking the rotating speed as a follow-up control target, and controlling the rotating speed of the motor to be reduced to zero speed according to the rotating speed mode;
and S3, when the rotating speed of the motor is zero and continues for a specified time, switching to a position mode (namely a positioning mode) which takes the position as a following control target, and controlling the position state of the motor rotor according to the position mode.
According to the embodiment, when a vehicle is braked under the working condition, the motor brake is controlled according to the torque mode, the brake can be used for rapidly reducing the rotating speed in the torque mode, meanwhile, when the speed is reduced to a specified switching threshold value, the rotating speed of the motor is controlled to be reduced to zero by switching the rotating speed mode, so that the rotating speed is accurately reduced to zero by using the rotating speed mode at a low speed, the motor brake in a pure electric control mode can be realized under the condition of no mechanical brake, and the wheel can be effectively prevented from reversing because the control is carried out by taking the rotating speed as a target at the low speed; meanwhile, due to the fact that the fluctuation of the rotating speed signal at the zero speed can cause that devices such as an IGBT in the motor bear large heating pressure to affect the motor, the position mode is switched to control and track the position state of a motor rotor after the zero speed state lasts for a period of time, the fluctuation condition of the rotating speed mode at the speed of 0 speed caused by the fluctuation of the rotating speed signal can be reduced, and the influence on the motor under the condition of the long-time zero rotating speed (motor stalling) is effectively eliminated.
According to the control method for the electromechanical braking, the electromechanical braking can have the capability of independently completing the braking of the vehicle to zero, the mechanical braking can be changed from the necessary function to the safety auxiliary function, the control method is particularly suitable for the vehicle which needs to frequently run on a complex road surface, the condition that the mechanical braking is quickly abraded under the extreme working condition can be effectively improved, and the braking capability of the whole vehicle can be improved under the condition that equipment is not added.
In step S1, the braking torque of the motor is controlled and adjusted according to the real-time acceleration of the motor in a torque mode, and the braking force is limited by determining the current acceleration, that is, the acceleration does not exceed a reasonable range during braking by adjusting the braking force, so that the change speed of the rotation speed of the motor does not exceed the response speed of the control system, and the vehicle does not slip the wheels due to the excessive braking force, thereby reducing the steering and braking capability.
In this embodiment, the controlling and adjusting the braking torque of the motor according to the real-time acceleration of the motor and the torque mode specifically includes: when the real-time acceleration of the motor exceeds the motor shaft side acceleration threshold aElectric machineAt the motor shaft side acceleration aElectric machineThe braking torque of the electric motor is controlled and regulated for the purpose such that the braking torque of the electric motor is controlled and regulated according to the maximum acceleration, so that the rotational speed can be reduced rapidly. Motor shaft side acceleration threshold aElectric machineSpecifically, the real-time acceleration of the motor can be set according to experience, test data and the like, and is smaller than the motor shaft side acceleration threshold aElectric machineIn other cases, the braking force required by the upper computer can be kept unchanged.
In this embodiment, the above controlWhen the braking torque of the motor is adjusted, PID adjustment is specifically adopted, namely the motor shaft side acceleration threshold a is usedElectric machineFor the purpose, PID-regulated braking force T is performedBraking deviceSo that the acceleration a of the motor<aElectric machineAnd the braking force can be accurately controlled and adjusted through PID adjustment to achieve a control target, and the acceleration is ensured not to exceed a reasonable range.
In this embodiment, the motor shaft side acceleration aElectric machineFor angular acceleration alpha at different braking torques depending on the load only at the target wheelWheelDesired angular acceleration alpha distributed to the target wheel at different braking torques during normal running of the vehicleVehicle with wheelsSetting a motor shaft side acceleration threshold aElectric machineThe specific configuration meets the following requirements: a isVehicle/axle≤aElectric machine<aWheel/axleWherein a isWheel/axleFor angular acceleration a at different braking torques by load only at the target wheelWheelConverted acceleration of the motor shaft side, aVehicle/axleFor distributing desired angular acceleration alpha to target wheels under different braking torques during normal running of the vehicleVehicle with wheelsThe converted acceleration on the motor shaft side, i.e. aWheel/axle、aVehicle/axleThereafter, a is configured based on experience, experimental data, and the likeElectric machineWhile making satisfy aVehicle/axle≤aElectric machine<aWheel/axleThen with aElectric machineFor the purpose, the braking force T of the motor is regulatedBraking deviceThe regulated output braking torque of the motor, a>aElectric machineWhen, TBraking deviceFor adjusted torque, the value being less than the given braking torque, otherwise TTBraking deviceEqual to a given braking torque.
In step S1, the braking force corresponding to the brake pedal and the preset maximum braking torque are first selected to perform braking, and the braking torque of the motor is controlled and adjusted according to the torque mode, so as to ensure that the acceleration does not exceed the reasonable range, and the change speed of the rotation speed of the motor does not exceed the response speed of the control system.
In a specific application embodiment, the detailed step of step S1 is:
s11, presetting a maximum braking moment;
s12, when a driver steps on a brake pedal, braking is carried out according to the smaller value of the corresponding braking force of the pedal and the maximum braking force;
s13, obtaining the angular acceleration alpha under different braking moments when the load is only the wheel through the rotational inertia of the wheelWheelWhile obtaining the acceleration a converted to the motor shaft sideWheel/axleObtaining the expected angular acceleration alpha distributed to the wheel under different braking torques when the vehicle normally runsVehicle with wheelsWhile obtaining the acceleration a converted to the motor shaft sideVehicle/axle；
S14, acquiring the real-time acceleration a of the shaft side of the current corresponding motor in real time, wherein a is larger than or equal to aElectric machineWhen is driven by aElectric machinePID adjusting the braking force for the target; when a is<aElectric machineAnd keeping the braking force required by the upper computer unchanged.
In step S2, it is specifically determined whether the preset switching threshold is reached according to the real-time acceleration of the motor, that is, the preset switching threshold is calculated according to the real-time acceleration of the motor, and a switching point for controlling switching to the rotation speed mode is calculated according to the real-time acceleration of the motor, so that the rotation speed mode can be timely switched at a low speed, wheel inversion is prevented, and meanwhile, jerk during switching the mode is greatly reduced. In the embodiment, when the speed V of the motor is less than or equal to k 1VHandoverWhen the control is switched to the rotational speed mode, k1 is a parameter of the preset switching rotational speed mode, VHandoverTo switch the threshold value, and VHandover＝a*tResponse toA is the real-time acceleration of the motor, tResponse toThe response time of the upper control system (vehicle control unit or human) can be set according to actual requirements, so as to obtain the response time t of the upper control system according to the current braking acceleration aResponse toCalculating a speed switching point VHandoverWhen the rotation speed is lower than the switching point VHandoverAnd when the vehicle is still braked, the vehicle is switched to a rotating speed mode, so that the tracked object is controlled to be the rotating speed, the wheel can be accurately controlled to keep the corresponding rotating speed, the rotating speed is set to be 0 in the mode, and the mode is also a zero rotating speed mode, namely the vehicle is in a zero rotating speed modeThe function of braking the wheels to be static can be achieved.
The step S2 of controlling the rotation speed of the motor to be reduced to zero speed according to the rotation speed mode in the present embodiment includes: setting the given value of the rotating speed as 0, and setting the maximum value of an inner ring torque ring or a current ring of a rotating speed closed ring as the current braking force T of the motorBraking deviceOr current braking force T of motorBraking deviceThe corresponding current value can control the vehicle to brake to zero speed, and simultaneously ensure that the maximum braking force is maintained.
In a specific application embodiment, the detailed step of step S2 is:
s21, according to the current braking acceleration a and the response time of an upper-layer control systemt responseCalculating a speed switch pointV-switching. Setting empirical parameters k1 and k2, wherein k2 is a parameter of a cut rotating speed mode rotating speed closed loop, and particularly, k1 is more than or equal to 1 and less than or equal to 1.2, and k1 is more than or equal to k2 and less than or equal to 1.3;
s22, observing the current rotating speed value V of the motor in real time, and when V is not more than k 1VHandoverWhen the braking force T is smaller than the preset braking force T, the torque closed loop is switched to the rotating speed closed loop, namely the torque mode is switched to the rotating speed mode, the rotating speed is set to be 0, and the maximum value of the torque loop or the current loop of the inner loop of the rotating speed closed loop is the current braking force TBraking deviceOr a corresponding current value;
s23, accumulating for a certain time t after the rotation speed reaches zeroDelayThereafter (e.g., 100ms), the process proceeds to step S3 to switch the mode to the location mode.
Through the steps, the maximum braking force can still be kept at zero speed, and the locked-rotor current borne by the motor can be kept at the theoretical minimum, so that the motor and the controller can be locked-rotor for a longer time.
In the process, when the speed V of the motor exceeds a preset switching threshold value or the vehicle is in a non-braking working condition, the control switching is performed to the torque mode, the motor is controlled to operate according to the torque mode, namely, the motor is switched back to the torque mode from the rotating speed mode or the position mode, so that after the vehicle is braked or when the maximum braking force is smaller than the traction force outside the vehicle (such as an extremely steep slope or other abnormal conditions), the vehicle can timely exit from the zero-speed locking state, and the control is performedThe control right is released to the vehicle control unit or a driver. Is particularly preferably taken as V>k2*VHandoverAnd when the brake is in a non-braking working condition, the control mode is switched from a rotating speed closed loop or a position closed loop to a torque closed loop.
After the zero-speed state lasts for a period of time, the method shifts to a position mode (namely a positioning mode) to control the position state of a rotor of a tracking and adjusting motor, after the position mode is switched, a vehicle is in a static state, and when the position mode is shifted, the maximum value of the positioning current is set not to exceed the current braking force T of the motorBraking deviceThe corresponding current value. In the specific application embodiment, the delay value t for switching from the zero-rotation-speed state to the positioning mode is set firstDelayAnd setting the locked commutation phase time t according to the motor bearing capacityLocked rotorIn the case of simple processing, t may be setLocked rotor＝tDelayWhen the motor enters zero rotation speed and the accumulation exceeds tDelayAnd then, switching the control mode from the rotating speed mode to the position mode so as to rotate the motor in a small range according to the preset position value range, and ensuring the three-phase load balance when the motor and the controller are locked.
In this embodiment, the step S3 of controlling the position state of the motor rotor according to the position mode includes: according to the current position control motor rotor of electron rotor switches to appointed position according to predetermineeing position value switching sequence in proper order for motor rotor switches the operation according to appointed position round trip, track the minizone through position signal's circulation and rotate the motor, avoid appearing the condition that certain IGBT is in operating condition for a long time in some position, thereby three-phase load is balanced when guaranteeing motor and controller stalling, reduce the damage risk that the IGBT produced because of generating heat in a large number, and experience to using and basically not having the influence.
The above-mentioned control motor rotor switches over the appointed position according to predetermineeing the position value switching sequence in proper order and specifically includes: and a position value switching sequence table is formed by a plurality of position value angles in advance according to a preset switching sequence, the value angle value closest to the current position value of the motor rotor is selected from the position value switching sequence table according to the current position value of the motor rotor during switching and is used as the initial position angle value of the motor rotor, and the initial position angle value is used as a starting point to perform sequential switching according to each position value angle in the position value switching sequence table.
In this embodiment, the position value switching sequence table includes a plurality of position value angles, and the position value angles are sequentially arranged according to priority. In the position mode, the current is no longer an alternating current value, and a certain phase current is large at some position points, for example, a peak current is continuously maintained, in this embodiment, by setting a special position point, and sequentially setting the position value angle and the switching sequence to 30 °, 90 °, 150 °, 210 °, 270 °, and 330 °, switching is performed according to the position angle sequence, so that the phase currents of the motor can be ensured to be average, and meanwhile, the heat generation amount is reduced and the IGBT damage is avoided.
In a specific application embodiment, the detailed step of step S3 is:
s31, presetting a position value table of 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees, wherein the position is higher, the priority is higher, and if the value table is sequentially set as follows: 30 ° → 90 ° → 150 ° → 210 ° → 270 ° → 330 ° → 270 ° → 210 ° → 150 ° → 90 ° → 30 °;
s32, when the rotating speed is zero and the accumulation exceeds a certain time tDelayThen, the mode is switched to a position mode, and the maximum value of the positioning current is configured not to exceed the current braking force TBraking deviceAnd selecting the latest value from the position value table according to the current position value to be set as the current positioning value.
And S33, when t is equal to t locked rotor, switching the sequence of the position table, taking the sequence of the set value taking table as an example, if the value is 90 degrees when the circulation is entered for the first time, the next value after 90 degrees appears in the value taking table for the first time is 150 degrees, and the value at the next time is 150 degrees.
In a specific application embodiment, as shown in fig. 2, the detailed steps of implementing the electric braking of the motor of the electrically driven vehicle by using the method are as follows:
step 1: initialization settings aElectrical machine、k1、k2、tDelay、tLocked rotorSetting the position value table to be 30 °, 90 °, 150 °, 210 °, 270 °, and 330 °, wherein the position value table is arranged in the order of: 30 ° → 90 ° → 150 ° → 210 ° → 270 ° → 330 ° → 270 ° → 210 ° → 150 ° →90°→30°；
Step 2: receiving an instruction of an upper computer, judging whether the braking condition is the braking condition, if so, executing the step 3, and if not, ending the control;
and step 3: judging whether the current actual rotating speed of the motor is 0 or not and the duration time t>tLocked rotorIf the result is no, the step 4 is executed, and if the result is yes, the step 7 is executed;
and 4, step 4: judging whether the current speed V of the motor meets the condition that V is less than or equal to k 1VHandoverIf the result is no, the step 5 is executed, and if the result is yes, the step 6 is executed;
and 5: judging whether the real-time acceleration of the motor meets the condition that a is more than or equal to aElectric machineIf so, adjusting the braking force such that a<aElectric machineIf a is<aElectric machineSetting the braking force as the braking force required by the upper computer, and returning to execute the step 4;
step 6: switching to a rotating speed mode, controlling the rotating speed of the motor according to a rotating speed closed loop, setting a rotating speed value to be 0, receiving an instruction of an upper computer in real time, setting a moment maximum value of the rotating speed closed loop to be a braking force given by the upper computer, and if V is the maximum value, controlling the rotating speed of the motor according to the rotating speed closed loop>k2*VHandoverIf yes, the control mode is switched from a rotating speed closed loop (rotating speed mode) to a torque closed loop (torque mode), and the step 3 is executed;
and 7: switching to a position mode, controlling the position state of the motor rotor according to a position closed loop, wherein the inner ring is a torque ring, the maximum value of the torque ring is a torque given value, judging whether the current position is a value in a position value taking table, if so, setting the current position as the next position value, otherwise, setting the position as the value which is closest to the current actual position in the position value taking table, and if V, setting the position as the value which is closest to the current actual position in the position value taking table>k2*VHandoverThe control mode is switched from closed position loop (position mode) to closed torque loop (torque mode).
As shown in fig. 3, the motor electric brake control apparatus for an electrically driven vehicle of the present embodiment includes:
the torque mode control module is used for controlling and adjusting the braking torque of the motor according to a torque mode taking the torque as a follow-up control target when the vehicle enters a braking working condition so as to reduce the rotating speed of the motor;
the rotating speed mode control module is used for controlling and switching to a rotating speed mode taking the rotating speed as a follow-up control target when the speed of the motor is reduced to a specified switching threshold value, and controlling the rotating speed of the motor to be reduced to zero speed according to the rotating speed mode;
and the position mode control module is used for switching to a position mode taking the position as a follow-up control target after the rotating speed of the motor is zero and continues for a specified time, and controlling the position state of the motor rotor according to the position mode.
The motor electric brake control device for the electrically driven vehicle of the present embodiment corresponds to the above-mentioned motor electric brake control method for the electrically driven vehicle one by one, and is not described in detail herein.
In another embodiment, the electric motor brake control apparatus for an electrically driven vehicle may further be: comprises a processor in which an executable computer program is stored, the processor being configured to execute the above-mentioned motor electric braking method.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims (9)

1. A motor electric brake control method for an electrically driven vehicle, characterized by comprising the steps of:
s1, when a vehicle enters a braking working condition, controlling and adjusting the braking torque of a motor according to a torque mode taking the torque as a follow-up control target so as to reduce the rotating speed of the motor;
s2, when the speed of the motor is reduced to a specified switching threshold value, controlling to switch to a rotating speed mode taking the rotating speed as a follow-up control target, and controlling the rotating speed of the motor to be reduced to zero speed according to the rotating speed mode;
s3, when the rotating speed of the motor is zero and lasts for a specified time, switching to a position mode which takes the position as a follow-up control target, and controlling the position state of a motor rotor according to the position mode;
the step S3 of controlling the position state of the motor rotor according to the position mode includes: and controlling the motor rotor to be sequentially switched to the appointed positions according to the preset position value switching sequence according to the current position of the motor rotor.
2. The motor electric brake control method for an electrically driven vehicle according to claim 1, characterized in that: in step S1, controlling and adjusting the braking torque of the motor according to the real-time acceleration of the motor and the torque mode, where controlling and adjusting the braking torque of the motor according to the real-time acceleration of the motor and the torque mode includes: when the real-time acceleration of the motor exceeds the motor shaft side acceleration threshold aElectric machineAt the motor shaft side acceleration threshold aElectric machineThe braking torque of the electric motor is controlled for the target, so that the braking torque of the electric motor is controlled in accordance with the maximum permissible acceleration.
3. The motor electric brake control method for an electrically driven vehicle according to claim 2, characterized in that: the motor shaft side acceleration threshold aElectric machineFor angular acceleration alpha at different braking torques depending on the load only at the target wheelWheelDesired angular acceleration alpha distributed to the target wheel at different braking torques during normal running of the vehicleVehicle with wheelsConfiguring to obtain; the motor shaft side acceleration threshold aElectrical machineThe specific configuration satisfies the following conditions: a is aVehicle/axle≤aElectric machine<aWheel/axleWherein a isWheel/axleFor angular acceleration a at different braking torques by load only at the target wheelWheelConverted acceleration of the motor shaft side, aVehicle/axleFor distributing desired angular acceleration alpha to target wheels under different braking torques during normal running of the vehicleVehicle with wheelsThe obtained acceleration on the motor shaft side is converted.
4. Motor electric brake control for electrically driven vehicle according to any one of claims 1 to 3The method is characterized in that in the step S2, when the speed V of the motor is less than or equal to k 1VHandoverWhen the control is switched to the rotating speed mode, wherein k1 is a parameter of a preset switching rotating speed mode, VHandoverTo switch the threshold value, and VHandover＝a*tResponse toA is the real-time acceleration of the motor, tResponse toThe response time of the system is controlled by the upper layer.
5. The motor electric brake control method for an electrically driven vehicle according to any one of claims 1 to 3, characterized in that the step S2 of controlling the rotation speed of the motor to be reduced to zero speed in the rotation speed mode includes: setting the given value of the rotating speed as 0, and setting the maximum value of an inner ring torque ring or a current ring of a rotating speed closed ring as the current braking force T of the motorBraking deviceOr current braking force T of motorBraking deviceThe corresponding current value.
6. The motor electric brake control method for the electrically-driven vehicle according to claim 1, wherein controlling the motor rotor to sequentially switch to the designated position in accordance with a preset position value switching sequence specifically comprises: and forming a position value switching sequence table by a plurality of position value angles in advance according to a preset switching sequence, selecting a value angle value closest to the position value switching sequence table as an initial position angle value of the motor rotor according to the current position value of the motor rotor during switching, and sequentially switching according to the value angles of all positions in the position value sequence switching table by taking the initial position angle value as a starting point.
7. The motor electric brake control method for an electrically driven vehicle according to claim 6, characterized in that the position value angle sequentially arranged in order of priority in the position value order switching table is: 30 °, 90 °, 150 °, 210 °, 270 °, 330 °.
8. The motor electric brake control method for an electrically driven vehicle according to any one of claims 1 to 3, characterized in that: when the speed V of the motor exceeds a preset switching threshold value or the vehicle is in a non-braking working condition, the method also comprises the step of controlling to switch to the torque mode, and the motor is controlled to run according to the torque mode.
9. An electric motor electric brake control apparatus for an electrically driven vehicle, comprising a processor having an executable computer program stored therein, characterized in that the processor is configured to perform the method of any one of claims 1 to 8.
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