CN112865668A - Method and system for online calculation of bridge temperature and control of bridge - Google Patents

Method and system for online calculation of bridge temperature and control of bridge Download PDF

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Publication number
CN112865668A
CN112865668A CN202110058341.4A CN202110058341A CN112865668A CN 112865668 A CN112865668 A CN 112865668A CN 202110058341 A CN202110058341 A CN 202110058341A CN 112865668 A CN112865668 A CN 112865668A
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temperature
node
winding
bridge
temperature node
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CN112865668B (en
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徐鲁永
陈益辉
邵康
黄宜坤
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United Automotive Electronic Systems Co Ltd
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United Automotive Electronic Systems Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/64—Controlling or determining the temperature of the winding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G06F17/12—Simultaneous equations, e.g. systems of linear equations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/19—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/66—Controlling or determining the temperature of the rotor
    • H02P29/662—Controlling or determining the temperature of the rotor the rotor having permanent magnets

Abstract

The invention provides a method for on-line calculation of bridge temperature, which comprises the following steps: creating a bridge heat transfer network model, wherein the bridge heat transfer network model comprises IGBT temperature nodes, motor coolant temperature nodes, stator yoke temperature nodes, stator tooth temperature nodes, first winding temperature nodes, second winding temperature nodes, third winding temperature nodes, rotor core temperature nodes and permanent magnet temperature nodes; acquiring a temperature value of the IGBT temperature node; and calculating the temperature values of the first winding temperature node, the second winding temperature node, the third winding temperature node and the permanent magnet temperature node through the electric bridge heat transfer network model. According to the invention, the maximum working temperature of key parts in the bridge can be obtained on line in real time without arranging a temperature sensor in the motor. The bridge temperature monitoring accuracy and the system reliability are improved, and meanwhile, the manufacturing and maintenance cost of the bridge is reduced.

Description

Method and system for online calculation of bridge temperature and control of bridge
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a method and a system for online calculation of bridge temperature and control of a bridge.
Background
At present, a system framework of a new energy automobile power assembly mainly adopts a three-in-one electric bridge with a compact structure, namely, a motor controller, a motor and a speed reducer realize high integration of the electric bridge through a common shell, a common cooling liquid loop and other modes. The development trend of electric automobile driving systems is that the electric bridge highly integrates and modularization.
In the existing bridge, the working temperature of a stator winding is monitored by a temperature sensor arranged in a motor, so that the insulation failure of the motor winding caused by high temperature is avoided. However, the vehicle environment is usually complicated and harsh, and the stator winding temperature sensor cannot be replaced, so that the whole bridge is scrapped once a fault occurs, and great loss is caused to the vehicle function safety and the maintenance cost. On the other hand, when the bridge runs, the rotor is in a rotating state, and a temperature sensor cannot be arranged at the permanent magnet of the rotor to test the temperature in real time, so that the permanent magnet has a risk of high-temperature demagnetization due to overhigh temperature of the permanent magnet. In addition, the existing product is usually only provided with a temperature sensor on a certain phase stator winding, and the highest temperature of other phase windings cannot be accurately monitored.
Disclosure of Invention
The invention aims to provide a method and a system for on-line calculation of bridge temperature and control of a bridge, which can replace a temperature sensor in a motor and obtain the working temperature of a stator winding, a rotor permanent magnet and a speed reducer of the motor in the bridge in real time.
In order to achieve the above object, the present invention provides a method for calculating the temperature of an electric bridge on line, the electric bridge having a motor, a reducer and a cooling circuit of the motor, the cooling circuit having a cooling fluid circulating therein, the method for calculating the temperature of the electric bridge on line in real time comprising:
creating a heat transfer network model of the bridge according to the heat transfer relationship inside the bridge, wherein the heat transfer network model at least comprises a temperature node of an IGBT, a temperature node of cooling liquid, a temperature node of a stator yoke, a temperature node of a stator tooth, a temperature node of a first winding, a temperature node of a second winding, a temperature node of a third winding, a temperature node of a rotor core and a temperature node of a permanent magnet;
acquiring a temperature value of a temperature node of the IGBT;
and calculating the temperature value of each temperature node through the temperature value of the temperature node of the IGBT and the electric bridge heat transfer network model.
Optionally, the bridge includes a motor controller, the IGBT is disposed in the motor controller, and a temperature sensor is disposed in the motor controller and is configured to obtain a temperature value of a temperature node of the IGBT.
Optionally, the bridge further comprises a retarder, and the bridge heat transfer network model further comprises a temperature node of the retarder, the temperature node of the retarder being coupled to the temperature node of the cooling liquid.
Optionally, the bridge heat transfer network model further comprises a temperature node of an output shaft of the electric machine, the temperature node of the output shaft being coupled to the temperature node of the rotor core and the temperature node of the cooling liquid.
Optionally, the temperature node of the first winding, the temperature node of the second winding, and the temperature node of the third winding are coupled to each other two by two, and are coupled to the temperature node of the stator yoke and the temperature node of the stator tooth.
Optionally, the amount of heat received by any temperature node is equal to the amount of heat transferred to it by all temperature nodes to which it is connected.
Optionally, each temperature node satisfies the following relationship:
Figure BDA0002900294790000021
wherein the content of the first and second substances,
Figure BDA0002900294790000022
is the temperature of the nth temperature node at the ith sample,
Figure BDA0002900294790000023
is the temperature of the nth temperature node at the (i + 1) th sampling, m is the number of temperature nodes connected with the nth temperature node,
Figure BDA0002900294790000024
is the temperature at the ith sampling, C, of the jth one of the other temperature nodes connected with the nth temperature nodenIs the heat capacity of the nth temperature node, qnFor the heat loss of the nth temperature node, Δ t is the time interval from the ith sample to the (i + 1) th sample within the sampling time, Rj，nIs the equivalent thermal resistance between the jth and nth ones of the other temperature nodes connected to the nth temperature node.
In addition, the invention also provides a control method of the electric bridge, which comprises the following steps:
the method for calculating the temperature of the electric bridge according to any one of claims 1 to 7 on line is utilized to obtain the temperature values of the temperature nodes of the first winding, the second winding, the third winding and/or the permanent magnet, compare the temperature values with a set threshold, control the motor to maintain the current output power when the temperature values are less than the threshold, and control the motor to reduce the output power when the temperature values are greater than or equal to the threshold.
In addition, the invention also provides a system for on-line calculation of the bridge temperature, which comprises:
a creating module of a heat transfer network model of the electric bridge, which is used for creating the heat transfer network model of the electric bridge according to the heat transfer relation inside the electric bridge, wherein the heat transfer network model at least comprises a temperature node of an IGBT, a temperature node of cooling liquid, a temperature node of a stator yoke, a temperature node of a stator tooth, a temperature node of a first winding, a temperature node of a second winding, a temperature node of a third winding, a temperature node of a rotor core and a temperature node of a permanent magnet;
the temperature acquisition module is used for acquiring the temperature value of the IGBT;
and the temperature calculation module is used for calculating the temperature values of the temperature node of the cooling liquid, the temperature node of the stator yoke, the temperature node of the stator teeth, the temperature node of the first winding, the temperature node of the second winding, the temperature node of the third winding, the temperature node of the rotor iron core and the temperature node of the permanent magnet according to the temperature value of the IGBT.
In addition, the present invention also provides a control system of an electrical bridge, comprising:
the system for on-line calculation of bridge temperature according to claim 9, used for obtaining the temperature values of the temperature node of the first winding, the temperature node of the second winding, the temperature node of the third winding and/or the temperature node of the permanent magnet;
and the control module is used for comparing the temperature value with a set threshold value, controlling the motor to reduce the output power when the temperature value is greater than or equal to the threshold value, and controlling the motor to maintain the current output power when the temperature value is less than the threshold value.
Optionally, the motor further comprises an over-temperature protection unit, configured to obtain a temperature value of a temperature node of the cooling liquid calculated by the temperature calculation module, compare the temperature value of the temperature node of the cooling liquid with a set confidence interval, compare the temperature values of the temperature node of the cooling liquid in the confidence interval with a set threshold, and control the motor to reduce the output power if the temperature value of the temperature node of the cooling liquid does not fall in the confidence interval.
Optionally, the winding temperature sensor further includes a first winding temperature sensor, a second winding temperature sensor, and a third winding temperature sensor, which are respectively used for acquiring temperature values of the first winding, the second winding, and the third winding.
In the method, the system, the motor controller and the storage medium for online calculation of the bridge temperature, a bridge heat transfer network model is created, wherein the bridge heat transfer network model comprises a cooling liquid temperature node, a stator yoke temperature node of the motor, a stator tooth temperature node of the motor, a first winding temperature node, a second winding temperature node, a third winding temperature node, a rotor core temperature node of the motor and a permanent magnet temperature node of the motor. And calculating the temperature values of the first winding temperature node, the second winding temperature node, the third winding temperature node and the rotor core temperature node of the motor through the temperature value of the cooling liquid temperature node and the electric bridge heat transfer network model. The working temperature of the stator winding and the rotor permanent magnet of the motor in the bridge can be obtained in real time without arranging a temperature sensor in the motor. The manufacturing cost of the bridge can be reduced.
In addition, the invention also provides a system for online calculating the bridge temperature, which comprises a temperature calculating module and a control module, wherein the temperature calculating module is used for realizing functions by adopting an online calculating method of the bridge temperature, the control module is used for judging whether the difference value between the temperature values of the first winding temperature node, the second winding temperature node, the third winding temperature node and the rotor core temperature node of the motor and a set threshold value is in a preset range, if the difference value exceeds the preset range, the output power of the motor is reduced, and if the difference value does not exceed the preset range, the current output power of the motor is maintained. The working temperature of the stator winding and the rotor permanent magnet of the motor can be prevented from being overhigh.
Drawings
FIG. 1 is a flow chart of a method for on-line calculation of bridge temperature in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a heat transfer network model of an electrical bridge in an embodiment of the invention;
FIG. 3 is a schematic diagram of a thermal network of temperature nodes in an embodiment of the present invention;
FIG. 4 is a flow chart of a method of controlling an electrical bridge in an embodiment of the present invention;
FIG. 5 is a block diagram of a control system for an electrical bridge in an embodiment of the present invention;
wherein the drawings are described as follows:
t1 — temperature node of first winding; t2 — temperature node of second winding; t3 — temperature node of third winding; t4 — temperature node of stator yoke; t5-temperature node of stator tooth; t6 — temperature node of rotor core; t7-temperature node of output shaft; t8-temperature node of coolant; t9-temperature node of IGBT, T10-temperature node of decelerator; t11-temperature node of permanent magnet.
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
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 embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
As used in this application 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 glance sideways may be referred to as first information, without departing from the scope of the present application. Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at the time" or "in response to a determination.
The electric bridge in this example is a three-in-one electric drive bridge for driving a new energy automobile. The three-in-one electric drive axle comprises a motor, a speed reducer and a motor controller. And an output shaft of the motor drives a driving shaft of the new energy automobile after speed reduction or reversing through a speed reducer. In order to improve the heat dissipation performance of the electric bridge, the electric bridge is further provided with a cooling loop, cooling liquid flows in the cooling loop in a circulating mode, and the cooling loop is used for cooling the speed reducer and the motor through cooling liquid circulation.
Fig. 1 is a flowchart of a method for online calculation of bridge temperature in the present embodiment. As shown in fig. 1, the method for online calculating the bridge temperature includes:
step S101: creating a heat transfer network model of the bridge according to the heat transfer relationship inside the bridge, wherein the heat transfer network model at least comprises a temperature node of an IGBT, a temperature node of cooling liquid, a temperature node of a stator yoke, a temperature node of a stator tooth, a temperature node of a first winding, a temperature node of a second winding, a temperature node of a third winding, a temperature node of a rotor core and a temperature node of a permanent magnet;
step S102: acquiring a temperature value of a temperature node of the IGBT;
step S103: and calculating the temperature value of each temperature node through the temperature value of the temperature node of the IGBT and the electric bridge heat transfer network model.
Specifically, a heat transfer network model of the electric bridge is established, and a heat network method is used for calculating the temperature value of each temperature node in the heat transfer network model in real time, so that the temperature values of the motor windings (including the first winding, the second winding and the third winding) and the temperature values of the permanent magnets can be obtained on line in real time. The thermal network method is a thermoelectric analogy analysis method, obtains thermal equilibrium equations of various complex heat transfer problems by using an electrical Kirchhoff Current Law (KCL) and a Kirchhoff Voltage Law (KVL), and obtains temperature values and change rates of temperature nodes in a complex heat transfer network model according to a solution result.
The method for online calculating the bridge temperature can replace a temperature sensor in the motor, and can online calculate the working temperature of each phase winding in the stator winding of the motor and the working temperature of the permanent magnet of the rotor in real time. As will be appreciated by those skilled in the art, conventional methods for detecting the temperature of the stator winding of an electric machine, which monitor the working temperature of the stator winding through a temperature sensor disposed in the electric machine, are often affected by the structure of the electric machine, and the temperature sensor can be disposed only in one phase of the stator winding. When the motor is in a locked-rotor state, the temperature imbalance can be caused due to the imbalance of the current of each phase winding. The traditional temperature detection method of the motor stator winding only arranges a temperature sensor on one phase winding and cannot accurately monitor the actual temperature value of the stator winding. The method can calculate the temperature value of each phase winding in real time, and avoids the condition that the temperature of a certain phase winding is too high and cannot be monitored. In addition, the method can monitor the temperature of the permanent magnet in real time, and solves the problem that the actual temperature of the permanent magnet cannot be accurately monitored.
Further, the bridge heat transfer network model further comprises a temperature node of an output shaft of the motor and a temperature node of the reducer.
Fig. 2 is a schematic diagram of a heat transfer network model of the electrical bridge in the present embodiment. As shown in fig. 2, the first winding, the second winding, the third winding, the stator yoke, the stator teeth, the rotor core, the output shaft, the coolant, the IGBT, the speed reducer, and the permanent magnet on the bridge are used as heat exchange nodes (i.e., temperature nodes in the present embodiment), which respectively correspond to the temperature node T1 of the first winding, the temperature node T2 of the second winding, the temperature node T3 of the third winding, the temperature node T4 of the stator yoke, the temperature node T5 of the stator teeth, the temperature node T6 of the rotor core, the temperature node T7 of the output shaft, the temperature node T8 of the coolant, the temperature node T9 of the IGBT, the temperature node T10 of the speed reducer, and the temperature node T11 of the permanent magnet in the heat transfer network model of the bridge. Wherein equivalent thermal resistance exists among all temperature nodes. It should be appreciated that the heat transfer network model of the bridge includes, but is not limited to, the temperature nodes described above.
Further, a temperature node T9 of the IGBT and a temperature node T10 of the decelerator are coupled to a temperature node T8 of the coolant, a temperature node T8 of the coolant is coupled to a temperature node T4 of the stator yoke, and a temperature node T1 of the first winding, a temperature node T2 of the second winding, and a temperature node T3 of the third winding are coupled to each other two by two and are coupled to a temperature node T4 of the stator yoke and a temperature node T5 of the stator teeth. Temperature node T6 of the rotor core is also coupled to temperature node T5 of the stator teeth, temperature node T11 of the permanent magnets is coupled to temperature node T6 of the rotor core, and temperature node T7 of the output shaft of the electric machine is coupled to temperature node T6 of the rotor core and temperature node T8 of the coolant.
It should be appreciated that the amount of heat received by any temperature node is equal to the amount of heat transferred to it by all temperature nodes to which it is connected. For ease of understanding, reference is made to the following description taken in conjunction with the accompanying drawings.
Fig. 3 is a schematic diagram of a thermal network of the temperature node in the present embodiment. As shown in FIG. 3, TnTemperature value, C, for the nth temperature node in the heat transfer network model of the bridgenIs the heat capacity of the nth temperature node, representing the amount of heat absorbed by that temperature node, qnThe heat loss of the nth temperature node represents the heat dissipated by the temperature node. Known from kirchhoff's law, Tn+qn+Cn0. Thus, based on CnAnd q isnWe can calculate Tn。
In order to further understand the method for online calculating the bridge temperature according to the present invention, how to calculate the temperature values of the first winding, the second winding, and the third winding is explained below with reference to fig. 2 as an example.
As shown in FIG. 2, in the heat transfer network model of the bridge, the temperature node T9 of the IGBT, the temperature node T8 of the coolant, and the decelerationTemperature node T10 of the device forms a first equivalent current loop. Thus, the kirchhoff equation set can be listed by the first equivalent current loop. Further, the electric bridge comprises a motor controller, the IGBT is arranged in the motor controller, and a temperature sensor is arranged in the motor controller and used for acquiring a temperature value of a temperature node T9 of the IGBT. As such, the temperature node T9 of the IGBT serves as a thermal boundary for temperature calculations of other temperature nodes in the heat transfer network model of the bridge. According to the heat capacity C of each temperature node of the first equivalent current loopnHeat loss qnAnd the equivalent thermal resistance and the temperature value of the temperature node T9 of the IGBT, the temperature values of the temperature node T8 of the cooling liquid in the first equivalent current loop and the temperature node T10 of the speed reducer can be calculated.
Accordingly, in the heat transfer network model of the bridge, the temperature node T4 of the stator yoke, the temperature node T5 of the stator teeth, the temperature node T6 of the rotor core, the temperature node T7 of the output shaft and the temperature node T8 of the cooling liquid form a second equivalent current loop, so that the temperature values of the temperature node T5 of the stator teeth and the temperature node T6 of the rotor core can be calculated through the second equivalent current loop.
Accordingly, in the heat transfer network model of the bridge, the temperature node T4 of the stator yoke, the temperature node T5 of the stator teeth, the temperature node T1 of the first winding, the temperature node T2 of the second winding, and the temperature node T3 of the third winding form a third equivalent current loop. And calculating the temperature values of the temperature node T1 of the first winding, the temperature node T2 of the second winding and the temperature node T3 of the third winding through the third equivalent current loop.
Specifically, those skilled in the art will appreciate that the three phases in the stator winding are generally designated U, V and W, and thus, in this example, the first winding is a U-phase winding, the second winding is a V-phase winding, the third winding is a W-phase winding, and the first winding is a V-phase winding. Temperature T of temperature node of each phase winding1、T2And T3To be evaluated. In addition, the temperature node T1 of the first winding has a corresponding winding heat capacity CUAnd variable loss qU(ii) a The second winding has a corresponding winding at temperature node T2Group heat capacity CVAnd variable loss qV(ii) a The temperature node T3 of the third winding has a corresponding winding heat capacity CWAnd variable loss qW。
In addition, an equivalent thermal resistance is provided among the temperature node T4 of the stator yoke, the temperature node T5 of the stator teeth, the temperature node T1 of the first winding, the temperature node T2 of the second winding and the temperature node T3 of the third winding. As can be seen from FIG. 2, an equivalent thermal resistance R is connected between the temperature node T1 of the first winding and the temperature node T2 of the second windingUVAn equivalent thermal resistance R is connected between the temperature node T1 of the first winding and the temperature node T3 of the third windingUWAn equivalent thermal resistance R is connected between the temperature node T2 of the second winding and the temperature node T3 of the third windingVWAn equivalent thermal resistance R is connected between the temperature node T1 of the first winding and the temperature node T4 of the stator yokeUmAn equivalent thermal resistance R is connected between the temperature node T2 of the second winding and the temperature node T4 of the stator yokeVmAn equivalent thermal resistance R is connected between the temperature node T3 of the third winding and the temperature node T4 of the stator yokeWmAn equivalent thermal resistance R is connected between the temperature node T1 of the first winding and the temperature node T5 of the stator teethUcoAn equivalent thermal resistance R is connected between the temperature node T2 of the second winding and the temperature node T5 of the stator teethVcoAn equivalent thermal resistance R is connected between the temperature node T3 of the third winding and the temperature node T5 of the stator teethWco。
Further, in the heat transfer network model of the bridge, the following relationship is satisfied at each temperature node:
Figure BDA0002900294790000081
wherein the content of the first and second substances,
Figure BDA0002900294790000091
is the temperature of the nth temperature node at the ith sample,
Figure BDA0002900294790000092
is the temperature of the nth temperature node at the (i + 1) th sampling, m is the number of temperature nodes connected with the nth temperature node,
Figure BDA0002900294790000093
is the temperature at the ith sampling, C, of the jth one of the other temperature nodes connected with the nth temperature nodenIs the heat capacity of the nth temperature node, qnFor the heat loss of the nth temperature node, Δ t is the time interval from the ith sample to the (i + 1) th sample within the sampling time, Rj，nIs the equivalent thermal resistance between the jth and nth ones of the other temperature nodes connected to the nth temperature node.
Wherein n, j, i and m are integers, and j is more than or equal to 1 and i is more than or equal to 1.
It should be appreciated that equation (1) is implicit in that each equation includes other unknowns and must therefore be solved simultaneously. The implicit equations can be solved iteratively, either separately or as part of an iteration within a parent analysis.
Further, the heat capacity C of each phase winding of the motorU、CV、CW(ii) a Variable loss qU、qV、qW(ii) a Equivalent thermal resistance RUVEquivalent thermal resistance RUWEquivalent thermal resistance RVWEquivalent thermal resistance RUmEquivalent thermal resistance RVmEquivalent thermal resistance RWmEquivalent thermal resistance RUcoEquivalent thermal resistance RVcoAnd equivalent thermal resistance RWcoIs an intrinsic performance parameter of the motor, a quantity known in equation (1). According to kirchhoff's current law, the nodes connected to the temperature node T1 of the first winding include the temperature node T2 of the second winding, the temperature node T3 of the third winding, the temperature node T4 of the stator yoke, and the temperature node T5 of the stator teeth, and the listed thermal equilibrium equation is as shown in equation (1-1).
Figure BDA0002900294790000094
Similarly, the thermal balance equations are listed as equations (1-6) and (1-7) for the temperature node T2 of the second winding and the temperature node T3 of the third winding, respectively.
Figure BDA0002900294790000095
Figure BDA0002900294790000096
Then, the temperature values of the temperature node T4 of the stator yoke and the temperature node T5 of the stator teeth are regarded as known quantities and substituted into the known quantity C in combination with the thermal balance equation of the temperature node of each phase windingU、CV、CW、qU、qV、qW、RUV、RUW、RVW、RUm、RVm、RWm、RUco、RVcoAnd RWcoAnd (4) calculating the temperature of the temperature node of each phase of winding. Specifically, when the equations (1-1), (1-2) and (1-3) are combined to solve the temperature of the winding temperature node of each phase, the temperature value of the winding temperature node of each phase may be defined to be 20 ℃ by using boundary conditions, that is, when i is 1 sampling,
Figure BDA0002900294790000097
taking the formula (1-1), the formula (1-2) and the formula (1-3), obtaining the temperature rise at the time of the second sampling, namely the temperature values corresponding to the temperature node T1 of the first winding, the temperature node T2 of the second winding and the temperature node T3 of the third winding
Figure BDA0002900294790000101
And
Figure BDA0002900294790000102
the value of (c).
To obtain
Figure BDA0002900294790000103
And
Figure BDA0002900294790000104
then, continuing to substitute the formula (1-1), the formula (1-2) and the formula (1-3) to obtain
Figure BDA0002900294790000105
Figure BDA0002900294790000106
And
Figure BDA0002900294790000107
then will be
Figure BDA0002900294790000108
And
Figure BDA0002900294790000109
continuing to substitute the formula (1-1), the formula (1-2) and the formula (1-3) to obtain
Figure BDA00029002947900001010
Figure BDA00029002947900001011
And
Figure BDA00029002947900001012
.., and so on, temperature values for the first, second, and third windings may be continuously obtained.
Based on the same inventive concept, the invention also provides a control method of the electric bridge.
Fig. 4 is a flowchart of a control method of the bridge in the present embodiment. As shown in fig. 4, the control method of the bridge includes the following steps:
step S201: acquiring temperature values of a temperature node T1 of the first winding, a temperature node T2 of the second winding, a temperature node T3 of the third winding and/or a temperature node T11 of the permanent magnet by using an on-line calculation method of the temperature of the electric bridge;
step S202: comparing the temperature value with a set threshold value, controlling the motor to maintain the current output power when the temperature value is smaller than the threshold value, and controlling the motor to reduce the output power when the temperature value is larger than or equal to the threshold value.
Based on the same inventive concept, the invention also provides a system for on-line calculation of the bridge temperature, which comprises:
a creation module of a heat transfer network model of the bridge for creating the heat transfer network model of the bridge according to heat transfer relationships inside the bridge, the heat transfer network model including at least a temperature node T9 of the IGBT, a temperature node T8 of the coolant, a temperature node T4 of the stator yoke, a temperature node T5 of the stator teeth, a temperature node T1 of the first winding, a temperature node T2 of the second winding, a temperature node T3 of the third winding, a temperature node T6 of the rotor core, and a temperature node T11 of the permanent magnet;
the temperature acquisition module is used for acquiring the temperature value of the IGBT;
and the temperature calculation module is used for calculating temperature values of a temperature node T8 of the cooling liquid, a temperature node T4 of the stator yoke, a temperature node T5 of the stator teeth, a temperature node T1 of the first winding, a temperature node T2 of the second winding, a temperature node T3 of the third winding, a temperature node T6 of the rotor core and a temperature node T11 of the permanent magnet according to the temperature values of the IGBT.
According to the system for on-line calculation of the bridge temperature, a temperature sensor is not required to be arranged at a cooling liquid inlet, extra hardware is not required, the cost of raw materials of products can be reduced, the procedures in the manufacturing process of the products can be reduced, and the production efficiency is improved. On the other hand, the whole bridge scrapping caused by the fault of the temperature sensor in the motor is avoided, and the later maintenance cost of the product is effectively reduced. On the other hand, the system for online calculating the bridge temperature is suitable for developing new products and upgrading software functions of mass-produced products.
Based on the same inventive concept, the invention also provides a control system of the electric bridge, which is characterized by comprising the following components:
the system for online calculation of bridge temperature is used for obtaining temperature values of a temperature node T1 of a first winding, a temperature node T2 of a second winding, a temperature node T3 of a third winding and/or a temperature node T11 of a permanent magnet;
and the control module is used for comparing the temperature value with a set threshold value, controlling the motor to reduce the output power when the temperature value is greater than or equal to the threshold value, and controlling the motor to maintain the current output power when the temperature value is less than the threshold value.
Further, the control system of the bridge further includes an over-temperature protection unit, configured to obtain a temperature value of a temperature node T8 of the cooling liquid calculated by the temperature calculation module, compare the temperature value of the temperature node T8 of the cooling liquid with a set confidence interval, compare the temperature values of the temperature node T8 of the cooling liquid with a set threshold value when the temperature value of the temperature node T1 of the first winding, the temperature node T2 of the second winding, the temperature node T3 of the third winding, and/or the temperature node T11 of the permanent magnet falls within the confidence interval, and control the motor to reduce the output power when the temperature value of the temperature node T8 of the cooling liquid does not fall within the confidence interval.
It should be understood that in this embodiment, the system for on-line calculation of the bridge temperature is a subsystem of the control system of the bridge. At this time, the control flow of the control system of the bridge is as shown in fig. 5.
Fig. 5 is a block diagram of a control system of the bridge in an embodiment of the present invention. As shown in fig. 5, the control flow of the control system of the bridge includes the following steps:
s301, operating a bridge; the process proceeds to step S302 where,
step S302, acquiring a temperature value of the IGBT through a temperature acquisition module; the process proceeds to step S303 in which,
step S303: calculating temperature values of the cooling liquid, the first winding, the second winding, the third winding and the permanent magnet through a temperature calculation module; the process proceeds to step S304 where,
step S304: the temperature calculation module outputs temperature values of the first winding, the second winding, the third winding and the permanent magnet to the control module; the process proceeds to step S305 in which,
step S305: performing confidence judgment on the temperature value of the cooling liquid, comparing the temperature value of the cooling liquid with a set confidence interval, executing a step S306 when the temperature value of the cooling liquid does not fall into the confidence interval, and executing a step S308 when the temperature value of the cooling liquid falls into the confidence interval;
step S306: the control module controls and outputs a fault alarm; the process proceeds to step S307 where,
step S307: the control module controls the motor to reduce output power, namely, a restricted driving mode is executed;
step S308: comparing the temperature value of at least one of the first winding, the second winding, the third winding and the permanent magnet with a set threshold, executing step 309 when the temperature value is greater than or equal to the threshold, and controlling the motor to maintain the current output power when the temperature value is less than the threshold, executing step 302;
step 309: the control module controls the motor to reduce output power, namely, execute over-temperature protection.
Optionally, the control system of the bridge further includes a first winding temperature sensor, a second winding temperature sensor, and a third winding temperature sensor, which are respectively used to obtain temperature values of the first winding, the second winding, and the third winding.
In one embodiment of the present embodiment, the temperature values of the first winding, the second winding and the third winding respectively measured by the first winding temperature sensor, the second winding temperature sensor and the third winding temperature sensor are used as the heat loss q to the temperature node T1 of the first windingUAnd heat capacity CU(ii) a Heat loss q of temperature node T2 of the second windingVAnd heat capacity CV(ii) a Heat loss q of temperature node T3 of third windingWAnd heat capacity CW(ii) a Equivalent thermal resistance RUVEquivalent thermal resistance RUWEquivalent thermal resistance RVWEquivalent thermal resistance RUmEquivalent thermal resistance RVmEquivalent thermal resistance RWmEquivalent thermal resistance RUcoEquivalent thermal resistance RVcoAnd equivalent thermal resistance RWcoThe value of (c) is corrected. Thus, the heat transfer network model of the electric bridge can be promoted in the product development stageThe method has higher calculation precision, and can calculate the temperature value of each temperature node more accurately. The accuracy of the method and the system for the on-line calculation of the bridge temperature is improved.
In an implementation manner of this embodiment, the temperature values of the first winding, the second winding and the third winding measured by the temperature sensors may be designed as redundancy of the temperature online calculation system of the bridge in this implementation, and the two are complementary to each other, so that the stability of the temperature online calculation system of the bridge may be improved.
Based on the same invention idea, the invention also provides a terminal, which comprises:
one or more processors and memory for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement a control method as the motor. The processor may include a kernel, and the kernel calls a corresponding program from the memory. One or more cores may be provided. The memory may include volatile memory in a storage medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
Based on the same inventive concept, the present invention also provides a computer-readable storage medium, in which a computer program is stored, and the computer program realizes the control method of the motor when being executed by a processor. And the storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
In summary, the embodiment of the present invention provides an online bridge temperature calculation method, including: creating a heat transfer network model of the bridge according to the heat transfer relationship inside the bridge, wherein the heat transfer network model at least comprises a temperature node of an IGBT, a temperature node of cooling liquid, a temperature node of a stator yoke, a temperature node of a stator tooth, a temperature node of a first winding, a temperature node of a second winding, a temperature node of a third winding, a temperature node of a rotor core and a temperature node of a permanent magnet; acquiring a temperature value of a temperature node of the IGBT; and calculating the temperature value of each temperature node through the temperature value of the temperature node of the IGBT and the electric bridge heat transfer network model. The method for online calculating the bridge temperature can replace a temperature sensor in the motor, and can online calculate the working temperature of each phase winding in the stator winding of the motor and the working temperature of the permanent magnet of the rotor in real time. In addition, in the traditional online temperature calculation method for the stator winding of the motor, the working temperature of the stator winding is monitored by a temperature sensor arranged in the motor and is often influenced by the structure of the motor, and the temperature sensor can be arranged on only one phase of the stator winding. When the motor is in a locked-rotor state, the temperature is unbalanced due to the unbalanced current of each phase winding, and the actual highest temperature of the stator winding cannot be accurately monitored only by arranging a temperature sensor on one phase winding. The method can calculate the temperature of each phase winding in real time, and avoids the condition that the temperature of a certain phase winding is too high and cannot be monitored.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (12)

1. A method for calculating the temperature of an electric bridge on line in real time, wherein the electric bridge is provided with a motor, a speed reducer and a cooling loop of the motor, and cooling liquid circulates in the cooling loop, and the method for calculating the temperature of the electric bridge on line in real time comprises the following steps:
creating a heat transfer network model of the bridge according to the heat transfer relationship inside the bridge, wherein the heat transfer network model at least comprises a temperature node of an IGBT, a temperature node of cooling liquid, a temperature node of a stator yoke, a temperature node of a stator tooth, a temperature node of a first winding, a temperature node of a second winding, a temperature node of a third winding, a temperature node of a rotor core and a temperature node of a permanent magnet;
acquiring a temperature value of a temperature node of the IGBT;
and calculating the temperature value of each temperature node through the temperature value of the temperature node of the IGBT and the electric bridge heat transfer network model.
2. The method for calculating the temperature of the bridge according to claim 1, wherein the bridge comprises a motor controller, the IGBT is disposed in the motor controller, and a temperature sensor is disposed in the motor controller for acquiring the temperature value of the temperature node of the IGBT.
3. The method for on-line calculation of bridge temperature of claim 2, wherein the bridge further comprises a retarder, the bridge heat transfer network model further comprising a temperature node of the retarder, the temperature node of the retarder being coupled to the temperature node of the cooling fluid.
4. The method for on-line calculation of bridge temperature of claim 3 wherein the bridge heat transfer network model further comprises a temperature node of an output shaft of the electric machine, the temperature node of the output shaft coupled to the temperature node of the rotor core and the temperature node of the coolant.
5. The method for on-line calculation of bridge temperature of claim 4 wherein the temperature node of the first winding, the temperature node of the second winding, and the temperature node of the third winding are coupled to each other two by two and are each coupled to the temperature node of the stator yoke and the temperature node of the stator teeth.
6. The method for bridge temperature on-line calculation of claim 5, wherein the amount of heat received by any temperature node is equal to the amount of heat transferred to it by all temperature nodes connected to it.
7. The method for on-line calculation of bridge temperature of claim 6, wherein each temperature node satisfies the following relationship:
Figure FDA0002900294780000011
wherein the content of the first and second substances,
Figure FDA0002900294780000012
is the temperature of the nth temperature node at the ith sample,
Figure FDA0002900294780000013
is the temperature of the nth temperature node at the (i + 1) th sampling, m is the number of temperature nodes connected with the nth temperature node,
Figure FDA0002900294780000021
is the temperature at the ith sampling, C, of the jth one of the other temperature nodes connected with the nth temperature nodenIs the heat capacity of the nth temperature node, qnFor the heat loss of the nth temperature node, Δ t is the time interval from the ith sample to the (i + 1) th sample within the sampling time, Rj，nIs the equivalent thermal resistance between the jth and nth ones of the other temperature nodes connected to the nth temperature node.
8. A method for controlling an electrical bridge, comprising:
the method for calculating the temperature of the electric bridge according to any one of claims 1 to 7 on line is utilized to obtain the temperature values of the temperature nodes of the first winding, the second winding, the third winding and/or the permanent magnet, compare the temperature values with a set threshold, control the motor to maintain the current output power when the temperature values are less than the threshold, and control the motor to reduce the output power when the temperature values are greater than or equal to the threshold.
9. A system for on-line calculation of bridge temperature, comprising:
a creating module of a heat transfer network model of the electric bridge, which is used for creating the heat transfer network model of the electric bridge according to the heat transfer relation inside the electric bridge, wherein the heat transfer network model at least comprises a temperature node of an IGBT, a temperature node of cooling liquid, a temperature node of a stator yoke, a temperature node of a stator tooth, a temperature node of a first winding, a temperature node of a second winding, a temperature node of a third winding, a temperature node of a rotor core and a temperature node of a permanent magnet;
the temperature acquisition module is used for acquiring the temperature value of the IGBT;
and the temperature calculation module is used for calculating the temperature values of the temperature node of the cooling liquid, the temperature node of the stator yoke, the temperature node of the stator teeth, the temperature node of the first winding, the temperature node of the second winding, the temperature node of the third winding, the temperature node of the rotor iron core and the temperature node of the permanent magnet according to the temperature value of the IGBT.
10. A control system for an electrical bridge, comprising:
the system for on-line calculation of bridge temperature according to claim 9, used for obtaining the temperature values of the temperature node of the first winding, the temperature node of the second winding, the temperature node of the third winding and/or the temperature node of the permanent magnet;
and the control module is used for comparing the temperature value with a set threshold value, controlling the motor to reduce the output power when the temperature value is greater than or equal to the threshold value, and controlling the motor to maintain the current output power when the temperature value is less than the threshold value.
11. The control system of the bridge according to claim 10, further comprising an over-temperature protection unit configured to obtain a temperature value of the temperature node of the cooling liquid calculated by the temperature calculation module, compare the temperature value of the temperature node of the cooling liquid with a set confidence interval, compare the temperature values of the temperature node of the cooling liquid with a set threshold when the temperature value of the temperature node of the cooling liquid falls within the confidence interval, and control the motor to decrease the output power when the temperature value of the temperature node of the cooling liquid does not fall within the confidence interval.
12. The control system of the electric bridge according to claim 10, further comprising a first winding temperature sensor, a second winding temperature sensor, and a third winding temperature sensor for obtaining temperature values of the first winding, the second winding, and the third winding, respectively.
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