CN113085552B - Bus voltage control method and system of vehicle motor - Google Patents

Bus voltage control method and system of vehicle motor Download PDF

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Publication number
CN113085552B
CN113085552B CN201911342375.5A CN201911342375A CN113085552B CN 113085552 B CN113085552 B CN 113085552B CN 201911342375 A CN201911342375 A CN 201911342375A CN 113085552 B CN113085552 B CN 113085552B
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motor
axis current
current
bus voltage
direct
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CN113085552A (en
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阿勒普·加纳
王倩男
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Honeycomb Drive Technology Pizhou Co ltd
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Baoding R&D Branch of Honeycomb Transmission System Jiangsu Co Ltd
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    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • 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
    • 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
    • B60L2240/427—Voltage
    • 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
    • B60L2240/429—Current
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to the technical field of vehicles, and provides a bus voltage control method and a system of a vehicle motor, which are applied to a controller for controlling the motor, and the bus voltage control method of the vehicle motor comprises the following steps: in response to a command of bus voltage active discharge on the motor, controlling quadrature axis current of the motor to be zero and controlling direct axis current of the motor to be target direct axis current so as to enable the bus voltage to be reduced to a preset reference voltage; when the bus voltage is less than or equal to the reference voltage, adjusting the quadrature-axis current to be a target quadrature-axis current and maintaining the direct-axis current to be the target direct-axis current so that the bus voltage is maintained at the reference voltage; wherein the reference voltage is configured to be below a safe voltage and to enable the controller to operate. The bus voltage control method and the bus voltage control system of the vehicle motor can realize the sustainable work of the motor controller when the bus voltage of the motor is actively discharged.

Description

Bus voltage control method and system of vehicle motor
Technical Field
The invention relates to the technical field of vehicles, in particular to a bus voltage control method and system of a vehicle motor.
Background
With the development of the development and application of hybrid vehicles or new energy vehicles, the requirements on the safety of the hybrid vehicles or the new energy vehicles are higher, and the safety of the vehicles and the personnel is particularly easily endangered when the hybrid vehicles or the new energy vehicles are forced or not forced to fail. For example, when the vehicle suddenly encounters unexpected high-voltage power failure during traveling, the voltage of the capacitor on the bus of the motor controller needs to be actively discharged to be reduced below a safe voltage, so that the safety of the vehicle and human bodies is ensured. In the related art, the motor generates reactive power according to a certain rule so as to quickly reduce the voltage of a capacitor on a bus of the motor controller to be lower than a safe voltage, but when the voltage of the capacitor is continuously reduced to a value which cannot meet the requirement of the motor controller to work, the motor loses control, and if the speed of the vehicle is high at the moment, the motor which loses control seriously affects the safety of the vehicle.
Disclosure of Invention
In view of the above, the present invention is directed to a bus voltage control method and system for a vehicle motor, so as to enable a motor controller to continuously operate when the bus voltage of the motor is actively discharged.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a bus voltage control method of a vehicle motor is applied to a controller for controlling the motor, and comprises the following steps: in response to a command of bus voltage active discharge on the motor, controlling quadrature axis current of the motor to be zero and controlling direct axis current of the motor to be target direct axis current so as to enable the bus voltage to be reduced to a preset reference voltage; when the bus voltage is less than or equal to the reference voltage, adjusting the quadrature axis current to be a target quadrature axis current and maintaining the direct axis current to be the target direct axis current so that the bus voltage is maintained at the reference voltage; wherein the reference voltage is configured to be below a safe voltage and to enable the controller to operate.
Preferably, the bus voltage control method of a vehicle motor further includes: determining a first direct current of the motor as the target direct current by:
Figure BDA0002331858860000021
wherein, the IdFor the first direct current, the UdcFor the bus voltage of the vehicle, the Flux is the Flux linkage of the rotor of the motor, the omega is the rotating speed of the motor, and the L is the rotating speed of the motordIs the direct axis inductance of the motor.
Preferably, the bus voltage control method of the vehicle motor further includes: determining a second direct-axis current of the motor as the target direct-axis current by:
Figure BDA0002331858860000022
wherein, the IdcalFor the second direct axis current, the UdcFor the bus voltage of the vehicle, the Flux is the motor rotorFlux linkage, ω being the rotational speed of the motor, IdconTo show the preset value of the discharge speed desired by the user, LdIs the direct axis inductance of the motor.
Preferably, the target direct axis current is configured such that the motor generates no torque while the bus bar voltage is reduced.
Preferably, the bus voltage control method of a vehicle motor further includes: determining a target quadrature axis current of the motor by: obtaining a difference value between the current bus voltage and the reference voltage; processing the rotating speed of the motor through a sign function sign; multiplying the obtained difference value by the rotating speed of the motor processed by the sign function sign, and taking the obtained product as an input value of a preset current controller; and taking the output value of the preset current controller as the target quadrature axis current. .
Preferably, a first current difference value of a current quadrature-axis current and a target quadrature-axis current of the motor and a second current difference value of a current direct-axis current and a target direct-axis current of the motor are obtained; and based on the first current difference and the second current difference, respectively executing pulse width amplitude modulation control aiming at quadrature axis current and direct axis current to obtain control signals applied to a controller of the motor; and the controller of the motor controls the bus voltage to be maintained at the reference voltage based on the obtained control signal. .
Preferably, after the bus voltage is maintained at the reference voltage, the bus voltage control method of the vehicle motor further includes: and when the current vehicle speed is less than a preset vehicle speed threshold value, controlling the bus voltage to stop actively discharging.
In addition, this embodiment also provides a bus voltage control system of a vehicle motor, which is applied to a controller for controlling the motor, and the bus voltage control system of the vehicle motor includes: the voltage reduction unit is used for responding to a command of bus voltage active discharge of the motor, controlling quadrature axis current of the motor to be zero and controlling direct axis current of the motor to be target direct axis current so as to reduce the bus voltage to a preset reference voltage; and a voltage maintaining unit, configured to adjust the quadrature axis current to a target quadrature axis current and maintain the direct axis current to the target direct axis current when the bus voltage is less than or equal to the reference voltage, so that the bus voltage is maintained at the reference voltage; wherein the safe voltage is configured to be below a safe voltage and to enable the controller to operate.
In addition, the present embodiment also provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the bus voltage control method of a vehicle motor described above.
In addition, the present embodiment also provides a processor for running a program, wherein the program runs to execute the bus voltage control method of the vehicle motor.
Compared with the prior art, the bus voltage control method of the vehicle motor can respond to a command of bus voltage active discharge on the motor, the bus voltage is quickly reduced to the preset reference voltage below the safe voltage by setting the direct axis current of the motor to be the target direct axis current and the quadrature axis current to be zero, at the moment, the bus voltage is not continuously reduced, but is maintained at the reference voltage capable of ensuring the normal work of the motor controller by adjusting the quadrature axis current to be the target quadrature axis current to be matched with the direct axis current maintained at the target direct axis current, so that the safe operation of the vehicle is ensured, the controller is also ensured to be capable of normally working, the controllability of the motor at any speed is ensured, and the safety of the vehicle is enhanced.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention.
In the drawings:
fig. 1a is a flowchart of a bus voltage control method of a vehicle motor according to an embodiment of embodiment 1 of the present invention;
fig. 1b is a flowchart of a bus voltage control method of a vehicle motor according to another embodiment of example 1 of the present invention;
FIG. 2 is a flow chart illustrating the determination of the target quadrature axis current according to the present invention;
FIG. 3 is a control system schematic of the controller of the motor of the present invention;
fig. 4 is a block diagram of a bus voltage control system of a vehicle motor of embodiment 2.
Description of reference numerals:
21. difference value operation module 22 and product module
23. First proportional integral controller
31. Controller 32 for controlling motor and vector control module
33. Anti-park conversion module 34 and active discharge module
35. P current controller 36 and rotary transformer
37. Permanent magnet synchronous motor 38, park conversion module
39. clark conversion module
41. Voltage reduction unit 42 and voltage maintaining unit
43. First target direct axis current determination unit
44. Second target direct axis current determination unit
45. Target quadrature axis current determination unit
421. Current acquisition module 422 and control signal acquisition module
423. Controller of motor
46. Discharge stop unit
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Example 1
Fig. 1a is a flowchart of a bus voltage control method of a vehicle motor of embodiment 1. As shown in fig. 1a, the bus voltage control method includes:
s100, responding to a command of bus voltage active discharge of the motor, controlling quadrature axis current of the motor to be zero and controlling direct axis current of the motor to be target direct axis current, so that the bus voltage is reduced to a preset reference voltage.
The command may be an enable signal for controlling the motor to actively discharge the bus voltage, which generally occurs when the vehicle encounters unexpected high-voltage power failure, for example, when the vehicle is abnormal, the power battery bus relay is disconnected. The active discharge of the bus voltage is actually the discharge of a bus capacitor of a controller of the motor, that is, the energy stored in the bus capacitor is consumed. At present, there are two main ways of consuming energy, one is to consume the stored energy by thermal energy, and the other is to consume the stored energy by converting it into mechanical energy. The heat energy consumption comprises heat energy consumption of a controller and heat energy consumption of a motor winding, the two types of heat energy consumption are lossy as long as current flows through the motor controller, and the larger the current is, the larger the loss is. Mechanical energy dissipation is primarily the conversion of current through the armature winding into electromagnetic energy. For dissipating the capacitance energy, the present embodiment selects thermal energy loss because if the energy of the bus capacitor is converted into mechanical energy, positive torque is generated to increase the rotation speed of the motor, which is contrary to safety. Therefore, in the present embodiment, the target direct axis current is configured such that the motor does not generate torque and such that the bus voltage is lowered. Since the magnitude of the output torque is related to the product of: the specific output torque formula is T ═ a ^ Iq+b*Id*IqWhere a, b are parameters unrelated to quadrature axis current and direct axis current, and T is output torque, so that in quadrature axis current IqWhen the output torque is zero, the output torque is also zero, and the output torque and the direct-axis current I aredIs irrelevant to the size of the device.
Before active discharging is not carried out, the safety of people and vehicles can be influenced by the high voltage of the vehicle, if the descending speed of the high voltage is too high, the motor is easy to lose control, and the reference voltage is below the safety voltage and can ensure the normal work of a controller of the motor. For the reasons described above, the present embodiment reduces the bus voltage to a preset reference voltage to ensure that the bus voltage is below a safe voltage and to enable the controller to operate.
In this embodiment, in order to increase the bus voltage drop speed (reach below the safe voltage as soon as possible), the quadrature axis current of the motor is controlled to be zero and the direct axis current of the motor is controlled to be the target direct axis current, so as to drop the bus voltage at the fastest speed.
Wherein the target direct axis current can be obtained in two different ways.
Mode 1
Determining a first direct-axis current of the motor as the target direct-axis current by the following formula (1):
Figure BDA0002331858860000061
wherein, the IdFor the first direct current, the UdcFor the bus voltage of the vehicle, the Flux is the Flux linkage of the rotor of the motor, the omega is the rotating speed (angular speed) of the motor, and the L is the rotating speeddIs the direct axis inductance of the motor.
The determination of equation (1) is as follows:
Vd＝R*Id-ω*Lq*Iq；
Vq＝R*Iq+ω*(Ld*Id+Flux)；
wherein, Flux is the motor rotor Flux linkage, R is the motor winding resistance, VdIs the d-axis (direct axis) voltage of the stator winding of the electrical machine, said VqQ-axis (quadrature axis) voltage of stator winding of electric machine, LqIs the quadrature axis inductance of the motor.
In this embodiment, the motor winding resistance is ignored, let Iq＝0；
Figure BDA0002331858860000071
Mode 2
Determining a second direct-axis current of the motor as the target direct-axis current by the following formula (2):
Figure BDA0002331858860000072
wherein, the IdcalFor the second direct axis current, the UdcFor the bus voltage of the vehicle, the Flux is the Flux linkage of the rotor of the motor, the omega is the rotating speed of the motor, and the I isdconTo show the preset value of the discharge speed desired by the user, LdIs the direct axis inductance of the motor.
The formula derivation principle of the mode 2 is shown in the mode 1, and compared with the mode 1, the mode 2 is added with IdconFor adjusting the discharge rate of the bus capacitor in order to output a sufficient IdThe current is not influenced by the parameter precision of the motor, and the finally selected direct-axis reference current is added with one minus IdconSelecting proper I according to actual requirements of usersdconAnd may be, for example, 20.
Through the embodiment, the target direct-axis current is calculated in real time according to the formula (1) or (2), so that when the vehicle speed changes rapidly (showing the change of the motor rotating speed), the bus voltage does not jump, and smoothly drops below the safe voltage.
After the voltage of the bus capacitor is rapidly decreased to the reference voltage, in order to avoid causing runaway of the motor, the following step S200 is led out.
S200, when the bus voltage is smaller than or equal to the reference voltage, adjusting the quadrature axis current to be a target quadrature axis current and maintaining the direct axis current to be the target direct axis current so as to maintain the bus voltage at the reference voltage.
As can be seen from the above description, the quadrature axis current is used to boost the bus voltage, and since the quadrature axis current is still in the active discharge process, the direct axis current is not zero, but continues to discharge, and in this case, the quadrature axis current is adjusted to be the target quadrature axis current, so as to maintain the bus voltage at the reference voltage.
And the reference voltage can be adjusted to obtain different final bus voltages after the discharge is finished. Fig. 2 is a flow chart of determining the target quadrature axis current. As shown in fig. 2, the target quadrature axis current of the motor is determined by: obtaining a difference value between the current bus voltage and the reference voltage; processing the rotating speed of the motor through a sign function sign; multiplying the obtained difference value by the rotating speed of the motor processed by the sign function sign, and taking the obtained product as an input value of a preset current controller; and taking the output value of the preset current controller 23 as the target quadrature axis current. .
The calculation of the difference between the current bus voltage and the reference voltage is realized by a difference operation module 21, the initial bus voltage is the bus voltage in the initial state, and as the bus voltage decreases, the difference is multiplied by a value obtained by processing the motor speed through a sign function sign, and the value is realized by a product module 22.
Since the target quadrature axis current is only related to the current bus voltage when the bus voltage is less than or equal to the reference voltage, when the bus voltage is greater than the reference voltage, the bus voltage is zero (disregarded), that is, the current required target quadrature axis voltage is calculated according to the bus voltage obtained in real time.
The first current controller 23 may include a PI controller and a PID controller, and preferably, a PI controller.
In this embodiment, taking the rotation direction of the motor into consideration, the following formula (3) is taken as an example:
-sign(ω)*Iq (3)
wherein sign (ω) represents a sign of the rotational angular velocity of the motor, and if the rotational direction of the motor is forward rotation, sign (ω) is 1, otherwise-1.
Fig. 3 is a control system schematic of a controller for the motor, which is a permanent magnet synchronous motor 37, followed by the use of the motor instead for ease of description. As shown in fig. 3, adjusting the quadrature axis current to be the target quadrature axis current and maintaining the direct axis current to be the target direct axis current, so that the bus voltage is maintained at the reference voltage includes:
s201, acquiring a first current difference value of a current quadrature axis current and a target quadrature axis current of the motor and a second current difference value of a current direct axis current and a target direct axis current of the motor; the process of acquiring the quadrature axis current of the motor and the direct axis current of the motor comprises the following steps: obtaining three-phase current i of motor controllera、ib、icThen i is obtained by Clark coordinate transformation (clark transformation module 39)αAnd iβThen, i is obtained through park transformation (park transformation module 38)dAnd iq。
S202, based on the first current difference and the second current difference, respectively executing pwm control for quadrature axis current and direct axis current to obtain control signals applied to the controller of the motor, wherein the first current difference and the second current difference sequentially pass through a P controller 35 (as can be seen from the above, the P controller 35 includes a PI controller and a PID controller) to obtain uqAnd udInverse park transformation (inverse park transformation module 33) to obtain uαAnd uβAnd the space vector conversion (vector control module 32) obtains control signals of six paths of PWM signals and inputs the control signals into the motor controller. The pulse width amplitude modulation (PWM) control of the direct-axis current comprises SPWM and SVPWM.
S203, the controller 31 for controlling the motor controls the bus voltage to maintain at the reference voltage based on the obtained control signal.
Wherein, in FIG. 3A resolver 36 is included for detecting motor position information θ and motor speed ω. The active discharging module 34 is configured to calculate a currently required target direct-axis current according to the bus voltage and the motor speed (see the above contents in the calculation manner), and then output the target direct-axis current Idref(ii) a Determining the target quadrature axis current according to the current bus voltage judgment result, wherein the specific judgment mode is as follows when the bus voltage U isdc(V in FIG. 3)DC) Greater than reference voltage UdcrefWhen the current is zero, the output quadrature axis current is set to be zero; otherwise, adjusting the quadrature axis current to be the target quadrature axis current.
The controller can be in a feed mode in order to increase the energy of the capacitor, the mechanical energy of the motor is added into the capacitor, and the voltage at two ends of the capacitor is increased to maintain a current loop of the motor controller to have enough voltage margin, so that the motor controller can realize software control.
Further preferably, as shown in fig. 1b, on the basis of fig. 1a, after the bus voltage is maintained at the reference voltage S200, the bus voltage control method for the vehicle motor further includes:
and S300, when the current vehicle speed is less than a preset vehicle speed threshold value, controlling the bus voltage to stop actively discharging.
Specifically, the vehicle speed threshold value K _ speedStop is set to be zero or 5km/h, and the bus voltage is controlled to stop active discharge under the condition that the current vehicle speed is 0 or less than 5, so that the vehicle belongs to a safe state.
With embodiment 1 described above, it is possible to make the vehicle not limited by the vehicle speed, to realize active discharge of the bus voltage regardless of the vehicle speed state (high speed state or stationary state), and to avoid the risk of runaway of the motor by maintaining the bus voltage at the reference voltage while ensuring that the bus voltage is at a safe voltage. In addition, the cost of hardware cannot be increased, the discharging speed and the voltage for finishing the active discharging can be adjusted according to actual conditions, and different requirements of users are met.
Example 2
Fig. 4 is a block diagram of a bus voltage control system of a vehicle motor of embodiment 2.
As shown in fig. 4, the bus voltage control system of the vehicle motor is applied to a controller for controlling the motor, and includes: a voltage reducing unit 41, configured to, in response to a command for performing bus voltage active discharge on the motor, control a quadrature axis current of the motor to be zero and control a direct axis current of the motor to be a target direct axis current, so as to reduce the bus voltage to a preset reference voltage; and a voltage maintaining unit 42, configured to adjust the quadrature axis current to a target quadrature axis current and maintain the direct axis current to the target direct axis current when the bus voltage is less than or equal to the reference voltage, so that the bus voltage is maintained at the reference voltage; wherein the safe voltage is configured to be below a safe voltage and to enable the controller to operate.
Preferably, the bus voltage control system of the vehicle motor further includes: a first target direct-axis current determination unit 43 for determining a first direct-axis current of the motor as the target direct-axis current by the following equation:
Figure BDA0002331858860000111
wherein, the IdFor the first direct current, the UdcFor the bus voltage of the vehicle, the Flux is the Flux linkage of the rotor of the motor, the omega is the rotating speed of the motor, and the L is the rotating speed of the motordIs the direct axis inductance of the motor.
Preferably, the bus voltage control system of the vehicle motor further includes: a second target direct-axis current determination unit 44 configured to determine a second direct-axis current of the motor as the target direct-axis current by:
Figure BDA0002331858860000112
wherein, the IdcalIs the second direct-axis current and is,the U isdcFor the bus voltage of the vehicle, the Flux is the Flux linkage of a motor rotor, the omega is the rotating speed of the motor, and the I is the rotating speed of the motordconTo show the preset value of the discharge speed desired by the user, LdIs the direct axis inductance of the motor.
Preferably, the target direct axis current is configured such that the motor generates no torque while the bus bar voltage is reduced. Preferably, the method further comprises the following steps: a target quadrature axis current determination unit 45 for determining a target quadrature axis current of the motor by: obtaining a difference value between the current bus voltage and the reference voltage; processing the rotating speed of the motor through a sign function sign; multiplying the obtained difference value by the rotating speed of the motor processed by the sign function sign, and taking the obtained product as an input value of a preset current controller; and taking the output value of the preset current controller as the target quadrature axis current.
Preferably, the voltage maintaining unit 42 includes: the current obtaining module 421 obtains a first current difference between a current quadrature-axis current of the motor and a target quadrature-axis current of the motor and a second current difference between a current direct-axis current of the motor and a target direct-axis current of the motor; a control signal obtaining module 422, configured to perform pulse width amplitude modulation control on quadrature axis current and direct axis current respectively based on the first current difference and the second current difference, to obtain a control signal applied to a controller of the motor, and a controller 423 of the motor, configured to control the bus voltage to be maintained at the reference voltage based on the obtained control signal.
Preferably, the bus voltage control system of the vehicle motor further includes: and a discharge stopping unit 46, configured to control the bus voltage to stop actively discharging when the current vehicle speed is less than a preset vehicle speed threshold after the bus voltage is maintained at the reference voltage.
Compared with the prior art, the bus voltage control system of the vehicle motor has the same technical scheme and technical effect as those of embodiment 1, and is not described herein again.
The bus voltage control system of the vehicle motor includes a processor and a memory, the voltage reduction unit 41, the voltage maintaining unit 42, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the control of the bus voltage of the motor is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable 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.
Embodiments of the present invention provide a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described bus voltage control method for a vehicle motor.
The embodiment of the invention provides a processor, which is used for running a program, wherein when the program runs, a control method of bus voltage of a motor is executed.
The present application also provides a computer program product adapted to execute, when executed on a data processing device, a program initialized with the steps of the control method of the bus voltage of the electric motor described in embodiment 1.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (8)

1. A bus voltage control method of a vehicle motor, applied to a controller that controls the motor, comprising:
in response to a command of bus voltage active discharge on the motor, controlling quadrature axis current of the motor to be zero and controlling direct axis current of the motor to be target direct axis current so as to enable the bus voltage to be reduced to a preset reference voltage; and
when the bus voltage is less than or equal to the reference voltage, adjusting the quadrature axis current to a target quadrature axis current and maintaining the direct axis current to the target direct axis current so that the bus voltage is maintained at the reference voltage, including:
acquiring a first current difference value of the current quadrature-axis current and the target quadrature-axis current of the motor and a second current difference value of the current direct-axis current and the target direct-axis current of the motor; and
respectively executing pulse width amplitude modulation control aiming at quadrature axis current and direct axis current based on the first current difference and the second current difference to obtain control signals applied to a controller of the motor; and
the controller of the motor controls the bus voltage to maintain at the reference voltage based on the obtained control signal;
wherein the reference voltage is configured to be below a safe voltage and to enable the controller to operate, a target quadrature axis current of the motor being determined by:
obtaining a difference value between the current bus voltage and the reference voltage;
processing the rotating speed of the motor through a sign function sign;
multiplying the obtained difference value by the rotating speed of the motor processed by the sign function sign, and taking the obtained product as an input value of a preset current controller; and
and taking the output value of the preset current controller as the target quadrature axis current.
2. The bus voltage control method of a vehicle motor according to claim 1, further comprising:
determining a first direct current of the motor as the target direct current by:
Figure FDA0003685712840000021
wherein, the IdFor the first direct current, the UdcFor the bus voltage of the vehicle, the Flux is the Flux linkage of the rotor of the motor, the omega is the rotating speed of the motor, and the L is the rotating speed of the motordIs the direct axis inductance of the motor.
3. The bus voltage control method of a vehicle motor according to claim 1, further comprising:
determining a second direct-axis current of the motor as the target direct-axis current by:
Figure FDA0003685712840000022
wherein, the IdcalFor the second direct axis current, UdcFor the bus voltage of the vehicle, the Flux is the Flux linkage of the rotor of the motor, the omega is the rotating speed of the motor, and the I isdconTo show the user's desired discharge rate, the LdIs the direct axis inductance of the motor.
4. The bus voltage control method of a vehicle motor according to claim 1, characterized in that the target direct axis current is configured to cause the motor not to generate torque while causing the bus voltage to decrease.
5. The bus voltage control method of a vehicle motor according to claim 1, characterized in that after the bus voltage is maintained at the reference voltage, the bus voltage control method of a vehicle motor further comprises:
and when the current vehicle speed is less than a preset vehicle speed threshold value, controlling the bus voltage to stop actively discharging.
6. A bus voltage control system of a vehicle motor, applied to a controller that controls the motor, comprising:
the voltage reduction unit is used for responding to a command of bus voltage active discharge of the motor, controlling quadrature axis current of the motor to be zero and controlling direct axis current of the motor to be target direct axis current so as to reduce the bus voltage to a preset reference voltage; and
the voltage maintaining unit is used for adjusting the quadrature axis current to be a target quadrature axis current and maintaining the direct axis current to be the target direct axis current when the bus voltage is less than or equal to the reference voltage so as to maintain the bus voltage at the reference voltage, and comprises:
acquiring a first current difference value of the current quadrature-axis current and the target quadrature-axis current of the motor and a second current difference value of the current direct-axis current and the target direct-axis current of the motor; and
respectively executing pulse width amplitude modulation control aiming at quadrature axis current and direct axis current based on the first current difference and the second current difference to obtain control signals applied to a controller of the motor; and
the controller of the motor controls the bus voltage to maintain at the reference voltage based on the obtained control signal;
wherein the reference voltage is configured to be below a safe voltage and to enable the controller to operate, a target quadrature axis current of the motor being determined by:
obtaining a difference value between the current bus voltage and the reference voltage;
processing the rotating speed of the motor through a sign function sign;
multiplying the obtained difference value by the rotating speed of the motor processed by the sign function sign, and taking the obtained product as an input value of a preset current controller; and
and taking the output value of the preset current controller as the target quadrature axis current.
7. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the bus voltage control method of a vehicle motor of any one of claims 1-5.
8. A processor, characterized in that the processor is configured to run a program, wherein the program is run to perform the bus voltage control method of a vehicle motor according to any one of claims 1 to 5.
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