CN113296022A - Real-time diagnosis method for active short circuit state of motor - Google Patents
Real-time diagnosis method for active short circuit state of motor Download PDFInfo
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- CN113296022A CN113296022A CN202110598778.7A CN202110598778A CN113296022A CN 113296022 A CN113296022 A CN 113296022A CN 202110598778 A CN202110598778 A CN 202110598778A CN 113296022 A CN113296022 A CN 113296022A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/52—Testing for short-circuits, leakage current or ground faults
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Abstract
The invention discloses a real-time diagnosis method for an active short circuit state of a motor, which comprises the following steps: acquiring a gate-level driving state, three-phase current, bus voltage and rotating speed which are currently requested by an electric driving unit of a motor, and calculating a phase current amplitude; when the door-level state requested by the electric drive unit is an active short-circuit state and the rotating speed is greater than an active short-circuit diagnosis starting rotating speed threshold value, performing active short-circuit diagnosis; when the phase current amplitude is smaller than the phase current threshold value in the active short-circuit state, or the bus voltage is larger than the bus voltage threshold value in the active short-circuit state, the current gate-level driving state is diagnosed as the inactive short-circuit state; otherwise, the active short circuit state is diagnosed. Under the condition that an active short-circuit relay is not added, whether the active short-circuit relay is in the active short-circuit state or not is judged according to the relation between the rotating speed and the phase current amplitude when the gate-level driving state is in the active short-circuit state and the relation between the rotating speed, the phase current amplitude and the bus voltage in the full-off state, and the active short-circuit relay has good timeliness.
Description
Technical Field
The invention relates to the field of motor control protection, in particular to a real-time diagnosis method for an active short-circuit state of a motor.
Background
In a motor control system of an electric vehicle, a Permanent Magnet Synchronous Motor (PMSM) is widely used due to its high power density, high efficiency and small size. When a new energy automobile provided with the permanent magnet synchronous motor has serious faults such as out-of-control torque, over-temperature driving system and the like, the motor controller is required to quickly close the motor output. Under the condition of low speed, the three-phase bridge arm can be realized by turning off an Insulated Gate Bipolar Transistor (IGBT). However, when the three-phase bridge arm is turned off at high speed, the current of the motor is rectified and fed back to the battery through the freewheeling diode of the IGBT due to overhigh counter potential of the motor, and the personal safety of a driver can be threatened while the driving system and the power battery are damaged by the generated large braking torque.
Based on this, in practical application, the three permanent magnet synchronous motors are short mutually, namely, Active Short Circuit (ASC), and the method for realizing the active short circuit is that the upper three bridges of the IGBT are all turned off, and the lower three bridges are all turned on. The active short circuit state can output small torque at high speed without high back electromotive force. The requirement of safe turn-off torque is met, the impact on a driving system and a power battery can be effectively reduced, and the safety of a driver is protected.
Patent document 1 (publication No. CN 109406997a) discloses a method for testing an active short-circuit relay of a motor, which mainly aims at determining that a first relay and a second relay are in a closed state through zero rotation speed detection when power is supplied when the active short-circuit relay is added to realize active short-circuit. Opening a second relay, adding a first excitation signal into the first phase winding and the third phase winding, and detecting whether the first excitation signal is successful; and then, the first relay is opened, and whether the first relay is successfully opened or not is judged according to the voltage at the two ends of the first relay. According to the scheme disclosed by the document, whether the short-circuit relay is normal or not is verified through the opening test of the short-circuit relay, and the reliability of the active short-circuit function of the vehicle motor in the driving process is improved.
The active short-circuit relay is added in the prior art, the active short-circuit function is realized through the active short-circuit relay, and the detection of the active short-circuit function is mainly to detect whether the active short-circuit relay can be normally switched on or off. But the detection of the active short-circuit function can not be diagnosed when the active short-circuit relay is not added; the method can only detect at the power-on moment, and cannot diagnose whether the active short-circuit state can be entered during operation.
Disclosure of Invention
The invention aims to: the method comprises the steps of judging the state of an active short circuit through three-phase current and bus voltage when the active short circuit is realized through a three-phase IGBT bridge arm of an electric drive unit under the condition that an active short circuit relay is not added, so as to determine whether the active short circuit state is actually existed at present, and judging the active short circuit state in real time.
The technical scheme of the invention is as follows:
a real-time diagnosis method for an active short-circuit state of a motor comprises the following steps:
s1, acquiring the currently requested gate-level driving state GateMode and three-phase current I of the electric driving unit of the motora、Ib、IcBus voltage UbusAnd a rotational speed n;
s2, supplying three-phase current Ia、Ib、IcObtaining I under alpha and beta coordinate system through Clark transformationαAnd IβAnd further obtaining the phase current amplitude Is；
S3, judging whether active short circuit diagnosis is needed at present: namely, when the door-level state GateMode requested by the electric drive unit is an active short-circuit state and the rotating speed n is greater than the active short-circuit diagnosis starting rotating speed threshold nDiaAscIf so, performing active short-circuit diagnosis, and entering S4; otherwise, the active short-circuit diagnosis is not carried out, and the step returns to S1;
s4, diagnosing whether the current actual gate-level driving state is the active short-circuit state through the active short-circuit diagnosis judgment module:
current amplitude I of currentsLess than the threshold of phase current I in the active short-circuit stateThrdAscOr bus voltage UbusIs greater thanBus voltage threshold U in active short circuit stateThrdAscIf so, diagnosing that the current gate-level driving state is an inactive short-circuit state; otherwise, the current gate-level driving state is diagnosed as an active short-circuit state.
Preferably, in step S3, the rotation speed threshold n for the active short-circuit diagnosis is turned onDiaAscThe method comprises the steps of obtaining through actual calibration, selecting a rotating speed threshold value n for starting active short circuit diagnosis when the phase current amplitude tends to be stable by calibrating the phase current amplitude under different rotating speeds during active short circuitDiaAsc。
Preferably, in step S4, the active short-circuit state phase current threshold IThrdAscStarting speed threshold n by active short circuit diagnosis in active short circuit stateDiaAscSetting corresponding phase current amplitude values;
preferably, in step S4, the bus voltage threshold U in the active short-circuit stateThrdAscThe phase current amplitude values and the bus voltage corresponding to different rotating speeds in the full turn-off state are calibrated through calibration acquisition, and the phase current amplitude value is found to reach the phase current threshold value I in the active short-circuit stateThrdAscThe voltage value of the time and the bus voltage threshold U of the active short-circuit state is set according to the voltage valueThrdAsc。
Preferably, in step S2, the three-phase current Ia、Ib、IcObtaining I under alpha and beta coordinate system through Clark transformationαAnd Iβ：
Wherein K is
Or
Further obtaining the phase current amplitude Is：
The invention has the advantages that:
according to the real-time diagnosis method for the active short-circuit state of the motor, whether the motor is in the active short-circuit state or not is judged according to the relation between the rotating speed and the phase current amplitude when the gate-level driving state is the active short-circuit state and the relation between the rotating speed, the phase current amplitude and the bus voltage in the full-off state under the condition that an active short-circuit relay is not added, and the method has good timeliness.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a flow chart of a method of real-time diagnosis of an active short circuit condition of a motor of the present invention;
FIG. 2 is a graph of the relationship between the rotational speed and the phase current amplitude during an active short circuit.
Detailed Description
The invention provides a real-time diagnosis method for an active short circuit state of a motor, which adopts the following principle:
(1) when the motor is in an active short circuit state, the three-phase current amplitude and the motor rotating speed satisfy the following relation: the phase current rises rapidly with increasing rotational speed and then levels off gradually. Therefore, whether the motor is in an active short-circuit state or not can be judged through the amplitude of the phase current after the rotating speed is higher than a certain rotating speed.
(2) If the actual three-phase bridge arm is in full turn-off, the counter potential is higher than the bus voltage in a high-speed state, so that the phase current amplitude is increased, and the accuracy of judging whether the three-phase bridge arm is in an active short-circuit state or not through the phase current amplitude is influenced; at this time, the bus voltage will be pulled up, so the bus voltage can also be referred to as a supplementary active short-circuit state judgment condition, that is, if the bus voltage rises above a certain threshold value, the actual driving state is judged to be the inactive short-circuit state.
As shown in fig. 1, the method for diagnosing the active short-circuit state of the motor in real time according to the present invention includes:
s1, acquiring the currently requested gate-level driving state GateMode and three-phase current I of the electric driving unit of the motora、Ib、IcBus voltage UbusAnd a rotational speed n;
s2, supplying three-phase current Ia、Ib、IcObtaining I under alpha and beta coordinate system through Clark transformationαAnd Iβ：
Wherein K is
Or
Further obtaining the phase current amplitude Is：
S3, judging whether active short circuit diagnosis is needed at present: namely, when the door-level state GateMode requested by the electric drive unit is an active short-circuit state and the rotating speed n is greater than the active short-circuit diagnosis starting rotating speed threshold nDiaAscThen, performing active short circuit diagnosis, outputting an active short circuit diagnosis activation flag FlgEnDiaAsc to be 1, and entering S4; otherwise, not carrying out active short circuit diagnosis, outputting the flag bit to be 0, and returning to S1;
wherein the rotation speed threshold n of the active short-circuit diagnosis is turned onDiaAscThe method comprises the steps of obtaining through actual calibration, selecting a rotating speed threshold value n for starting active short circuit diagnosis when the phase current amplitude tends to be stable by calibrating the phase current amplitude under different rotating speeds during active short circuitDiaAsc. Fig. 2 is a trend graph of the relationship between the rotation speed and the phase current amplitude during the active short circuit.
S4, when the active short-circuit diagnosis activation flag flgneasc is 1, diagnosing whether the gate-level driving state is in the active short-circuit state, specifically, diagnosing whether the current actual gate-level driving state is in the active short-circuit state by the active short-circuit diagnosis determining module:
current amplitude I of currentsLess than the threshold of phase current I in the active short-circuit stateThrdAscOr bus voltage UbusIs greater than the bus voltage threshold U in the active short-circuit stateThrdAscIf the current gate-level driving state is diagnosed as the non-active short-circuit state, setting the flag bit FlgDiaAscResult of the active short-circuit diagnosis result to be 1; otherwise, the current gate-level driving state is diagnosed as an active short-circuit state.
Wherein, the phase current threshold value I in the active short-circuit stateThrdAscStarting speed threshold n by active short circuit diagnosis in active short circuit stateDiaAscSetting corresponding phase current amplitude values; bus voltage threshold U in active short circuit stateThrdAscThe phase current amplitude values and the bus voltage corresponding to different rotating speeds in the full turn-off state are calibrated through calibration acquisition, and the phase current amplitude value is found to reach the phase current threshold value I in the active short-circuit stateThrdAscThe voltage value of the time and the bus voltage threshold U of the active short-circuit state is set according to the voltage valueThrdAsc。
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.
Claims (6)
1. A real-time diagnosis method for an active short-circuit state of a motor is characterized by comprising the following steps:
s1, acquiring the currently requested gate-level driving state GateMode and three-phase current I of the electric driving unit of the motora、Ib、IcBus voltage UbusAnd a rotational speed n;
s2, supplying three-phase current Ia、Ib、IcObtaining I under alpha and beta coordinate system through Clark transformationαAnd IβAnd further obtaining the phase current amplitude Is；
S3, judging whether active short circuit diagnosis is needed at present: i.e. when the electric drive unitThe gate-level state GateMode of the meta-request is an active short-circuit state, and the rotating speed n is greater than the active short-circuit diagnosis starting rotating speed threshold nDiaAscIf so, performing active short-circuit diagnosis, and entering S4; otherwise, the active short-circuit diagnosis is not carried out, and the step returns to S1;
s4, diagnosing whether the current actual gate-level driving state is the active short-circuit state through the active short-circuit diagnosis judgment module: current amplitude I of currentsLess than the threshold of phase current I in the active short-circuit stateThrdAscIf so, diagnosing that the current gate-level driving state is an inactive short-circuit state; otherwise, the current gate-level driving state is diagnosed as an active short-circuit state.
2. The method for diagnosing the active short-circuit state of the motor in real time as claimed in claim 1, wherein the step S4 is replaced by the method for diagnosing whether the current actual gate-level driving state is the active short-circuit state by the active short-circuit diagnosis determining module: when the bus voltage UbusIs greater than the bus voltage threshold U in the active short-circuit stateThrdAscIf so, diagnosing that the current gate-level driving state is an inactive short-circuit state; otherwise, the current gate-level driving state is diagnosed as an active short-circuit state.
3. The method for real-time diagnosis of an active short-circuit condition of an electric machine according to claim 1 or 2,
in step S3, the rotation speed threshold n for the active short-circuit diagnosis to be turned onDiaAscThe method comprises the steps of obtaining through actual calibration, selecting a rotating speed threshold value n for starting active short circuit diagnosis when the phase current amplitude tends to be stable by calibrating the phase current amplitude under different rotating speeds during active short circuitDiaAsc。
4. The method of real-time diagnosis of an active short circuit condition of an electric machine according to claim 3,
in step S4, active short-circuit state phase current threshold IThrdAscStarting speed threshold n by active short circuit diagnosis in active short circuit stateDiaAscSetting corresponding phase current amplitude values;
5. the method of real-time diagnosis of an active short circuit condition of an electric machine according to claim 3,
in step S4, bus voltage threshold U in active short-circuit stateThrdAscThe phase current amplitude values and the bus voltage corresponding to different rotating speeds in the full turn-off state are calibrated through calibration acquisition, and the phase current amplitude value is found to reach the phase current threshold value I in the active short-circuit stateThrdAscThe voltage value of the time and the bus voltage threshold U of the active short-circuit state is set according to the voltage valueThrdAsc。
6. The method of real-time diagnosis of an active short circuit condition of an electric machine according to claim 1,
in step S2, three-phase current Ia、Ib、IcObtaining I under alpha and beta coordinate system through Clark transformationαAnd Iβ：
Wherein K is
Or
Further obtaining the phase current amplitude Is：
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113687643A (en) * | 2021-08-31 | 2021-11-23 | 重庆长安新能源汽车科技有限公司 | Motor active short circuit function test system and method for electric automobile |
| CN114435137A (en) * | 2022-01-21 | 2022-05-06 | 岚图汽车科技有限公司 | Active short circuit control method, device, equipment and medium of motor controller |
| WO2023236362A1 (en) * | 2022-06-08 | 2023-12-14 | 一巨自动化装备（上海）有限公司 | Control method and apparatus for driving active short circuit for electric vehicle |
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Cited By (4)
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| CN113687643A (en) * | 2021-08-31 | 2021-11-23 | 重庆长安新能源汽车科技有限公司 | Motor active short circuit function test system and method for electric automobile |
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