CN113296022B - 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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- CN113296022B CN113296022B CN202110598778.7A CN202110598778A CN113296022B CN 113296022 B CN113296022 B CN 113296022B CN 202110598778 A CN202110598778 A CN 202110598778A CN 113296022 B CN113296022 B CN 113296022B
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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
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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 of a current request of an electric driving unit of a motor, and solving a phase current amplitude; when the door level state requested by the electric driving unit is an active short circuit state and the rotating speed is larger than an active short circuit diagnosis starting rotating speed threshold value, active short circuit diagnosis is carried out; when the phase current amplitude is smaller than the active short-circuit state phase current threshold value or the bus voltage is larger than the active short-circuit state bus voltage threshold value, diagnosing that the current gate-level driving state is an inactive short-circuit state; and otherwise, diagnosing as an active short circuit state. Under the condition that an active short-circuit relay is not added, the invention judges whether the current state is in an active short-circuit state 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 has better 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 a permanent magnet synchronous motor has serious faults such as torque runaway, over-temperature of a driving system and the like, the motor controller is required to rapidly close the motor output. Under the low-speed condition, the method can be realized by switching off the three-phase bridge arm of the Insulated Gate Bipolar Transistor (IGBT). However, when the three-phase bridge arm is closed in high-speed operation, the motor current can be rectified and fed back to the battery through the follow current diode of the IGBT due to the fact that the back electromotive force of the motor is too high, and the personal safety of a driver can be threatened while the driving system and the power battery are damaged due to the fact that large braking torque is generated.
Based on the above, in practical application, the permanent magnet synchronous motors three are mutually short, namely an Active Short Circuit (ASC), and the method for realizing the active short circuit is that all upper three bridges of the IGBT are turned off and all lower three bridges are turned on. The active short circuit condition can output small torque at high speed without higher back emf. The torque safety protection device meets the requirement of safety shutdown torque, can effectively reduce the impact on a driving system and a power battery, and simultaneously protects the safety of a driver.
Patent document 1 (publication number: CN 109406997 a) discloses a method for testing an active short-circuit relay of a motor, which is mainly aimed at determining that a first relay and a second relay are in a closed state by detecting zero rotation speed when power is applied 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 and third phase windings, and detecting whether the first excitation signal is successful or not; and then opening the first relay, and judging whether the first relay is successfully opened or not according to the voltages 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 prior art is additionally provided with an active short-circuit relay, 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 normally switch or not. However, the detection of the active short-circuit function when the active short-circuit relay is not added cannot be diagnosed; the method can only detect at the power-on time, and can not diagnose whether the active short circuit state can be entered during operation.
Disclosure of Invention
The invention aims at: the real-time diagnosis method for the motor active short-circuit state is characterized in that when the active short-circuit is realized through the three-phase IGBT bridge arm of the electric drive unit under the condition that an active short-circuit relay is not added, the state during the active short-circuit is judged through the three-phase current and the bus voltage so as to determine whether the current active short-circuit state is actually in, and the active short-circuit state is judged in real time.
The technical scheme of the invention is as follows:
a real-time diagnostic method for an active short circuit condition of a motor, comprising:
s1, acquiring a gate-level driving state GateMode currently requested by an electric driving unit of a motor, and three-phase current I a 、I b 、I c Bus voltage U bus A rotational speed n;
s2, three-phase current I a 、I b 、I c Obtaining I under alpha beta coordinate system through Clark transformation α And I β And further find the phase current amplitude I s ；
S3, judging whether active short circuit diagnosis is needed at present: namely, when the gate level state GateMode requested by the electric driving unit is an active short circuit state, the rotating speed n is greater than the active short circuit diagnosis starting rotating speed threshold n DiaAsc When the active short circuit diagnosis is performed, S4 is performed; otherwise, the active short circuit diagnosis is not carried out, and the S1 is returned;
s4, diagnosing whether the current actual gate-level driving state is an active short-circuit state or not through an active short-circuit diagnosis judging module:
when phase current amplitude I s Less than active short state phase current threshold I ThrdAsc Or bus voltage U bus Greater than active short-circuit state bus voltage threshold U ThrdAsc Diagnosing that the current gate level driving state is an inactive short circuit state; and otherwise, diagnosing that the current gate level driving state is an active short circuit state.
Preferably, in step S3, the rotational speed threshold n at which the active short circuit diagnosis is turned on DiaAsc The method comprises the steps of obtaining by actual calibration, and selecting the rotation speed when the phase current amplitude tends to be stable as a rotation speed threshold value n for starting the diagnosis of the active short circuit by calibrating the phase current amplitude at different rotation speeds during the active short circuit DiaAsc 。
Preferably, in step S4, the active short-circuit state phase current threshold I ThrdAsc The rotation speed threshold value n is started by the diagnosis of the active short circuit in the active short circuit state DiaAsc Setting the corresponding phase current amplitude;
preferably, the method comprises the steps of,in step S4, an active short-circuit state bus voltage threshold U ThrdAsc By calibration acquisition, phase current amplitude values and bus voltage corresponding to different rotating speeds in a full-turn-off state are calibrated, and the phase current amplitude value reaching the phase current threshold I in an active short circuit state is found ThrdAsc A voltage value and setting an active short-circuit state bus voltage threshold U according to the voltage value ThrdAsc 。
Preferably, in step S2, the three-phase current I a 、I b 、I c Obtaining I under alpha beta coordinate system through Clark transformation α And I β ：
Wherein K is
Or->
Further solving for the phase current amplitude I s ：
The invention has the advantages that:
according to the real-time diagnosis method for the motor active short-circuit state, under the condition that the active short-circuit relay is not added, whether the motor is in the active short-circuit state at present or not is judged according to the relation between the rotating speed and the phase current amplitude and the relation between the rotating speed, the phase current amplitude and the bus voltage in the full-off state when the gate-level driving state is in the active short-circuit state, and the method has good timeliness.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a flow chart of a method for real-time diagnosis of an active short circuit condition of a motor according to the present invention;
FIG. 2 is a graph of rotational speed versus phase current magnitude for active shorts.
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 meet the following relation: the phase current increases rapidly with increasing rotational speed and then gradually stabilizes. Therefore, whether the motor is in an active short circuit state can be judged through the amplitude value of the phase current after the rotating speed is larger than a certain rotating speed.
(2) If the actual three-phase bridge arm is in a full-turn-off state, 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 active short circuit state is in or not through the phase current amplitude is affected; the bus voltage will be pulled up at this time, so the bus voltage can be referred to as a supplementary active short-circuit state judgment condition, i.e. if the bus voltage rises above a certain threshold, the actual driving state is judged as an inactive short-circuit state.
As shown in fig. 1, the real-time diagnosis method for the active short-circuit state of the motor provided by the invention comprises the following steps:
s1, acquiring a gate-level driving state GateMode currently requested by an electric driving unit of a motor, and three-phase current I a 、I b 、I c Bus voltage U bus A rotational speed n;
s2, three-phase current I a 、I b 、I c Obtaining I under alpha beta coordinate system through Clark transformation α And I β ：
Wherein K is
Or->
Further solving for phase current amplitudeValue I s ：
S3, judging whether active short circuit diagnosis is needed at present: namely, when the gate level state GateMode requested by the electric driving unit is an active short circuit state, the rotating speed n is greater than the active short circuit diagnosis starting rotating speed threshold n DiaAsc When the method is used, active short circuit diagnosis is carried out, an active short circuit diagnosis activating mark FlgEnDiaAsc is output as 1, and S4 is entered; otherwise, the active short circuit diagnosis is not carried out, the flag bit is output to be 0, and S1 is returned;
wherein, the rotation speed threshold value n of the active short circuit diagnosis start DiaAsc The method comprises the steps of obtaining by actual calibration, and selecting the rotation speed when the phase current amplitude tends to be stable as a rotation speed threshold value n for starting the diagnosis of the active short circuit by calibrating the phase current amplitude at different rotation speeds during the active short circuit DiaAsc . As shown in fig. 2, a graph of the relationship between the rotational speed and the phase current amplitude during active short circuit is shown.
S4, when the active short circuit diagnosis activation flag FlgEnDiaAsc is 1, diagnosing whether the gate-level driving state is in an active short circuit state, and specifically diagnosing whether the current actual gate-level driving state is in an active short circuit state through an active short circuit diagnosis judging module:
when phase current amplitude I s Less than active short state phase current threshold I ThrdAsc Or bus voltage U bus Greater than active short-circuit state bus voltage threshold U ThrdAsc The current gate level driving state is diagnosed as an inactive short circuit state, and a flag bit FlgDiaAscResult of an active short circuit diagnosis result is set to 1; and otherwise, diagnosing that the current gate level driving state is an active short circuit state.
Wherein, the active short-circuit state phase current threshold I ThrdAsc The rotation speed threshold value n is started by the diagnosis of the active short circuit in the active short circuit state DiaAsc Setting the corresponding phase current amplitude; active short-circuit state bus voltage threshold U ThrdAsc Through calibration acquisition, phase current amplitude values corresponding to different rotating speeds in a full-turn-off state and bus are calibratedVoltage, find out that the phase current amplitude reaches the active short-circuit state phase current threshold I ThrdAsc A voltage value and setting an active short-circuit state bus voltage threshold U according to the voltage value ThrdAsc 。
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same according to the content of the present invention, and are not intended to limit the scope of the present invention. All modifications made according to the spirit of the main technical proposal of the invention should be covered in the protection scope of the invention.
Claims (3)
1. A method for real-time diagnosis of an active short-circuit condition of a motor, comprising:
s1, acquiring a gate-level driving state GateMode currently requested by an electric driving unit of a motor, and three-phase current I a 、I b 、I c Bus voltage U bus A rotational speed n;
s2, three-phase current I a 、I b 、I c Obtaining I under alpha beta coordinate system through Clark transformation α And I β And further find the phase current amplitude I s ；
S3, judging whether active short circuit diagnosis is needed at present: namely, when the gate level state GateMode requested by the electric driving unit is an active short circuit state, the rotating speed n is greater than the active short circuit diagnosis starting rotating speed threshold n DiaAsc When the active short circuit diagnosis is performed, S4 is performed; otherwise, the active short circuit diagnosis is not carried out, and the S1 is returned;
s4, diagnosing whether the current actual gate-level driving state is an active short-circuit state or not through an active short-circuit diagnosis judging module: when phase current amplitude I s Less than active short state phase current threshold I ThrdAsc Or when the bus voltage U bus Greater than active short-circuit state bus voltage threshold U ThrdAsc Diagnosing that the current gate level driving state is an inactive short circuit state; otherwise, diagnosing that the current gate level driving state is an active short circuit state;
active short-circuit state phase current threshold I ThrdAsc By the main partActive short circuit diagnosis starting rotation speed threshold value n in dynamic short circuit state DiaAsc Setting the corresponding phase current amplitude;
active short-circuit state bus voltage threshold U ThrdAsc By calibration acquisition, phase current amplitude values and bus voltage corresponding to different rotating speeds in a full-turn-off state are calibrated, and the phase current amplitude value reaching the phase current threshold I in an active short circuit state is found ThrdAsc A voltage value and setting an active short-circuit state bus voltage threshold U according to the voltage value ThrdAsc 。
2. The method for real-time diagnosis of an active short-circuit condition of an electric motor according to claim 1, wherein,
in step S3, the rotational speed threshold n for active short-circuit diagnosis on DiaAsc The method comprises the steps of obtaining by actual calibration, and selecting the rotation speed when the phase current amplitude tends to be stable as a rotation speed threshold value n for starting the diagnosis of the active short circuit by calibrating the phase current amplitude at different rotation speeds during the active short circuit DiaAsc 。
3. The method for real-time diagnosis of an active short-circuit condition of an electric motor according to claim 1, wherein,
in step S2, three-phase current I a 、I b 、I c Obtaining I under alpha beta coordinate system through Clark transformation α And I β ：
Wherein K is
Or->
Further solving for the phase current amplitude I s ：
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| CN113687643B (en) * | 2021-08-31 | 2023-04-18 | 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 |
| CN114435137B (en) * | 2022-01-21 | 2023-05-30 | 岚图汽车科技有限公司 | Active short-circuit control method, device, equipment and medium of motor controller |
| CN115107521A (en) * | 2022-06-08 | 2022-09-27 | 一巨自动化装备（上海）有限公司 | Control method and device for driving active short circuit of electric vehicle |
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