CN113300650B - Driving motor calibration method and system - Google Patents
Driving motor calibration method and system Download PDFInfo
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- CN113300650B CN113300650B CN202010112928.4A CN202010112928A CN113300650B CN 113300650 B CN113300650 B CN 113300650B CN 202010112928 A CN202010112928 A CN 202010112928A CN 113300650 B CN113300650 B CN 113300650B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
The invention relates to the field of new energy vehicles, and provides a driving motor calibration method and a driving motor calibration system, wherein the driving motor calibration method comprises the following steps: acquiring a first mark for indicating a calibration area where a control current of the driving motor is currently located, wherein the calibration area comprises a maximum torque current to MTPA interval and a maximum torque voltage to MTPV interval; acquiring a second flag for indicating whether the state in which the control current is calibrated to the maximum torque voltage ratio (MTPV) interval is ended; and calibrating the control current by combining the first mark and the second mark. According to the invention, under the condition of not depending on the experimental environment of the bench, the automatic calibration of the control motor is realized.
Description
Technical Field
The invention relates to the field of new energy vehicles, in particular to a driving motor calibration method and system.
Background
The driving motors of the new energy vehicles are controlled by control currents, wherein the control currents comprise current instructions and angle instructions, and the control currents need to be calibrated by means of a motor rack. Currently, the calibration of the control current is classified into manual calibration, semi-automatic calibration and automatic calibration. The manual calibration and the semiautomatic calibration are not separated from manual operation, and the optimal torque is found by matching the optimal distribution modes of manually changing d-axis current and q-axis current, and the manual operation mode adopts manual reading, so that a certain error can be caused, and a great amount of manpower and time are consumed for the manual operation to perform the calibration, so that the calibration efficiency is seriously influenced; in addition, in the related art, the automatic calibration needs to rely on the upper computer of the rack to control, namely, the control current which is required to be input by the upper computer of the rack and the temperature of the motor are required to be controlled by the upper computer of the rack, and once the experimental environment of the rack is replaced, the existing automatic calibration mode cannot work normally.
Disclosure of Invention
In view of the above, the present invention aims to provide a driving motor calibration method and system, so as to realize automatic calibration of a control motor without depending on a bench experiment environment.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
The driving motor calibration method comprises the following steps: acquiring a first mark for indicating a calibration area where a control current of the driving motor is currently located, wherein the calibration area comprises a maximum torque current to MTPA interval and a maximum torque voltage to MTPV interval; acquiring a second flag for indicating whether the state in which the control current is calibrated to the maximum torque voltage ratio (MTPV) interval is ended; and calibrating the control current by combining the first mark and the second mark.
Preferably, the first flag is configured to: when the modulation ratio corresponding to the control current of the driving motor is smaller than a preset first modulation ratio threshold value, indicating that the control current is currently in a maximum torque current ratio (MTPA) interval; and when the modulation ratio corresponding to the control current of the driving motor is larger than or equal to a preset first modulation ratio threshold value, indicating that the control current is currently in a maximum torque voltage ratio (MTPV) interval.
Preferably, the second flag is configured to indicate that the state in which the control current is calibrated to the maximum torque voltage to MTPV interval has ended when at least one of the following conditions is satisfied: acquiring the number of times of violating the voltage limiting signal to be larger than a preset number of times threshold, wherein the violating the voltage limiting signal is configured to show that the sampled control voltage of the driving motor is larger than the preset voltage threshold; and acquiring that the weak magnetic current of the driving motor is larger than zero and smaller than a preset weak magnetic current threshold value.
Preferably, said calibrating said control current in combination with said first flag and said second flag comprises: when the first mark indicates that the control current is currently in a maximum torque current ratio (MTPA) interval, performing MTPA calibration on the control current; performing MTPV calibration on the control current when the first flag indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second flag indicates that the state that the control current is calibrated in the maximum torque voltage to MTPV interval is not ended; and when the first mark indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second mark indicates that the state that the control current is calibrated in the maximum torque voltage to MTPV interval is ended, performing MTPV calibration on the new control current after acquiring the new control current according to a preset MTPV interval control current calibration sequence.
Preferably, the MTPA calibration of the control current includes: acquiring a first included angle initial value and a first included angle change interval in the maximum torque current ratio MTPA interval; performing MTPA calibration on the control current based on the initial value of the first included angle and the first included angle change interval; or the MTPV calibration of the control current includes: determining a second included angle initial value according to a first comparison result of the control current and a preset control current threshold value; determining a second included angle change rate according to a second comparison result of the modulation ratio corresponding to the control current and a preset second modulation ratio threshold; performing MTPV calibration on the control current based on the second included angle initial value and the second included angle change rate; wherein the first or second included angle is configured as an included angle of the control current and a q-axis current of the driving motor.
Preferably, after calibrating the control current, the driving motor calibration method further includes: obtaining the number of current points corresponding to the calibrated control current and the number of preset target current points; when the number of the calibrated current points is smaller than the number of the target current points, acquiring the control current of the next point according to a preset control current calibration sequence, and continuing to perform MTPA calibration; and when the number of the calibrated current points is equal to the number of the current points, completing the MTPA calibration.
Preferably, the driving motor calibration method further comprises: when a violation voltage limit signal is acquired, correcting the voltage indicated by the voltage command of the driving motor so that the voltage indicated by the corrected voltage command is smaller than or equal to a preset voltage threshold, wherein the violation voltage limit signal is configured to indicate that the sampled voltage indicated by the voltage command of the driving motor is larger than the preset voltage threshold.
Preferably, the driving motor calibration method further comprises: acquiring a first temperature value of the driving motor; and stopping calibrating the control current when the first temperature value is greater than or equal to a preset temperature threshold value, continuously acquiring a second temperature value of the driving motor, and calibrating the control current again when the second temperature value is smaller than the preset temperature threshold value.
In addition, this embodiment also provides a driving motor calibration system, driving motor calibration system includes: a first flag obtaining unit, configured to obtain a first flag indicating a calibration area where a control current of the driving motor is currently located, where the calibration area includes a maximum torque current to MTPA interval and a maximum torque voltage to MTPV interval; a second flag acquisition unit configured to acquire a second flag indicating whether or not the state in which the control current is calibrated to the maximum torque voltage ratio MTPV section is ended; and the current calibration unit is used for combining the first mark and the second mark to calibrate the control current.
Preferably, the current calibration unit includes: the MTPA calibration module is used for carrying out MTPA calibration on the control current when the first mark indicates that the control current is currently in a maximum torque current ratio (MTPA) interval; and the MTPV calibration module is used for performing MTPV calibration on the control current when the first mark indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second mark indicates that the state of the control current calibrated in the maximum torque voltage to MTPV interval is not ended, and is also used for performing MTPV calibration on the new control current after acquiring the new control current according to a preset MTPV interval control current calibration sequence when the first mark indicates that the control current is currently in the maximum torque voltage to MTPV interval and the state of the second mark indicates that the control current calibrated in the maximum torque voltage to MTPV interval is ended.
Compared with the prior art, the driving motor calibration method and system have the following advantages:
The driving motor calibration method and system are independent of a bench upper computer, are not limited by bench experiment environments and independent of external equipment, and can accurately identify whether the driving motor is calibrated to be finished or not through the second mark when the driving motor is calibrated by utilizing the obtained first mark for indicating the current calibration area of the control current and the second mark for indicating whether the state of the control current calibrated in the maximum torque voltage to MTPV interval is finished or not.
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 and explain the invention and are not to be construed as limiting the invention.
In the drawings:
FIG. 1 is a flow chart of a method for calibrating a drive motor according to an embodiment of the present invention;
FIG. 2 is a block diagram of a drive motor calibration system according to an embodiment of the present invention;
FIG. 3 is a block diagram of another drive motor calibration system according to an embodiment of the present invention;
FIG. 4 is a flow chart of MTPA calibration of the control current according to an embodiment of the present invention; and
Fig. 5 is a flowchart of MTPV calibration of the control current according to an embodiment of the present invention.
Reference numerals illustrate:
21. first flag acquisition unit 22, second flag acquisition unit
23. Current calibration unit 231 and MTPA calibration module
232. MTPV calibration module 24 and correction unit
25. Temperature acquisition unit
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without collision.
Before describing embodiments of the present invention in detail, a brief description of several preconditions that the following embodiments of the present invention may be implemented will be presented. Wherein, the preconditions include: 1) Parameters of the drive motor are known, such as a drive motor stator resistance R S, a drive motor d-axis inductance L d, a drive motor q-axis inductance L q, and a drive motor rotor flux linkage Phi; all relevant compensation parameters are already compensated, such as dead zone compensation, voltage angle compensation, current angle compensation; all relevant sensors have been calibrated, e.g. voltage sensor, current sensor, temperature sensor. Wherein, I d＝-Is*sinθ,Iq＝Is is cos θ, where I s and θ are current instructions and angle instructions given when the control current of the driving motor is calibrated, the variation range of θ may be 0-90 °, I d is d-axis current of the driving motor, and I q is q-axis current of the driving motor.
Example 1
Fig. 1 is a flowchart illustrating a driving motor calibration method according to the present invention, as shown in fig. 1, the driving motor calibration method includes:
s101, a first mark for indicating a calibration area where the control current of the driving motor is currently located is obtained.
Wherein the calibration zone includes a Maximum Torque to current (MTPA, maximum Torque PER AMPERE) interval and a Maximum Torque to voltage (MTPV, maximum Torque Per Voltage) interval. The MTPA interval is generally an interval for calibrating the control current when the rotation speed of the driving motor is smaller than a preset rotation speed value, and the MTPV interval is generally an interval for calibrating the control current when the rotation speed of the driving motor is larger than the preset rotation speed value, and may also be referred to as a weak magnetic interval.
Wherein the first Flag (hereinafter referred to as Flag 1) is mainly used to indicate a calibration area where the control current of the driving motor is currently located. Preferably, the condition that the Flag1 indicates the calibration area in this embodiment includes: when the modulation ratio corresponding to the control current of the driving motor is smaller than a preset first modulation ratio threshold (for example, 0.95), the Flag1 is 0 and is used for indicating that the control current is currently in a maximum torque current ratio (MTPA) interval; and when the modulation ratio corresponding to the control current of the driving motor is greater than or equal to a preset first modulation ratio threshold value, the control current is used for indicating that the control current is currently jumped from the maximum torque current to MTPA interval to the maximum torque voltage to MTPV interval, and Flag1 is set to 1 and latched until the calibration of the power generation mode or the electric mode of the driving motor is finished. Wherein, the modulation ratio corresponding to the control current can be calculated by the voltage indicated by the voltage command of the driving motor. By the mode, the first mark and the second mark of the calibration interval can be obtained according to the control current.
S102, acquiring a second mark for indicating whether the state of the control current calibrated at the maximum torque voltage (MTPV) interval is ended or not.
Wherein the second flag indicates that the state in which the control current is calibrated to the maximum torque voltage to MTPV interval has ended when at least one of the following conditions one and two is satisfied:
In the first condition, the number of times of violating the voltage limiting signal is obtained to be larger than a preset number of times threshold. Wherein the violation voltage limit signal is configured to show that the sampled voltage indicated by the voltage command of the drive motor is greater than a preset voltage threshold. For example, the frequency threshold is 5, the voltage indicated by the voltage command of the driving motor is sampled every 1ms, whether the voltage indicated by the voltage command obtained by sampling is greater than a preset voltage threshold is determined after each sampling, and a voltage violation signal is obtained once when the control voltage is greater than the preset voltage threshold is determined once, and when the frequency of obtaining the voltage violation signal is 5 times, the condition one is determined to be satisfied.
And secondly, acquiring that the weak magnetic current of the driving motor is larger than zero and smaller than a preset weak magnetic current threshold value.
Wherein the second Flag (which will be denoted by Flag2 hereinafter) is mainly used to indicate whether the state in which the control current is calibrated to the maximum torque voltage to MTPV interval is ended or not. By setting Flag2 to 1, it is indicated that the state in which the control current is calibrated in the MTPV interval of the maximum torque voltage ratio is ended, and at this time, the second Flag is maintained for a period of time, for example, 2ms, and then is automatically cleared to 0, and the calibration of the next new control current is continued until the calibration of the control current in all MTPV intervals reflecting the user's requirements is ended.
S103, calibrating the control current by combining the first mark and the second mark.
And when the first mark indicates that the control current is currently in a maximum torque current ratio (MTPA) interval, performing MTPA calibration on the control current. Specifically, MTPA calibration of the control current is shown in fig. 4, and includes: s401, acquiring a first included angle theta initial value (90 degrees for example) in the maximum torque current ratio MTPA interval; s402, acquiring a first included angle change interval; s403, MTPA calibration is carried out on the control current based on the initial value of the first included angle and the change of the first included angle. For example, the first included angle change interval is 5 degrees, a calibration result of 90 degrees starting at every 5 degrees is obtained, and the optimal included angle is found out to be used as the included angle instruction for controlling the current. Wherein the first or second included angle is configured as an included angle of the control current and a q-axis current of the driving motor.
Wherein calibrating the control current further comprises: obtaining the number of current points corresponding to the calibrated control current and the number of preset target current points; when the number of the calibrated current points is smaller than the number of the target current points, indicating that all the control currents are not calibrated completely, acquiring the control current of the next point according to a preset control current calibration sequence, and continuing to calibrate, wherein the control current calibration sequence can be set according to the actual needs of a user; and when the number of the current points corresponding to the calibrated control current is equal to the number of the target current points, indicating that all the control currents finish the MTPA calibration.
And when the first mark indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second mark indicates that the state that the control current is calibrated in the maximum torque voltage to MTPV interval is not ended, performing MTPV calibration on the control current.
Specifically, fig. 5 is a flowchart of the MTPV calibration method for the control current, as shown in fig. 5:
s501, determining a second included angle initial value according to a first comparison result of the control current and a preset control current threshold value; wherein the first comparison result shows that the control current is smaller than a preset control current threshold value, the control current is represented as a small current, the second included angle initial value is determined to be 90 °, and the first comparison result shows that the control current is larger than or equal to the preset control current threshold value, the control current is represented as a large current, and the second included angle initial value is determined to be a value slightly smaller than 90 °, for example, 70 °. Wherein the second included angle initial value is determined according to the characteristics of the driving motor and the rack noise. Dynamic noise can be avoided by the above-described manner.
S502, determining a second included angle change rate according to a second comparison result of the modulation ratio corresponding to the control current and a preset second modulation ratio threshold value. Wherein the second modulation ratio threshold may be determined based on motor characteristics, i.e. present motor speed and present current. The smaller the modulation ratio corresponding to the control current, the larger the second included angle change rate, otherwise, the larger the modulation ratio corresponding to the control current, the smaller the second included angle change rate, thereby ensuring that no overcurrent phenomenon and no voltage saturation phenomenon occur.
S503, performing MTPV calibration on the control current based on the second included angle initial value and the second included angle change rate. The difference between the MTPV calibration of the control current and the MTPA calibration is that the initial value of the second included angle and the change rate of the second included angle change according to the actual condition of the control current.
And when the first mark indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second mark indicates that the state that the control current is calibrated in the maximum torque voltage to MTPV interval is ended, indicating that the calibration of the control current is ended, acquiring and carrying out MTPV calibration on new control current according to a preset MTPV interval control current calibration sequence. Jian Shandian, when the second flag indicates that the state that the control current is calibrated in the MTPV interval of the maximum torque voltage ratio has ended, the MTPV calibration sequence can be controlled by the preset MTPV interval, the next new control current is obtained to continue the MTPV calibration, and of course, when all preset control currents in the MTPV interval are calibrated, the whole driving motor is determined to complete calibration.
Further preferably, the driving motor calibration method may further include: when a violation voltage limit signal is acquired, indicating that the voltage indicated by the voltage command of the driving motor is in a voltage limit section, correcting the voltage indicated by the voltage command of the driving motor so that the voltage indicated by the corrected voltage command is smaller than or equal to a preset voltage threshold, wherein the violation voltage limit signal is configured to indicate that the sampled voltage indicated by the voltage command of the driving motor is greater than the preset voltage threshold. By utilizing the above distinguishing technical characteristics, the voltage shown by the voltage command of the driving motor is ensured not to be in a voltage limiting interval for a long time, the system is prevented from being out of control, and the whole system is safer and more reliable.
Specifically, the voltage V d shown by the d-axis voltage command and the voltage V q shown by the q-axis voltage command of the drive motor can be obtained by the following formulas (1), (2), where w is the electrical angular velocity of the drive motor:
using the voltage indicated by the d-axis voltage command and the voltage indicated by the q-axis voltage command obtained as described above, it is determined whether or not the violation voltage limit signal is obtained by the following formula (3):
Wherein, V s is the voltage indicated by the voltage command, V max is a preset voltage threshold, and in the above embodiment, V s may be the voltage indicated by the corrected voltage command. Wherein if equation (3) is not satisfied, then it is considered that a violation voltage limitation signal is obtained, indicating that a voltage limitation region is reached. Once the voltage limit is reached, if the voltage limit cannot be quickly jumped out, V d and V q will be saturated for a long time and automatic calibration will not be continued. When the voltage limiting area is reached, there are two cases, namely, when the V q of the driving motor at a certain rotating speed is too large, if the weak magnetism is not good, V q exceeds the maximum value even under zero torque, and the values of V d and V q are adjusted by adopting a first algorithm in the method in the embodiment; another situation is when the voltage limit region is reached due to a large torque, at which point the method described in this embodiment employs another algorithm to adjust the values of V d and V q. For the two conditions, the voltage limiting area is reached, the prior art is not distinguished, but only a mode of resetting the q-axis integral value is adopted, at the moment, a new V q value can generate a new I q current, and the deviation of the new I q current and the original I q current is overlarge, so that large torque jump can be caused. Therefore, a special method is needed to avoid the voltage saturation state for a long time and avoid large torque fluctuation; therefore, the voltage command of the driving motor is corrected in the embodiment to avoid large torque jump when the driving motor returns to the normal area from the voltage limiting area and avoid the runaway caused by long-time operation in the voltage limiting area.
Further preferably, the driving motor calibration method may further include: b1 Acquiring a first temperature value of the driving motor; and B2) stopping calibrating the control current when the first temperature value is greater than or equal to a preset temperature threshold value, continuously acquiring a second temperature value of the driving motor, and calibrating the control current again when the second temperature value is less than the preset temperature threshold value. In this embodiment, no matter MTPA calibration or MTPV calibration, the calibration is suspended as long as the temperature of the driving motor reaches the preset temperature threshold, the current command is cleared, and the motor temperature is waited to drop to the preset temperature threshold, and then calibration is continued, so that all calibration points are ensured to be in a proper motor temperature range, the motor temperature range can reduce magnetic linkage fluctuation, and the motor is timely protected while the torque precision is ensured.
In this embodiment, a calibration area (MTPA interval or MTPV interval) where the control current is currently located may be determined according to a comparison between a modulation ratio corresponding to the control current of the driving motor and a preset first modulation ratio threshold. And setting the maximum modulation ratio by setting the second modulation ratio threshold, so that the maximum modulation ratio can be achieved for any control current in the MTPV interval, and each control current is based on the unified maximum modulation ratio, so that the accuracy of the finally obtained calibration data is higher. According to the driving motor calibration method, the calibration time and the labor investment for bench calibration are greatly saved, so that the driving motor calibration process is easier, and the time and the cost are saved.
Example 2
FIG. 2 is a block diagram of a drive motor calibration system of embodiment 2, comprising: a first flag obtaining unit 21 for obtaining a first flag indicating a calibration area where a control current of the driving motor is currently located, wherein the calibration area includes a maximum torque current to MTPA interval and a maximum torque voltage to MTPV interval; a second flag acquisition unit 22 for acquiring a second flag indicating whether or not the state in which the control current is calibrated to the maximum torque voltage ratio MTPV section is ended; and a current calibration unit 23 for calibrating the control current by combining the first flag and the second flag.
Referring to fig. 3, the control current generating module 31 (AutomaticCalbrationBlock) generates preliminary current commands i dref and i qref, which generate final current commands for current closed-loop control through the flux weakening loop module 32 (Flux Weaking Loop)AndThe voltage values u d and u q generated by the current control loop module 33 (Current Control Loop) are passed through the voltage limiting logic of the voltage limiting logic module 35 (VoltageLimitLogic) to generate the final voltage command/>And/>Meanwhile, the voltage limiting logic module 35 outputs a violation voltage limit Flag (Vol Lim VioFlg), and the violation voltage limit Flag is used as a starting signal of the correction module 36, and the correction module 36 has a special function of relieving the voltage limit violation, so that the correction module 36 can timely correct the voltage values u d and u q in the current control loop module 33, and the violation voltage limit Flag also acts on the second Flag generation module 34 together with the weak magnetic current (fwid) output by the weak magnetic loop module 32, so that the second Flag generation module 34 generates a second Flag (Flag 2) indicating that the MTPV calibration is finished. The modulation ratio calculation module 38 outputs the voltage command/>, which is outputted by the voltage limiting logic module 35And/>The current modulation ratio (Mod Index) is calculated, and the first Flag generating module 37 generates a first Flag (Flag 1) indicating the calibration interval, and the first Flag and the second Flag (Flag 2) indicating the MTPV calibration end generated by the second Flag generating module 34 act on the current generating module 31, so that the current generating module 31 generates the generated current instructions i dref and i qref.
Preferably, the current calibration unit 23 includes: the MTPA calibration module 231 is configured to perform MTPA calibration on the control current when the first flag indicates that the control current is currently in a maximum torque current ratio MTPA interval; and an MTPV calibration module 232, configured to perform MTPV calibration on the control current when the first flag indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second flag indicates that the state in which the control current is calibrated in the maximum torque voltage to MTPV interval is not ended, and further configured to acquire and perform MTPV calibration on a new control current according to a preset MTPV interval control current calibration sequence when the first flag indicates that the control current is currently in the maximum torque voltage to MTPV interval and the state in which the second flag indicates that the control current is calibrated in the maximum torque voltage to MTPV interval is ended.
Preferably, the first flag is configured to: when the modulation ratio corresponding to the control current of the driving motor is smaller than a preset first modulation ratio threshold value, indicating that the control current is currently in a maximum torque current ratio (MTPA) interval; and when the modulation ratio corresponding to the control current of the driving motor is larger than or equal to a preset first modulation ratio threshold value, indicating that the control current is currently in a maximum torque voltage ratio (MTPV) interval.
Preferably, the second flag is configured to indicate that the state in which the control current is calibrated to the maximum torque voltage to MTPV interval has ended when at least one of the following conditions is satisfied: acquiring the number of times of violating the voltage limiting signal to be larger than a preset number of times threshold, wherein the violating the voltage limiting signal is configured to show that the sampled control voltage of the driving motor is larger than the preset voltage threshold; and acquiring that the weak magnetic current of the driving motor is larger than zero and smaller than a preset weak magnetic current threshold value.
Preferably, the MTPA calibration module 231 includes: a first included angle obtaining sub-module (not shown in fig. 2) for obtaining a first included angle initial value and a first included angle change interval in the maximum torque current ratio MTPA interval; an MTPA calibration sub-module (not shown in fig. 2) for MTPA calibrating the control current based on the first angle initial value and the first angle variation pitch; or the MTPV calibration module 232 includes: a second included angle initial value determining sub-module (not shown in fig. 2) for determining a second included angle initial value according to a first comparison result of the control current and a preset control current threshold; a second included angle change pitch determining submodule (not shown in fig. 2) configured to determine a second included angle change pitch according to a second comparison result between a modulation ratio corresponding to the control current and a preset second modulation ratio threshold; an MTPV calibration sub-module (not shown in fig. 2) for MTPV calibration of the control current based on the second angle initial value and the second angle variation pitch.
Preferably, the calibration module 231 further includes: a control current number obtaining sub-module (not shown in fig. 2) for obtaining the number of current points corresponding to the calibrated control current and the preset target current point number after calibrating the control current; the calibration submodule (not shown in fig. 2) is configured to obtain a next control current according to a preset control current calibration sequence to continue calibration when the number of calibrated current points is smaller than the number of target current points, and complete calibration when the number of calibrated control currents is equal to the number of target control currents.
Preferably, the driving motor calibration system may further include: and the correction unit is used for correcting the voltage indicated by the voltage command of the driving motor when the voltage violation limit signal is acquired so that the voltage indicated by the corrected voltage command is smaller than or equal to a preset voltage threshold value, wherein the voltage violation limit signal is configured to indicate that the sampled voltage indicated by the voltage command of the driving motor is larger than the preset voltage threshold value.
Preferably, the driving motor calibration system may further include: a temperature acquisition unit for acquiring a first temperature value of the driving motor; and the current calibration unit is further used for stopping calibrating the control current when the first temperature value is greater than or equal to a preset temperature threshold value, continuously acquiring a second temperature value of the driving motor, and calibrating the control current again when the second temperature value is less than the preset temperature threshold value.
In comparison with the prior art, embodiment 2 has the same implementation details and technical effects as those of embodiment 1, and will not be described here again.
The driving motor calibration system comprises a processor and a memory, wherein the first mark acquisition unit 21, the second mark acquisition unit 22 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the driving motor calibration is realized by adjusting the kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including 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 driving motor calibration method.
The embodiment of the invention provides a processor which is used for running a program, wherein the driving motor calibration method is executed when the program runs.
The present application also provides a computer program product adapted to perform a program initialized with the steps of the drive motor calibration method in embodiment 1 when executed on a data processing device.
It will be appreciated by those skilled in the art that 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 the like) 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement 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 storage media for a computer 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 Discs (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. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (8)
1. The driving motor calibration method is characterized by comprising the following steps of:
Acquiring a first mark for indicating a calibration area where a control current of the driving motor is currently located, wherein the calibration area comprises a maximum torque current to MTPA interval and a maximum torque voltage to MTPV interval;
Acquiring a second flag for indicating whether the state in which the control current is calibrated to the maximum torque voltage ratio (MTPV) interval is ended; and
Calibrating the control current by combining the first mark and the second mark, wherein the calibrating the control current by combining the first mark and the second mark comprises the following steps:
When the first mark indicates that the control current is currently in a maximum torque current ratio (MTPA) interval, performing MTPA calibration on the control current;
Performing MTPV calibration on the control current when the first flag indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second flag indicates that the state that the control current is calibrated in the maximum torque voltage to MTPV interval is not ended; and
And when the first mark indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second mark indicates that the state that the control current is calibrated in the maximum torque voltage to MTPV interval is ended, acquiring a new control current according to a preset MTPV interval control current calibration sequence, and performing MTPV calibration on the new control current.
2. The drive motor calibration method of claim 1, wherein the first flag is configured to:
when the modulation ratio corresponding to the control current of the driving motor is smaller than a preset first modulation ratio threshold value, indicating that the control current is currently in a maximum torque current ratio (MTPA) interval; and
And when the modulation ratio corresponding to the control current of the driving motor is larger than or equal to a preset first modulation ratio threshold value, indicating that the control current is currently in a maximum torque voltage ratio (MTPV) interval.
3. The drive motor calibration method of claim 1, wherein the second flag is configured to indicate that the state in which the control current is calibrated to the maximum torque voltage to MTPV interval has ended when at least one of the following conditions is satisfied:
Acquiring the number of times of violating the voltage limiting signal to be larger than a preset number of times threshold, wherein the violating the voltage limiting signal is configured to show that the sampled control voltage of the driving motor is larger than the preset voltage threshold; and
And acquiring that the weak magnetic current of the driving motor is larger than zero and smaller than a preset weak magnetic current threshold value.
4. The method for calibrating a driving motor according to claim 1, wherein,
The MTPA calibration of the control current comprises the following steps:
Acquiring a first included angle initial value and a first included angle change interval in the maximum torque current ratio MTPA interval; performing MTPA calibration on the control current based on the initial value of the first included angle and the first included angle change interval; or (b)
The MTPV calibration of the control current comprises the following steps:
Determining a second included angle initial value according to a first comparison result of the control current and a preset control current threshold value; determining a second included angle change rate according to a second comparison result of the modulation ratio corresponding to the control current and a preset second modulation ratio threshold; performing MTPV calibration on the control current based on the second included angle initial value and the second included angle change rate;
Wherein the first or second included angle is configured as an included angle of the control current and a q-axis current of the driving motor.
5. The drive motor calibration method according to claim 1, characterized in that after calibrating the control current, the drive motor calibration method further comprises:
Obtaining the number of current points corresponding to the calibrated control current and the number of preset target current points;
when the number of the calibrated current points is smaller than the number of the target current points, acquiring the control current of the next point according to a preset control current calibration sequence, and continuing to calibrate; and
And when the number of the calibrated current points is equal to the number of the current points, completing calibration.
6. The drive motor calibration method according to claim 1, characterized in that the drive motor calibration method further comprises:
when a violation voltage limit signal is acquired, correcting the voltage indicated by the voltage command of the driving motor so that the voltage indicated by the corrected voltage command is smaller than or equal to a preset voltage threshold, wherein the violation voltage limit signal is configured to indicate that the sampled voltage indicated by the voltage command of the driving motor is larger than the preset voltage threshold.
7. The drive motor calibration method according to claim 1, characterized in that the drive motor calibration method further comprises:
Acquiring a first temperature value of the driving motor; and
Stopping calibrating the control current when the first temperature value is greater than or equal to a preset temperature threshold value, continuously acquiring a second temperature value of the driving motor, and calibrating the control current again when the second temperature value is smaller than the preset temperature threshold value.
8. A drive motor calibration system, the drive motor calibration system comprising:
A first flag obtaining unit, configured to obtain a first flag indicating a calibration area where a control current of the driving motor is currently located, where the calibration area includes a maximum torque current to MTPA interval and a maximum torque voltage to MTPV interval;
A second flag acquisition unit configured to acquire a second flag indicating whether or not the state in which the control current is calibrated to the maximum torque voltage ratio MTPV section is ended; and
A current calibration unit for calibrating the control current by combining the first mark and the second mark, wherein,
The current calibration unit includes:
the MTPA calibration module is used for carrying out MTPA calibration on the control current when the first mark indicates that the control current is currently in a maximum torque current ratio (MTPA) interval; and
The MTPV calibration module is used for performing MTPV calibration on the control current when the first mark indicates that the control current is currently in a maximum torque voltage to MTPV interval and the second mark indicates that the state of the control current calibrated in the maximum torque voltage to MTPV interval is not ended, and is also used for performing MTPV calibration on the new control current after acquiring the new control current according to a preset MTPV interval control current calibration sequence when the first mark indicates that the control current is currently in the maximum torque voltage to MTPV interval and the state of the second mark indicates that the control current calibrated in the maximum torque voltage to MTPV interval is ended.
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