CN114285001B - Vehicle motor control system and method - Google Patents
Vehicle motor control system and method Download PDFInfo
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Abstract
The invention provides a vehicle motor control method and device, the method includes a normal operation control step, the motor is controlled to normally operate; latching, namely latching a safety state control signal according to parameters in the normal running process of the motor; and a safety control step, when the motor is in control failure, controlling the motor to enter a safety state by a latched safety state control signal, wherein the safety state comprises an ASC safety state under high-speed running of the motor and an SPO safety state under low-speed running of the motor. The latching step and the safety control step are matched, so that the safety state control signal is latched according to parameters in the normal operation process of the motor, and the latched safety state control signal is used for controlling the motor to enter a safety state when the motor has a control fault, so that the safety control effect is good.
Description
Technical Field
The invention relates to the technical field of vehicle motor safety control, in particular to a vehicle motor control system; the invention also relates to a vehicle motor control method.
Background
With the increasing development and popularization of new energy automobiles, the functional safety problem of the electric drive system is particularly important. The motor controller itself must enter a safe state in an emergency where itself fails, thereby ensuring the safety of personnel and vehicles. Currently, the two most common active protection measures are the SPO (security Pulse Off, also known as Freewheel) security state and the ASC (Active Short Circuit) security state. The SPO safety state is realized by completely disconnecting the switch tube, so that the separation of the motor and the controller is realized; the ASC safety state is to realize the separation of the motor and the controller by short-circuiting an upper bridge or a lower bridge, wherein the form of the upper bridge active short-circuiting is H-ASC (High side Active Short Circuit), and the form of the lower bridge active short-circuiting is L-ASC (Low side Active Short Circuit).
The fault is usually required to enter an ASC safety state when the motor is in a high speed state, and the DC-Link capacitor is charged through a reverse diode of the IGBT module when the motor is in an SPO safety state at the high speed state, so that the bus voltage is increased; the fault occurs when the motor is at low speed and enters the SPO safe state because at low motor speeds, the operation of the ASC can produce a large negative torque on the motor rotor, and this "unintended torque" in the overall vehicle system can affect the driver's handling of the vehicle. In addition, a short SPO state (microsecond level) needs to be entered before entering an ASC safety state, so that the occurrence of direct connection of the upper tube and the lower tube of the IGBT is prevented.
At present, three modes exist for safety control of a motor controller when the motor controller fails:
the first is to control the motor to enter a safe state through a main microcontroller (single chip microcomputer), the mode is a direct control mode, the structure is simple, but when the single chip microcomputer fails, the situation that the control of the safe state fails can occur. For example, chinese patent application CN112046289a discloses an electric vehicle, a driving control system thereof, and a fault detection control method, the system comprising: the whole vehicle controller is used for detecting whether an external fault occurs or not so as to output a first enabling signal; the motor controller comprises a main control chip, a logic processing circuit, a fault detection circuit, a control circuit and a control circuit, wherein the main control chip is used for detecting whether a driving system fault occurs to output a second enabling signal and outputting a PWM signal to the logic processing circuit and the fault detection circuit, detecting whether a bus overvoltage fault, a phase overcurrent fault and an IGBT overheat fault occur and outputting a third enabling signal to the fault processing circuit, generating IGBT enabling signals according to the first, second and third enabling signals and sending the IGBT enabling signals to the logic processing circuit, the logic processing circuit locks the PWM signal according to the IGBT enabling signals, and controlling the driving circuit to stop outputting the driving signal, so that after the electric vehicle detects the fault, the PWM signal is blocked to realize quick turn-off of the IGBT.
The second mode is to adopt a main microcontroller and an auxiliary microcontroller to carry out gate drive logic control in series, and the control mode can control an electric drive system to enter a safe state by the auxiliary microcontroller (FPGA/CPLD) when the main microcontroller fails, but the main microcontroller cannot output a PWM control motor when the auxiliary microcontroller fails, and cannot control the electric drive system to enter the safe state when other failures occur.
In order to solve the defects of the two control modes, in the prior art, a main microcontroller and an auxiliary microcontroller are adopted to carry out gate driving logic control in parallel, and the mode can control an electric driving system to enter a safe state by the auxiliary microcontroller (FPGA/CPLD) when the main microcontroller fails, and meanwhile, the auxiliary microcontroller does not influence the influence of the main microcontroller on a gate driving circuit when the auxiliary microcontroller fails. However, this method requires adding an auxiliary microcontroller and a gate driving logic control module circuit, adding communication between the main micro-control processor and the auxiliary microcontroller, or adding a rotation speed detection circuit for the auxiliary microcontroller, which is costly.
Disclosure of Invention
In view of the foregoing, the present invention is directed to a vehicle motor control method for improving the safety control effect of a vehicle motor.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a vehicle motor control method, the method comprising:
a normal operation control step of controlling the motor to normally operate;
latching, namely latching a safety state control signal according to parameters in the normal running process of the motor;
and a safety control step, when the motor is in control failure, controlling the motor to enter a safety state by a latched safety state control signal, wherein the safety state comprises an ASC safety state under high-speed running of the motor and an SPO safety state under low-speed running of the motor.
Further, in the latching step, the latched safety state control signal includes an ASC safety state control signal.
Further, in the latching step, the ASC security state control signal includes an L-ASC security state control signal and an H-ASC security state control signal.
Further, in the safety control step, when the motor fails due to high-voltage overvoltage, the motor is controlled to enter an L-ASC safety state.
Further, in the latching step, the latched safety state control signal includes a fault signal to control the motor to enter a safety state when a control fault occurs.
Compared with the prior art, the invention has the following advantages:
according to the vehicle motor control method, the latching step and the safety control step are matched, so that the safety state control signal is latched according to parameters in the normal running process of the motor, and the latched safety state control signal is used for controlling the motor to enter the safety state when the motor is in a control failure, so that the safety control effect is good.
The invention also provides a vehicle motor control system, which comprises:
the controller controls the motor to normally operate through enabling control of the gate driving circuit;
the latch latches the safety state control signal according to parameters in the normal running process of the motor;
the gate electrode driving circuit is in driving connection with the motor; the gate driving circuit has a working state for controlling the motor to normally operate under the control of the controller enabling, and a safety state for controlling the motor to enter the safety state under the control of the controller enabling via a safety state control signal when the controller failure occurs, wherein the safety state comprises an ASC safety state under the high-speed operation of the motor and an SPO safety state under the low-speed operation of the motor.
Further, the latch comprises a first latch module, wherein a signal input end of the first latch module is connected with the controller and is used for receiving and latching an ASC safety state control signal output by the controller; and the signal output end of the first latch module is in enabling driving connection with the gate driving circuit.
Further, the first latch module receives and latches ASC safety state control signals, including an L-ASC safety state control signal and an H-ASC safety state control signal; after the output end of the first latch module is logically operated by the safety state logic circuit, the gate driving circuit formed by the high-side gate driving circuit and the low-side gate driving circuit is enabled to be driven.
Further, a high-voltage overvoltage fault signal is input to the signal input end of the first latch module.
Further, the latch includes a second latch module that receives and latches a fault signal to drive the motor into a safe state by controlling the gate driving circuit when the motor has a control fault.
The vehicle motor control system adopts a controller to realize the work control of the normal operation of the motor, and acquires and latches the safety state control signal through the latch, so that the safety control of the operation of the motor is realized when a fault occurs, and the vehicle motor control system has a simple structure and a good safety effect.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 is a block diagram showing a connection structure of a motor control system for a vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of a vehicle motor control method according to an embodiment of the present invention.
Reference numerals illustrate:
1. a gate driving circuit; 101. a high side gate drive circuit; 102. a low side gate drive circuit; 201. a first output buffer; 202. a second output buffer; 3. enabling a switching logic module; 4. a controller; 5. a latch; 501. a first latch module; 502. a second latch module; 6. a security state logic circuit.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be noted that, if terms indicating an orientation or positional relationship such as "upper", "lower", "inner", "outer", etc. are presented, they are based on the orientation or positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, if any, are also used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, in the description of the present invention, the terms "mounted," "connected," and "connected," are to be construed broadly, unless otherwise specifically defined. For example, the connection can be fixed connection, detachable connection or integrated connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in combination with specific cases.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
The embodiment relates to a vehicle motor control system, which mainly comprises a controller, a latch and a gate driving circuit.
The controller controls the motor to normally operate through enabling control of the gate driving circuit; the latch latches the safety state control signal according to parameters in the normal running process of the motor; the gate drive circuit is in driving connection with the motor.
The gate driving circuit has a working state for controlling the motor to normally operate under the control of the controller enabling, and controls the motor to enter a safe state under the control of the controller enabling via a safe state control signal when the controller failure occurs, wherein the safe state comprises an ASC safe state under the high-speed operation of the motor and an SPO safe state under the low-speed operation of the motor.
Based on the above overall description, fig. 1 gives an exemplary structure of a vehicle motor control system in which a gate drive circuit 1 includes a high-side gate drive circuit 101 and a low-side gate drive circuit 102, and on-off operation of a drive motor is performed by the high-side gate drive circuit 101 and the low-side gate drive circuit 102.
The input end of the gate driving circuit 1 is provided with a first output buffer 201, the signal input end of the first output buffer 201 is connected with an enabling switching logic module 3, when a first buffer enabling control signal output by the controller 4 is effective (if the first buffer enabling control signal is set to be effective at a falling edge), the first output buffer 201 is enabled after the first buffer enabling switching logic module 3 is enabled, at this time, after the 6 paths of PWM output by the controller 4 pass through the first output buffer 201, the high-side PWM is output to the high-side gate driving circuit 101, the low-side PWM is output to the low-side gate driving circuit 102, and the work of the IGBT driving motor is controlled, and at this time, the motor is in a normal running state. The controller 4 may be a UC single-chip microcomputer or other control structure with logic processing control function.
The latch 5 latches the safety state control signal according to parameters during normal operation of the motor, and in this embodiment, the latch 5 includes a first latch module 501 and a second latch module 502. The first latch module 501 is mainly configured to receive and latch an ASC safe state control signal under high-speed operation of the motor output by the controller 4, so as to control the gate driving circuit 1 with the ASC safe state control signal when a fault occurs, and further enable the motor to enter an ASC safe state. In the present embodiment, the first latch module 501 is configured to receive two sets of safety state signals, i.e., the H-ASC state signal and the H-ASC latch control signal output by the controller 4, and the L-ASC state signal and the L-ASC latch control signal, so as to implement enabling control over the high-side gate driving circuit 101 and the low-side gate driving circuit 102. To prevent the risk of false triggering, the latch control signal of the first latch module 501 may be set to be active on the rising edge, and the H-ASC status signal and the L-ASC status signal are latched when the latch control signal is active.
In order to realize the control of the gate driving circuit, in this embodiment, the control signal latched by the first latch module 501 needs to be processed to output a high-side gate control signal and a low-side gate control signal, in this embodiment, a safety state logic circuit 6 is provided at the output end of the first latch module 501 to perform logic operation on the H-ASC control signal and the L-ASC control signal output by the first latch module 501, and then the logic operation is converted into the high-side gate control signal and the low-side gate control signal, and finally the high-side gate control signal and the logic and the corresponding safety states of the input and output signals are shown in the following table, and finally the logic operation is transmitted to the low-side gate driving circuit 102 and the high-side gate driving circuit 101 through the second output buffer 202:
in addition, in order to realize the safety control of various fault states of the motor, a high-voltage overvoltage fault signal is input to a signal input end of the first latch module 501, and when the motor fails due to the high-voltage overvoltage, the motor is controlled to enter an L-ASC safety state. Specifically, when the high voltage overvoltage fault signal is low, the high side gate control signal and the low side gate control signal outputted by the safety state logic circuit 6 are forced to be low no matter the state signal latched by the first latch module 501 is high or low, so that the driving system of the motor is brought into the L-ASC state. The specific input and output signal logic is shown in the following table:
in this embodiment, since the first output buffer 201 and the second output buffer 202 are both associated with the gate driving circuit 1, in order to prevent risk of false triggering, the first buffer enable control signal outputted from the controller 4 is used to enable the first output buffer 201 by the enable switching logic module 3 and disable the second output buffer 202 at the same time in the alternative control of the safe state in the normal operation state of the motor and the occurrence of the fault.
The second latch module 502 receives and latches a fault signal of the motor under low-speed operation to drive the motor into the SPO safe state by controlling the gate driving circuit 1 when the motor is in a control fault. Specifically, as shown in fig. 1, a fault signal, such as a fault 1, a fault 2, a power failure, etc., is input to a signal input end of the second latch module 502, and in order to enable the controller 4 to realize safe state control of the motor when the controller 4 fails, the signal input end of the second latch module 502 is connected to a signal output end of the controller 4 to receive a single chip microcomputer fault signal of the controller 4. The second latch module 502 latches various fault signals and outputs a second buffer enable control signal to the enable switching logic module 3 to enable the second output buffer 202 by the enable switching logic module 3.
Based on the description of the first buffer enable control signal as above, in the present embodiment, the second buffer enable control signal is valid on the falling edge. At this time, the enable switching logic module 3 enables the first output buffer 201 when the first buffer enable control signal is valid, and enables the second output buffer 202 when the second buffer enable control signal is valid, the first output buffer 201 and the second output buffer 202 enable signals are logically opposite to ensure that the first output buffer 201 and the second output buffer 202 are not enabled at the same time, the enable switching logic of which is shown in the following table:
| first buffer enable signal | Second buffer enable signal | Output buffer status |
| H | H | State retention |
| L | H | State retention |
| ↓ | ⅹ | Enable output buffer 1, disable output buffer 2 |
| H | L | State retention |
| L | L | State retention |
| ⅹ | ↓ | Disabling output buffer 1, enabling output buffer 2 |
In addition, in order to further improve the control effect on the high-side gate driving circuit 101 and the low-side gate driving circuit 102, in this embodiment, while the enable switching logic module 3 performs the enable switching of the first output buffer 201 and the second output buffer 202, a driving chip reset control signal is output, the active level duration of the control signal may be set to several microseconds, during the active level interval of the control signal, the gate driving circuit 1 outputs a low level to turn off the IGBT, and the motor driving system is in the SPO safe state, so that the IGBT is in the off state before the enable switching logic module 3 switches to enable the second output buffer 202 and enters the ASC safe state, and the switching tube is prevented from being directly connected.
Example two
The embodiment relates to a vehicle motor control method, which integrally includes the following steps:
a normal operation control step of controlling the motor to normally operate;
latching, namely latching a safety state control signal according to parameters in the normal running process of the motor;
and a safety control step, when the motor is in control failure, controlling the motor to enter a safety state by a latched safety state control signal, wherein the safety state comprises an ASC safety state under high-speed running of the motor and an SPO safety state under low-speed running of the motor.
Wherein, in the latching step, the latched safety state control signal comprises an ASC safety state control signal.
For better control, the ASC security state control signals include an L-ASC security state control signal and an H-ASC security state control signal. Meanwhile, in order to further meet the control safety under different faults in the motor control process, the latched safety state control signals comprise fault signals so as to control the motor to enter a safety state when the control faults occur.
In addition, in the safety control step, when the motor fails due to high-voltage overvoltage, the motor is controlled to enter an L-ASC safety state, so that the safety protection of the motor can be more effectively realized.
Based on the specific structure of the first embodiment, an exemplary method step of this embodiment is shown in fig. 2:
after the whole control system is powered on and initialized, the method is carried out according to the following steps:
step S101, normal operation control step: the controller 4 controls and outputs a first buffering enabling control signal to the enabling switching logic module, enables the first output buffer and enables the second output buffer, and the controller controls and outputs 6 paths of PWM signals, and controls the IGBT driving motor to normally operate through the first output buffer 201, the high-side gate driving circuit 101 and the low-side gate driving circuit 102.
Step S102, a latching step, which latches the H-ASC control signal and the L-ASC control signal according to the rotating speed of the motor while executing the normal operation control step.
And a safety control step, when a fault occurs, firstly judging whether the fault is a high-voltage overvoltage fault, if yes, executing step S103, when the high-voltage overvoltage fault signal is low, whether the state signal latched by the first latch module 501 is high or low, forcing the high-side gate control signal output by the safety state logic circuit 6 to be low, and the low-side gate control signal to be high, so that the driving system of the motor enters an L-ASC state.
If the high voltage overvoltage fault is not detected, step S104 is executed, and the first latch module 501 enables the second output buffer 202 through the safety state logic circuit 6, and controls the gate driving circuit to drive the motor into the corresponding safety state according to the H-ASC safety state control signal and the L-ASC safety state control signal latched by the first latch module 501. It should be noted that, in this process, the controller 4 may modify the safety state according to the control strategy, for example, by controlling the rotation speed of the motor, to change the latched H-ASC state signal and L-ASC state signal, so that the motor is driven and controlled to enter different safety states.
After the safety control step is executed, judging whether the fault is recovered, and if so, controlling the system to reset by the controller 4; if not, the safe state is maintained.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. A vehicle motor control method characterized in that the method comprises:
a normal operation control step of controlling the motor to normally operate;
latching, namely latching a safety state control signal according to parameters in the normal running process of the motor;
a safety control step of controlling the motor to enter a safety state by a latched safety state control signal when the motor has a control fault, wherein the safety state comprises an ASC safety state under high-speed running of the motor and an SPO safety state under low-speed running of the motor;
the latching step is performed, and the H-ASC control signal and the L-ASC control signal are latched according to the rotation speed of the motor at the same time as the normal operation control step is performed.
2. The vehicle motor control method according to claim 1, characterized in that:
and in the safety control step, when the motor fails due to high-voltage overvoltage, the motor is controlled to enter an L-ASC safety state.
3. The vehicle motor control method according to claim 1, characterized in that:
in the latching step, the latched safety state control signal comprises a fault signal so as to control the motor to enter a safety state when a control fault occurs.
4. A vehicle motor control system, characterized in that the control system is based on the vehicle motor control method according to claim 1, and the control system comprises:
the controller (4) controls the motor to normally operate through enabling control of the gate driving circuit (1);
a latch (5) for latching a safety state control signal according to parameters during normal operation of the motor;
a gate drive circuit (1) in driving connection with the motor; the gate driving circuit (1) has an operating state for controlling the motor to normally operate under the enabling control of the controller (4) and a safety state for controlling the motor to enter the safety state under the enabling control of a safety state control signal when a fault occurs, wherein the safety state comprises an ASC safety state under the high-speed operation of the motor and an SPO safety state under the low-speed operation of the motor;
the latch (5) comprises a first latch module (501), wherein a signal input end of the first latch module (501) is connected with the controller (4) and is used for receiving and latching an ASC safety state control signal output by the controller (4);
the signal output end of the first latch module (501) is in driving connection with the gate driving circuit (1); the first latch module (501) receives and latches ASC security state control signals, including an L-ASC security state control signal and an H-ASC security state control signal.
5. The vehicle motor control system according to claim 4, characterized in that:
after the output end of the first latch module (501) is logically operated by the safety state logic circuit (6), the gate driving circuit (1) formed by the high-side gate driving circuit (101) and the low-side gate driving circuit (102) is enabled to be driven.
6. The vehicle motor control system according to claim 5, characterized in that:
the signal input end of the first latch module (501) is input with a high-voltage overvoltage fault signal.
7. The vehicle motor control system according to claim 4, characterized in that:
the latch (5) comprises a second latch module (502), and the second latch module (502) receives and latches a fault signal to drive the motor into a safe state by controlling the gate driving circuit (1) when the motor has a control fault.
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| CN108016297A (en) * | 2016-10-31 | 2018-05-11 | 长城汽车股份有限公司 | Fault handling method, motor driven systems and the vehicle of motor driven systems |
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| CN111619351A (en) * | 2019-02-28 | 2020-09-04 | 北京新能源汽车股份有限公司 | Safety state control method and device and automobile |
| CN210898512U (en) * | 2019-11-18 | 2020-06-30 | 上海威迈斯新能源有限公司 | Control circuit for three-phase active short circuit of electric automobile motor system |
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