CN114465547A - Estimation method and estimation system for bus current of permanent magnet synchronous motor for vehicle - Google Patents
Estimation method and estimation system for bus current of permanent magnet synchronous motor for vehicle Download PDFInfo
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- CN114465547A CN114465547A CN202210165801.8A CN202210165801A CN114465547A CN 114465547 A CN114465547 A CN 114465547A CN 202210165801 A CN202210165801 A CN 202210165801A CN 114465547 A CN114465547 A CN 114465547A
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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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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The invention discloses an estimation method and an estimation system for bus current of a permanent magnet synchronous motor for a vehicle, which are based on motor actual measurement data, obtain the actual torque and the motor efficiency of the motor under the current working condition by table lookup, interpolation and calculation, correct the actual torque of the motor according to the current motor temperature to obtain the actual torque of the motor corrected under the current working condition, and calculate by using the motor efficiency under the current working condition and the actual torque of the motor corrected, thereby estimating the bus current, improving the estimation precision of the bus current, realizing the purpose of accurately estimating the bus current without a direct current bus current sensor, and reducing the hardware cost of a motor system.
Description
Technical Field
The invention belongs to the field of electric vehicle motor control, and particularly relates to an estimation method and an estimation system for bus current of a permanent magnet synchronous motor for a vehicle.
Background
With the high-speed development of the new energy automobile industry, the motor system for the automobile is highly valued by various large manufacturers. Based on cost pressures, large host plants and motor system developers have reduced unnecessary components in the existing motor systems as much as possible, with the elimination of dc bus current sensors becoming an option. The (direct current) bus current is an important signal of a motor control system, and is not directly involved in internal control of electric control software, but is indispensable to power generation power estimation, energy management and the like of new energy vehicles (particularly hybrid or extended range new energy vehicles).
CN111431452A discloses a dc bus current estimation method for a motor controller, which obtains a plurality of dc bus current two-dimensional tables based on rotation speed/torque dimension by calibration, and presets the tables in software. When the motor actually runs, the direct current bus current is obtained through an interpolation method and a table look-up. The method does not consider the influence of factors such as motor stator/rotor temperature on current under the complex operation condition of the motor, and the estimation precision is not high.
CN111208345A discloses a method and a system for estimating bus current of an electric drive system of an electric vehicle, which establish a fitting function based on a motor rotating speed, a control torque and a bus voltage data table, obtain a fitting function coefficient through a least square method, and finally calculate the estimated bus current. The calculation data base of the method, namely the control torque, is software execution torque, and the accuracy of the method is greatly uncertain. The direct current bus current is estimated through a pure algorithm based on the method, and the estimation accuracy is uncertain.
CN112701986A discloses a DC bus current estimation method based on a motor controller, wherein a gas channel obtains Ud、Uq、Id、IqAnd calculating the power of the alternating current side, and then inversely calculating the current of the direct current side according to the energy conservation principle by combining the calibration efficiency of the motor system rack and the voltage of the direct current bus. The method has two disadvantages, namely Ud、Uq、Id、IqThe software controls intermediate variables, the fluctuation is large, and even if the intermediate variables are subjected to filtering processing, the precision and the real-time performance are questioned; on the other hand, the rack test efficiency of the motor system includes loss from the direct current side to the alternating current side, and also includes loss of the motor itself, such as iron loss and mechanical friction, and the problem that the accuracy is still insufficient when the bus current is inversely calculated by the efficiency is still solved.
Disclosure of Invention
The invention aims to provide an estimation method and an estimation system for bus current of a permanent magnet synchronous motor for a vehicle, so as to improve the estimation precision of the bus current.
The invention discloses an estimation method of bus current of a permanent magnet synchronous motor for a vehicle, which comprises the following steps:
obtaining the current motor rotating speed N, the current driver required torque and the current bus voltage UDCAnd the current motor temperature.
Determination of the current bus voltage U by means of linear interpolationDCDistributing weight A of actual motor torque in n motor actual torque map tables respectively corresponding to n reference bus voltages1、A2、...、An(ii) a Wherein n is an integer and n>The n reference bus voltages are respectively: the bus voltage minimum value, the bus voltage maximum value and n-2 bus voltage values between the bus voltage minimum value and the bus voltage maximum value.
According to the current motor rotating speed N and the current driver required torque, N motor actual torque map tables corresponding to N reference bus voltages respectively are inquired, and motor actual torque look-up table values T corresponding to N reference bus voltages (corresponding to the current motor rotating speed N and the current driver required torque) are obtained1、T2、...、Tn(ii) a The motor actual torque map table corresponding to a certain reference bus voltage is a corresponding relation table of motor rotating speed, driver required torque and motor actual torque under the reference bus voltage, which is obtained in a calibration mode.
Using the formula:
calculating the actual torque T of the motor under the current working conditiona。
Correcting the actual torque T of the motor under the current working condition according to the current motor temperatureaAnd obtaining the corrected actual torque T of the motor under the current working condition.
Using the formula:
calculating the mechanical work under the current working conditionRate PMec。
And determining the motor efficiency eta under the current working condition.
Judging the current motor state: if the current motor state is the electric state, using the formula:
calculating bus current IDC(ii) a If the current motor state is the power generation state, using the formula:
calculating bus current IDC。
Preferably, the actual torque T of the motor under the current working condition is corrected according to the current motor temperatureaThe specific mode is as follows:
inquiring a torque correction coefficient table according to the current motor temperature to obtain a torque correction coefficient K corresponding to the current motor temperatureT。
Using the formula: t ═ KT*TaAnd calculating to obtain the corrected actual torque T of the motor under the current working condition.
The torque correction coefficient table is a corresponding relation table of the motor temperature and the torque correction coefficient obtained in a calibration mode.
Preferably, the method for determining the motor efficiency η under the current working condition comprises the following steps:
determination of the current bus voltage U by means of linear interpolationDCThe distribution weight B of the lower motor efficiency in n motor efficiency map tables respectively corresponding to n reference bus voltages1、B2、...、Bn。
According to the current motor rotating speed N and the current driver required torque, N motor efficiency map tables corresponding to N reference bus voltages respectively are inquired, and a motor efficiency look-up table value eta corresponding to N reference bus voltages (corresponding to the current motor rotating speed N and the current driver required torque) is obtained1、η2、...、ηn(ii) a Wherein, the motor efficiency map table corresponding to a certain reference bus voltage is the motor speed and driving speed under the reference bus voltage obtained by a calibration modeAnd the corresponding relation table of the driver required torque and the motor efficiency.
Using the formula:
and calculating to obtain the motor efficiency eta under the current working condition.
Preferably, the current bus voltage U is determined by linear interpolationDCDistributing weight A of actual motor torque in n motor actual torque map tables respectively corresponding to n reference bus voltages1、A2、...、AnThe specific mode is as follows:
and sequentially arranging the n reference bus voltages from small to large to form a reference bus voltage sequence.
Judging the current bus voltage UDCMagnitude relation with n reference bus voltages:
if U is presentDC＝Um(i.e. if the present bus voltage UDCEqual to the mth reference bus voltage U in the sequence of reference bus voltagesm) Then make Am1, making the remaining n-1 distribution weights equal to 0; wherein m is an integer of 1-n, UmRepresenting the mth reference bus voltage in the sequence of reference bus voltages.
If U is presentj<UDC<Uj+1(i.e. if the present bus voltage UDCJth reference bus voltage U in reference bus voltage sequencejAnd j +1 th reference bus voltage Uj+1In between), then
Make A aj+1＝1-AjThe remaining n-2 distribution weights are weighted by 0; wherein j is an integer and is not less than 1 and not more than n-1, UjRepresenting the jth reference bus voltage, U, in the sequence of reference bus voltagesj+1Represents the j +1 th reference bus voltage in the sequence of reference bus voltages.
Preferably, the current bus voltage U is determined by linear interpolationDCThe motor efficiency is respectively corresponding to n reference bus voltagesAssigning weights B in the Motor efficiency map Table1、B2、...、BnThe specific mode is as follows:
and sequentially arranging the n reference bus voltages from small to large to form a reference bus voltage sequence.
Judging the current bus voltage UDCMagnitude relation with n reference bus voltages:
if U is presentDC＝Uh(i.e. if the present bus voltage UDCEqual to the h-th reference bus voltage U in the reference bus voltage sequenceh) Then make Bh1, making the remaining n-1 distribution weights equal to 0; wherein h is an integer, h is more than or equal to 1 and less than or equal to n, and UhRepresenting the h reference bus voltage in the sequence of reference bus voltages.
If U is presentk<UDC<Uk+1(i.e. if the present bus voltage UDCKth reference bus voltage U in reference bus voltage sequencejAnd the (k + 1) th reference bus voltage Uj+1In between), then
Make Bk+1＝1-BkThe remaining n-2 distribution weights are weighted by 0; wherein k is an integer and is not less than 1 and not more than n, UkRepresenting the kth reference bus voltage, U, in the sequence of reference bus voltagesk+1Representing the (k + 1) th reference bus voltage in the sequence of reference bus voltages.
The estimation system for the bus current of the permanent magnet synchronous motor for the vehicle comprises a motor controller, wherein the motor controller is programmed to execute the estimation method.
The method is based on the motor actual measurement data, obtains the motor actual torque and the motor efficiency under the current working condition through table lookup, interpolation and calculation, corrects the motor actual torque according to the current motor temperature (which is a factor greatly influencing the motor performance in the actual operation process), obtains the corrected motor actual torque under the current working condition, and calculates by using the motor efficiency under the current working condition and the corrected motor actual torque, thereby estimating the bus current, improving the estimation precision of the bus current, realizing the purpose of accurately estimating the bus current under the condition of no DC bus current sensor, and reducing the hardware cost of a motor system.
Drawings
Fig. 1 is a flowchart of a method for estimating a bus current of a permanent magnet synchronous motor for a vehicle according to the present embodiment.
FIG. 2 is a diagram illustrating the determination of the actual torque T of the motor under the current operating condition in the present embodimentaIs described.
Fig. 3 is a flowchart for determining the motor efficiency η under the current operating condition in the present embodiment.
Detailed Description
As shown in fig. 1 to fig. 3, the method for estimating bus current of a permanent magnet synchronous motor for a vehicle according to the present embodiment is applied to a motor controller, and the method includes:
firstly, acquiring the current motor rotating speed N, the current driver required torque and the current bus voltage UDCAnd the current motor temperature.
Secondly, determining the actual torque T of the motor under the current working conditiona。
The specific steps (see fig. 2) include:
s1, determining the current bus voltage U by using a linear interpolation methodDCDistributing weight A of actual motor torque in n motor actual torque map tables respectively corresponding to n reference bus voltages1、A2、...、An. Wherein n is an integer and n>2. The n reference bus voltages are respectively: the bus voltage minimum value, the bus voltage maximum value and n-2 bus voltage values between the bus voltage minimum value and the bus voltage maximum value. The concrete mode is as follows:
the n reference bus voltages are sequentially arranged from small to large to form a reference bus voltage sequence.
Then, the current bus voltage U is judgedDCMagnitude relation with n reference bus voltages:
if U is presentDC＝UmThen make Am1, making the remaining n-1 distribution weights equal to 0; wherein m is wholeNumber 1. ltoreq. m. ltoreq. n, UmRepresenting the mth reference bus voltage in the sequence of reference bus voltages.
If U is presentj<UDC<Uj+1Then make it possible to
Make A aj+1＝1-AjThe remaining n-2 distribution weights are weighted by 0; wherein j is an integer and is not less than 1 and not more than n-1, UjRepresenting the jth reference bus voltage, U, in the sequence of reference bus voltagesj+1Represents the j +1 th reference bus voltage in the sequence of reference bus voltages.
The following description will be given by taking n-7 as an example:
through a motor system bench calibration test, 7 motor actual torque map tables corresponding to 7 reference bus voltages (such as 120V, 160V, 200V, 240V, 280V, 320V and 360V) are obtained, wherein the minimum value of the bus voltage is 120V, and the maximum value of the bus voltage is 360V. If the current bus voltage is equal to 200V, then A1＝0，A2＝0，A3＝1，A4＝0，A5＝0，A6＝0，A70. If the current bus voltage is equal to 230V, then A1＝0，A2＝0，A3＝0.25，A4＝0.75，A5＝0，A6＝0，A70. If the current bus voltage is equal to 180V, then A1＝0，A2＝0.5，A3＝0.5，A4＝0，A5＝0，A6＝0，A7＝0。
S2, according to the current motor rotating speed N and the current driver required torque, inquiring N motor actual torque map tables corresponding to N reference bus voltages respectively, and obtaining motor actual torque look-up table values T corresponding to N reference bus voltages (corresponding to the current motor rotating speed N and the current driver required torque)1、T2、...、Tn. Wherein, the motor actual torque map table corresponding to a certain reference bus voltage is the corresponding relation of the motor speed, the driver required torque and the motor actual torque under the reference bus voltage obtained by a calibration modeIs shown in the table.
S3, using the formula:
calculating to obtain the actual torque T of the motor under the current working conditiona。
Thirdly, correcting the actual torque T of the motor under the current working condition according to the current motor temperatureaAnd obtaining the corrected actual torque T of the motor under the current working condition. The concrete mode is as follows:
firstly, inquiring a torque correction coefficient table according to the current motor temperature to obtain a torque correction coefficient K corresponding to the current motor temperatureT. The torque correction coefficient table is a corresponding relation table of the motor temperature and the torque correction coefficient obtained in a calibration mode. The motor temperature here may be a stator temperature, a rotor temperature or other directly or indirectly estimated temperature signals that are well correlated with the actual torque of the motor.
Then, using the formula: t ═ KT*TaAnd calculating to obtain the corrected actual torque T of the motor under the current working condition.
Fourthly, using a formula:
calculating the mechanical power P under the current working conditionMec。
And fifthly, determining the motor efficiency eta under the current working condition.
The specific steps (see fig. 3) include:
p1 determining the current bus voltage U by linear interpolationDCThe distribution weight B of the lower motor efficiency in n motor efficiency map tables respectively corresponding to n reference bus voltages1、B2、...、Bn. The n reference bus voltages are respectively: the bus voltage minimum value, the bus voltage maximum value and n-2 bus voltage values between the bus voltage minimum value and the bus voltage maximum value.
The concrete mode is as follows:
the n reference bus voltages are sequentially arranged from small to large to form a reference bus voltage sequence.
Then, the current bus voltage U is judgedDCMagnitude relation with n reference bus voltages:
if U is presentDC＝UhThen make Bh1, making the remaining n-1 distribution weights equal to 0; wherein h is an integer, h is more than or equal to 1 and less than or equal to n, and UhRepresenting the h reference bus voltage in the sequence of reference bus voltages.
If U is presentk<UDC<Uk+1Then make
Let B bek+1＝1-BkThe remaining n-2 distribution weights are weighted by 0; wherein k is an integer and is not less than 1 and not more than n, UkRepresenting the kth reference bus voltage, U, in the sequence of reference bus voltagesk+1Representing the (k + 1) th reference bus voltage in the sequence of reference bus voltages.
The following description will be given by taking n-7 as an example:
through a motor system bench calibration test, 7 motor actual torque map tables corresponding to 7 reference bus voltages (such as 120V, 160V, 200V, 240V, 280V, 320V and 360V) are obtained, wherein the minimum value of the bus voltage is 120V, and the maximum value of the bus voltage is 360V. If the current bus voltage is equal to 160V, then B is enabled1＝0，B2＝1，B3＝0，B4＝0，B5＝0，B6＝0，B70. If the current bus voltage is equal to 210V, then B is enabled1＝0，B2＝0，B3＝0.75，B4＝0.25，B5＝0，B6＝0，B70. If the current bus voltage is equal to 300V, then B1＝0，B2＝0，B3＝0，B4＝0，B5＝0.5，B6＝0.5，B7＝0。
P2, according to the current motor speed N and the current driver required torque, inquiring N motor efficiency map tables respectively corresponding to N reference bus voltages to obtain N reference bus voltages (corresponding to the current motor speed N and the current driver required torque)Member required torque) of the motor efficiency look-up table1、η2、...、ηn. The motor efficiency map table corresponding to a certain reference bus voltage is a corresponding relation table of motor rotating speed, driver required torque and motor efficiency under the reference bus voltage, which is obtained in a calibration mode.
P3, using the formula:
and calculating to obtain the motor efficiency eta under the current working condition.
Sixthly, calculating the bus current I according to the current motor stateDC. The concrete mode is as follows:
judging the current motor state, if the current motor state is an electric state, utilizing a formula according to an energy conservation principle:
calculating bus current IDC(ii) a If the current motor state is a power generation state, utilizing a formula according to an energy conservation principle:
calculating bus current IDC。
The embodiment also provides an estimation system of the bus current of the permanent magnet synchronous motor for the vehicle, which comprises a motor controller, wherein the motor controller is programmed to execute the estimation method.
Claims (6)
1. A method for estimating bus current of a permanent magnet synchronous motor for a vehicle is characterized by comprising the following steps:
obtaining the current motor rotating speed N, the current driver required torque and the current bus voltage UDCAnd the current motor temperature;
determination of the current bus voltage U by means of linear interpolationDCDistributing weight A of actual motor torque in n motor actual torque map tables respectively corresponding to n reference bus voltages1、A2、...、An(ii) a Wherein n is an integer and n>2；
According to the current motor rotating speed N and the current driver required torque, N motor actual torque map tables corresponding to N reference bus voltages respectively are inquired, and corresponding motor actual torque lookup table values T under the N reference bus voltages are obtained1、T2、...、Tn(ii) a The motor actual torque map table corresponding to a certain reference bus voltage is a corresponding relation table of motor rotating speed, driver required torque and motor actual torque under the reference bus voltage, which is obtained in a calibration mode;
using the formula:
calculating the actual torque T of the motor under the current working conditiona；
Correcting the actual torque T of the motor under the current working condition according to the current motor temperatureaObtaining the corrected actual torque T of the motor under the current working condition;
using the formula:
calculating the mechanical power P under the current working conditionMec；
Determining the motor efficiency eta under the current working condition;
judging the current motor state: if the current motor state is the electric state, using the formula:
calculating bus current IDC(ii) a If the current motor state is the power generation state, using the formula:
calculating bus current IDC。
2. The method for estimating the bus current of the permanent magnet synchronous motor for the vehicle according to claim 1, wherein: correcting the actual torque T of the motor under the current working condition according to the current motor temperatureaThe specific mode is as follows:
inquiring a torque correction coefficient table according to the current motor temperature to obtain a torque correction coefficient K corresponding to the current motor temperatureT；
Using the formula: t ═ KT*TaCalculating to obtain the corrected actual torque T of the motor under the current working condition;
the torque correction coefficient table is a corresponding relation table of the motor temperature and the torque correction coefficient obtained in a calibration mode.
3. The method for estimating the bus current of the permanent magnet synchronous motor for the vehicle according to claim 1 or 2, wherein: the method for determining the motor efficiency eta under the current working condition comprises the following steps:
determination of the current bus voltage U by means of linear interpolationDCThe distribution weight B of the lower motor efficiency in n motor efficiency map tables respectively corresponding to n reference bus voltages1、B2、...、Bn；
According to the current motor rotating speed N and the current driver required torque, N motor efficiency map tables corresponding to N reference bus voltages respectively are inquired, and corresponding motor efficiency look-up table values eta under the N reference bus voltages are obtained1、η2、...、ηn(ii) a The motor efficiency map table corresponding to a certain reference bus voltage is a corresponding relation table of motor rotating speed, driver required torque and motor efficiency under the reference bus voltage, which is obtained in a calibration mode;
using the formula:
and calculating to obtain the motor efficiency eta under the current working condition.
4. The method for estimating the bus current of the permanent magnet synchronous motor for the vehicle according to claim 3, wherein: determination of the current bus voltage U by means of linear interpolationDCDistributing weight A of actual motor torque in n motor actual torque map tables respectively corresponding to n reference bus voltages1、A2、...、AnThe concrete mode is as follows:
sequentially arranging the n reference bus voltages from small to large to form a reference bus voltage sequence;
judging the current bus voltage UDCMagnitude relation with n reference bus voltages:
if U is presentDC＝UmThen make Am1, making the remaining n-1 distribution weights equal to 0; wherein m is an integer of 1-n, UmRepresenting the mth reference bus voltage in the sequence of reference bus voltages;
if U is presentj<UDC<Uj+1Then make it possible to
Make A aj+1＝1-AjThe remaining n-2 distribution weights are weighted by 0; wherein j is an integer and is not less than 1 and not more than n-1, UjRepresenting the jth reference bus voltage, U, in the sequence of reference bus voltagesj+1Represents the j +1 th reference bus voltage in the sequence of reference bus voltages.
5. The method for estimating the bus current of the permanent magnet synchronous motor for the vehicle according to claim 4, wherein: determination of the current bus voltage U by means of linear interpolationDCThe distribution weight B of the lower motor efficiency in n motor efficiency map tables respectively corresponding to n reference bus voltages1、B2、...、BnThe specific mode is as follows:
sequentially arranging the n reference bus voltages from small to large to form a reference bus voltage sequence;
judging the current bus voltage UDCMagnitude relation with n reference bus voltages:
if U is presentDC＝UhThen make Bh1, making the remaining n-1 distribution weights equal to 0; wherein h is an integer, h is more than or equal to 1 and less than or equal to n, and UhRepresenting the h reference bus voltage in the sequence of reference bus voltages;
if U is presentk<UDC<Uk+1Then make it possible to
Make Bk+1＝1-BkThe remaining n-2 distribution weights are weighted by 0; wherein k is an integer of 1 to n-1, UkRepresenting the kth reference bus voltage, U, in the sequence of reference bus voltagesk+1Representing the (k + 1) th reference bus voltage in the sequence of reference bus voltages.
6. The utility model provides an estimation system of permanent magnet synchronous machine generating line electric current for vehicle, includes the machine controller, its characterized in that: the motor controller is programmed to perform the evaluation method according to any one of claims 1 to 5.
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