CN114598192A - Method and device for determining motor torque - Google Patents

Method and device for determining motor torque Download PDF

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Publication number
CN114598192A
CN114598192A CN202110166777.5A CN202110166777A CN114598192A CN 114598192 A CN114598192 A CN 114598192A CN 202110166777 A CN202110166777 A CN 202110166777A CN 114598192 A CN114598192 A CN 114598192A
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Prior art keywords
torque
determining
sample
motor
difference
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CN202110166777.5A
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Chinese (zh)
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张连忠
许艳
曹旭
张哲�
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/01—Asynchronous machines
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • 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
    • Y02T10/72—Electric energy management in electromobility

Abstract

The disclosure relates to a method and a device for determining motor torque, which relate to the field of vehicle control, and the method comprises the following steps: determining a first torque according to the input current and the number of the magnetic pole pairs of the motor, determining a second torque according to the output power and the rotating speed of the motor, determining a first torque difference according to the first torque and the current target torque of the motor, determining a second torque difference according to the second torque and the target torque, determining a comprehensive torque difference according to the first torque difference and the second torque difference, and determining the output torque of the motor according to the first torque, the second torque and the comprehensive torque difference. According to the method and the device, the comprehensive torque difference is obtained according to the first torque difference and the second torque difference, the output torque of the motor is further obtained according to the first torque, the second torque and the comprehensive torque difference, and the accuracy of determining the output torque of the motor can be improved.

Description

Method and device for determining motor torque
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a method and an apparatus for determining a motor torque.
Background
With the rapid development of society, the holding capacity of automobiles is continuously increased, and the performance of an electric drive system as one of the core components of the automobiles has important influence on the safety, the economy, the environmental protection and the like of the automobiles. The electric drive system consists of a motor and a controller thereof, and the accurate determination of the output torque of the motor is the key for the electric drive system to accurately control the motor. At present, the output torque of the motor is usually calculated according to the input current and the number of the magnetic pole pairs of the motor, or the output torque of the motor is calculated according to the output power and the rotating speed of the motor, both the two modes have higher requirements on the accuracy of related parameters, and are generally limited by factors such as the precision, the cost, the occupied space and the like of a sensor, and the accuracy of the related parameters is difficult to meet the requirements, so that the accuracy of the output torque is lower.
Disclosure of Invention
An object of the present disclosure is to provide a method and apparatus for determining a torque of a motor for improving accuracy of determining an output torque of the motor.
According to a first aspect of an embodiment of the present disclosure, there is provided a method of determining a motor torque, the method including:
determining a first torque according to the input current and the magnetic pole pair number of the motor, and determining a second torque according to the output power and the rotating speed of the motor;
determining a first torque difference according to the first torque and a current target torque of the motor, and determining a second torque difference according to the second torque and the target torque;
determining a composite torque difference from the first torque difference and the second torque difference;
determining an output torque of the electric machine based on the first torque, the second torque, and the combined torque difference.
Optionally, before determining the first torque according to the input current and the number of pole pairs of the motor and determining the second torque according to the output power and the rotating speed of the motor, the method further comprises:
the input current, the rotation speed, and the target torque are acquired.
Optionally, before determining the first torque according to the input current and the number of pole pairs of the motor, the method further comprises:
determining motor parameters according to the input current, wherein the motor parameters comprise flux linkage and inductance;
the determining a first torque according to the input current and the number of pole pairs of the motor comprises:
determining the first torque based on the input current, the pole pair number, and the motor parameter.
Optionally, before determining the second torque according to the output power and the rotation speed of the motor, the method further comprises:
determining an input voltage of the motor according to the input current;
determining the output power from the input voltage and the input current.
Optionally, before determining the first torque according to the input current and the number of pole pairs of the motor and determining the second torque according to the output power and the rotating speed of the motor, the method further comprises:
sampling the calibration torque range of the motor to obtain a first number of sample target torques, and sampling the calibration rotating speed range of the motor to obtain a second number of sample rotating speeds;
combining a first number of the sample target torques and a second number of the sample rotating speeds to obtain a third number of groups of input parameters, wherein the third number is the product of the first number and the second number, and each group of the input parameters comprises one sample target torque and one sample rotating speed;
for each group of input parameters, determining a first sample torque corresponding to the group of input parameters according to the control current corresponding to the sample target torque included in the group of input parameters and the magnetic pole pairs, and determining a second sample torque corresponding to the group of input parameters according to the sample output power and the sample rotating speed included in the group of input parameters, wherein the sample output power is determined according to the control current;
determining a first sample torque difference and a second sample torque difference corresponding to the set of input parameters according to the sample target torque included in the set of input parameters and the first sample torque and the second sample torque corresponding to the set of input parameters;
determining a comprehensive sample torque difference corresponding to the set of input parameters according to the first sample torque difference and the second sample torque difference corresponding to the set of input parameters according to the first initial corresponding relation;
and fitting the third number of groups of the input parameters and the comprehensive sample torque difference corresponding to each group of the input parameters to obtain a first corresponding relation, wherein the first corresponding relation is used for determining the comprehensive torque difference according to the first torque difference and the second torque difference.
Optionally, after the fitting is performed by using a third number of sets of the input parameters and the comprehensive sample torque difference corresponding to each set of the input parameters to obtain a first corresponding relationship, the method further includes:
for each group of input parameters, according to a second initial corresponding relation, determining output sample torques corresponding to the group of input parameters according to the first sample torque, the second sample torque and the comprehensive sample torque difference corresponding to the group of input parameters;
and fitting a third number of groups of the input parameters and the output sample torque corresponding to each group of the input parameters to obtain a second corresponding relation, wherein the second corresponding relation is used for determining the output torque according to the difference between the first torque, the second torque and the comprehensive torque.
According to a second aspect of the embodiments of the present disclosure, there is provided a determination apparatus of a motor torque, the apparatus including:
the torque determining module is used for determining a first torque according to the input current and the magnetic pole pair number of the motor and determining a second torque according to the output power and the rotating speed of the motor;
the torque difference determining module is used for determining a first torque difference according to the first torque and the current target torque of the motor, and determining a second torque difference according to the second torque and the target torque;
the first processing module is used for determining a comprehensive torque difference according to the first torque difference and the second torque difference;
and the second processing module is used for determining the output torque of the motor according to the first torque, the second torque and the comprehensive torque difference.
Optionally, the apparatus further comprises:
and the acquisition module is used for acquiring the input current, the rotating speed and the target torque before determining the first torque according to the input current and the magnetic pole pair number of the motor and determining the second torque according to the output power and the rotating speed of the motor.
Optionally, the torque determination module is to:
before determining a first torque according to the input current and the magnetic pole pair number of the motor, determining motor parameters according to the input current, wherein the motor parameters comprise a magnetic linkage and an inductance; determining the first torque based on the input current, the pole pair number and the motor parameter.
Optionally, the torque determination module is to:
determining an input voltage of the motor according to the input current before determining a second torque according to the output power and the rotating speed of the motor; determining the output power from the input voltage and the input current.
Optionally, the apparatus further comprises:
the sampling module is used for sampling the calibration torque range of the motor to obtain a first number of sample target torques before determining a second torque according to the input current and the magnetic pole pair number of the motor and the output power and the rotating speed of the motor, and sampling the calibration rotating speed range of the motor to obtain a second number of sample rotating speeds;
the combination module is used for combining the first number of sample target torques and the second number of sample rotating speeds to obtain a third number of groups of input parameters, wherein the third number is the product of the first number and the second number, and each group of input parameters comprises one sample target torque and one sample rotating speed;
the torque determining module is further configured to determine, for each set of the input parameters, a first sample torque corresponding to the set of the input parameters according to the control current corresponding to the sample target torque included in the set of the input parameters and the magnetic pole pair number, and determine a second sample torque corresponding to the set of the input parameters according to a sample output power and the sample rotational speed included in the set of the input parameters, where the sample output power is determined according to the control current;
the torque difference determining module is further configured to determine a first sample torque difference and a second sample torque difference corresponding to the set of input parameters according to the sample target torque included in the set of input parameters and the first sample torque and the second sample torque corresponding to the set of input parameters;
the first processing module is further configured to determine, according to a first initial correspondence, a comprehensive sample torque difference corresponding to the set of input parameters according to the first sample torque difference and the second sample torque difference corresponding to the set of input parameters;
and the first fitting module is used for fitting a third number of groups of the input parameters and the comprehensive sample torque difference corresponding to each group of the input parameters to obtain a first corresponding relation, and the first corresponding relation is used for determining the comprehensive torque difference according to the first torque difference and the second torque difference.
Optionally, the second processing module is further configured to, after the third number of sets of input parameters are used and the comprehensive sample torque difference corresponding to each set of input parameters is fitted to obtain a first corresponding relationship, determine, according to a second initial corresponding relationship, an output sample torque corresponding to the set of input parameters according to the first sample torque, the second sample torque, and the comprehensive sample torque difference corresponding to the set of input parameters, for each set of input parameters;
the device further comprises:
and the second fitting module is used for fitting a third number of groups of the input parameters with the output sample torque corresponding to each group of the input parameters to obtain a second corresponding relation, and the second corresponding relation is used for determining the output torque according to the difference between the first torque, the second torque and the comprehensive torque.
According to the technical scheme, the method comprises the steps of firstly determining a first torque according to the input current and the number of the magnetic pole pairs of the motor, determining a second torque according to the output power and the rotating speed of the motor, then determining a first torque difference according to the first torque and the current target torque of the motor, determining a second torque difference according to the second torque and the target torque, then determining a comprehensive torque difference according to the first torque difference and the second torque difference, and finally determining the output torque of the motor according to the first torque, the second torque and the comprehensive torque difference. According to the method and the device, the comprehensive torque difference is obtained according to the first torque difference and the second torque difference, the output torque of the motor is further obtained according to the first torque, the second torque and the comprehensive torque difference, and the accuracy of determining the output torque of the motor can be improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment;
FIG. 3 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment;
FIG. 4 is a schematic diagram illustrating inductance versus current according to the embodiment of FIG. 3;
FIG. 5 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment;
FIG. 6 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment;
FIG. 7 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment;
FIG. 8 is a block diagram illustrating a motor torque determination apparatus in accordance with an exemplary embodiment;
FIG. 9 is a block diagram illustrating a motor torque determination apparatus in accordance with an exemplary embodiment;
FIG. 10 is a block diagram illustrating a motor torque determination arrangement in accordance with an exemplary embodiment;
FIG. 11 is a block diagram illustrating a motor torque determination apparatus in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
FIG. 1 is a flow chart illustrating a method of determining motor torque, as shown in FIG. 1, according to an exemplary embodiment, including:
step 101, determining a first torque according to the input current and the magnetic pole pair number of the motor, and determining a second torque according to the output power and the rotating speed of the motor.
For example, the application scenario of the present disclosure may be a motor, which may be a direct current motor, an asynchronous motor, a permanent magnet synchronous motor, and the like, and the present disclosure is not particularly limited thereto. Firstly, the input current of the motor can be sampled, and the d-axis current and the q-axis current are obtained by the sampled input current through a coordinate transformation relation. The input current of the motor can be three-phase current, the d axis can be understood as the axis where the magnetic pole of the rotor is located, the direction is from the S pole to the N pole, the q axis is perpendicular to the d axis, and the direction rotates by 90 degrees along the d axis anticlockwise.
And then obtaining d-axis inductance, q-axis inductance and flux linkage of the motor according to the d-axis current and the q-axis current, and substituting the d-axis current, the q-axis current, the d-axis inductance, the q-axis inductance, the flux linkage and the magnetic pole logarithm into a formula 1 to obtain a first torque. The number of magnetic pole pairs is the number of pairs of N poles and S poles generated after the stator winding of the motor is connected with an alternating current power supply.
TqEst1＝1.5*Pn*(ψ*Iq+(Ld-Lq)*Id*Iq) (formula 1)
Wherein TqEst1 is a first torque, PnIs the magnetic pole pair number, psi is the flux linkage, LdIs d-axis inductance, LqIs the q-axis inductance.
Further, the output power and the rotation speed of the motor may be substituted into equation 2, so as to obtain the second torque.
Figure BDA0002934414440000071
Wherein TqEst2 is the second torque, PoutFor output power, n is the rotation speed.
Step 102, determining a first torque difference according to the first torque and the current target torque of the motor, and determining a second torque difference according to the second torque and the target torque.
For example, after determining the first torque, the first torque and the current target torque of the motor may be substituted into equation 3 to obtain the first torque difference. The target torque may be understood as a torque included in a torque command sent to the motor by the motor controller, that is, a torque that the motor is expected to output.
Δ TqEst1 Tqcmd-TqEst1 (equation 3)
Where TqEst1 is the first torque, TqCmd is the target torque, and Δ TqEst1 is the first torque difference.
Further, after the second torque is determined, the second torque and the current target torque of the motor may be substituted into equation 4, so as to obtain a second torque difference.
Δ TqEst2 Tqcmd-TqEst2 (equation 4)
Where TqEst2 is the second torque and Δ TqEst2 is the second torque difference.
Step 103, determining a composite torque difference according to the first torque difference and the second torque difference.
For example, after determining the first torque difference and the second torque difference, the integrated torque difference may be determined according to a preset first corresponding relationship between the first torque difference, the second torque difference, and the integrated torque difference.
Specifically, the first corresponding relationship may be that a first mapping table of the first torque difference, the second torque difference, and the comprehensive torque difference is established in advance, and after the first torque difference and the second torque difference are determined, the corresponding comprehensive torque difference may be searched in the first mapping table. The first corresponding relationship may be a first relationship function obtained by fitting the first torque difference, the second torque difference, and the integrated torque difference in advance through experiments, and after the first torque difference and the second torque difference are determined, the integrated torque difference may be obtained according to the first relationship function. The first corresponding relation may also be a first relation model trained in advance, and the first torque difference and the second torque difference may be input into the first relation model to obtain a comprehensive torque difference output by the first relation model. The present disclosure does not specifically limit this. The first relationship function may be, for example, as shown in equation 5.
ΔTqEst＝C1*ΔTqEst1+C2Δ TqEst2 (equation 5)
Wherein, Delta TqEst is the comprehensive torque difference, C1And C2Is a preset coefficient.
And 104, determining the output torque of the motor according to the first torque, the second torque and the comprehensive torque difference.
For example, after the determination of the integrated torque difference, the output torque of the electric machine may be determined according to a preset second correspondence relationship between the first torque, the second torque, the integrated torque difference, and the output torque of the electric machine.
Specifically, the second corresponding relationship may be that a second mapping table of the first torque, the second torque, the integrated torque difference and the output torque is established in advance, and after the first torque, the second torque and the integrated torque difference are determined, the corresponding output torque may be searched in the second mapping table. The second corresponding relationship may be a second relationship function between the first torque, the second torque, the integrated torque difference, and the output torque, which is previously fitted through experiments, and after the first torque, the second torque, and the integrated torque difference are determined, the output torque may be obtained according to the second relationship function. The second corresponding relation may also be a second relation model trained in advance, and the first torque, the second torque and the comprehensive torque difference may be input into the second relation model to obtain the output torque output by the second relation model. The present disclosure does not specifically limit this. The second relationship function may be, for example, as shown in equation 6.
TqEst＝C11*TqEst1+C22*TqEst2+C12*TqEst1*TqEst2+C21*ΔTqEst+C00(formula 6)
Wherein TqEst is the output torque, Δ TqEst is the integrated torque difference, C11、C22、C12、C21And C00The coefficient set in advance may be a constant or a variable relating to the rotation speed.
Further, after obtaining the output torque of the motor, the target torque and the output torque may be subtracted to obtain a difference between the target torque and the output torque, and the output torque of the motor may be adjusted according to the difference, for example, when the target torque is greater than the output torque, the output torque may be increased, and when the target torque of the motor is less than the output torque, the output torque may be decreased, so that the output torque of the motor is equal to the target torque.
In summary, the present disclosure first determines a first torque according to an input current and a number of pole pairs of the motor, and determines a second torque according to an output power and a rotation speed of the motor, then determines a first torque difference according to the first torque and a current target torque of the motor, and determines a second torque difference according to the second torque and the target torque, and then determines a comprehensive torque difference according to the first torque difference and the second torque difference, and finally determines an output torque of the motor according to the first torque, the second torque and the comprehensive torque difference. According to the method and the device, the comprehensive torque difference is obtained according to the first torque difference and the second torque difference, the output torque of the motor is further obtained according to the first torque, the second torque and the comprehensive torque difference, and the accuracy of determining the output torque of the motor can be improved.
FIG. 2 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment, further comprising, before determining a first torque based on input current and pole pair count of the motor and determining a second torque based on output power and rotational speed of the motor, as shown in FIG. 2:
step 105, input current, rotation speed and target torque are obtained.
For example, before determining the first torque and the second torque, the input current (e.g., three-phase current) of the motor may be obtained through a current sensor, the rotation speed of the motor may be obtained through a rotation speed sensor, and the target torque may be obtained by analyzing a torque command sent to the motor by the motor controller.
FIG. 3 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment, further including, prior to determining a first torque based on input current and pole pair count of the motor, as shown in FIG. 3:
and 106, determining motor parameters according to the input current, wherein the motor parameters comprise flux linkage and inductance.
Accordingly, one implementation of step 101 may be:
a first torque is determined based on the input current, the pole pair number and the motor parameter.
For example, before determining the first torque according to the input current and the number of pole pairs of the motor, the motor parameters may be determined according to the relationship between the motor parameters and the input current, wherein the motor parameters include flux linkage and inductance.
Specifically, a third mapping table of the inductance and the current may be pre-established, so that the inductance may be obtained by a table look-up method, or a third correlation function between the inductance and the current may be fitted in advance through an experiment, and the inductance may be obtained according to the third correlation function. The relationship between the q-axis inductance and the current can be shown in fig. 4, for example. The flux linkage versus current can be shown in equation 7:
Figure BDA0002934414440000101
wherein psidIs d-axis flux linkage, #qIs a q-axis flux linkage, LdIs d-axis inductance, LqIs q-axis inductance,. psifIs a permanent magnet flux linkage in an electric machine.
Further, the input current, the pole pair number, the inductance, and the flux linkage may be substituted into equation 1 to determine the first torque.
FIG. 5 is a flowchart illustrating a method of determining a torque of an electric machine, according to an exemplary embodiment, as shown in FIG. 5, prior to determining a second torque based on an output power and a rotational speed of the electric machine, the method further comprising:
step 107, determining the input voltage of the motor according to the input current.
Step 108, determining an output power according to the input voltage and the input current.
For example, before determining the second torque according to the output power and the rotation speed of the motor, the input current may be substituted into a voltage equation to obtain the input voltage of the motor, and the voltage equation may be as shown in equation 8.
Figure BDA0002934414440000111
Wherein, UdIs d-axis voltage, UqIs the q-axis voltage, RsIs the resistance of the armature winding.
Further, the input voltage and the input current may be substituted into equation 9, thereby obtaining the output power.
Pout＝1.5*(Ud*Id+Uq*Iq) (formula 9)
FIG. 6 is a flow chart illustrating a method of determining motor torque according to an exemplary embodiment, further comprising, before determining a first torque based on input current and pole pair count of the motor and determining a second torque based on output power and rotational speed of the motor, as shown in FIG. 6:
step 109, sampling the calibration torque range of the motor to obtain a first number of sample target torques, and sampling the calibration rotating speed range of the motor to obtain a second number of sample rotating speeds.
For example, sampling may be performed by using a preset first sampling function within a calibration torque range of the motor, so as to obtain a first number of sample target torques, or the calibration torque range may be divided into a first number of segments, and a maximum target torque or a minimum target torque or an average target torque in each segment is taken as the sample target torque. Further, sampling may be performed within a calibrated rotation speed range of the motor by using a preset second sampling function, so as to obtain a second number of sample rotation speeds, or the calibrated rotation speed range may be divided into a second number of segments, and a maximum rotation speed or a minimum rotation speed or an average rotation speed in each segment is taken as the sample rotation speed.
The first sampling function and the second sampling function may be the same or different, and the method for sampling the calibration torque range and the method for sampling the calibration rotation speed range may be the same or different.
Specifically, taking the calibration torque range as 0-200Nm and the calibration rotation speed range as 0-10000r/min as an example, the calibration torque range may be divided into 10 segments (i.e., the first number is 10), and the minimum value of each segment may be taken as the sample target torque, i.e., the sample target torque includes 0, 20, 40, 60, 80, 100, 120, 140, 160, 180, the maximum value of each segment may also be taken as the sample target torque, i.e., the sample target torque includes 20, 40, 60, 80, 100, 120, 140, 160, 180, 200, and the intermediate value of each segment may also be taken as the sample target torque, i.e., the sample target torque includes 10, 30, 50, 70, 90, 110, 130, 150, 170, 190. Further, the calibration rotation speed range may be divided into 5 segments (i.e., the second number is 5), and the minimum value of each segment may be taken as the sample rotation speed, i.e., the sample rotation speed includes 0, 2000, 4000, 6000, 8000, or the maximum value of each segment may be taken as the sample rotation speed, i.e., the sample rotation speed includes 2000, 4000, 6000, 8000, 10000, or the intermediate value of each segment may be taken as the sample rotation speed, i.e., the sample rotation speed includes 1000, 3000, 5000, 7000, 9000.
Step 110, combining the first number of sample target torques and the second number of sample rotational speeds to obtain a third number of sets of input parameters, where the third number is a product of the first number and the second number, and each set of input parameters includes one sample target torque and one sample rotational speed.
In an example, the first number is represented by N, the second number is represented by M, and the N sample target torques and the M sample rotational speeds are combined to obtain M × N sets of input parameters, that is, the third number is M × N, and each set of input parameters includes one sample target torque and one sample rotational speed.
Specifically, the first sample target torque may be recorded as TqCmd1, the second sample target torque may be recorded as TqCmd2, and so on, and the nth sample target torque may be recorded as TqCmdN. Similarly, the first sample rotation speed can be recorded as MotSpd1, the second sample rotation speed can be recorded as MotSpd2, and so on, and the mth sample rotation speed can be recorded as MotSpdM. Then, the M N set of input parameters may be as shown in Table 1.
(MotSpd1，TqCmd1) (MotSpd1，TqCmd2) … (MotSpd1，TqCmdN)
(MotSpd2，TqCmd1) (MotSpd2，TqCmd2) … (MotSpd2，TqCmdN)
… … … …
(MotSpdM，TqCmd1) (MotSpdM，TqCmd2) … (MotSpdM，TqCmdN)
TABLE 1
And step 111, determining a first sample torque corresponding to each group of input parameters according to the control current corresponding to the sample target torque included in the group of input parameters and the magnetic pole pair number, and determining a second sample torque corresponding to each group of input parameters according to the sample output power and the sample rotating speed included in the group of input parameters, wherein the sample output power is determined according to the control current.
For example, for each set of input parameters, a d-axis sample current and a q-axis sample current may be obtained through a coordinate transformation relationship with respect to a control current corresponding to a sample target torque included in the set of input parameters, where the control current may be a target current corresponding to the target torque or an input current detected by a current sensor. And then obtaining a d-axis sample inductance, a q-axis sample inductance and a sample flux linkage of the motor according to the d-axis sample current and the q-axis sample current, and substituting the d-axis sample current, the q-axis sample current, the d-axis sample inductance, the q-axis sample inductance and the magnetic pole pair number into a formula 10, so as to obtain a first sample torque corresponding to the group of input parameters.
TqEst1'＝1.5*Pn*(ψ'*I'q+(L'd-L'q)*I'd*I'q) (formula 10)
Wherein TqEst1' is the first sample torque, PnIs the number of the magnetic pole pairs,I'qto control the q-axis sample current, I'dTo control the d-axis sample current corresponding to the current, ψ 'is the sample flux linkage, L'dIs d-axis sample inductance, L'qIs the q-axis sample inductance. Equation 10 corresponds to equation 1, that is, the first sample torque is calculated in the same manner as the first torque.
Further, the d-axis sample current and the q-axis sample current may be substituted into formula 11 to obtain a corresponding d-axis sample voltage and a corresponding q-axis sample voltage, and then the d-axis sample current, the q-axis sample current, the d-axis sample voltage, and the q-axis sample voltage are substituted into formula 12 to obtain the sample output power. The sample output power and the sample rotational speed included in the set of input parameters may then be substituted into equation 13 to obtain a second sample torque corresponding to the input parameters.
Figure BDA0002934414440000131
P'out＝1.5*(U'd*I'd+U'q*I'q) (formula 12)
Figure BDA0002934414440000132
Wherein, U'dIs d-axis sample voltage, U'qIs a q-axis sample voltage of ψ'dIs a d-axis sample magnetic linkage psi'qIs a q-axis sample flux linkage, n 'is a sample rotation speed, P'outTo sample output power, TqEst2' is a second sample torque. Equation 13 corresponds to equation 2, that is, the second sample torque is calculated in the same manner as the second torque.
And step 112, determining a first sample torque difference and a second sample torque difference corresponding to the set of input parameters according to the sample target torque included in the set of input parameters and the first sample torque and the second sample torque corresponding to the set of input parameters.
And step 113, according to the first initial corresponding relation, determining a comprehensive sample torque difference corresponding to the set of input parameters according to the first sample torque difference and the second sample torque difference corresponding to the set of input parameters.
For example, a sample target torque included in the set of input parameters and a first sample torque corresponding to the set of input parameters can be substituted into equation 14 to obtain a first sample torque difference, and a sample target torque included in the set of input parameters and a second sample torque corresponding to the set of input parameters can be substituted into equation 15 to obtain a second sample torque difference. Wherein the first sample torque difference and the second sample torque difference may each be a third number.
Δ TqEst1 ═ TqCmd '-TqEst1' (equation 14)
Δ TqEst2 ═ Tqcmd '-TqEst2' (equation 15)
Where Δ TqEst1' is the first sample torque difference, Tqcmd ' is the sample target torque, and Δ TqEst2' is the second sample torque difference.
Further, a first initial correspondence may be determined according to the motor characteristics, and the first initial correspondence may be, for example, as shown in equation 16.
Δ TqEst ═ a Δ TqEst1'+ B Δ TqEst2' (equation 16)
And the delta TqEst' is the comprehensive sample torque difference, A is a first proportionality coefficient corresponding to the first sample torque difference, and B is a second proportionality coefficient corresponding to the second sample torque difference.
And then substituting the first sample torque difference and the second sample torque difference corresponding to each group of input parameters into the formula 16, and combining according to the first initial correspondence to obtain the comprehensive sample torque difference corresponding to the group of input parameters, wherein the number of the comprehensive sample torque differences may be a third number.
And step 114, fitting the third quantity of groups of input parameters and the comprehensive sample torque difference corresponding to each group of input parameters to obtain a first corresponding relation, wherein the first corresponding relation is used for determining the comprehensive torque difference according to the first torque difference and the second torque difference.
For example, a third number of first sample torque differences and a third number of second sample torque differences may be obtained according to a third number of sets of input parameters, the first sample torque differences and the second sample torque differences corresponding to each set of input parameters are used as inputs, and the comprehensive sample torque differences corresponding to each set of input parameters are used as outputs for fitting, so as to obtain a first corresponding relationship between the comprehensive torque differences and the first torque differences and the second torque differences. The first corresponding relationship may be, for example, a first mapping table between the first torque difference, the second torque difference and the comprehensive torque difference, or a first relation function between the first torque difference, the second torque difference and the comprehensive torque difference, and the first corresponding relationship may be used in step 103 to determine the comprehensive torque difference according to the first torque difference and the second torque difference.
FIG. 7 is a flowchart illustrating a method of determining motor torque according to an exemplary embodiment, after fitting using a third number of sets of input parameters and a combined sample torque difference for each set of input parameters to obtain a first correspondence, as shown in FIG. 7, the method further comprising:
and step 115, determining the output sample torque corresponding to each group of input parameters according to the first sample torque, the second sample torque and the comprehensive sample torque difference corresponding to each group of input parameters according to the second initial corresponding relation.
And step 116, fitting the third quantity of groups of input parameters and the output sample torque corresponding to each group of input parameters to obtain a second corresponding relation, wherein the second corresponding relation is used for determining the output torque according to the difference between the first torque and the second torque and the comprehensive torque.
For example, after obtaining the first corresponding relationship, a corresponding second initial corresponding relationship may be first determined for each set of input parameters, and the second initial corresponding relationship may be, for example, as shown in formula 17.
TqEst ═ C × TqEst1' + D × TqEst2' + Δ TqEst ' (equation 17)
Wherein, TqEst' is the integrated sample torque difference, C is the third proportionality coefficient corresponding to the first sample torque, D is the fourth proportionality coefficient corresponding to the second sample torque, C and D are determined according to the sample target torque included in each set of input parameters, and C and D corresponding to each set of input parameters may be the same or different, that is, the second initial correspondence corresponding to each set of input parameters may be the same or different.
Then, according to the second initial corresponding relationship corresponding to each set of input parameters, the first sample torque, the second sample torque and the comprehensive sample torque difference corresponding to the set of input parameters may be substituted into equation 17, so as to obtain the output sample torque corresponding to the set of input parameters.
Further, a third number of first sample torques and a third number of second sample torques can be obtained according to a third number of groups of input parameters, a difference between the first sample torque and the second sample torque corresponding to each group of input parameters and a comprehensive sample torque is used as an input, and a difference between the output sample torques corresponding to each group of input parameters is used as an output to perform fitting, so that a second corresponding relationship between the output torque and the first torque, the second torque and the comprehensive torque difference is obtained. The second corresponding relationship may be, for example, a second mapping table between the first torque, the second torque, and the integrated torque difference and the output torque, or a second relation function between the first torque, the second torque, and the integrated torque difference and the output torque, and the second corresponding relationship may be used in step 104 to determine the output torque according to the first torque, the second torque, and the integrated torque difference. The second relationship function may be, for example, as shown in equation 6.
In summary, the present disclosure first determines a first torque according to an input current and a number of pole pairs of the motor, and determines a second torque according to an output power and a rotation speed of the motor, then determines a first torque difference according to the first torque and a current target torque of the motor, and determines a second torque difference according to the second torque and the target torque, and then determines a comprehensive torque difference according to the first torque difference and the second torque difference, and finally determines an output torque of the motor according to the first torque, the second torque and the comprehensive torque difference. According to the method and the device, the comprehensive torque difference is obtained according to the first torque difference and the second torque difference, the output torque of the motor is further obtained according to the first torque, the second torque and the comprehensive torque difference, and the accuracy of determining the output torque of the motor can be improved.
Fig. 8 is a block diagram illustrating a motor torque determination apparatus according to an exemplary embodiment, and as shown in fig. 8, the apparatus 200 includes:
the torque determination module 201 is used for determining a first torque according to the input current and the number of the magnetic pole pairs of the motor and determining a second torque according to the output power and the rotating speed of the motor.
The torque difference determination module 202 is configured to determine a first torque difference based on the first torque and a current target torque of the electric machine, and determine a second torque difference based on the second torque and the target torque.
A first processing module 203 is configured to determine a composite torque difference based on the first torque difference and the second torque difference.
A second processing module 204 is configured to determine an output torque of the electric machine based on the first torque, the second torque, and the combined torque difference.
Fig. 9 is a block diagram illustrating a motor torque determination apparatus according to an exemplary embodiment, and as shown in fig. 9, the apparatus 200 further includes:
an obtaining module 205 is configured to obtain the input current, the rotational speed, and the target torque before determining the first torque according to the input current and the number of pole pairs of the motor and determining the second torque according to the output power and the rotational speed of the motor.
In one application scenario, the torque determination module 201 is further configured to:
before determining the first torque based on the input current and the pole pair number of the motor, determining motor parameters based on the input current, the motor parameters including flux linkage and inductance. A first torque is determined based on the input current, the pole pair number and the motor parameter.
In another application scenario, the torque determination module 201 is further configured to:
before determining the second torque based on the output power and the rotational speed of the electric machine, an input voltage of the electric machine is determined based on the input current. The output power is determined from the input voltage and the input current.
Fig. 10 is a block diagram illustrating a motor torque determination apparatus according to an exemplary embodiment, and as shown in fig. 10, the apparatus 200 further includes:
the sampling module 206 is configured to sample a calibration torque range of the motor to obtain a first number of sample target torques before determining a first torque according to the input current and the magnetic pole pair number of the motor and determining a second torque according to the output power and the rotation speed of the motor, and sample the calibration rotation speed range of the motor to obtain a second number of sample rotation speeds.
And the combination module 207 is configured to combine the first number of sample target torques and the second number of sample rotational speeds to obtain a third number of sets of input parameters, where the third number is a product of the first number and the second number, and each set of input parameters includes one sample target torque and one sample rotational speed.
The torque determining module 201 is further configured to determine, for each set of input parameters, a first sample torque corresponding to the set of input parameters according to the control current corresponding to the sample target torque included in the set of input parameters and the magnetic pole pair number, and determine a second sample torque corresponding to the set of input parameters according to the sample output power and the sample rotational speed included in the set of input parameters, where the sample output power is determined according to the control current.
The torque difference determination module 202 is further configured to determine a first sample torque difference and a second sample torque difference corresponding to the set of input parameters according to the sample target torque included in the set of input parameters and the first sample torque and the second sample torque corresponding to the set of input parameters.
The first processing module 203 is further configured to determine a comprehensive sample torque difference corresponding to the set of input parameters according to the first initial corresponding relationship and the first sample torque difference and the second sample torque difference corresponding to the set of input parameters.
The first fitting module 208 is configured to fit the third number of sets of input parameters with the comprehensive sample torque difference corresponding to each set of input parameters to obtain a first corresponding relationship, where the first corresponding relationship is used to determine the comprehensive torque difference according to the first torque difference and the second torque difference.
Fig. 11 is a block diagram of a device for determining a torque of a motor according to an exemplary embodiment, and as shown in fig. 11, the second processing module 204 is further configured to, after fitting the third number of sets of input parameters and the integrated sample torque difference corresponding to each set of input parameters to obtain the first corresponding relationship, determine, for each set of input parameters, an output sample torque corresponding to the set of input parameters according to the second initial corresponding relationship and according to the first sample torque, the second sample torque, and the integrated sample torque difference corresponding to the set of input parameters.
The apparatus 200 further comprises:
and a second fitting module 209, configured to fit the third number of sets of input parameters with the output sample torques corresponding to each set of input parameters to obtain a second corresponding relationship, where the second corresponding relationship is used to determine the output torque according to the first torque, the second torque, and the integrated torque difference.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
In summary, the present disclosure first determines a first torque according to an input current and a number of pole pairs of the motor, and determines a second torque according to an output power and a rotation speed of the motor, then determines a first torque difference according to the first torque and a current target torque of the motor, and determines a second torque difference according to the second torque and the target torque, and then determines a comprehensive torque difference according to the first torque difference and the second torque difference, and finally determines an output torque of the motor according to the first torque, the second torque and the comprehensive torque difference. According to the method and the device, the comprehensive torque difference is obtained according to the first torque difference and the second torque difference, the output torque of the motor is further obtained according to the first torque, the second torque and the comprehensive torque difference, and the accuracy of determining the output torque of the motor can be improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A method of determining a torque of an electric machine, the method comprising:
determining a first torque according to the input current and the magnetic pole pair number of the motor, and determining a second torque according to the output power and the rotating speed of the motor;
determining a first torque difference according to the first torque and a current target torque of the motor, and determining a second torque difference according to the second torque and the target torque;
determining a composite torque difference from the first torque difference and the second torque difference;
determining an output torque of the electric machine based on the first torque, the second torque, and the combined torque difference.
2. The method of claim 1, wherein prior to determining the first torque based on the input current and the number of pole pairs of the motor and determining the second torque based on the output power and the rotational speed of the motor, the method further comprises:
the input current, the rotation speed, and the target torque are acquired.
3. The method of claim 2, wherein prior to determining the first torque based on the input current and the number of pole pairs of the motor, the method further comprises:
determining motor parameters according to the input current, wherein the motor parameters comprise flux linkage and inductance;
the determining a first torque according to an input current and a number of pole pairs of the motor includes:
determining the first torque based on the input current, the pole pair number, and the motor parameter.
4. The method of claim 2, wherein prior to said determining a second torque based on the output power and the rotational speed of the electric machine, the method further comprises:
determining an input voltage of the motor according to the input current;
determining the output power from the input voltage and the input current.
5. The method of claim 1, wherein prior to determining the first torque based on the input current and the number of pole pairs of the motor and determining the second torque based on the output power and the rotational speed of the motor, the method further comprises:
sampling the range of the calibrated torque of the motor to obtain a first number of sample target torques, and sampling the range of the calibrated rotating speed of the motor to obtain a second number of sample rotating speeds;
combining a first number of the sample target torques and a second number of the sample rotating speeds to obtain a third number of groups of input parameters, wherein the third number is the product of the first number and the second number, and each group of the input parameters comprises one sample target torque and one sample rotating speed;
for each group of input parameters, determining a first sample torque corresponding to the group of input parameters according to the control current corresponding to the sample target torque included in the group of input parameters and the magnetic pole pairs, and determining a second sample torque corresponding to the group of input parameters according to the sample output power and the sample rotating speed included in the group of input parameters, wherein the sample output power is determined according to the control current;
determining a first sample torque difference and a second sample torque difference corresponding to the set of input parameters according to the sample target torque included in the set of input parameters and the first sample torque and the second sample torque corresponding to the set of input parameters;
determining a comprehensive sample torque difference corresponding to the set of input parameters according to the first sample torque difference and the second sample torque difference corresponding to the set of input parameters according to the first initial corresponding relation;
and fitting the third number of groups of the input parameters and the comprehensive sample torque difference corresponding to each group of the input parameters to obtain a first corresponding relation, wherein the first corresponding relation is used for determining the comprehensive torque difference according to the first torque difference and the second torque difference.
6. The method of claim 5, wherein after said fitting using a third number of sets of said input parameters and said integrated sample torque difference for each set of said input parameters to obtain a first correspondence, said method further comprises:
for each group of input parameters, according to a second initial corresponding relation, determining output sample torques corresponding to the group of input parameters according to the first sample torque, the second sample torque and the comprehensive sample torque difference corresponding to the group of input parameters;
and fitting a third number of groups of the input parameters and the output sample torque corresponding to each group of the input parameters to obtain a second corresponding relation, wherein the second corresponding relation is used for determining the output torque according to the difference between the first torque, the second torque and the comprehensive torque.
7. An apparatus for determining a torque of an electric machine, the apparatus comprising:
the torque determining module is used for determining a first torque according to the input current and the magnetic pole pair number of the motor and determining a second torque according to the output power and the rotating speed of the motor;
the torque difference determining module is used for determining a first torque difference according to the first torque and the current target torque of the motor, and determining a second torque difference according to the second torque and the target torque;
the first processing module is used for determining a comprehensive torque difference according to the first torque difference and the second torque difference;
and the second processing module is used for determining the output torque of the motor according to the first torque, the second torque and the comprehensive torque difference.
8. The apparatus of claim 7, further comprising:
and the acquisition module is used for acquiring the input current, the rotating speed and the target torque before determining the first torque according to the input current and the number of the magnetic pole pairs of the motor and determining the second torque according to the output power and the rotating speed of the motor.
9. The apparatus of claim 8, wherein the torque determination module is to:
before determining a first torque according to the input current and the magnetic pole pair number of the motor, determining motor parameters according to the input current, wherein the motor parameters comprise a magnetic linkage and an inductance; determining the first torque based on the input current, the pole pair number, and the motor parameter.
10. The apparatus of claim 8, wherein the torque determination module is to:
determining an input voltage of the motor according to the input current before determining a second torque according to the output power and the rotating speed of the motor; determining the output power from the input voltage and the input current.
CN202110166777.5A 2021-02-04 2021-02-04 Method and device for determining motor torque Pending CN114598192A (en)

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