CN114826066A - Voltage control method and system and readable storage medium - Google Patents

Voltage control method and system and readable storage medium Download PDF

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Publication number
CN114826066A
CN114826066A CN202210411077.2A CN202210411077A CN114826066A CN 114826066 A CN114826066 A CN 114826066A CN 202210411077 A CN202210411077 A CN 202210411077A CN 114826066 A CN114826066 A CN 114826066A
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China
Prior art keywords
voltage
value
control
hysteresis
motor
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CN202210411077.2A
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Chinese (zh)
Inventor
郑欢
邵锦敏
李千里
王世武
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Hangzhou Zhouju Electronic Technological Co ltd
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Hangzhou Zhouju Electronic Technological Co ltd
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Priority to CN202210411077.2A priority Critical patent/CN114826066A/en
Publication of CN114826066A publication Critical patent/CN114826066A/en
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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
    • 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
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • 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

Abstract

The embodiment of the application provides a voltage control method, a voltage control system and a readable storage medium, wherein the method comprises the steps of carrying out hysteresis judgment according to target control factors influencing control stability in the process of controlling the power generation of a motor to obtain a corresponding hysteresis zone bit; controlling the on or off of a voltage control function according to the hysteresis zone bit; when the control voltage control function is started, a closed-loop regulation mode is adopted to control the bus voltage to follow and reach a preset rated voltage instruction value. The implementation of the method can improve the voltage control efficiency.

Description

Voltage control method and system and readable storage medium
Technical Field
The application relates to the technical field of vehicle control, in particular to a voltage control method, a voltage control system and a readable storage medium.
Background
When the high-voltage battery of the hybrid vehicle breaks down seriously to interrupt the external output power, the low-voltage battery cannot be charged through the power converter, and the low-voltage electricity of the whole vehicle can be completely derived from the low-voltage battery, so that the electric quantity of the low-voltage battery is easily depleted and the vehicle is forced to stop. At present, the prior art is based on the battery hardware structure to solve the above problems, but the redundant design of a high-voltage battery system cannot be avoided, the cost is correspondingly increased, the problem of easy feeding of a low-voltage battery caused by the failure of the high-voltage battery cannot be fundamentally solved, and the problem of low control efficiency exists.
Disclosure of Invention
The embodiments of the present application are directed to providing a voltage control method, a voltage control system, and a readable storage medium, which can improve voltage control efficiency.
The embodiment of the application also provides a voltage control method, which comprises the following steps:
in the process of controlling the power generation of the motor, hysteresis judgment is carried out according to target control factors influencing the control stability, and a corresponding hysteresis zone bit is obtained;
controlling the on or off of a voltage control function according to the hysteresis zone bit;
when the control voltage control function is started, a closed-loop regulation mode is adopted to control the bus voltage to follow and reach a preset rated voltage instruction value.
In a second aspect, an embodiment of the present application further provides a voltage control system, where the system includes a hysteresis determining module, a control state determining module, and a voltage control module, where:
the hysteresis judgment module is used for judging hysteresis according to target control factors influencing control stability in the process of controlling the power generation of the motor to obtain a corresponding hysteresis zone bit;
the control state judging module is used for controlling the on or off of a voltage control function according to the hysteresis zone bit;
and the voltage control module is used for controlling the bus voltage to follow and reach a preset rated voltage instruction value by adopting a closed-loop regulation mode when the voltage control function is controlled to be started.
In a third aspect, an embodiment of the present application further provides a readable storage medium, where the readable storage medium includes a voltage control method program, and when the voltage control method program is executed by a processor, the voltage control method program implements the steps of the voltage control method according to any one of the above items.
Therefore, in the process of controlling the power generation of the motor, the hysteresis judgment is performed according to the target control factor influencing the control stability, and the start or the stop of the voltage control function is controlled according to the obtained hysteresis flag bit, so that before the voltage control function is started, the hysteresis judgment is performed according to the target control factor, and the problem that the robustness of an electric drive control system is poor due to repeated advance and retreat voltage control of the motor is prevented. When the control voltage control function is started, a closed-loop regulation mode is adopted, the bus voltage is controlled to follow and reach a preset rated voltage instruction value, and therefore even if a high-voltage battery fails, the normal work of an electric drive system can be guaranteed, the problem that the low-voltage battery is forced to stop due to feeding is avoided, and the voltage control efficiency is improved.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a voltage control method according to an embodiment of the present disclosure;
FIG. 2 is a high voltage topology of a high voltage battery catastrophic failure in a hybrid vehicle;
FIG. 3 is a block diagram of a permanent magnet synchronous motor based voltage control system;
FIG. 4 is a flow chart illustrating an implementation of hysteresis determination based on motor speed;
FIG. 5 is a flow chart illustrating an implementation of hysteresis determination based on bus voltage;
FIG. 6 is a flow chart illustrating an implementation of controlling the voltage control function to open and close based on the motor speed and the bus voltage;
fig. 7 is a schematic structural diagram of a voltage control system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a flowchart of a voltage control method in some embodiments of the present application, including the following steps:
and S100, in the process of controlling the power generation of the motor, performing hysteresis judgment according to target control factors influencing the control stability to obtain a corresponding hysteresis zone bit.
Specifically, referring to fig. 2, the high voltage battery cannot charge the low voltage battery through the power converter. The electricity of the whole vehicle low-voltage system is completely sourced from the low-voltage battery, and the electric quantity is easily consumed to be completely consumed at the moment so as to be forced to stop.
It should be noted that hysteresis is a characteristic of the output of the measuring device with respect to the sequence of previous inputs. When the input quantity reaches the same quantity from the increasing direction and the decreasing direction, respectively, the difference between the two output quantities is called a hysteresis error. The method has the characteristics of real-time control, high response speed and strong robustness. As a frequency reduction measure of sliding mode control, the hysteresis control is to connect the output of a switch function calculation module to a hysteresis comparator to generate a control pulse, so that the on-off state of a switch is controlled, the system structure is changed, and the control target is realized.
In one embodiment, the hysteresis flag may be 0 or 1, and the target control factors include bus voltage and motor speed. When the hysteresis flag is calculated, the flag is determined according to, for example, a value Vol of the bus voltage and a value range in which the value Vol is located. For example, the value range where the value Vol is determined to be smaller than Vol 1 In this case, the corresponding acquired hysteresis flag of the bus voltage may be set to 0, where specific implementation may refer to fig. 4 to 5, which is not described in detail in this embodiment of the present application.
And step S200, controlling the on or off of the voltage control function according to the hysteresis zone bit.
Specifically, the hysteresis flag may be set to 0 or 1, and in the current embodiment, the rotation speed of the motor and the bus voltage are considered to be used together as the enabling condition of the voltage control, so as to prevent the motor from repeatedly entering and exiting the voltage control state, which causes the problem of poor robustness of the electric drive control system, and improve the control efficiency.
And step S300, when the voltage control function is controlled to be started, a closed-loop regulation mode is adopted to control the bus voltage to follow a preset rated voltage instruction value.
Specifically, referring to fig. 2 to fig. 3, in the present embodiment, a preset rated voltage command value is used as a control target, and a detected actual value of the bus voltage is used as a feedback value. Wherein, when causing because of high-voltage battery breaks down, lead to can not external output power, from the motor control angle, through the electricity generation of control motor for motor bus voltage actual value can follow and reach rated voltage instruction value, and then accessible power converter charges low-voltage battery, guarantees the normal work of electric drive system.
According to the voltage control method, in the process of controlling the power generation of the motor, the hysteresis is judged according to the target control factors influencing the control stability, and the start or the stop of the voltage control function is controlled according to the obtained hysteresis flag bit, so that before the voltage control function is controlled to be started, the hysteresis is judged according to the target control factors, and the problem that the robustness of an electric drive control system is poor due to the fact that the motor repeatedly advances and retreats voltage control is solved. When the control voltage control function is started, a closed-loop regulation mode is adopted, the bus voltage is controlled to follow and reach a preset rated voltage instruction value, and therefore even if a high-voltage battery fails, the normal work of an electric drive system can be guaranteed, the problem that the low-voltage battery is forced to stop due to feeding is avoided, and the voltage control efficiency is improved.
In one embodiment, the target control factors include a bus voltage and a motor speed, and in step S100, the hysteresis is determined according to the target control factors affecting the control stability to obtain a corresponding hysteresis flag bit, including:
and step S1000, determining the value of the target control factor.
Step S1001, according to a target value range in which a value of the target control factor is located, and when it is determined that the target value range satisfies a preset first decision condition, a first hysteresis zone bit corresponding to the first flag value is obtained.
Specifically, referring to fig. 4 to 5, for the bus voltage, it is determined that the bus voltage value Vol is smaller than the preset first threshold Vol 1 Or greater than or equal to the first threshold Vol 1 And is less than or equal to a preset second threshold Vol 2 When the first hysteresis flag bit is equal to 0 (corresponding to the first flag value), the first hysteresis flag bit is obtained.
Step S1002, when it is determined that the target value range satisfies a preset second decision condition, a second hysteresis flag corresponding to a second flag value is obtained.
Specifically, referring to fig. 4-5, for the bus voltage, it is determined that the bus voltage value Vol is greater than the second threshold value Vol 2 Or when the above-described first decision condition (e.g., Vol) is satisfied 1 ≤Vol≤Vol 2 ) However, if the flag value is not set to 0 (i.e., the predetermined second determination condition is satisfied), the second hysteresis flag having a flag value of 1 (i.e., corresponding to the second flag value) is obtained.
Note that, with respect to the setting of the first hysteresis flag and the second hysteresis flag of the motor rotation speed, the above implementation steps may be referred to, and this embodiment of the present application will not be described in detail.
In the embodiment, the motor speed and the bus voltage are jointly used as enabling conditions of voltage control, so that repeated forward and backward voltage control of a motor system is avoided, and the voltage control efficiency is improved.
In one embodiment, the flag values include 0 and 1, and the step S200 of controlling the voltage control function to be turned on or off according to the hysteresis flag bit includes:
and S2000, controlling and starting a voltage control function when the motor rotating speed hysteresis zone bit and the corresponding zone value of the bus voltage hysteresis zone bit are both 1.
In step S2001, when it is determined that the flag value obtained by any one of the motor rotation speed hysteresis flag and the bus voltage hysteresis flag obtained by the correspondence is not 1, the voltage control function is controlled and turned off.
Specifically, please refer to fig. 6, which illustrates the current embodiment of the present inventionMotor rotation speed hysteresis Flag spd And bus voltage hysteresis Flag vol These two input conditions, Flag is considered at the same time spd And Flag vol As an enable flag bit for voltage control. In the calculation process, Flag is combined spd And Flag vol Performing a sum ("AND") operation if AND only if Flag spd And Flag vol And when the voltage is 1, the voltage control function is controlled and started, and at the moment, the motor is controlled to generate power, so that the bus voltage reaches a rated voltage command value. Otherwise, in Flag spd And Flag vol When the value of any flag bit in the control circuit is not 1, the voltage control function is controlled and closed, and therefore the situation that the voltage control state jumps repeatedly to influence the stability of the motor power generation is prevented.
In the embodiment, the motor speed and the bus voltage are jointly used as the enabling conditions of the voltage control, so that the problem that the electric drive control system has poor robustness due to repeated advance and retreat voltage control of the motor system is solved.
In one embodiment, in step S300, controlling to make the bus voltage follow to reach the preset rated voltage command value in a closed-loop regulation manner includes:
step S3000, a bus voltage detection value and a three-phase current value fed back via the motor are obtained.
And step S3001, performing voltage closed-loop regulation according to the bus voltage detection value and the rated voltage instruction value to obtain a motor torque instruction.
Specifically, referring to fig. 3, the detected value of the bus voltage is U shown in fig. 3 detected The three-phase current value fed back by the motor is i shown in fig. 3 a 、i b And i c . The rated voltage command value is U shown in FIG. 3 cmd . In the present embodiment, the acquired bus voltage detection value U detected And a rated voltage command value U cmd The motor torque command is obtained by performing voltage closed-loop regulation by a PI controller illustrated in fig. 3. It should be noted that the currently obtained motor torque command is equivalent to a torque closed-loop command value in a normal pure electric vehicle system, that is, equivalent to vehicle controlThe controller sends command values to the motor controller.
It should be noted that the characteristics of the closed-loop regulation include that the output (controlled quantity) of the controlled object will affect the output of the PI controller back to form one or more closed loops. Generally, the closed-loop control adopts negative feedback, for example, a human is a closed-loop control system with negative feedback, the eyes are sensors serving as feedback, and a human body system can finally make various correct actions through continuous correction. If eyes are not available, a feedback loop is not available, and an open-loop control system is formed.
And step S3002, current closed-loop regulation is carried out according to the motor torque instruction and the three-phase current fed back by the motor, so that the bus voltage detection value reaches a preset rated voltage instruction value.
Specifically, referring to fig. 3, the three-phase current fed back by the motor is processed by the processing module of "Clark + Park" to obtain a corresponding dq-axis current value, wherein the function implemented by the processing module of "Clark + Park" includes obtaining the obtained three-phase current i based on a preset coordinate transformation mode a 、i b And i c The actual dq-axis current values Idref and Iqref are converted. Then, current closed-loop regulation is performed in combination with the actual dq-axis current values Idref, Iqref and the dq-axis current command value determined via the motor torque command. And finally, adjusting the running speed of the motor according to the obtained adjusting result, so that the bus voltage detection value reaches a preset rated voltage instruction value.
In the embodiment, the rated voltage instruction value is used as the control target, and the bus voltage detection value is used as the feedback value, so that the bus voltage detection value (namely the actual motor bus voltage value) can reach the rated voltage instruction value, the normal work of the electric drive system is ensured, the problem that the low-voltage battery is forced to stop due to feeding is avoided, and the voltage control efficiency is improved.
In one embodiment, in step S3001, performing voltage closed-loop regulation according to the bus voltage detection value and the rated voltage command value to obtain a motor torque command, includes:
in step S30010, the rated voltage command value is set as the target voltage command value, and the bus voltage detection value is set as the controlled object.
In step S30011, a control deviation is formed from the actually output bus voltage detection value and a predetermined target voltage command value based on the PI control method, and a control amount is formed by linear combination based on the ratio and integral of the deviation.
Step S30012 is to control the controlled object according to the control amount so that the detected bus voltage value follows the rated voltage command value to obtain the motor torque command.
In one embodiment, in step S3002, performing current closed-loop regulation according to the motor torque command and the three-phase current fed back by the motor, so that the detected bus voltage value reaches a preset rated voltage command value, includes:
step S30020, decoupling the motor torque command to obtain a dq axis current command value.
Specifically, referring to fig. 3, in the current embodiment, decoupling is performed on a motor torque command by combining a "MTPA" processing module, so as to obtain a dq-axis current command value I d 、I q . The function realized by the MTPA processing module comprises the step of converting an acquired motor torque instruction into a dq-axis current instruction value I based on the decoupling conversion relation calibrated by a rack d 、I q 。
Step S30021 is to perform coordinate conversion processing on the three-phase current fed back via the motor to obtain an actual dq-axis current value.
Specifically, referring to fig. 3, in the current embodiment, it is considered that the obtained three-phase current i is obtained through a "Clark + Park" processing module based on a preset coordinate transformation mode a 、i b And i c The actual dq-axis current values Idref and Iqref are converted.
Step S30022, PI adjustment is performed according to the dq-axis current command value and the actual dq-axis current, and a corresponding dq-axis voltage is obtained.
Specifically, the dq-axis voltage is U illustrated in fig. 3 d 、U q 。
Step S30023, adjusting the motor operation rate based on the dq-axis voltage so that the bus voltage detection value reaches a preset rated voltage command value.
In particular, based on the resulting dq-axis voltage U d 、U q The three-phase duty ratio is obtained through the conversion relation, then the three-phase duty ratio is input to a three-phase INVERTER INVERTER shown in the figure 3, the three-phase INVERTER INVERTER outputs three-phase voltage to a motor PMSM, then three-phase current is output through the motor PMSM, actual dq shaft current is obtained through conversion, the motor running speed is adjusted in such a way, and the bus voltage detection value reaches a preset rated voltage command value.
Referring to fig. 7, a voltage control system 700 disclosed herein includes a hysteresis determining module 701, a control state determining module 702, and a voltage control module 703, wherein:
and the hysteresis judgment module 701 is used for judging hysteresis according to a target control factor influencing the control stability in the process of controlling the power generation of the motor to obtain a corresponding hysteresis zone bit.
And a control state determination module 702, configured to control the voltage control function to be turned on or off according to the hysteresis flag.
And the voltage control module 703 is configured to control the bus voltage to follow a preset rated voltage instruction value by adopting a closed-loop adjustment mode when the voltage control function is controlled to be turned on.
In one embodiment, the target control factors include bus voltage and motor speed, and the hysteresis loop judgment module is further configured to determine values of the target control factors; according to a target value range where the value of the target control factor is located, and when the target value range is determined to meet a preset first judgment condition, obtaining a first hysteresis zone bit corresponding to a first zone value; and when the target value range is determined to meet a preset second judgment condition, obtaining a second hysteresis zone bit corresponding to a second zone value.
In one embodiment, the flag values include 0 and 1, and the control state determination module is further configured to control and start the voltage control function when it is determined that the flag values obtained by the motor rotation speed hysteresis flag bit and the bus voltage hysteresis flag bit are both 1; and when the corresponding obtained motor rotating speed hysteresis zone bit and the corresponding obtained zone value of any one of the bus voltage hysteresis zone bits are determined to be not 1, controlling and closing the voltage control function.
In one embodiment, the voltage control module 703 is further configured to obtain a bus voltage detection value and a three-phase current value fed back via the motor; carrying out voltage closed-loop regulation according to the bus voltage detection value and the rated voltage instruction value to obtain a motor torque instruction; and carrying out current closed-loop regulation according to the motor torque command and the three-phase current fed back by the motor, so that the bus voltage detection value reaches a preset rated voltage command value.
In one embodiment, the voltage control module 703 is further configured to use the rated voltage command value as a target voltage command value, and use the bus voltage detection value as a controlled object; forming a control deviation according to an actually output bus voltage detection value and a given target voltage command value based on a PI regulation mode, and forming a control quantity through linear combination based on a ratio column and an integral of the deviation; and controlling the controlled object according to the control quantity, so that the bus voltage detection value follows the rated voltage instruction value to obtain a motor torque instruction.
In one embodiment, the voltage control module 703 is further configured to decouple the motor torque command to obtain a dq-axis current command value; carrying out coordinate transformation processing on the three-phase current fed back by the motor to obtain an actual dq axis current value; performing PI regulation according to the dq axis current instruction value and the actual dq axis current to obtain corresponding dq axis voltage; and adjusting the running speed of the motor based on the dq axis voltage to enable the bus voltage detection value to reach a preset rated voltage instruction value.
According to the voltage control system, in the process of controlling the power generation of the motor, hysteresis judgment is carried out according to target control factors influencing the control stability, and the start or the stop of the voltage control function is controlled according to the obtained hysteresis flag bit, so that before the voltage control function is controlled to be started, hysteresis judgment is carried out through the target control factors, and the problem that the robustness of an electric drive control system is poor due to the fact that the motor repeatedly advances and retreats voltage control is solved. When the control voltage control function is started, a closed-loop regulation mode is adopted, the bus voltage is controlled to follow and reach a preset rated voltage instruction value, and therefore even if a high-voltage battery fails, the normal work of an electric drive system can be guaranteed, the problem that the low-voltage battery is forced to stop due to feeding is avoided, and the voltage control efficiency is improved.
The embodiment of the present application provides a readable storage medium, and the computer program, when executed by a processor, performs the method in any optional implementation manner of the above embodiment. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
According to the readable storage medium, in the process of controlling the power generation of the motor, hysteresis judgment is carried out according to target control factors influencing control stability, and the start or the stop of the voltage control function is controlled according to the obtained hysteresis flag bit, so that before the voltage control function is controlled to be started, hysteresis judgment is carried out through the target control factors, and the problem that the robustness of an electric drive control system is poor due to the fact that the motor repeatedly advances and retreats voltage control is solved. When the control voltage control function is started, a closed-loop regulation mode is adopted, the bus voltage is controlled to follow and reach a preset rated voltage instruction value, and therefore even if a high-voltage battery fails, the normal work of an electric drive system can be guaranteed, the problem that the low-voltage battery is forced to stop due to feeding is avoided, and the voltage control efficiency is improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A voltage control method, comprising the steps of:
in the process of controlling the power generation of the motor, hysteresis judgment is carried out according to target control factors influencing the control stability, and a corresponding hysteresis zone bit is obtained;
controlling the on or off of a voltage control function according to the hysteresis zone bit;
when the control voltage control function is started, a closed-loop regulation mode is adopted to control the bus voltage to follow and reach a preset rated voltage instruction value.
2. The method according to claim 1, wherein the target control factors include bus voltage and motor speed, and the determining hysteresis according to the target control factors affecting control stability to obtain the corresponding hysteresis flag includes:
determining the value of a target control factor;
according to a target value range where the value of a target control factor is located, and when the target value range is determined to meet a preset first judgment condition, obtaining a first hysteresis zone bit corresponding to a first zone value;
and when the target value range is determined to meet a preset second judgment condition, obtaining a second hysteresis zone bit corresponding to a second zone value.
3. The method of claim 2, wherein the flag values comprise 0 and 1, and wherein controlling the voltage control function on or off according to the hysteresis flag comprises:
when the motor rotating speed hysteresis zone bit and the corresponding zone values of the bus voltage hysteresis zone bit are determined to be 1, controlling and starting a voltage control function;
and when the corresponding obtained motor rotating speed hysteresis zone bit and the corresponding obtained zone value of any one of the bus voltage hysteresis zone bits are determined to be not 1, controlling and closing the voltage control function.
4. The method of claim 1, wherein the controlling the bus voltage to follow to a preset rated voltage command value in a closed-loop regulation manner comprises:
acquiring a bus voltage detection value and a three-phase current value fed back by a motor;
performing voltage closed-loop regulation according to the bus voltage detection value and the rated voltage instruction value to obtain a motor torque instruction;
and carrying out current closed-loop regulation according to the motor torque command and the three-phase current fed back by the motor, so that the bus voltage detection value reaches a preset rated voltage command value.
5. The method of claim 4, wherein the performing voltage closed-loop regulation based on the detected bus voltage value and the nominal voltage command value to obtain a motor torque command comprises:
taking the rated voltage command value as a target voltage command value and taking the bus voltage detection value as a controlled object;
forming a control deviation according to an actually output bus voltage detection value and a given target voltage command value based on a PI regulation mode, and forming a control quantity through linear combination based on a ratio column and an integral of the deviation;
and controlling the controlled object according to the control quantity, so that the bus voltage detection value follows the rated voltage instruction value to obtain a motor torque instruction.
6. The method of claim 4, wherein the current closed-loop regulating according to the motor torque command and the three-phase current fed back by the motor so that the bus voltage detection value reaches a preset rated voltage command value comprises:
decoupling the motor torque command to obtain a dq axis current command value;
carrying out coordinate transformation processing on the three-phase current fed back by the motor to obtain an actual dq axis current value;
performing PI regulation according to the dq axis current instruction value and the actual dq axis current to obtain corresponding dq axis voltage;
and adjusting the running speed of the motor based on the dq axis voltage to enable the bus voltage detection value to reach a preset rated voltage instruction value.
7. A voltage control system is characterized in that the system comprises a hysteresis loop judging module, a control state judging module and a voltage control module, wherein:
the hysteresis judgment module is used for judging hysteresis according to target control factors influencing control stability in the process of controlling the power generation of the motor to obtain a corresponding hysteresis zone bit;
the control state judging module is used for controlling the on or off of a voltage control function according to the hysteresis zone bit;
and the voltage control module is used for controlling the bus voltage to follow and reach a preset rated voltage instruction value by adopting a closed-loop regulation mode when the voltage control function is started.
8. The system of claim 7, wherein the target control factors include a bus voltage and a motor speed, and the hysteresis determination module is further configured to determine values of the target control factors; according to a target value range where the value of a target control factor is located, and when the target value range is determined to meet a preset first judgment condition, obtaining a first hysteresis zone bit corresponding to a first zone value; and when the target value range is determined to meet a preset second judgment condition, obtaining a second hysteresis zone bit corresponding to a second zone value.
9. The system according to claim 7, wherein the flag values include 0 and 1, and the control state determination module is further configured to control and start the voltage control function when it is determined that the flag values obtained corresponding to the motor speed hysteresis flag bit and the bus voltage hysteresis flag bit are both 1; and when the corresponding obtained motor rotating speed hysteresis zone bit and the corresponding obtained zone value of any one of the bus voltage hysteresis zone bits are determined to be not 1, controlling and closing the voltage control function.
10. A readable storage medium, characterized in that a voltage control method program is included in the readable storage medium, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.
CN202210411077.2A 2022-04-19 2022-04-19 Voltage control method and system and readable storage medium Pending CN114826066A (en)

Priority Applications (1)

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CN202210411077.2A CN114826066A (en) 2022-04-19 2022-04-19 Voltage control method and system and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210411077.2A CN114826066A (en) 2022-04-19 2022-04-19 Voltage control method and system and readable storage medium

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