CN115122947A - IGBT temperature estimation method, motor torque control method and device of electric automobile, equipment and medium - Google Patents

IGBT temperature estimation method, motor torque control method and device of electric automobile, equipment and medium Download PDF

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Publication number
CN115122947A
CN115122947A CN202210753577.4A CN202210753577A CN115122947A CN 115122947 A CN115122947 A CN 115122947A CN 202210753577 A CN202210753577 A CN 202210753577A CN 115122947 A CN115122947 A CN 115122947A
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Prior art keywords
motor
motor controller
torque
igbt
temperature
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Inventor
熊超
陈吉松
易开红
张龙新
杜彪
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202210753577.4A priority Critical patent/CN115122947A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Inverter Devices (AREA)

Abstract

The invention relates to a motor torque control method of an electric automobile, which comprises the following steps: estimating the IGBT real-time temperature of the motor controller based on the acquired radiator temperature of the motor controller, the required torque of the whole vehicle, the bus voltage of the motor controller and the motor speed; determining a first maximum allowable discharging current which is allowed to be output outwards by a motor controller under the IGBT real-time temperature condition; determining a second maximum allowable discharge current which is allowed to be output to the outside by the motor controller under the condition of the available discharge power of the motor controller; obtaining a maximum value of the required torque of the motor based on the bus voltage of the motor controller, the rotating speed of the motor, the first maximum allowable discharge current, the second maximum allowable discharge current and the hardware maximum allowable discharge current of the motor controller; obtaining the maximum value of the external characteristic torque of the motor according to the rotating speed of the motor and the required torque of the whole vehicle; obtaining a motor torque limit value based on the maximum motor torque value and the maximum motor external characteristic torque value; and performing motor torque control based on the motor torque limit value.

Description

IGBT temperature estimation method, motor torque control method and device of electric automobile, equipment and medium
Technical Field
The invention relates to the technical field of electric automobiles, in particular to an IGBT temperature estimation method, a motor torque control method and device of an electric automobile, an automobile, equipment and a medium.
Background
An Insulated Gate Bipolar Transistor (IGBT) is motor controller control hardware, in the prior art, the temperature of the Insulated Gate Bipolar Transistor (IGBT) is measured in real time, but the temperature rise of the IGBT has a certain time delay characteristic, so that the temperature measurement result of the IGBT cannot accurately reflect the real temperature at the current moment, and further, related control made by using the measurement data has errors. For example, when the collected real temperature is used to control the motor torque, due to the delay problem of the temperature, an error exists in the calculation accuracy of the motor torque, and further, when the motor is controlled according to an incorrect torque, the IGBT temperature cannot work in an ideal temperature range.
Disclosure of Invention
The invention aims to provide an IGBT temperature estimation method, a motor torque control method and device of an electric automobile, an automobile, equipment and a medium, which are used for estimating the real temperature of the IGBT at the current moment and controlling the motor torque by applying the estimated real temperature so that the IGBT always works in an ideal temperature range.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides a motor torque control method of an electric automobile, which comprises the following steps:
obtaining the temperature T of the radiator ntc Finished automobile required torque T q Bus voltage U of motor controller dc Motor speed n, available discharge power of motor controller and hardware maximum allowable discharge current I of motor controller cmax ；
Radiator temperature T based on acquired motor controller ntc Finished automobile demand torque T q Bus of motor controllerVoltage U dc And the motor rotating speed n, estimating the IGBT real-time temperature T of the motor controller j ；
Determining a real-time temperature T at the IGBT j Under the condition, a first maximum allowable discharge current I output by the motor controller is allowed amax ；
Determining a second maximum allowable discharge current I allowed to be output to the outside by the motor controller under the condition of the available discharge power of the motor controller bmax ；
Bus voltage U based on motor controller dc Motor speed n, first maximum allowable discharge current I amax The second maximum allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a ；
According to the motor rotating speed n and the required torque T of the whole vehicle q Obtaining the maximum value T of the external characteristic torque of the motor b ；
Based on maximum value T of motor torque a And maximum value of external characteristic torque T of motor b Obtaining the torque limit value T of the motor max ；
Based on motor torque limit value T max And performing motor torque control.
Preferably, the torque T is required according to the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q ；
Outputting power P according to the requirement of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
According to the temperature T of the radiator of the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
Preferably, by the formula:
Figure BDA0003721778210000021
calculating IGBT real-time temperature T j (ii) a Wherein R is i Fitting the resulting thermal resistivity, C, for preliminary experiments i Fitting the obtained heat capacity coefficient for a preliminary test, S is Laplace operator, T ntc Is the radiator temperature, P, of the motor controller loss Power loss is expected for the IGBT.
Preferably, by the formula:
Figure BDA0003721778210000022
calculating the required output power P of the motor controller q N is the motor speed, T q The torque is required for the whole vehicle;
required output power P based on motor controller q And bus voltage U of motor controller dc And IGBT expected loss power P loss According to the preset corresponding relation, determining the expected loss power P of the IGBT by looking up a table loss 。
Preferably, according to the first maximum allowable discharge current I amax And IGBT real-time temperature T j Looking up a table according to the predetermined corresponding relation to determine a first maximum allowable discharge current I amax 。
Preferably, a second maximum allowable discharge current I allowed to be output to the outside by the motor controller under the condition of the discharge power available to the motor controller is determined bmax Comprises the following steps:
by the formula:
Figure BDA0003721778210000023
determining a second maximum allowable output current I of the motor controller bmax ；P batt -P aux Characterizing the available discharge power, P, of a motor controller batt Real-time allowable discharge power, P, of battery obtained by motor controller aux And obtaining the real-time power of the high-voltage accessory for the motor controller.
Preferably, the bus voltage U is based on the motor controller dc Motor speed n, first maximum allowable discharge currentI amax The second maximum allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a Comprises the following steps:
for the first maximum allowable output current I amax The second maximum allowable output current I bmax And hardware maximum allowable discharge current I cmax Getting small to obtain the maximum expected allowable discharge current I of the motor controller d ；
According to the maximum expected allowable discharge current I of the motor controller d Bus voltage U of motor controller dc And the motor rotating speed n is obtained to obtain the maximum value T of the motor torque a 。
Preferably, by the formula:
Figure BDA0003721778210000031
calculating the maximum value T of the motor torque a Wherein, U dc Is the bus voltage of the motor controller, n is the motor speed, I d The maximum expected allowed discharge current for the motor controller.
Preferably, the power P is output according to the motor speed n and the demand of the motor controller q Searching the external characteristic curve of the motor to obtain the maximum value T of the external characteristic torque of the motor b 。
Preferably, for maximum motor torque T a And maximum value of external characteristic torque T of motor b Getting small to obtain the torque limit value T of the motor max 。
The invention also provides a motor controller IGBT temperature estimation method, which comprises the following steps:
obtaining a radiator temperature T of a motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And a motor speed n;
according to the required torque T of the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q ；
According to motor controllerRequired output power P q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
According to the radiator temperature T of the motor controller ntc And IGBT expected power loss P loss Estimate IGBT temperature T j 。
Preferably, the temperature T of the radiator according to the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j Comprises the following steps:
by the formula:
Figure BDA0003721778210000032
calculating IGBT temperature T j (ii) a Wherein R is i Fitting the resulting thermal resistivity, C, for preliminary experiments i And S is a Laplace operator for the heat capacity coefficient obtained by fitting in advance.
Preferably, the torque T is required according to the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q Comprises the following steps:
by the formula:
Figure BDA0003721778210000041
calculating the required output power P of the motor controller q 。
Preferably, the power P is output according to the demand of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss Comprises the following steps:
required output power P based on motor controller q Bus voltage U of motor controller dc And IGBT expected loss power P loss The table is looked up to determine the expected loss power P of the IGBT loss 。
Preferably, based on the estimated IGBT temperature T j Cooling of motor controllerBut the system flow is controlled.
The present invention also provides a motor torque limiting device for an electric vehicle, comprising:
a first obtaining module for obtaining the radiator temperature T of the motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc Motor speed n, available discharge power of motor controller and hardware maximum allowable discharge current I of motor controller cmax ；
An estimation module for estimating the heat sink temperature T based on the obtained motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And the motor rotating speed n, estimating the IGBT real-time temperature T of the motor controller j ；
A first determination module for determining the real-time temperature T of the IGBT j Under the condition, a first maximum allowable discharge current I output by the motor controller is allowed amax ；
A second determination module, configured to determine a second maximum allowable discharge current I that is allowed to be output to the outside by the motor controller under the condition of the discharge power available to the motor controller bmax ；
A third determination module for a bus voltage U based on the motor controller dc Motor speed n, first maximum allowable discharge current I amax The second maximum allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a ；
A fourth determination module used for determining the torque T according to the motor speed n and the finished automobile demand torque q Obtaining the maximum value T of the external characteristic torque of the motor b ；
A fifth determination module to determine a torque maximum T based on the motor a And maximum value of external characteristic torque T of motor b Obtaining the torque limit value T of the motor max ；
A control module for limiting the value T based on the motor torque max And performing motor torque control.
Preferably, the estimation module is specifically configured to:
according to the required torque T of the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q ；
Outputting power P according to the requirement of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
According to the radiator temperature T of the motor controller ntc And IGBT expected power loss P loss Estimate IGBT temperature T j 。
Preferably, by the formula:
Figure BDA0003721778210000051
calculating IGBT real-time temperature T j (ii) a Wherein R is i Fitting the resulting thermal resistivity, C, for preliminary experiments i The heat capacity coefficient obtained by fitting the preliminary test, S is Laplace operator, T ntc Is the radiator temperature, P, of the motor controller loss Power loss is expected for the IGBT.
Preferably, by the formula:
Figure BDA0003721778210000052
calculating the required output power P of the motor controller q N is the motor speed, T q The torque is required for the whole vehicle;
required output power P based on motor controller q And bus voltage U of motor controller dc And IGBT expected power loss P loss According to the preset corresponding relation, determining the expected loss power P of the IGBT by looking up a table loss 。
Preferably, the first determining module is specifically configured to:
according to a first maximum allowable discharge current I amax And IGBT real-time temperature T j Looking up a table according to the predetermined corresponding relation to determine a first maximum allowable discharge current I amax 。
Preferably, the second determining module determines the second threshold by the formula:
Figure BDA0003721778210000053
determining a second maximum allowable output current I of the motor controller bmax ；P batt -P aux Characterizing the available discharge power, P, of a motor controller batt Real-time allowable discharge power, P, of battery acquired by motor controller aux And obtaining the real-time power of the high-voltage accessory for the motor controller.
Preferably, the third determining module is specifically configured to:
for the first maximum allowable output current I amax The second maximum allowable output current I bmax And hardware maximum allowable discharge current I cmax Getting small to obtain the maximum expected allowable discharge current I of the motor controller d ；
Maximum expected allowable discharge current I according to motor controller d Bus voltage U of motor controller dc And the motor rotating speed n is calculated to obtain the maximum value T of the motor torque a 。
Preferably, by the formula:
Figure BDA0003721778210000061
calculating the maximum value T of the motor torque a Wherein, U dc Is the bus voltage of the motor controller, n is the motor speed, I d The maximum expected allowed discharge current for the motor controller.
Preferably, the fourth determining module is specifically configured to:
outputting power P according to the motor speed n and the requirement of the motor controller q Searching the external characteristic curve of the motor to obtain the maximum value T of the external characteristic torque of the motor b 。
Preferably, the fifth determining module is specifically configured to:
maximum torque for motorLarge value of T a And maximum value of external characteristic torque T of motor b Getting small to obtain the torque limit value T of the motor max 。
The invention also provides an IGBT temperature estimation device, comprising:
a first obtaining module for obtaining the radiator temperature T of the motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And a motor speed n;
a first determination module for determining the torque T according to the vehicle demand q And the motor speed n, determining the required output power P of the motor controller q ；
A second determination module for outputting power P according to the demand of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
An estimation module for estimating the heat sink temperature T based on the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
Preferably, the estimation module is specifically configured to:
by the formula:
Figure BDA0003721778210000062
calculating IGBT temperature T j (ii) a Wherein R is i Fitting the resulting thermal resistivity, C, for preliminary experiments i And S is a Laplace operator for the heat capacity coefficient obtained by fitting in advance.
Preferably, the first determining module is specifically configured to:
by the formula:
Figure BDA0003721778210000063
calculating the required output power P of the motor controller q 。
Preferably, the second determining module is specifically configured to:
required output power P based on motor controller q Bus voltage U of motor controller dc And IGBT expected loss power P loss The table is looked up to determine the expected power loss P of the IGBT loss 。
The invention also provides an automobile which comprises the motor torque limiting device of the electric automobile or the IGBT temperature estimation device.
The invention also provides a control device comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the motor torque control method of an electric vehicle as described above or the IGBT temperature estimation method as described above.
The invention also provides a readable storage medium on which a program or instructions are stored, which when executed by a processor implement the steps of the motor torque control method of an electric vehicle as described above or the IGBT temperature estimation method as described above.
The invention has the beneficial effects that:
the real-time temperature of the IGBT in the current state is estimated based on the required power of the whole vehicle, the real-time motor rotating speed and the temperature of a radiator of the motor controller, so that the problem of delay of IGBT temperature acquisition in the prior art is solved, and the acquired IGBT temperature can truly reflect the current real state of the IGBT of the motor controller; and then, predicting a first maximum allowable output current allowed to be output by the motor controller under the current temperature condition by using the acquired real IGBT temperature, determining a hardware maximum allowable discharge current allowed to be output by the hardware-allowed motor controller by the hardware of the motor controller according to the available discharge power condition of the motor controller, determining a maximum value of the required torque of the motor according to the three currents, determining a maximum value of the external characteristic torque of the motor according to the rotating speed of the motor and the required torque of the whole vehicle, and finally selecting a proper torque to limit and control the motor according to the maximum value of the required torque of the motor and the maximum value of the external characteristic torque of the motor. Since the finally calculated motor torque limit value is always less than or equal to the motor torque calculated based on the temperature of the motor controller IGBT, the IGBT temperature of the motor controller is always operated within the ideal temperature range after temperature adjustment by the cooling system.
In addition, the whole control process of the scheme is realized by adopting software based on the existing hardware platform, and extra cost can not be caused to the pure electric vehicle.
In addition, the flow of the cooling system of the motor controller can be controlled based on the estimated IGBT real temperature, so that the IGBT temperature of the motor controller is controllable, and the reliability of the electric driving system is improved.
Drawings
FIG. 1 is a flow chart of a motor controller ITBT temperature estimation method in accordance with a first embodiment of the present invention;
fig. 2 is a block diagram of a motor controller TGBT temperature estimation device in a second embodiment of the present invention;
FIG. 3 is a flow chart of a motor torque control method in a third embodiment of the present invention;
fig. 4 is a block diagram of a motor torque control apparatus in a fourth embodiment of the invention;
fig. 5 is a schematic diagram of a thermal resistance model of the IGBT in the first embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure herein, wherein the embodiments of the present invention are described in detail with reference to the accompanying drawings and preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, and are not intended to limit the scope of the present invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The invention provides a motor controller IGBT temperature estimation method, which can truly predict the actual temperature of an IGBT in the current parameter state based on relevant real-time parameters acquired by a motor controller, and solves the problem of non-real-time acquired temperature data caused by delay characteristics during IGBT temperature acquisition in the prior art.
Referring to fig. 1, the method of the first embodiment of the present invention includes:
step S101, obtaining the radiator temperature T of the motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And a motor speed n.
The heat sink of the motor controller belongs to the thermal management system of the electric drive system, and the physical connection and the physical position relationship of the heat sink with respect to the motor controller belong to the current prior art. In this embodiment, the temperature of the heat sink of the motor controller is collected by the temperature sensor arranged on the heat sink, and then transmitted to the motor controller by a hard wire.
The whole vehicle required torque is output to the motor controller by the whole vehicle controller, and the specific acquisition mode of the whole vehicle required torque belongs to the current prior art.
The bus voltage and the motor speed of the motor controller are data which can be directly read by the motor controller in the prior art.
Step S102, according to the required torque T of the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q 。
Wherein, by the formula:
Figure BDA0003721778210000091
calculating the required output power P of the motor controller q 。
The calculation of the formula is realized according to the relation between the required torque of the whole vehicle, the rotating speed of the motor and the required output power of the motor controller.
Step S103, outputting power P according to the requirement of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss 。
Required output power P based on motor controller q Bus voltage U of motor controller dc And IGBT expected loss power P loss The table is looked up to determine the expected loss power P of the IGBT loss 。
Wherein, the predetermined corresponding relation table can be obtained by bench test, in particular to the expected required output power P of the motor controller q Bus voltage U of motor controller dc And IGBT expected loss power P loss The relationship between them.
Step S104, according to the temperature T of the radiator of the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
By the formula:
Figure BDA0003721778210000092
calculating IGBT temperature T j (ii) a Wherein R is i Thermal resistivity, C, fitting for preliminary experiments i And S is a Laplace operator for the heat capacity coefficient obtained by fitting in advance.
Referring to fig. 5, a schematic diagram of an IGBT thermal resistance model is shown, where R1 and C1 are IGBT chip junction-to-case thermal resistance and heat capacity, R2 and C2 are case-to-heat sink thermal resistance and heat capacity, and R3 and C3 are heat sink-to-NTC thermal resistance and heat capacity.
The loss power P of the IGBT can be obtained through the test of the test bench loss And IGBT temperature. Under the condition that the cooling flow of the motor controller is constant and the external temperature is constant, the IGBT flowsAnd the power loss of the IGBT is corresponding to various power losses through various constant current values. When the temperature of the IGBT is in a steady state, obtaining the junction temperature T of the IGBT by an NTC test embedded in the IGBT j Then obtaining the temperature T of the radiator through an NTC test on the radiator ntc Obtaining the parameter R based on a polynomial curve fitting mode i And C i And finally obtaining the temperature estimation formula of the IGBT.
In the first embodiment, the method is used for acquiring the real IGBT temperature under the current parameters, and the accuracy of the acquired IGBT temperature is improved.
For the motor controller, the estimated IGBT temperature can be used to control the flow of the cooling system of the motor controller, so that the cooling liquid flowing through the radiator exchanges heat with the ambient temperature, and the IGBT temperature can be controllably adjusted.
Referring to fig. 2, a second embodiment of the present invention provides a device for estimating a temperature of an IGBT of a motor controller, which has the same technical effect as the above method, that is, the device can truly predict a true temperature of the IGBT in a current parameter state based on a relevant real-time parameter acquired by the motor controller, and solve a problem in the prior art that acquired temperature data is not real-time due to a delay characteristic when the temperature of the IGBT is acquired.
Referring to fig. 2, in the second embodiment, the apparatus includes:
a first obtaining module 101 for obtaining the radiator temperature T of the motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And a motor speed n;
the first determination module 102 is used for determining the torque T according to the vehicle demand q And the motor speed n, determining the required output power P of the motor controller q ；
A second determination module 103 for outputting power P according to the demand of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
An estimation module 104 for estimating a heat sink temperature T based on the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
Wherein the estimation module 103 is specifically configured to:
by the formula:
Figure BDA0003721778210000101
calculating IGBT temperature T j (ii) a Wherein R is i Thermal resistivity, C, fitting for preliminary experiments i And S is a Laplace operator for the heat capacity coefficient obtained by fitting in advance.
The first determining module 102 is specifically configured to:
by the formula:
Figure BDA0003721778210000111
calculating the required output power P of the motor controller q 。
The second determining module 103 is specifically configured to:
required output power P based on motor controller q Bus voltage U of motor controller dc And IGBT expected loss power P loss The table is looked up to determine the expected power loss P of the IGBT loss 。
Referring to fig. 3, a third embodiment of the present invention provides a motor torque control method of an electric vehicle, including:
step S201, obtaining the radiator temperature T of the motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc Motor speed n, available discharge power of motor controller and hardware maximum allowable discharge current I of motor controller cmax 。
As in the first embodiment described above, the heat sink of the motor controller belongs to the thermal management system of the electric drive system, and the physical connection and the physical positional relationship of the heat sink with respect to the motor controller belong to the current state of the art. In this embodiment, the temperature of the radiator of the motor controller is collected by the temperature sensor arranged on the radiator, and then is transmitted to the motor controller by a hard wire.
The whole vehicle required torque is output to the motor controller by the whole vehicle controller, and the specific acquisition mode of the whole vehicle required torque belongs to the current prior art.
The bus voltage and the motor speed of the motor controller are data which can be directly read by the motor controller in the prior art.
Available discharge power of motor controller (real-time allowable discharge power P of battery) batt High voltage accessory real time power P aux ) The battery real-time allowable discharge power refers to discharge power which is allowed to be discharged to the outside at the current moment of a power battery of the electric automobile, and the high-voltage accessory real-time power and the battery real-time allowable discharge power are parameters which can be known by a motor controller in the prior art.
Hardware maximum allowable discharge current I of motor controller cmax The maximum allowable discharge current of the hardware is the minimum value of the peak current of the hardware, such as the peak current of the IGBT, the peak current of the inductance and the like.
Step S202, based on the acquired radiator temperature T of the motor controller ntc Finished automobile demand torque T q Bus voltage U of motor controller dc And the motor rotating speed n, and estimating the IGBT real-time temperature T of the motor controller j 。
In this embodiment, the real-time temperature T is applied to the IGBT j The manner of estimation of (c) is the same as that of the first embodiment. Step S203, determining the real-time temperature T of the IGBT j Under the condition, a first maximum allowable discharge current I output by the motor controller is allowed amax 。
In this step, according to a first maximum allowable discharge current I amax And IGBT real-time temperature T j Looking up a table according to the predetermined corresponding relation to determine a first maximum allowable discharge current I amax 。
The predetermined relationship table in this step S203 is obtained by a bench test in advance,the temperature and the flow of a cooling system of the motor controller are set to required state values, so that the IGBT reaches a maximum allowable temperature value and is in a stable state, and the current value flowing through the IGBT at the moment is the required first maximum allowable discharge current I amax 。
Step S204, determining a second maximum allowable discharge current I allowed to be output by the motor controller to the outside under the condition of the available discharge power of the motor controller bmax 。
In this step, by the formula:
Figure BDA0003721778210000121
determining a second maximum allowable output current I of the motor controller bmax ；P batt -P aux Characterizing the available discharge power, P, of a motor controller batt Real-time allowable discharge power, P, of battery obtained by motor controller aux And obtaining the real-time power of the high-voltage accessory for the motor controller.
Step S205, bus voltage U based on motor controller dc Motor speed n, first maximum allowable discharge current I amax The second maximum allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a 。
In step S205, the current I is outputted by comparing the first maximum allowable output current amax The second maximum allowable output current I bmax And hardware maximum allowable discharge current I cmax Getting small to obtain the maximum expected allowable discharge current I of the motor controller d ；
Maximum expected allowable discharge current I according to motor controller d Bus voltage U of motor controller dc And the motor rotating speed n is obtained to obtain the maximum value T of the motor torque a 。
Further, by the formula:
Figure BDA0003721778210000122
calculating the maximum value T of the motor torque a Wherein, U dc Is the bus voltage of the motor controller, n is the motor speed, I d The maximum expected allowed discharge current for the motor controller.
Step S206, according to the motor speed n and the required torque T of the whole vehicle q Obtaining the maximum value T of the external characteristic torque of the motor b 。
According to the motor speed n and the required output power P of the motor controller q Searching the external characteristic curve of the motor to obtain the maximum value T of the external characteristic torque of the motor b . The external motor characteristic is a known curve.
Step S207, based on the maximum value T of the motor torque a And maximum value of external characteristic torque T of motor b Obtaining the torque limit value T of the motor max 。
In particular, for maximum value of motor torque T a And maximum value of external characteristic torque T of motor b Getting small to obtain the torque limit value T of the motor max 。
Step S208, based on the motor torque limiting value T max And performing motor torque control.
In the third embodiment, the estimated true IGBT temperature is used to estimate a first maximum allowable output current allowed to be output by the motor controller under the current temperature condition, a second maximum allowable output current allowed to be output by the motor controller under the discharge power available for the motor controller is also used, a hardware maximum allowable discharge current allowed to be output by the hardware allowed motor controller by the hardware of the motor controller is also determined according to rated parameter information of the motor controller, and then the maximum value of the required torque of the motor is determined based on the maximum expected allowable discharge current of the motor controller obtained by reducing the three currents.
And finally, selecting proper torque to limit and control the motor based on the maximum value of the motor required torque and the maximum value of the motor external characteristic torque.
Since the finally calculated motor torque limit value is always less than or equal to the motor torque calculated based on the temperature of the motor controller IGBT, the IGBT temperature of the motor controller is always operated within the ideal temperature range after temperature adjustment by the cooling system.
Specifically, when the motor torque limit value is equal to the maximum motor required torque, if the maximum motor required torque is calculated according to the estimated IGBT temperature, the IGBT will operate within an ideal temperature range after being cooled by a cooling system of the motor controller; if the maximum value of the required torque of the motor is calculated according to the second maximum allowable output current I bmax Or hardware maximum allowable discharge current I cmax Calculated as the second maximum allowable output current I bmax And hardware maximum allowable discharge current I cmax Is smaller than the first maximum allowable output current I amax Then the actual output current of the IGBT of the motor controller will also be smaller than the first maximum allowable output current I mentioned above amax The temperature of the IGBT is in turn closely related to the current it outputs, so that when the IGBT outputs a smaller current, its temperature should also be within the desired temperature range after cooling by the cooling system of the motor controller.
Similarly, when the motor torque limit value is equal to the maximum motor external characteristic torque value, since the maximum motor external characteristic torque value is smaller than the maximum motor torque value, the actual output current of the IGBT of the motor controller will also be smaller than the first maximum allowable output current I amax The temperature of the IGBT is in turn closely related to the current it outputs, so that when the IGBT outputs less current, its temperature is still within the desired temperature range after cooling by the motor controller's cooling system.
Referring to fig. 4, a fourth embodiment of the present invention provides a motor torque limiting apparatus of an electric vehicle, including:
a first obtaining module 201 for obtaining the temperature T of the heat sink ntc Finished automobile required torque T q Bus voltage U of motor controller dc Motor speed n, motor controller available dischargeHardware maximum allowable discharge current I of power and motor controller cmax ；
An estimation module 202 for estimating the heat sink temperature T based on the obtained motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And the motor rotating speed n, estimating the IGBT real-time temperature T of the motor controller j ；
A first determining module 203 for determining the real-time temperature T of the IGBT j Under the condition, a first maximum allowable discharge current I output by the motor controller is allowed amax ；
A second determining module 204, configured to determine a second maximum allowable discharge current I allowed to be output by the motor controller to the outside under the condition of available discharge power of the motor controller bmax ；
A third determination module 20 for the bus voltage U based on the motor controller dc Motor speed n, first maximum allowable discharge current I amax The second maximum allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a ；
A fourth determining module 206 for determining the required torque T according to the motor speed n and the vehicle q Obtaining the maximum value T of the external characteristic torque of the motor b ；
A fifth determination module 207 for determining a torque maximum T based on the motor a And maximum value of external characteristic torque T of motor b Obtaining the torque limit value T of the motor max ；
Control module 208 for limiting value T based on motor torque max And performing motor torque control.
Preferably, the estimation module is specifically configured to:
according to the required torque T of the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q ；
Outputting power P according to the requirement of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
According to the radiator temperature T of the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
Preferably, by the formula:
Figure BDA0003721778210000151
calculating IGBT real-time temperature T j (ii) a Wherein R is i Fitting the resulting thermal resistivity, C, for preliminary experiments i The heat capacity coefficient obtained by fitting the preliminary test, S is Laplace operator, T ntc Is the radiator temperature of the motor controller, P loss Power loss is expected for the IGBT.
Preferably, by the formula:
Figure BDA0003721778210000152
calculating the required output power P of the motor controller q N is the motor speed, T q The torque is required for the whole vehicle;
required output power P based on motor controller q And bus voltage U of motor controller dc And IGBT expected power loss P loss According to the preset corresponding relation, determining the expected loss power P of the IGBT by looking up a table loss 。
Preferably, the first determining module is specifically configured to:
according to a first maximum allowable discharge current I amax And IGBT real-time temperature T j Looking up a table according to the predetermined corresponding relation to determine a first maximum allowable discharge current I amax 。
Preferably, the second determination module is configured to determine the second value by the formula:
Figure BDA0003721778210000153
determining a second maximum allowable output current of the motor controllerI bmax ；P batt -P aux Characterizing the available discharge power, P, of a motor controller batt Real-time allowable discharge power, P, of battery acquired by motor controller aux And obtaining the real-time power of the high-voltage accessory for the motor controller.
Preferably, the third determining module is specifically configured to:
for the first maximum allowable output current I amax The second maximum allowable output current I bmax And hardware maximum allowable discharge current I cmax Getting small to obtain the maximum expected allowable discharge current I of the motor controller d ；
Maximum expected allowable discharge current I according to motor controller d Bus voltage U of motor controller dc And the motor rotating speed n is obtained to obtain the maximum value T of the motor torque a 。
Preferably, by the formula:
Figure BDA0003721778210000154
calculating the maximum value T of the motor torque a Wherein, U dc Is the bus voltage of the motor controller, n is the motor speed, I d The maximum expected allowed discharge current for the motor controller.
Preferably, the fourth determining module is specifically configured to:
outputting power P according to the motor speed n and the requirement of the motor controller q Searching the external characteristic curve of the motor to obtain the maximum value T of the external characteristic torque of the motor b 。
Preferably, the fifth determining module is specifically configured to:
for maximum value T of motor torque a And maximum value of external characteristic torque T of motor b Getting small to obtain the torque limit value T of the motor max 。
The invention also provides an automobile which comprises the motor torque limiting device of the electric automobile or the IGBT temperature estimation device.
The invention also provides a control device comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the motor torque control method of an electric vehicle as described above or the IGBT temperature estimation method as described above.
The invention also provides a readable storage medium on which a program or instructions are stored, which when executed by a processor implement the steps of the motor torque control method of an electric vehicle as described above or the IGBT temperature estimation method as described above.
The above embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention.

Claims (20)

1. A motor torque control method of an electric vehicle is characterized by comprising the following steps:
obtaining a radiator temperature T of a motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc Motor speed n, available discharge power of motor controller and hardware maximum allowable discharge current I of motor controller cmax ；
Radiator temperature T based on acquired motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And the motor rotating speed n, estimating the IGBT real-time temperature T of the motor controller j ；
Determining a real-time temperature T at the IGBT j Under the condition, a first maximum allowable discharge current I output by the motor controller is allowed amax ；
Determining a second maximum allowable discharge current I allowed to be output to the outside by the motor controller under the condition of the available discharge power of the motor controller bmax ；
Bus voltage U based on motor controller dc Motor speed n, first maximum allowable discharge current I amax The second bestLarge allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a ；
According to the motor rotating speed n and the required torque T of the whole vehicle q Obtaining the maximum value T of the external characteristic torque of the motor b ；
Based on maximum value T of motor torque a And maximum value of external characteristic torque T of motor b Obtaining the torque limit value T of the motor max ；
Based on motor torque limit value T max And performing motor torque control.
2. The motor torque control method of an electric vehicle according to claim 1,
according to the required torque T of the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q ；
Outputting power P according to the requirement of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
According to the radiator temperature T of the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
3. The motor torque control method of an electric vehicle according to claim 2,
by the formula:
Figure FDA0003721778200000011
calculating IGBT real-time temperature T j (ii) a Wherein R is i Thermal resistivity, C, fitting for preliminary experiments i Fitting the obtained heat capacity coefficient for a preliminary test, S is Laplace operator, T ntc Is the radiator temperature, P, of the motor controller loss Power loss is expected for the IGBT.
4. The motor torque control method of an electric vehicle according to claim 2 or 3,
by the formula:
Figure FDA0003721778200000021
calculating the required output power P of the motor controller q N is the motor speed, T q The torque is required for the whole vehicle;
required output power P based on motor controller q And bus voltage U of motor controller dc And IGBT expected loss power P loss According to the preset corresponding relation, determining the expected loss power P of the IGBT by looking up a table loss 。
5. The motor torque control method of an electric vehicle according to claim 1,
according to a first maximum allowable discharge current I amax And IGBT real-time temperature T j Looking up a table according to the predetermined corresponding relation to determine a first maximum allowable discharge current I amax 。
6. The motor torque control method of claim 1, wherein a second maximum allowable discharge current I allowed to be externally output by the motor controller under the condition of the discharge power available to the motor controller is determined bmax Comprises the following steps:
by the formula:
Figure FDA0003721778200000022
determining a second maximum allowable output current I of the motor controller bmax ；P batt -P aux Characterizing the available discharge power, P, of a motor controller batt Real-time allowable discharge power, P, of battery obtained by motor controller aux As an electric motorAnd the controller acquires the real-time power of the high-voltage accessory.
7. The motor torque control method of an electric vehicle according to claim 1, wherein the bus voltage U based on the motor controller dc Motor speed n, first maximum allowable discharge current I amax The second maximum allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a Comprises the following steps:
for the first maximum allowable output current I amax The second maximum allowable output current I bmax And hardware maximum allowable discharge current I cmax Getting small to obtain the maximum expected allowable discharge current I of the motor controller d ；
Maximum expected allowable discharge current I according to motor controller d Bus voltage U of motor controller dc And the motor rotating speed n is obtained to obtain the maximum value T of the motor torque a 。
8. The motor torque control method of an electric vehicle according to claim 7,
by the formula:
Figure FDA0003721778200000023
calculating the maximum value T of the motor torque a Wherein, U dc Is the bus voltage of the motor controller, n is the motor speed, I d The maximum expected allowed discharge current for the motor controller.
9. The motor torque control method of the electric vehicle according to claim 1, wherein the output power P is outputted according to the motor speed n and the demand of the motor controller q Searching the external characteristic curve of the motor to obtain the maximum value T of the external characteristic torque of the motor b 。
10. The motor torque control method of an electric vehicle according to claim 1, wherein the maximum value T of the motor torque is set a And maximum value of external characteristic torque T of motor b Getting small to obtain the torque limit value T of the motor max 。
11. A method for estimating the temperature of an IGBT (insulated gate bipolar transistor) of a motor controller is characterized by comprising the following steps:
obtaining a radiator temperature T of a motor controller ntc Finished automobile demand torque T q Bus voltage U of motor controller dc And a motor speed n;
according to the required torque T of the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q ；
Outputting power P according to the requirement of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
According to the radiator temperature T of the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
12. The motor controller IGBT temperature estimation method according to claim 11, wherein the heat sink temperature T of the motor controller is based on ntc And IGBT expected power loss P loss Estimating IGBT temperature T j Comprises the following steps:
by the formula:
Figure FDA0003721778200000031
calculating IGBT temperature T j (ii) a Wherein R is i Fitting the resulting thermal resistivity, C, for preliminary experiments i And S is a Laplace operator for the heat capacity coefficient obtained by fitting in advance.
13. The motor controller IGBT temperature estimation method of claim 11, wherein the IGBT temperature estimation methodCharacterized in that the torque T is required according to the whole vehicle q And the motor speed n, determining the required output power P of the motor controller q Comprises the following steps:
by the formula:
Figure FDA0003721778200000032
calculating the required output power P of the motor controller q 。
14. The motor controller IGBT temperature estimation method according to claim 11, characterized in that the output power P is output according to the demand of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss Comprises the following steps:
required output power P based on motor controller q Bus voltage U of motor controller dc And IGBT expected loss power P loss The table is looked up to determine the expected power loss P of the IGBT loss 。
15. The motor controller IGBT temperature estimation method of claim 11, wherein the estimated IGBT temperature T is based on j And controlling the flow of the cooling system of the motor controller.
16. A motor torque limiting device of an electric vehicle, characterized by comprising:
a first obtaining module for obtaining the temperature T of the radiator ntc Finished automobile required torque T q Bus voltage U of motor controller dc Motor speed n, available discharge power of motor controller and hardware maximum allowable discharge current I of motor controller cmax ；
An estimation module for estimating the heat sink temperature T based on the obtained motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And motor speed n, estimateCalculating IGBT real-time temperature T of motor controller j ；
A first determination module for determining the real-time temperature T of the IGBT j Under the condition, a first maximum allowable discharge current I output by the motor controller is allowed amax ；
A second determination module, configured to determine a second maximum allowable discharge current I that is allowed to be output to the outside by the motor controller under the condition of the discharge power available to the motor controller bmax ；
A third determination module for a bus voltage U based on the motor controller dc Motor speed n, first maximum allowable discharge current I amax The second maximum allowable discharge current I bmax And the hardware maximum allowable discharge current I of the motor controller cmax Obtaining the maximum value T of the required torque of the motor a ；
A fourth determination module for determining the torque T according to the motor speed n and the vehicle demand torque q Obtaining the maximum value T of the external characteristic torque of the motor b ；
A fifth determination module to determine a torque maximum T based on the motor a And maximum value of external characteristic torque T of motor b Obtaining the torque limit value T of the motor max ；
A control module for limiting the value T based on the motor torque max And performing motor torque control.
17. An IGBT temperature estimation device characterized by comprising:
a first obtaining module for obtaining the radiator temperature T of the motor controller ntc Finished automobile required torque T q Bus voltage U of motor controller dc And a motor speed n;
a first determination module for determining the torque T according to the vehicle demand q And the motor speed n, determining the required output power P of the motor controller q ；
A second determination module for outputting power P according to the demand of the motor controller q And bus voltage U of motor controller dc Determining the expected power loss P of the IGBT loss ；
An estimation module for estimating the heat sink temperature T of the motor controller ntc And IGBT expected power loss P loss Estimating IGBT temperature T j 。
18. An automobile characterized by comprising the motor torque limiting device of the electric automobile of claim 16 or the IGBT temperature estimating device of claim 17.
19. A control apparatus comprising a processor, a memory and a program or instructions stored on the memory and executable on the processor, the program or instructions when executed by the processor implementing the steps of the motor torque control method of an electric vehicle according to any one of claims 1 to 10 or the IGBT temperature estimation method according to any one of claims 11 to 15.
20. A readable storage medium, characterized in that the readable storage medium stores thereon a program or instructions which, when executed by a processor, implement the steps of the motor torque control method of the electric vehicle according to any one of claims 1 to 10 or the IGBT temperature estimation method according to any one of claims 11 to 15.
CN202210753577.4A 2022-06-29 2022-06-29 IGBT temperature estimation method, motor torque control method and device of electric automobile, equipment and medium Pending CN115122947A (en)

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