CN115833071A - Multi-motor driving system and feedback energy dissipation method and system thereof - Google Patents
Multi-motor driving system and feedback energy dissipation method and system thereof Download PDFInfo
- Publication number
- CN115833071A CN115833071A CN202211401378.3A CN202211401378A CN115833071A CN 115833071 A CN115833071 A CN 115833071A CN 202211401378 A CN202211401378 A CN 202211401378A CN 115833071 A CN115833071 A CN 115833071A
- Authority
- CN
- China
- Prior art keywords
- motor
- energy
- motors
- dissipation
- energy dissipation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000021715 photosynthesis, light harvesting Effects 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000005265 energy consumption Methods 0.000 claims abstract description 48
- 230000004044 response Effects 0.000 claims abstract description 14
- 230000002159 abnormal effect Effects 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000001172 regenerating effect Effects 0.000 claims description 7
- 230000006870 function Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000004027 cell Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000013021 overheating Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000001787 dendrite Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012983 electrochemical energy storage Methods 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Images
Landscapes
- Control Of Multiple Motors (AREA)
Abstract
The invention relates to the technical field of motor control, and discloses a multi-motor driving system and a feedback energy dissipation method and system thereof. The feedback energy control method comprises the following steps: when detecting that energy is fed back to the direct current bus, determining whether the bus voltage is abnormally raised; when the voltage of the bus rises abnormally, the motors in the non-running state are determined, and the motors for dissipating the redundant energy of the direct-current bus are selected according to the energy consumption capacity of each motor; and sending an energy dissipation instruction to a motor controller corresponding to the selected motor, so that the motor controller determines the motor coil combination for energy dissipation in response to the energy dissipation instruction. When the direct current bus is subjected to voltage rise due to energy feedback, part or all of coils of one or more motors in a non-running state are used for dissipating feedback energy, so that the requirements on energy-consuming resistors and control components thereof are reduced.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a multi-motor driving system and a feedback energy dissipation method and system thereof.
Background
The motor driving system is widely applied to pure electric or hybrid new energy automobiles, new energy engineering machinery, new energy construction machinery and the like. As shown in fig. 1, a common motor driving system is composed of a dc source, a motor controller (or a frequency converter, which is described herein by the motor controller) and a motor, and the working principle can be described as follows: the direct current source is connected with a direct current port of the motor controller through a direct current bus, and a motor coil connecting port is connected with a corresponding electric port of the matched motor controller; the motor controller can perform controlled DC/AC or DC/DC electric energy conversion, so that variables such as voltage, frequency, amplitude, phase and the like of a motor coil are adjusted, the rotating speed and torque of the motor are controlled, and finally an executing mechanism mechanically connected with the motor is controlled to execute required actions.
Further, many motor drive systems employ energy regenerative braking due to the need for motor braking, deceleration, or emergency shutdown. At this time, the kinetic energy or potential energy of the actuating mechanism can be converted into electric energy, and the electric energy is fed back to the direct current bus through the motor controller. However, if the feedback energy is not transferred or dissipated in time, the bus voltage will rise rapidly, causing the following hazards:
(1) The battery management system of the motor controller or the battery pack executes overvoltage protection action, so that the control performance is reduced, even the controlled system is completely out of control, and life and property safety accidents occur;
(2) When the voltage is raised too high, the electric components of the motor driving system are irreversibly damaged, and life and property safety accidents are indirectly caused.
Therefore, in order to avoid the large voltage rise caused by energy feedback, the following schemes are proposed in the prior art:
(1) When using a battery pack as a dc source, energy feedback is used to charge the battery pack. However, this method has its limitations: when the SOC of the battery is high or the allowable charging current of the battery pack is small, the absorbable energy of the battery pack is limited; also, when a lithium battery is used in a battery pack and the ambient temperature is below zero degrees centigrade, charging of the battery is generally prohibited (otherwise the battery tends to segregate lithium to form lithium dendrites that may puncture the battery's internal separator causing a short circuit to fire).
(2) For a motor driving system powered by a power grid, alternating current is generally rectified into direct current by a rectifier for use, and the conventional rectifier generally cannot feed back energy to the power grid, so that the fed-back energy cannot be transferred. In addition, the motor drive system using the fuel cell as the energy source cannot absorb the feedback energy. Therefore, in order to solve the problem, many existing motor driving systems can connect an energy consumption resistor on a direct current bus, and when electric energy is fed back to the direct current bus, the electric energy is consumed through the energy consumption resistor, so that the bus voltage is prevented from being greatly increased. However, this method requires additional increase of power consumption resistance and its control components, resulting in cost increase; in addition, the energy consumption resistor is generally large in size and needs to occupy a large installation space.
Therefore, it is very necessary to develop a new feedback energy dissipation scheme.
Disclosure of Invention
The present invention is directed to a multi-motor driving system and a method and system for dissipating feedback energy thereof, which at least partially solve the above problems.
In order to achieve the above object, the present invention provides a feedback energy control method for a multi-motor driving system, which includes a plurality of motors, motor controllers respectively adapted to the motors, and a common dc source for supplying energy to the motors through a dc bus. And, the feedback energy control method includes: when energy feedback to the direct current bus is detected, whether the bus voltage is abnormally raised is determined; determining a motor in a non-operating state from among the plurality of motors when the bus voltage abnormally rises; selecting a motor for dissipating the redundant energy of the direct current bus according to the energy consumption capability of each motor aiming at the determined motor in the non-operation state; and sending an energy dissipation instruction to a motor controller corresponding to the selected motor, so that the motor controller determines the motor coil combination for energy dissipation in response to the energy dissipation instruction.
Preferably, the determining whether the bus voltage abnormally rises includes: and collecting the bus voltage, and determining that the bus voltage is abnormally lifted when the lifting speed of the bus voltage exceeds a set threshold value or the numerical value of the bus voltage exceeds a set range.
Preferably, the determining of the motor in the non-operating state from among the plurality of motors includes: acquiring motor state information from a motor controller corresponding to each motor; and determining whether the corresponding motor is in a non-operation state according to the motor state information.
Preferably, the selecting the motors according to the energy consumption capacities of the respective motors comprises: determining energy consumption capability scores Awards (i) of the motors; and selecting the motor to dissipate the excess energy of the direct current bus according to the energy consumption capability score Awards (i).
Preferably, the determining the energy consumption capability score of each motor, afards (i), comprises: acquiring the determined current allowable rated dissipation power P, the motor temperature T1 and the motor controller temperature T2 of each motor in the non-operation state; and searching the determined energy consumption capability scores Awards (i) of the motors in the non-operation state from a preset table showing the corresponding relation among the current allowable rated dissipation power P, the motor temperature T1 and the motor controller temperature T2 and the motor energy consumption capability scores by adopting a table look-up method.
Preferably, the determining the energy consumption capability score of each motor, afards (i), comprises: acquiring the determined current allowable rated dissipation power P, the motor temperature T1 and the motor controller temperature T2 of each motor in the non-operation state; and calculating the determined energy consumption capability scores Awards (i) of the motors in the non-operation state by adopting the following formula:
Awards(i)＝f i (P)+g i (T1)+h i (T2)，
wherein i represents a motor number, f i (P) a predetermined calculation function, g, representing the current allowable rated power P of the machine i (T1) a preset calculation function, h, representing the motor temperature T1 i (T2) a preset calculation function representing the motor controller temperature T2; wherein the larger the current allowable rated dissipation power P, f i The larger (P) is; the smaller the motor temperature T1, g i The larger (T1); the smaller the motor controller temperature T2, h i The larger the (T2).
Preferably, the selecting the motor to dissipate the dc bus excess energy according to the energy consumption capability score afards (i) comprises: and sequentially selecting the motors from high to low according to the energy consumption capability score Awards (i) until the bus voltage detected in real time is separated from the abnormal lifting state or all the motors in the non-running state are selected to participate in the dissipation of the redundant energy of the direct current bus.
Preferably, the motor coil combination comprises any one of: for each energy dissipation command, fixedly selecting the same combination of partial motor coils; alternately selecting different combinations of partial motor coils for each energy dissipation command; or all motor coils are fixedly selected for each energy dissipation command.
Preferably, for a certain motor coil combination, the feedback energy control method further comprises applying current to the certain motor coil to enable the motor coil to perform energy dissipation by adopting any one or more of the following steps: applying a direct current voltage to the motor coil for a duration; applying a Pulse Width Modulated (PWM) voltage of a duration to a motor coil; firstly, applying a Pulse Width Modulation (PWM) voltage with a duration to a motor coil, and then intermittently not applying the voltage, and circulating the process until the energy dissipation of the motor coil is finished; and controlling the motor coil to generate a field current in a synchronous rotating coordinate system and make a torque current in the synchronous rotating coordinate system close to or equal to zero for the multi-phase alternating current motor.
Preferably, the feedback energy control method further includes: and acquiring the abnormal state of the motor coil, and controlling the motor to stop energy dissipation in response to the abnormal state of the motor coil.
The embodiment of the invention also provides a feedback energy control system of the multi-motor driving system, which comprises a plurality of motors, motor controllers respectively matched with the motors and a common direct current source for supplying energy to the motors through the direct current buses. And, the feedback energy control system includes a central management module configured to: when energy feedback to the direct current bus is detected, whether the bus voltage is abnormally raised is determined; determining a motor in a non-operating state from among the plurality of motors when the bus voltage abnormally rises; selecting a motor for dissipating the redundant energy of the direct current bus according to the energy consumption capability of each motor aiming at the determined motor in the non-operation state; and sending an energy dissipation instruction to a motor controller corresponding to the selected motor, so that the motor controller determines the motor coil combination for energy dissipation in response to the energy dissipation instruction.
Preferably, the central management module is a separate controller, a control module integrated within any one of the motor controllers, or a control module integrated within any controller of an entity applying the multi-motor drive system.
Preferably, the regenerative energy control system further comprises an energy dissipation control module integrated in the motor controller, the energy dissipation control module configured to: detecting and providing motor state information to the central management module; and determining a motor coil combination for energy dissipation in response to the energy dissipation command. And the central management module is configured to determine whether the corresponding motor is in a non-operation state according to the motor state information.
The embodiment of the invention also provides a multi-motor driving system which comprises any feedback energy control system.
Embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions for causing a machine to perform any of the above-described methods of controlling regenerative energy in a multi-motor drive system.
Through the technical scheme, the scheme of the invention aims at the multi-motor driving system, when the direct current bus is subjected to voltage rise due to energy feedback, partial or all coils of one or more motors in a non-running state are used for dissipating energy, so that the requirements on the energy consumption resistor and control parts thereof are reduced, even the energy consumption resistor can be completely replaced, the installation space is saved, and the material cost is reduced.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a common motor drive system architecture;
FIG. 2 is a schematic flow chart illustrating a method for controlling feedback energy of a multi-motor drive system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the selection of a non-operational motor in accordance with an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a first alternative for a motor for regenerative energy dissipation in accordance with an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a second alternative for the selection of a motor for regenerative energy dissipation in an embodiment of the present invention; and
fig. 6 is a schematic structural diagram of a multi-motor driving system and a feedback energy control system thereof according to an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 2 is a schematic flow chart illustrating a feedback energy control method of a multi-motor driving system according to an embodiment of the invention. Before describing the method, a description will be given of a multi-motor drive system.
As shown in fig. 1, the multi-motor driving system may include a plurality of motors (motor 1 to motor K), motor controllers (motor controller 1 to motor controller K) respectively adapted to the motors, and a common dc source for supplying power to the motors through a dc bus, wherein a coil outlet port of each motor is electrically connected to a corresponding port of the motor controller associated with the motor, the motor is mechanically connected to an actuator associated with the motor, and dc ports of the motor controllers are connected in parallel to the dc bus.
The motor may be any type and any number of phases (or any number of coils), including but not limited to a dc motor, a brushless dc motor with any number of phases, a stepper motor, a switched reluctance motor, a servo motor, or other types of ac motors.
For example, the common dc source may be a power battery, a fuel cell, other electrochemical energy storage system, or a rectifier for extracting power from an ac power grid. Further, the power battery may be, for example, a lithium battery, a lead-acid battery, or other types of battery packs.
Further, for a multi-motor drive system, the energy flow direction includes two cases: 1) When the motor and the motor controller thereof work in an electric state, electric energy is absorbed from the direct current bus, and the energy flows to the motor side from the direct current bus; 2) When the motor and the motor controller thereof work in an energy feedback braking state, electric energy can be fed back to the direct current bus, and the energy flows to the direct current bus from the motor side. The embodiment of the invention aims at the 2) situation, and aims to solve the problem of rapid bus voltage rise caused by the fact that energy fed back to a direct current bus from the side of a motor is not transferred or dissipated in time. Also, in order to implement the embodiment of the invention, in the multi-motor drive system, part or all of the motors are configured to have an energy dissipation function.
With continued reference to fig. 2, the feedback energy control method of the multi-motor drive system according to the embodiment of the present invention is applied to a specially configured central management module (which will be described in detail below), for example, and may include the following steps:
and step S100, when energy feedback to the direct current bus is detected, determining whether the bus voltage is abnormally increased.
For example, energy at the motor end may be fed back to the linear bus, the bus voltage is collected in real time, and abnormal rise of the bus voltage is determined when the rise speed of the bus voltage exceeds a set threshold or the value of the bus voltage exceeds a set range.
And step S200, when the bus voltage is abnormally raised, determining a motor in a non-operation state from the plurality of motors.
With respect to this step S200, fig. 3 shows a flow of determining that a motor in a non-operating state includes from among a plurality of motors of a multi-motor drive system, and may include the steps of:
step S210, motor state information is acquired from the motor controller corresponding to each motor.
For example, an energy dissipation control module may be configured in the motor controller to specifically perform motor condition monitoring. The energy dissipation control module will be described in detail below, and will not be described herein again.
And step S220, determining whether the corresponding motor is in a non-running state according to the motor state information.
The non-operating state includes, but is not limited to, a state where the motor is in a shutdown state, a standby state, a stall state, a zero torque output state, and the like. When a physical product (such as a vehicle host) carrying the multi-motor driving system works, all motors do not need to work simultaneously most of the time, and some motors are in a non-running state.
And step S300, aiming at the determined motors in the non-operation state, selecting the motors according to the energy consumption capacity of each motor to dissipate redundant energy of the direct current bus.
Further, for the motor selection of step S300, it may be preferable to include:
step S310, determining energy consumption capacity scores Awards (i) of all motors; and
and step S320, selecting the motor according to the energy consumption capability score Awards (i) to dissipate the redundant energy of the direct current bus.
In a more preferred embodiment, for step S310, the following two schemes may be used to determine the energy consumption capability scores afards (i) of the respective motors:
the first scheme, as shown in fig. 4, may include the following steps S311A-S312A:
in step S311A, the determined current allowable rated dissipation power P, the motor temperature T1, and the motor controller temperature T2 of each motor in the non-operating state are obtained.
Step S312A, finding the determined energy consumption capability scores afards (i) of each motor in the non-operating state from a preset table showing the corresponding relationship between the current allowable rated dissipated power P, the motor temperature T1 and the motor controller temperature T2 and the motor energy consumption capability scores by using a table look-up method.
The second scheme, as shown in fig. 5, may include the following steps S311B-S312B:
step S311B, which is the same as step S311A, also needs to obtain the determined current allowable rated dissipation power P, motor temperature T1 and motor controller temperature T2 of each motor in the non-operating state.
Step S312B, calculating the determined energy consumption capability scores afards (i) of the respective motors in the non-operating state by using the following formula:
Awards(i)＝f i (P)+g i (T1)+h i (T2)，
here, the energy consumption capability score afards (i) may be understood as the total bonus score of motor No. i, i representing the motor number, e.g. i =1, 2, …, K.
Where fi (P) represents a preset calculation function of the currently allowed rated dissipation power P of the electric machine, such as a reward score calculation function understood as "currently allowed rated dissipation power" of motor No. i, the greater the currently allowed rated dissipation power P, the greater fi (P), i.e. the higher the reward score, otherwise, the lower, when the electric machine is currently unable to perform the energy dissipation function, the currently allowed rated dissipation power is equal to 0, at which time the reward score may even be set to a negative number.
Wherein gi (T1) represents a preset calculation function of the motor temperature T1, for example, a reward point calculation function understood as "current motor temperature" of the motor i, and the smaller the motor temperature T1, the larger gi (T1) is, i.e., the higher the reward point value is, and otherwise, the lower the reward point value is, even a negative number is.
Where hi (T2) represents a preset calculation function of the motor controller temperature T2, such as a bonus point calculation function understood as "current motor controller temperature" for motor i, the smaller the motor controller temperature T2, the larger hi (T2), i.e. the higher the bonus point value, otherwise the lower it is, or even a negative number.
That is, the first scheme is a table look-up method, and the second scheme is a function calculation method, the former depends on empirical data, and the latter is more real-time. The two schemes are mainly distinguished in step S312A and step S312B, but the energy consumption capability score determination strategies involved in the two steps can be executed by the central management module, or executed by the motor controller at the motor end and feed the result back to the central management module.
In addition, for step S312A and step S312B executed in the same way for both schemes, taking an entity applying the multi-motor drive system as a vehicle host as an example, the currently allowed rated dissipated power P, the motor temperature T1 and the motor controller temperature T2 of each motor in the non-operating state can be obtained by configuring an on-board sensor or a vehicle bus.
Further, for step S320, the motors are preferably selected in sequence from high to low according to the energy consumption capability score afards (i) until the bus voltage detected in real time is out of the abnormal lifting state or until all the motors in the non-operating state are selected to participate in dissipating the excess energy of the dc bus. For example, selecting the motor with the highest energy consumption capability score (i) (the highest total reward score) to participate in energy dissipation, detecting the voltage in real time, and if larger bus voltage rise still occurs, continuously selecting the motor with the highest total reward score to participate in energy dissipation; if the bus voltage is still greatly increased, the motors with the total reward of third-high, fourth-high and … … can be continuously selected to participate in energy dissipation until all the motors in the K non-running states participate in energy dissipation.
It should be noted that, in addition to the above two schemes, the energy consumption capability score may also be determined by other methods, for example, an interpolation method is used to process data that is not in a table corresponding to a table lookup method, which is not limited in this embodiment of the present invention.
Step S400, sending an energy dissipation instruction to a motor controller corresponding to the selected motor, so that the motor controller determines a motor coil combination to dissipate energy in response to the energy dissipation instruction.
Still further, for the motor coil combination of step S400, any one of the following manners may be included:
1) The same combination of partial motor coils is fixedly selected for each energy dissipation command. For example, for a three-phase ac motor, a coil between U and W ports is fixedly used.
2) Different combinations of partial motor coils are alternately selected for each energy dissipation command. For example, for a three-phase ac motor, the coil between the U and V ports is used this time, the coil between the V and W ports is used next time, and the coil between the W and U ports is used next time. This mode makes each coil wheel circulation circular telegram, can balance each coil temperature rise, avoids appearing the problem that the coil temperature risees rapidly when adopting the first mode.
3) For each energy dissipation command, all motor coils are fixedly selected. For example, for a three-phase ac motor, all of the coils between the U, V, W ports are used at a time.
It should be noted that in order to dissipate energy through the motor coil, current must be passed through the motor coil before the coil can dissipate energy through heat generation. In a preferred embodiment, for a certain motor coil combination, any one or more of the following may be used to supply current to the certain motor coil to enable energy dissipation of the motor coil:
1) A direct current voltage of a duration is applied to the motor coil. For example, each dissipation process applies a dc voltage to the coil for a duration of several milliseconds to several seconds, and after entering a stable phase, a current close to dc will flow through the coil.
2) A PWM (Pulse Width Modulation) voltage of a duration is applied to the motor coil. For example, each dissipation process applies a PWM voltage to the coil for a duration of between milliseconds and several seconds, and after entering a stabilization phase, a pulsating dc current will flow through the coil.
3) And (3) firstly applying the PWM voltage for the duration to the motor coil, and then intermittently not applying the voltage, and circulating till the energy dissipation of the motor coil is finished. For example, each dissipation process first applies a Pulse Width Modulation (PWM) voltage with the duration of several milliseconds to several seconds to the coil, then intermittently applies no voltage for several milliseconds to several seconds, and then applies the PWM voltage with the duration of several milliseconds to several seconds again, and the process is circulated until the dissipation process is exited.
4) For a multi-phase alternating current motor, the field current generated in the motor coil under the synchronous rotating coordinate system is controlled, and the torque current under the synchronous rotating coordinate system is close to or equal to zero. For example, for a multi-phase alternating current motor, a vector control technology is adopted to generate a field current i in a motor coil under a synchronous rotation coordinate system M (or id) and applying a torque current i in a synchronous rotating coordinate system T (or iq) is close to or equal to zero, the field current can cause the motor to generate heat and dissipate energy, and the motor basically does not output torque because the torque current is close to or equal to zero; if the motor is provided with a reliable band-type brake mechanism, certain motor torque can be absorbed, and the torque current with the magnitude not exceeding the safety limit value can be controlled to flow in the motor coil, so that the total current flowing through the motor coil is increased, and more energy is consumed. By adopting the mode, the heating of each coil of the motor is more balanced, and the sinusoidal current flows through the coils of the motor, so that the electromagnetic compatibility can be improved.
Further, returning to step S400, after determining the coil combination, the feedback energy control method according to the embodiment of the present invention may further include: and acquiring the abnormal state of the motor coil, and controlling the motor to stop energy dissipation in response to the abnormal state of the motor coil. For example, when abnormal states such as severe over-temperature, short circuit and open circuit of the motor coil are detected or obtained, the motor coil is quitted from the energy dissipation state, any voltage is stopped being applied to the motor coil, the motor is prevented from being damaged by overheating or causing safety accidents, and the purpose of protecting the motor is achieved. For further example, this step may be performed at the motor controller, and depending on a specific fault condition, feedback information about an abnormal performance of the energy dissipation function of the coil to the central management module.
To sum up, for a multi-motor driving system, when a direct current bus is subjected to voltage rise due to energy feedback, the embodiment of the invention utilizes partial or all coils of one or more motors in a non-running state to dissipate energy, thereby reducing the requirements on energy consumption resistors and control parts thereof, even completely replacing the energy consumption resistors, saving the installation space and reducing the material cost.
Fig. 6 is a schematic structural diagram of a feedback energy control system of a multi-motor driving system according to another embodiment of the present invention, which is based on the same inventive concept and applied to the same multi-motor driving system architecture as the feedback energy control method.
Referring to fig. 6, the feedback energy control system includes a central management module 100, and the central management module 100 is configured to: when energy feedback to the direct current bus is detected, whether the bus voltage is abnormally raised is determined; determining a motor in a non-operating state from among the plurality of motors when the bus voltage abnormally rises; selecting a motor for dissipating the redundant energy of the direct current bus according to the energy consumption capability of each motor aiming at the determined motor in the non-operation state; and sending an energy dissipation instruction to a motor controller corresponding to the selected motor, so that the motor controller determines the motor coil combination for energy dissipation in response to the energy dissipation instruction.
The central management module 100 may be a separate controller, a control module integrated within any one of the motor controllers, or a control module integrated within any controller of an entity to which the multi-motor drive system is applied. For example, when the entity to which the multi-motor drive system is applied is a vehicle host, the central management module 100 may be a controller configured separately for the vehicle, or may be a control module integrated in a motor controller or a vehicle controller of the vehicle. The control module is configured by, for example, a CPU, a DSP, or the like.
Further, with continued reference to fig. 6, the regenerative energy control system further includes an energy dissipation control module 200 integrated into the motor controller, the energy dissipation control module 200 configured to: detecting and providing motor state information to the central management module; and determining a motor coil combination for energy dissipation in response to the energy dissipation command. Wherein the central management module 100 is configured to determine whether the corresponding motor is in a non-operation state according to the motor state information.
The central management module 100 and the energy dissipation control module 200 cooperate to perform coordinated management and control with respect to the amount of energy fed back on the bus.
Taking fig. 6 as an example, the multi-motor drive system includes N sets (N is not less than 1) of "motor controller-motor" systems (respectively numbered H1 to HN) having an energy dissipation function, and further includes L sets (L is not less than 0) of ordinary "motor controller-motor" systems (respectively numbered P1 to PL) incapable of performing an energy dissipation function. When no energy is fed back to the direct current bus, the N + L motor controller-motor systems in the multi-motor driving system can work like a common electric system; when energy is fed back to a direct current bus and the bus voltage rises rapidly or the probability of bus voltage overrun is high, all or part of motor coils of one or more motors in a non-operation state in the N sets of motor controller-motor systems with the energy dissipation function can operate the energy dissipation function through coordinated management and control of the central management module 100 and the energy dissipation control module 200.
With respect to the coordinated management and control of the central management module 100 and the energy dissipation control module 200, in conjunction with fig. 6, it can be specifically described as follows: after deciding which motors participate in energy dissipation, the central management module 100 sends control instructions to the energy dissipation control modules 200 of the corresponding motor controllers, and each energy dissipation control module 200 selects a specific coil energy consumption mode according to information such as the performance of a matched motor, the load working condition, the application requirements of a host and the like. The energy dissipation control module 200 controls switching devices such as IGBTs and MOS transistors in a DC/DC or DC/AC power conversion hardware circuit in the motor controller to be switched on and off according to a certain rule no matter which coil dissipates energy and which type of current is supplied. The switching device is switched on and off according to the rule, voltage which changes according to the expectation is applied to the motor coil, so that the required current flows through the motor coil, the coil generates heat, the electric energy fed back to the bus is consumed, and the purpose of dissipating feedback energy is achieved. In addition, the energy dissipation control module 200 also has a function of protecting the motor, which is configured to: and acquiring the abnormal state of the motor coil, and controlling the motor to stop energy dissipation in response to the abnormal state of the motor coil. For example, when the energy dissipation control module 200 detects or acquires that the motor coil has abnormal states such as severe over-temperature, short circuit, open circuit and the like, the energy dissipation control module exits the energy dissipation state, stops applying any voltage to the motor coil, and prevents the motor from being damaged by overheating or causing safety accidents; optionally, depending on the specific fault condition, the energy dissipation control module 200 further feeds back related information such as an abnormal execution of the energy dissipation function to the central management module 100.
For more details of the coordinated management and control of the central management module 100 and the energy dissipation control module 200, reference may be made to the aforementioned embodiments of the feedback energy control method, and further description is omitted here.
To sum up, the feedback energy control system of the multi-motor driving system according to the embodiment of the present invention includes a central management module 100 and a distributed energy dissipation control module 200, which cooperate to manage the energy dissipation function operation of the multi-motor driving system, and particularly, the feedback energy is consumed by using a part or all of the motor coils of one or more motors in a non-operation state in the common dc bus multi-motor driving system, so as to reduce the requirements for the energy consumption resistor and the control components thereof, and even completely replace the energy consumption resistor, thereby saving the installation space and reducing the material cost.
Another embodiment of the present invention further provides a multi-motor driving system, which can be configured as shown in fig. 6, and includes the feedback energy control system according to the above embodiment. The multi-motor drive system is applied to, for example, an electric vehicle, an agricultural machine, an engineering machine, and the like.
Another embodiment of the present invention further provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the feedback energy control method of the multi-motor drive system according to the above-mentioned embodiment. Wherein the machine is for example a central management module configured separately as a controller or integrated in a motor controller or in a controller of an entity applying a multi-motor drive system. Additionally, the machine-readable storage medium includes, but is not limited to, phase change Memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash Memory (Flash Memory) or other Memory technologies, compact disc read only Memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, and the like, which can store program code.
For more details and effects of the multi-motor driving system and the machine-readable storage medium of the above embodiments, reference may be made to the foregoing embodiments related to the feedback energy control method or system, and further description is omitted here.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
It should be noted that the technical features described in the above embodiments may be combined in any suitable manner, for example, by exchanging the execution order of some steps. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (15)
1. The method is characterized in that the multi-motor driving system comprises a plurality of motors, motor controllers respectively matched with the motors and a common direct current source for supplying energy to the motors through direct current buses;
the feedback energy control method includes:
when energy feedback to the direct current bus is detected, whether the bus voltage is abnormally raised is determined;
determining a motor in a non-operating state from among the plurality of motors when the bus voltage abnormally rises;
aiming at the determined motors in the non-operation state, selecting the motors according to the energy consumption capacity of each motor to dissipate redundant energy of the direct current bus; and
an energy dissipation instruction is sent to a motor controller corresponding to the selected motor to cause the motor controller to determine a motor coil combination for energy dissipation in response to the energy dissipation instruction.
2. The method of claim 1, wherein the determining whether the bus voltage is abnormally elevated comprises:
and collecting the bus voltage, and determining that the bus voltage is abnormally lifted when the lifting speed of the bus voltage exceeds a set threshold value or the numerical value of the bus voltage exceeds a set range.
3. The method of claim 1, wherein the determining the motor in the non-operating state from among the plurality of motors comprises:
acquiring motor state information from a motor controller corresponding to each motor; and
and determining whether the corresponding motor is in a non-operation state or not according to the motor state information.
4. The method of claim 1 to 3, wherein the selecting the motors according to the energy consumption capacities of the respective motors comprises:
determining energy consumption capability scores Awards (i) of the motors; and
and selecting the motor to dissipate the redundant energy of the direct current bus according to the energy consumption capability score Awards (i).
5. The feedback energy control method of a multi-motor drive system according to claim 4, wherein the determining the energy consumption capability scores Awards (i) of the respective motors comprises:
acquiring the determined current allowable rated dissipation power P, the motor temperature T1 and the motor controller temperature T2 of each motor in the non-operation state; and
and (3) searching the determined energy consumption capability scores Awards (i) of all the motors in the non-operation state from a preset table showing the corresponding relation among the currently allowed rated dissipated power P, the motor temperature T1 and the motor controller temperature T2 and the motor energy consumption capability scores by adopting a table look-up method.
6. The method of claim 4, wherein determining the energy consumption capability scores (Awards (i)) of the respective motors comprises:
acquiring the determined current allowable rated dissipation power P, the motor temperature T1 and the motor controller temperature T2 of each motor in the non-operation state; and
calculating the determined energy consumption capability scores Awards (i) of the motors in the non-operation state by adopting the following formula:
Awards(i)＝f i (P)+g i (T1)+h i (T2)，
wherein i represents electricityMachine number, f i (P) a preset calculation function, g, representing the current allowable nominal dissipation power P of the machine i (T1) a preset calculation function, h, representing the motor temperature T1 i (T2) a preset calculation function representing the motor controller temperature T2; wherein, the larger the current allowable rated dissipation power P is, f i The larger (P) is; the smaller the motor temperature T1, g i The larger the (T1); the smaller the motor controller temperature T2, h i The larger (T2).
7. The method of claim 4 wherein selecting motors to dissipate excess dc bus energy according to the energy consumption capability score, afards (i), comprises:
and sequentially selecting the motors from high to low according to the energy consumption capability score Awards (i) until the bus voltage detected in real time is separated from the abnormal lifting state or all the motors in the non-running state are selected to participate in the dissipation of the redundant energy of the direct current bus.
8. The method of claim 1, wherein the motor coil assembly comprises any one of the following:
for each energy dissipation command, fixedly selecting the same combination of partial motor coils;
alternately selecting combinations of different parts of the motor coils for each energy dissipation command; or alternatively
For each energy dissipation command, all motor coils are fixedly selected.
9. The method of claim 1 further comprising, for a given motor coil combination, applying current to the given motor coil to dissipate energy using any one or more of:
applying a direct current voltage for a duration to a motor coil;
applying a Pulse Width Modulated (PWM) voltage of a duration to a motor coil;
firstly applying PWM voltage with duration to the motor coil, then intermittently not applying voltage, and circulating the process until the energy dissipation of the motor coil is finished; and
for a multi-phase alternating current motor, a field current generated in a motor coil under a synchronous rotating coordinate system is controlled, and a torque current under the synchronous rotating coordinate system is made to be close to or equal to zero.
10. The method of claim 1, further comprising:
and acquiring the abnormal state of the motor coil, and controlling the motor to stop energy dissipation in response to the abnormal state of the motor coil.
11. A feedback energy control system of a multi-motor driving system is characterized in that the multi-motor driving system comprises a plurality of motors, motor controllers respectively matched with the motors and a common direct current source for supplying energy to the motors through direct current buses;
and, the feedback energy control system includes a central management module configured to:
when energy feedback to the direct current bus is detected, whether the bus voltage is abnormally raised is determined;
when the bus voltage is abnormally raised,
determining a motor in a non-operational state from among the plurality of motors;
selecting a motor for dissipating the redundant energy of the direct current bus according to the energy consumption capability of each motor aiming at the determined motor in the non-operation state; and
an energy dissipation command is sent to the motor controller corresponding to the selected motor to cause the motor controller to determine a motor coil combination for energy dissipation in response to the energy dissipation command.
12. The system of claim 11, wherein the central management module is a separate controller, a control module integrated within any one of the motor controllers, or a control module integrated within any controller of an entity employing the multi-motor drive system.
13. A regenerative energy control system for a multi-motor drive system as defined in claim 11 or claim 12 further comprising an energy dissipation control module integrated into the motor controller, the energy dissipation control module configured to: detecting and providing motor state information to the central management module; and determining a motor coil combination for energy dissipation in response to the energy dissipation command;
and the central management module is configured to determine whether the corresponding motor is in a non-operation state according to the motor state information.
14. A multi-motor drive system comprising the feedback energy control system of the multi-motor drive system according to any one of claims 11 to 13.
15. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of feedback energy control for a multi-motor drive system of any of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211401378.3A CN115833071A (en) | 2022-11-09 | 2022-11-09 | Multi-motor driving system and feedback energy dissipation method and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211401378.3A CN115833071A (en) | 2022-11-09 | 2022-11-09 | Multi-motor driving system and feedback energy dissipation method and system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115833071A true CN115833071A (en) | 2023-03-21 |
Family
ID=85527430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211401378.3A Pending CN115833071A (en) | 2022-11-09 | 2022-11-09 | Multi-motor driving system and feedback energy dissipation method and system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115833071A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2766436Y (en) * | 2004-11-23 | 2006-03-22 | 上海长江斯迈普电梯有限公司 | Multi elevator sharing DC generatrix energy-saving device |
| CN101332774A (en) * | 2008-08-06 | 2008-12-31 | 山东理工大学 | Automobile brake energy regeneration control device and system |
| CN102044974A (en) * | 2010-08-11 | 2011-05-04 | 江苏斯达工业科技有限公司 | Main circuit topological structure of energy feedback device |
| CN204454215U (en) * | 2015-01-28 | 2015-07-08 | 广州广日电梯工业有限公司 | The escalator of two permanent-magnet synchronous host driven or footway control system |
| CN105281348A (en) * | 2014-07-21 | 2016-01-27 | 苏州伟创电气设备技术有限公司 | Motor energy feedback control method and device |
| CN210852070U (en) * | 2019-09-09 | 2020-06-26 | 东南大学盐城新能源汽车研究院 | Braking energy feedback device based on double energy sources for vehicle-mounted electric automobile |
| US20200220439A1 (en) * | 2016-12-30 | 2020-07-09 | Axel Michael Sigmar | Integrated Adaptive Polyphase Electric Motor |
| WO2022121332A1 (en) * | 2020-12-11 | 2022-06-16 | 珠海格力电器股份有限公司 | Power supply control device and method for bearing controller, and magnetic suspension system |
-
2022
- 2022-11-09 CN CN202211401378.3A patent/CN115833071A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2766436Y (en) * | 2004-11-23 | 2006-03-22 | 上海长江斯迈普电梯有限公司 | Multi elevator sharing DC generatrix energy-saving device |
| CN101332774A (en) * | 2008-08-06 | 2008-12-31 | 山东理工大学 | Automobile brake energy regeneration control device and system |
| CN102044974A (en) * | 2010-08-11 | 2011-05-04 | 江苏斯达工业科技有限公司 | Main circuit topological structure of energy feedback device |
| CN105281348A (en) * | 2014-07-21 | 2016-01-27 | 苏州伟创电气设备技术有限公司 | Motor energy feedback control method and device |
| CN204454215U (en) * | 2015-01-28 | 2015-07-08 | 广州广日电梯工业有限公司 | The escalator of two permanent-magnet synchronous host driven or footway control system |
| US20200220439A1 (en) * | 2016-12-30 | 2020-07-09 | Axel Michael Sigmar | Integrated Adaptive Polyphase Electric Motor |
| CN210852070U (en) * | 2019-09-09 | 2020-06-26 | 东南大学盐城新能源汽车研究院 | Braking energy feedback device based on double energy sources for vehicle-mounted electric automobile |
| WO2022121332A1 (en) * | 2020-12-11 | 2022-06-16 | 珠海格力电器股份有限公司 | Power supply control device and method for bearing controller, and magnetic suspension system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9018878B2 (en) | Derating vehicle electric drive motor and generator components | |
| JP6183699B2 (en) | Fuel cell vehicle | |
| JP3582523B2 (en) | Electric load device, abnormality processing method, and computer-readable recording medium recording a program for causing a computer to execute electric load abnormality processing | |
| KR100747140B1 (en) | Voltage converting device, computer readable recording medium with program recorded thereon for causing computer to execute failure processing, and failure processing method | |
| JP2007290483A5 (en) | ||
| JP5274504B2 (en) | Automotive power system | |
| JP7041095B2 (en) | Power system | |
| JP2017099244A (en) | Power supply system, transportation equipment and power transmission method | |
| CN108493524B (en) | Fuel cell system | |
| US20180267502A1 (en) | Servo motor control apparatus for controlling servo motor and servo motor control system including the same | |
| JP5286743B2 (en) | Output torque control device, vehicle drive system, and vehicle including vehicle drive system | |
| JP2022019798A (en) | Motor drive apparatus including power storage device | |
| JP2009254206A (en) | Power source control system | |
| JP2017147829A (en) | Power supply system, transportation equipment, and control method of power transmission system | |
| JP2000188897A (en) | Motor controller | |
| JP7469036B2 (en) | Motor drive device having a protection mechanism | |
| JP2022144934A (en) | Power supply system | |
| JP6824342B1 (en) | Power converter control device | |
| JP2018207753A (en) | Motor driving system including abnormality detection unit of power storage device | |
| CN115833071A (en) | Multi-motor driving system and feedback energy dissipation method and system thereof | |
| JP2006033966A (en) | Motor drive unit | |
| JP2006067668A (en) | Motor controller | |
| JP7007421B2 (en) | Motor drive device with power storage device | |
| JP7259806B2 (en) | cooling controller, program | |
| JPH1118464A (en) | Motor controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |