CN115933394A - Parameter estimation method of motor controller - Google Patents
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Abstract
The invention relates to a method for estimating junction temperature, water temperature and flow parameters of a motor controller, which is characterized by comprising the following steps of: the method comprises the following steps: calculating the loss of the power component; step two: estimating the flow of cooling water according to the collected temperatures of the U-phase power component and the W-phase power component and the calculated loss; step three: estimating the temperature of the U-phase, V-phase and W-phase cooling water according to the acquired temperature of the U-phase, V-phase and W-phase power components, the calculated loss and the estimated cooling flow; step four: and estimating the junction temperature of the power component according to the collected temperature of the power component, the calculated loss, the cooling water flow and the temperature. Compared with the prior art, the invention has the advantages of not depending on the temperature and the flow detected by the temperature sensor and the flow sensor, reducing the cost of the whole vehicle and the like.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a parameter estimation method of a motor controller.
Background
In a main drive motor controller of a new energy automobile, 50% of failures of power electronic devices are caused by thermal failures of power components. Particularly for new energy vehicles which are used in environments and complex places, the controller inevitably works under extreme working conditions of heavy load slope rising, hundred kilometers acceleration and locked rotor, and the working conditions undoubtedly increase the over-temperature risk of the controller. At present, power components and parts thermal protection is being carried out, and there are two kinds of modes, firstly according to operating condition such as cooling water temperature, cooling water flow, busbar voltage, rotational speed, electric current, judge whether have the excess temperature risk. And secondly, estimating junction temperature, wherein when the junction temperature is estimated, the flow and the temperature of cooling water are input into a junction temperature estimation model, and the controller judges whether the power component has over-temperature risk according to the estimated junction temperature.
The flow and temperature of the cooling water are inputs to both methods, and therefore, cooling water flow and temperature sensors must be installed on the vehicle or on the controller to implement the thermal protection strategy described above. The installation of the sensor undoubtedly increases the cost of the whole vehicle and the motor controller.
Disclosure of Invention
The present invention is directed to a method for estimating parameters of a motor controller to overcome the above-mentioned drawbacks of the prior art.
The purpose of the invention can be realized by the following technical scheme:
a method of parameter estimation for a motor controller, the method comprising the steps of:
the method comprises the following steps: calculating the loss of the power component;
step two: estimating the flow of cooling water according to the collected temperatures of the U-phase power component and the W-phase power component and the calculated loss;
step three: estimating the temperatures of the U-phase, V-phase and W-phase cooling water according to the acquired temperatures of the U-phase, V-phase and W-phase power components, the calculated losses and the estimated cooling flow;
step four: and estimating the junction temperature of the power component according to the collected temperature of the power component, the calculated loss, the cooling water flow and the temperature.
Further, the loss of the power component is calculated according to the bus voltage, the phase current, the duty ratio, the switching frequency and the estimated junction temperature, and the loss of the power component comprises the following loss of an IGBT (insulated gate bipolar transistor) and the loss of a diode:
P＝P i +P d
wherein P is the loss of the power device, P i For IGBT losses, P d Is the loss of the diode.
Further, the IGBT losses include: conduction loss of the IGBT, switching loss of the IGBT:
P i ＝P ic +P is
P ic ＝V ids I C D
P is ＝F s u dc (k io +k i1 I C +k i2 I C ^2)
in the formula, P i For depletion of IGBT, P ic For the conduction loss, P, of the IGBT is Is the switching loss of IGBT, V ids Is the IGBT source drain voltage, I C Is the instantaneous value of phase current, D is the duty ratio, F s To the switching frequency, u dc Is the bus voltage, k i0 、k i1 And k i2 The IGBT switching loss is a factor of 0 time, one time and two times;
the diode losses include: conduction loss of the diode and reverse recovery loss of the diode:
P d ＝P dc +P dr
P dc ＝V dds I C (1-D)
P dr ＝F s u dc (k d0 +k d1 I C +k d2 I C ^2)
in the formula, P d Is a loss of the diode, P dc For diode conduction losses, P dr For diode reverse recovery losses, V dds For diode conduction voltage drop, I C Is the instantaneous value of phase current, D is the duty ratio, F s To the switching frequency, u dc Is the bus voltage, k d0 、k d1 And k d2 The coefficients of the diode switching loss are 0 times, one time and two times respectively.
Further, the step of estimating the flow rate of the cooling water in the second step includes:
and C, according to the power component loss calculated in the step one, the collected U-phase and W-phase temperatures and the cooling water temperature rise thermal model, and based on a model reference adaptive algorithm, realizing closed loop of the collected temperature difference of the U-phase and W-phase temperature sensors and the temperature difference of the U-phase and W-phase temperature sensors estimated by the cooling water temperature rise thermal model, thereby estimating the flow of the cooling water.
Further, the mathematical expression of the cooling water temperature rise thermal model is as follows:
y f ＝C f x f
in the formula, x f Is a state variable of the system, x f ＝[x j1 -x f2 x f2 -x f3 x f3 -T u ] T ；y f As output of the system, y f ＝T w -T u ；u f As input to the system, u f ＝P，T w And T u Temperature, matrix A, collected for W-phase and U-phase, respectively f 、B f 、C f Comprises the following steps:
C f ＝[1 1 1]
in the formula, R f1 、C f1 、R f2 、C f2 、R f3 、C f3 The parameter is related to the flow of the cooling water, and the parameter value related to the flow of the cooling water corresponding to each flow is calibrated in advance.
Further, the step of estimating the temperature of the cooling water in the third step comprises:
and (3) according to the loss of the power components calculated in the step one, the estimated cooling water flow in the step two, the temperature of each phase acquired by the temperature sensor and the thermal model of the temperature sensor, adopting a model reference self-adaptive algorithm to realize closed loop of the temperature difference between the temperature detected by the temperature sensor of each phase and the estimated water temperature of each phase and the temperature difference between the estimated controller temperature of each phase and the estimated water temperature of each phase, and estimating the temperature of each phase of cooling water.
Further, the mathematical expression of the thermal model of the temperature sensor is as follows:
y t ＝C t x t
in the formula x t State variable of a system of formula x t ＝[x t1 -x t2 x t2 -x t3 x t3 -T u_cool ] T ；y t As an output of the system, y t ＝T u -T u_cool ；u t As input to the system, u t = P matrix A t 、B t 、C t Is composed of
C t ＝[1 1 1]
In the formula, R t1 、C t1 、R t2 、C t2 、R t3 、C t3 The thermal parameter related to the cooling water temperature is related to the flow of the cooling water, and the thermal parameter related to the cooling water temperature corresponding to each flow is calibrated in advance.
Further, the step four of estimating the junction temperature of the power device includes:
and estimating a thermal model according to the loss calculated in the step one, the cooling water flow estimated in the step two, the cooling water temperature of each phase estimated in the step three, the temperature of each phase acquired by the temperature sensor and the junction temperature, and estimating the junction temperature of each phase power component by adopting an observer to perform closed loop on the temperature difference between the acquired temperature of each phase controller and the estimated water temperature and the temperature difference between the temperature of each phase controller and the estimated water temperature.
Further, the junction temperature estimation thermal model is as follows:
y＝Cx
wherein x is the state variable of the system, and x = [ x = j1 -x j2 x j2 -x j3 x j3 -T u_cool x t1 -x t2 x t2 -x t3 x t3 -T u_cool ] T (ii) a y is the output of the system, y = [ T = [) j -T u_cool T u -T u_cool ] T (ii) a u is the input of the system, u = P, and the matrices a, B, C are:
in the above formula, R j1 、C j1 、R j2 、C j2 、R j3 、C j3 For junction temperature-dependent thermal model parameters, R t1 、C t1 、R t2 、C t2 、R t3 、C t3 For the thermal parameter relating to the temperature of the cooling water, the values of the two thermal parameters are related to the flow of the cooling water, each timeThe thermal parameter value corresponding to each flow is calibrated in advance.
Further, the mathematical model for estimating the junction temperature of each power component in the single-phase motor by using the observer is as follows:
in the above formula, the first and second carbon atoms are,
is an estimate of the system status>
z is the observed signal, is greater than or equal to>
In order to estimate the observed signal of the signal,
T u for the phase temperature detected by the temperature sensor>
For the estimated cooling water temperature of the phase, A and B are coefficient matrices, L is an observer matrix, and H is an observation matrix, which are:
H＝[0 0 0 1 1 1]
in the above formula 1 、l 2 、l 3 、l 4 、l 5 、l 6 Observer parameters are obtained;
the estimated junction temperature
Expressed as:
in the above equation, D is the output matrix:
D＝[1 1 1 0 0 0]。
compared with the prior art, the invention has the following beneficial effects:
the invention provides a method for estimating junction temperature, cooling liquid temperature and cooling water flow, which does not rely on a temperature sensor and a flow sensor for cooling water to detect the temperature and the flow of the cooling water and estimate the junction temperature. When the whole vehicle or the controller is in heat management, a cooling water flow and cooling water temperature sensor is not needed, so that the cost of the whole vehicle is greatly reduced.
Secondly), the new energy automobile carrying the motor controller parameter estimation method provided by the invention can still normally carry out junction temperature estimation under the condition that the temperature sensor and the flow sensor are invalid, thereby improving the safety of a vehicle system.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of a motor controller junction temperature, water temperature and flow estimation provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a controller according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a power device provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a cooling water temperature rise thermal model of a power component according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an embodiment of the present invention for estimating the flow of cooling water for a power component;
FIG. 7 is a schematic diagram of a thermal model of a temperature sensor for providing power components according to an embodiment of the invention;
FIG. 8 is a schematic diagram of an embodiment of the present invention for estimating the temperature of cooling water of power components;
fig. 9 is a schematic diagram of a junction temperature estimation thermal model of a power device according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a junction temperature estimation of a power device according to an embodiment of the present invention;
the reference numbers in the figures indicate:
1. the chip of the power component, 2, the binding line of the power component, 3, copper, 4, a temperature sensor (NTC) are used for detecting the temperature of the controller, 5, a welding layer, 6, a packaging part of the power component, 7 and a heat dissipation part of the power component.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The invention mainly solves the problem that under the condition of no cooling water temperature and flow sensor, the junction temperature, the cooling water temperature and the cooling water flow are estimated, comprising the following steps:
the method comprises the following steps: and calculating the loss of the power component. And calculating the loss of the power component according to the bus voltage, the phase current, the duty ratio, the switching frequency and the estimated junction temperature.
Step two: the flow rate of the cooling water is estimated. And C, according to the loss calculated in the step one, the collected U-phase temperature and W-phase temperature and the cooling water temperature rise thermal model, and based on a model reference adaptive algorithm, realizing closed loop of the collected temperature difference of the U-phase temperature sensor and the W-phase temperature sensor and the temperature difference of the U-phase temperature sensor and the W-phase temperature sensor estimated by the cooling water temperature rise thermal model, thereby estimating the flow of the cooling water.
Step three: the temperature of the cooling water of each phase was estimated. And (3) according to the loss of the power components calculated in the step one, the estimated cooling water flow in the step two, the temperature of each phase acquired by the temperature sensor and the thermal model of the temperature sensor, adopting a model reference self-adaptive algorithm to realize closed loop of the temperature difference between the temperature detected by the temperature sensor of each phase and the estimated water temperature of each phase and the temperature difference between the estimated controller temperature of each phase and the estimated water temperature of each phase, and estimating the temperature of each phase of cooling water.
Step four: and estimating the junction temperature of the power component. And (4) estimating a thermal model according to the loss calculated in the first step, the cooling water flow estimated in the second step, the cooling water temperature of each phase estimated in the third step, the temperature of each phase acquired by the temperature sensor and the junction temperature, and realizing closed loop by adopting an observer to estimate the temperature difference between the acquired temperature of each phase controller and the estimated water temperature and the temperature difference between the temperature of each phase controller and the estimated water temperature and estimate the junction temperature of each phase power component.
The method is mainly applied to estimation of junction temperature, cooling water flow and cooling water temperature of a motor controller, in particular to estimation of junction temperature, water temperature and flow of a main drive controller of a new energy automobile, and a basic principle schematic diagram of the method is shown in figure 2.
Fig. 3 is a schematic diagram of a motor controller of a new energy automobile, and U, V, and W three-phase power components are used for controlling three-phase currents, wherein a U phase is close to a water inlet, and a W phase is close to a water outlet.
Fig. 4 is a schematic diagram of the power component of the controller under study, in which 1 is a chip of the power component, 2 is a binding line of the power component, 3 is copper, 4 is a temperature sensor (NTC) for detecting the temperature of the controller, 5 is a solder layer, 6 is a packaging part of the power component, and 7 is a heat dissipation part of the power component.
When the power component is electrified, the loss is inevitably generated, the loss passes through the packaging structure from the chip to the power component, and finally the heat is partially dissipated through the heat dissipation part, so that the temperature of the component is raised in the whole process. The temperature rise in the whole process comprises transverse temperature rise and longitudinal temperature rise, the transverse temperature rise loss causes the temperature rise of cooling water, the thermal model for pairing is a transverse thermal model, the longitudinal temperature rise causes the temperature rise of the power components and the NTC, and the thermal model for pairing is a longitudinal thermal model. The invention is based on the characteristics of transverse and longitudinal thermal models.
A junction temperature, water temperature and flow estimation method of a motor controller mainly has the functions of cooling water temperature estimation, cooling water flow and junction temperature estimation and comprises the following steps
The method comprises the following steps: and calculating the loss of the power component.
The loss of power components and parts, including IGBT's conduction loss, IGBT's switching loss, the reverse recovery loss of diode's conduction loss and diode, its mathematical model is as follows:
P＝P i +P d
P i ＝P i c+P i s
P ic ＝V ids I C D
P is ＝F s u dc (k i0 +k i1 I C +k i2 I C ^2)
P d ＝P dc +P dr
P dc ＝V dds I C (1-D)
P dr ＝F s u dc (k d0 +k d1 I C +k d2 I C ^2)
wherein P is the loss of the power device, P i For depletion of IGBT, P d Is a loss of the diode, P ic For the conduction losses, P, of the IGBT is Is the switching loss of IGBT, I C As instantaneous value of phase current, V ids Is IGBT source drain voltage, D is duty ratio, F s To the switching frequency, u dc Is the bus voltage, k i0 、k i1 And k i2 The IGBT switching loss is a factor of 0 time, one time and two times. P dc For diode conduction losses, P dr For diode reverse recovery losses, V dds Is the diode conduction voltage drop, k d0 、k d1 And k d2 The diode switching losses are 0, one and two times.
Step two: the flow rate of the cooling water is estimated.
When the electric control works, the power components and parts generate loss, and the loss causes the temperature of the cooling liquid to rise along the water inlet to the water outlet. The temperature rise process can be modeled using a third order RC thermal model, as shown in fig. 5. Its mathematical model can be represented by the following formula:
y f ＝C f x f
in the formula x f Is a state variable of the system, x f ＝[x f1 -x f2 x j2 -x j3 x j3 -T u ] T ；y f As an output of the system, y f ＝T w -T u ；u f As input to the system, u f = P, matrix A f 、B f 、C f Is composed of
C f ＝[1 1 1]
In the formula, R f1 、C f1 、R f2 、C f2 、R f3 、C f3 For the cooling water to be flow-related, which parameter is related to the flow of cooling water, it is necessary to calibrate these parameter values for each flow pair.
FIG. 6 is a flow estimation method, T in the figure, according to the present invention w -T u To detect the temperature difference between the W-phase and the V-phase,
for an estimated temperature difference of the W phase and the U phase>
For an estimated cooling water flow, is>
Is the estimated junction temperature. And realizing temperature closed loop based on the detected temperature difference acquired by the U phase and the W phase and the temperature difference of the U phase and the W phase estimated by the thermal model, and finally estimating the flow of the cooling water based on a model reference adaptive algorithm (MRAS).
Estimating the temperature of each phase of cooling water
The electrical control generates losses that will cause the temperature of the NTC to rise. The estimation of the temperature of the cooling water includes the estimation of the temperatures of the three-phase cooling water of the U-phase, the V-phase and the W-phase, and the estimation principles of the temperatures of the three-phase cooling water are consistent.
The increase in NTC temperature caused by loss can be represented by a 3-order thermal model, as shown in fig. 7. The entire temperature rise process can be described by using a state equation
y t ＝C t x t
In the formula x t State variable of a system of formulae, x t ＝[x t1 -x t2 x t2 -x t3 x t3 -T u_cool ] t ；y t As an output of the system, y t ＝T u -T u_cool ；u f As input to the system, u t = P, matrix A t 、B t 、C t Comprises the following steps:
C t ＝[1 1 1]
in the formula, R t1 、C t1 、R t2 、C t2 、R t3 、C t3 For the thermal parameters related to the cooling water flow, which parameters are related to the flow of cooling water, it is necessary to calibrate these parameter values for each flow pair.
Fig. 8 shows a method for estimating cooling water temperature according to the present invention. In the drawings
The estimated cooling water flow rate, T, for step two u For a U-phase temperature detected by a temperature sensor, <' >>
For an estimated U-phase temperature, <' >>
Is the estimated U-phase cooling water temperature. And realizing a temperature closed loop based on a model reference adaptive algorithm (MRAS) based on the detected temperature difference between the U temperature and the estimated U-phase cooling water temperature and the estimated temperature difference between the U-phase temperature and the estimated U-phase cooling water temperature, and finally estimating the temperature of the cooling water.
Step four: estimating junction temperature of power component
The loss generated by the electric control will cause the temperature of the power components to rise, and the temperature rise process can be represented by a three-order RC model, as shown in fig. 9.
And the junction temperature estimation comprises the junction temperature estimation of U, V and W three-phase power components. The invention patent only takes the U phase as an example to explain the principle of junction temperature estimation, and other two-phase principles are basically the same.
Mathematical models of junction temperature estimation, which can be expressed by equations of state
y＝Cx
Wherein x is the state variable of the system, x = [ x ] j1 -x j2 x j2 -x j3 x j3 -T u_cool x t1 -x t2 x t2 -x t3 x t3 -T u_cool ] T (ii) a y is the output of the system, y = [ T = [) j -T u_cool T u -T u_cool ] T (ii) a u is the input of the system, u = P, and the matrices a, B, C are:
in the above formula, R j1 、C j1 、R j2 、C j2 、R j3 、C j3 For junction temperature dependent thermal model parameters, whose values are related to the flow of cooling water, these parameter values for each flow pair need to be calibrated.
FIG. 10 is a method for estimating junction temperature according to the present invention, in which an observer is used to estimate junction temperature of a power device, and a mathematical model of the method is
In the above formula, the first and second carbon atoms are,
is an estimate of the state of the system>
z is the observed signal, is greater than or equal to>
In order to estimate the observed signal of the signal,
l is an observer matrix and H is an observation matrix, respectively
H＝[0 0 0 1 1 1]
In the above formula 1 、l 2 、l 3 、l 4 、l 5 、l 6 Are observer parameters.
The estimated junction temperature
Can be represented by the following formula>
In the above formula, D is the output matrix
D＝[1 1 1 0 0 0]
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A method of estimating parameters of a motor controller, the method comprising the steps of:
the method comprises the following steps: calculating the loss of the power component;
step two: estimating the flow of cooling water according to the collected temperatures of the U-phase power component and the W-phase power component and the calculated loss;
step three: estimating the temperature of the U-phase, V-phase and W-phase cooling water according to the acquired temperature of the U-phase, V-phase and W-phase power components, the calculated loss and the estimated cooling flow;
step four: and estimating the junction temperature of the power component according to the collected temperature of the power component, the calculated loss, the cooling water flow and the temperature.
2. The parameter estimation method of the motor controller according to claim 1, wherein the loss of the power device is calculated according to a bus voltage, a phase current, a duty ratio, a switching frequency, and an estimated junction temperature, and the loss of the power device includes an IGBT loss and a diode loss:
P＝P i +P d
wherein P is the loss of the power device, P i For depletion of IGBT, P d Is the loss of the diode.
3. The parameter estimation method of a motor controller according to claim 2, wherein the IGBT loss includes: conduction loss of the IGBT, switching loss of the IGBT:
P i ＝P ic +P is
P ic ＝V ids I C D
P is ＝F s u dc (k i0 +k i1 I C +k i2 I C ^2)
in the formula, P i For depletion of IGBT, P ic For the conduction losses, P, of the IGBT is Is the switching loss of IGBT, V ids Is IGBT source drain voltage, I C Is the instantaneous value of phase current, D is the duty ratio, F s To the switching frequency, u dc Is the bus voltage, k i0 、k i1 And k i2 The IGBT switching loss is a factor of 0 time, one time and two times;
the diode losses include: conduction loss of the diode and reverse recovery loss of the diode:
P d ＝P dc +P dr
P dc ＝V dds I C (1-D)
P dr ＝F s u dc (k d0 +k d1 I C +k d2 I C ^2)
in the formula, P d Is a loss of the diode, P dc For diode conduction losses, P dr For diode reverse recovery losses, V dds For diode conduction voltage drop, I C Is the instantaneous value of phase current, D is the duty ratio, F s Is the switching frequency u dc Is the bus voltage, k d0 、k d1 And k d2 The coefficients of the diode switching loss are 0 times, one time and two times respectively.
4. The parameter estimation method of a motor controller according to claim 1, wherein the step of estimating the flow rate of the cooling water in the second step comprises:
and C, according to the power component loss calculated in the step one, the collected U-phase and W-phase temperatures and the cooling water temperature rise thermal model, and based on a model reference adaptive algorithm, realizing closed loop of the collected temperature difference of the U-phase and W-phase temperature sensors and the temperature difference of the U-phase and W-phase temperature sensors estimated by the cooling water temperature rise thermal model, thereby estimating the flow of the cooling water.
5. The parameter estimation method of a motor controller according to claim 4, wherein the mathematical expression of the cooling water temperature rise thermal model is:
y f ＝C f x f
in the formula, x f Is a state variable of the system, x f ＝[x j1 -x j2 x j2 -x j3 x f3 -T u ] T ；y f As an output of the system, y f ＝T w -T u ；u f As input to the system, u f ＝P，T w And T u Temperature, matrix A, collected for W-phase and U-phase, respectively f 、B f 、C f Comprises the following steps:
C f ＝[1 1 1]
in the formula, R f1 、C f1 、R f2 、C f2 、R f3 、C f3 The parameter is related to the flow of the cooling water, and the parameter value related to the flow of the cooling water corresponding to each flow is calibrated in advance.
6. The parameter estimation method of a motor controller according to claim 1, wherein the step of estimating the cooling water temperature in the third step includes:
and (3) according to the loss of the power components calculated in the step one, the estimated cooling water flow in the step two, the temperature of each phase acquired by the temperature sensor and the thermal model of the temperature sensor, adopting a model reference self-adaptive algorithm to realize closed loop of the temperature difference between the temperature detected by the temperature sensor of each phase and the estimated water temperature of each phase and the temperature difference between the estimated controller temperature of each phase and the estimated water temperature of each phase, and estimating the temperature of each phase of cooling water.
7. The parameter estimation method of a motor controller according to claim 6, wherein the mathematical expression of the thermal model of the temperature sensor is:
y t ＝C t x t
in the formula x t State variable of a system of formulae, x t ＝[x t1 -x t2 x t2 -x t3 x t3 -T u_cool ] T ；y t As an output of the system, y t ＝T u -T u_cool ；u t As input to the system, u t = P matrix A t 、S t 、C t Is composed of
C t ＝[1 1 1]
In the formula, R t1 、C t1 、R t2 、C t2 、R t3 、C t3 The thermal parameter related to the cooling water temperature is related to the flow of the cooling water, and the thermal parameter related to the cooling water temperature corresponding to each flow is calibrated in advance.
8. The method of claim 1, wherein the step of estimating the junction temperature of the power device in the fourth step comprises:
and estimating a thermal model according to the loss calculated in the step one, the cooling water flow estimated in the step two, the cooling water temperature of each phase estimated in the step three, the temperature of each phase acquired by the temperature sensor and the junction temperature, and estimating the junction temperature of each phase power component by adopting an observer to perform closed loop on the temperature difference between the acquired temperature of each phase controller and the estimated water temperature and the temperature difference between the temperature of each phase controller and the estimated water temperature.
9. A method of parameter estimation for a motor controller according to claim 8, wherein the junction temperature estimation thermal model is:
y＝Cx
wherein x is a state variable of the system, and x = [ x ] j1 -x j2 x j2 -x j3 x j3 -T u_cool x t1 -x t2 x t2 -x t3 x t3 -T u_cool ] T (ii) a y is the output of the system, y = [ T = [) j -T u_cool T u -T u_cool ] T (ii) a u is the input of the system, u = P, and the matrices a, B, C are:
in the above formula, R j1 、C j1 、R j2 、C j2 、R j3 、C j3 For junction temperature-dependent thermal model parameters, R t1 、C t1 、R t2 、C t2 、R t3 、C t3 The thermal parameters are related to the temperature of the cooling water, the values of the two thermal parameters are related to the flow of the cooling water, and the thermal parameter value corresponding to each flow is calibrated in advance.
10. The method for estimating parameters of the motor controller according to claim 9, wherein the mathematical model for estimating the junction temperature of each power component by the observer for a single motor phase is as follows:
in the above-mentioned formula, the compound has the following structure,
is an estimate of the state of the system>
z is the observed signal, is greater than or equal to>
In order to estimate the observed signal of the signal,
T u for the phase temperature detected by the temperature sensor, <' >>
For the estimated cooling water temperature of the phase, A and B are coefficient matrices, L is an observer matrix, and H is an observation matrix, which are: />
H＝[0 0 0 1 1 1]
In the above formula 1 、l 2 、l 3 、l 4 、l 5 、l 6 Observer parameters are obtained;
the estimated junction temperature
Expressed as:
in the above equation, D is the output matrix:
D＝[111000]。
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