CN116032191A - Motor self-heating method, motor controller and vehicle - Google Patents
Motor self-heating method, motor controller and vehicle Download PDFInfo
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Abstract
The application provides a motor self-heating method, a vehicle controller and a vehicle, wherein the motor self-heating method comprises the following steps: when a motor auxiliary heating instruction is received, calculating a current amplitude required by heating of the motor based on preset power carried by the motor auxiliary heating instruction and loss of the motor; calculating a D-axis current reference value and a Q-axis current reference value of the motor under a preset rotation frequency based on a current amplitude required by heating of the motor and a DQ rotor coordinate system; acquiring a three-phase current detection value of a motor, and calculating three-phase voltage of the motor based on a D-axis current reference value of the motor, a Q-axis current reference value of the motor and the three-phase current detection value of the motor; the motor is controlled to self-heat at a preset power based on the three-phase voltage of the motor. This application can realize the self-heating of motor, simultaneously, this application has the higher advantage of power that generates heat.
Description
Technical Field
The application relates to the field of motor heating, in particular to a motor self-heating method, a motor controller and a vehicle.
Background
At present, the whole vehicle of the new energy electric vehicle has higher cost, in order to reduce the parts of the whole vehicle and reduce the cost, the PTC heat generation is replaced by the auxiliary heating of the motor, and the patent CN111605439A briefly describes a method for auxiliary heating of the motor, but the method only discloses the judgment basis of auxiliary heating intervention time of the vehicle-mounted motor, and aims at disclosing how to realize the control of the current of the motor, and the method has the defect of low heat generation capacity of the motor.
Disclosure of Invention
An object of the embodiment of the application is to provide a motor self-heating method, a motor controller and a vehicle, which are used for realizing self-heating of a motor, and meanwhile, the application has the advantage of higher heating power.
In a first aspect, the present invention provides a method for self-heating an electric machine, the method comprising:
when a motor auxiliary heating instruction is received, calculating a current amplitude required by heating of the motor based on the preset power carried by the motor auxiliary heating instruction and the loss of the motor;
calculating a D-axis current reference value and a Q-axis current reference value of the motor under a preset rotation frequency based on a current amplitude required by heating of the motor and a DQ rotor coordinate system;
acquiring a three-phase current detection value of the motor;
calculating three-phase voltages of the motor based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor and the three-phase current detection value of the motor;
and controlling the motor to perform self-heating at the preset power based on the three-phase voltage of the motor.
In the first aspect of the present application, when a motor auxiliary heating instruction is received, based on the preset power carried by the motor auxiliary heating instruction and the loss of the motor, the current amplitude required for heating of the motor can be calculated, and further, based on the current amplitude required for heating of the motor and a DQ rotor coordinate system, the D-axis current reference value under a preset rotation frequency and the Q-axis current reference value of the motor can be calculated, and further, based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor and the three-phase current detection value of the motor, the three-phase voltage of the motor can be calculated, and further, based on the three-phase voltage of the motor, the motor can be controlled to perform self-heating with the preset power.
Compared with the prior art, the motor self-heating method can control the motor to self-heat with the preset power based on the three-phase voltage of the motor, so that the three phases of the motor heat uniformly at the same time, and the heat generating capacity of the motor stator is fully exerted, wherein compared with the prior art, the motor self-heating method can improve the motor heating power by 1 time.
In a first aspect of the present application, as an optional implementation manner, the calculating the three-phase voltage of the motor based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor, and the three-phase current detection value of the motor includes:
acquiring a rotating speed position angle of a motor;
based on the rotating speed position angle of the motor, performing C l arm conversion and Park conversion on the three-phase current detection value of the motor, and obtaining a D-axis current actual value of the motor and a Q-axis current actual value of the motor;
calculating the D-axis voltage under the DQ rotor coordinate system and the Q-axis voltage under the DQ rotor coordinate system based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor, the D-axis current actual value of the motor and the Q-axis current actual value of the motor;
and calculating the three-phase voltage of the motor based on the D-axis voltage and the Q-axis voltage.
In this optional embodiment, by acquiring the rotational speed position angle of the motor, further, based on the rotational speed position angle of the motor, the detected value of the three-phase current of the motor may be subjected to C l arm conversion and Park conversion, and the actual value of the D-axis current of the motor and the actual value of the Q-axis current of the motor may be obtained, further, based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor, the actual value of the D-axis current of the motor and the actual value of the Q-axis current of the motor, the D-axis voltage in the DQ rotor coordinate system and the Q-axis voltage in the DQ rotor coordinate system may be calculated, and further, the three-phase voltage of the motor may be obtained based on the D-axis voltage and the Q-axis voltage.
In a first aspect of the present application, as an optional implementation manner, the calculating, based on the D-axis voltage and the Q-axis voltage, a three-phase voltage of the motor includes:
and carrying out inverse C l arm conversion and inverse Park conversion on the D-axis voltage and the Q-axis voltage based on the rotating speed position angle of the motor, and obtaining the three-phase voltage of the motor.
In this alternative embodiment, the D-axis voltage and the Q-axis voltage can be subjected to inverse C/arm conversion and inverse Park conversion based on the rotational speed position angle of the motor, and a three-phase voltage of the motor can be obtained.
In a first aspect of the present application, as an optional implementation manner, after the calculating the current amplitude required for heating the motor based on the preset power carried by the motor auxiliary heating command and the loss of the motor, before the calculating the D-axis current reference value and the Q-axis current reference value of the motor based on the current amplitude required for heating the motor and the DQ rotor coordinate system at a preset rotation frequency, the method further includes:
acquiring an operation allowable maximum temperature of the motor and an actual temperature of the motor;
calculating a maximum current value of the motor based on an operation allowable maximum temperature of the motor and an actual temperature of the motor;
and limiting the current amplitude required for heating the motor based on the maximum current value of the motor so that the current amplitude required for heating the motor is less than or equal to the maximum current value of the motor.
In this optional embodiment, by acquiring the operation allowable maximum temperature of the motor and the actual temperature of the motor, the maximum current value of the motor can be calculated based on the operation allowable maximum temperature of the motor and the actual temperature of the motor, and the current amplitude required for heating the motor can be limited based on the maximum current value of the motor, so that the current amplitude required for heating the motor is less than or equal to the maximum current value of the motor.
Compared with the prior art, the motor temperature feedback control can be constructed through the maximum allowable temperature of the motor and the actual temperature of the motor, and the motor is ensured to continuously generate heat in an overheat risk-free state.
In a first aspect of the present application, as an optional implementation manner, the controlling the motor to self-heat at the preset power based on the three-phase voltage of the motor includes:
PWM modulation is carried out on the three-phase voltage of the motor, and a driving PWM signal of the motor is obtained;
and controlling the motor to perform self-heating at the preset power based on the driving PWM signal of the motor.
In this optional embodiment, by performing PWM modulation on the three-phase voltage of the motor, a driving PWM signal of the motor may be obtained, and the motor may be controlled to perform self-heating at the preset power based on the driving PWM signal of the motor.
In the first aspect of the present application, as an optional implementation manner, the preset rotation frequency is 150Hz.
In the optional implementation mode, the preset rotation frequency is 150Hz, so that the shake of the motor rotor is smaller, and the situation that obvious whole vehicle shake does not occur when the vehicle is parked is ensured. On the other hand, setting the preset rotation frequency to 150Hz ensures that the noise generated by the motor is at a low level.
In the first aspect of the present application, as an optional implementation manner, the preset rotation frequency is 20Hz.
In this alternative embodiment, the preset rotation frequency is set to 20Hz, so that noise generated by the motor can be further reduced.
In a first aspect of the present application, as an optional implementation manner, the method further includes:
and when a motor auxiliary heating stop instruction is received, controlling the motor to stop self-heating.
In this alternative embodiment, the motor can be controlled to stop self-heating by receiving a motor-assisted heating stop command.
In a second aspect, the present invention provides a motor controller comprising:
a processor; and
a memory configured to store machine readable instructions that, when executed by the processor, perform the motor self-heating method of any of the preceding embodiments.
The motor controller of the second aspect of the present application can have the advantages possessed by the first aspect of the present application by executing the motor self-heating method.
In a third aspect, the present invention provides a vehicle comprising a motor controller according to the previous embodiments.
Since the vehicle of the third aspect of the present application has the motor controller of the second aspect of the present application, it can have the advantages that the first aspect of the present application has.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a self-heating method of a motor disclosed in an embodiment of the present application;
fig. 2 is a control block diagram used by the motor controller motor self-heating method according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, fig. 1 is a schematic flow chart of a self-heating method of a motor according to an embodiment of the present application, and as shown in fig. 1, the method of the embodiment of the present application includes the following steps:
101. when a motor auxiliary heating instruction is received, calculating a current amplitude required by heating of the motor based on preset power carried by the motor auxiliary heating instruction and loss of the motor;
102. calculating a D-axis current reference value and a Q-axis current reference value of the motor under a preset rotation frequency based on a current amplitude required by heating of the motor and a DQ rotor coordinate system;
103. acquiring a three-phase current detection value of a motor;
104. calculating three-phase voltage of the motor based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor and the three-phase current detection value of the motor;
105. the motor is controlled to self-heat at a preset power based on the three-phase voltage of the motor.
In this application embodiment, when receiving the supplementary heating instruction of motor, based on the loss of the power and the motor of predetermineeing that the supplementary heating instruction of motor carried, can calculate the required electric current amplitude of heating of motor, and then based on the required electric current amplitude of heating of motor and DQ rotor coordinate system can calculate D axle current reference value under predetermineeing the rotation frequency and the Q axle current reference value of motor, in addition, through obtaining the three-phase current detection value of motor, and then can calculate the three-phase voltage of motor based on the D axle current reference value of motor, the Q axle current reference value of motor and the three-phase current detection value of motor, and then can control the motor with predetermineeing the power and carry out self-heating based on the three-phase voltage of motor.
Compared with the prior art, the motor self-heating method can control the motor to perform self-heating with preset power based on the three-phase voltage of the motor, so that the three phases of the motor heat uniformly at the same time, and the heat generating capacity of the motor stator is fully exerted, wherein compared with the prior art, the motor self-heating method can improve the heat generating power of the motor by 1 time.
In the embodiment of the present application, as an optional implementation manner, step 104: based on a D-axis current reference value of the motor, a Q-axis current reference value of the motor, and a three-phase current detection value of the motor, calculating a three-phase voltage of the motor, comprising the sub-steps of:
acquiring a rotating speed position angle of a motor;
based on the rotating speed position angle of the motor, performing C l arm conversion and Park conversion on the three-phase current detection value of the motor, and obtaining a D-axis current actual value of the motor and a Q-axis current actual value of the motor;
calculating a D-axis voltage under a DQ rotor coordinate system and a Q-axis voltage under the DQ rotor coordinate system based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor, the D-axis current actual value of the motor and the Q-axis current actual value of the motor;
and calculating to obtain the three-phase voltage of the motor based on the D-axis voltage and the Q-axis voltage.
In this optional embodiment, by acquiring the rotational speed position angle of the motor, further, based on the rotational speed position angle of the motor, the C l arm conversion and Park conversion are performed on the three-phase current detection value of the motor, and the D-axis current actual value of the motor and the Q-axis current actual value of the motor are obtained, further, based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor, the D-axis current actual value of the motor and the Q-axis current actual value of the motor, the D-axis voltage in the DQ rotor coordinate system and the Q-axis voltage in the DQ rotor coordinate system can be calculated, and further, the three-phase voltage of the motor can be calculated based on the D-axis voltage and the Q-axis voltage.
In the embodiment of the present application, as an optional implementation manner, the steps include: the three-phase voltage of the motor is calculated based on the D-axis voltage and the Q-axis voltage, and the method comprises the following substeps:
and (3) carrying out inverse C l arm conversion and inverse Park conversion on the D-axis voltage and the Q-axis voltage based on the rotating speed position angle of the motor, and obtaining the three-phase voltage of the motor.
In this alternative embodiment, the D-axis voltage and the Q-axis voltage can be subjected to inverse C/arm conversion and inverse Park conversion based on the rotational speed position angle of the motor, and a three-phase voltage of the motor can be obtained.
In the embodiment of the present application, as an alternative implementation manner, in step 101: after calculating the current amplitude required for heating the motor based on the preset power carried by the motor auxiliary heating command and the loss of the motor, step 102: before calculating the D-axis current reference value and the Q-axis current reference value of the motor at the preset rotation frequency based on the current amplitude required for heating the motor and the DQ rotor coordinate system, the method of the embodiment of the present application further includes the following steps:
acquiring the operation allowable maximum temperature of the motor and the actual temperature of the motor;
calculating a maximum current value of the motor based on the maximum allowable temperature of the motor and the actual temperature of the motor;
and limiting the current amplitude required for heating the motor based on the maximum current value of the motor so that the current amplitude required for heating the motor is less than or equal to the maximum current value of the motor.
In this optional embodiment, by acquiring the operation allowable maximum temperature of the motor and the actual temperature of the motor, the maximum current value of the motor can be calculated based on the operation allowable maximum temperature of the motor and the actual temperature of the motor, and the current amplitude required for heating the motor can be limited based on the maximum current value of the motor, so that the current amplitude required for heating the motor is smaller than or equal to the maximum current value of the motor.
Compared with the prior art, the motor temperature feedback control can be constructed through the maximum allowable temperature of the motor and the actual temperature of the motor, and the motor is ensured to be in a state without over-temperature risk to continuously generate heat.
In the embodiment of the present application, as an optional implementation manner, step 105: the motor is controlled by three-phase voltage based on the motor to perform self-heating with preset power, and the method comprises the following substeps:
PWM modulation is carried out on the three-phase voltage of the motor, and a driving PWM signal of the motor is obtained;
and controlling the motor to perform self-heating at a preset power based on a driving PWM signal of the motor.
In this alternative embodiment, the driving PWM signal of the motor can be obtained by PWM modulating the three-phase voltage of the motor, and the motor can be controlled to perform self-heating with a preset power based on the driving PWM signal of the motor.
In the embodiment of the present application, as an alternative implementation manner, the preset rotation frequency is 150Hz.
In the optional implementation mode, the preset rotation frequency is 150Hz, so that the shake of the motor rotor is smaller, and the situation that obvious whole vehicle shake does not occur when the vehicle is parked is ensured. On the other hand, setting the preset rotation frequency to 150Hz ensures that the noise generated by the motor is at a low level.
In this alternative embodiment, the preset rotation frequency refers to an alternating current frequency. Further, the higher the frequency of the alternating current input to the motor, i.e., the preset rotation frequency, the fewer the number of pole pairs, so the higher the rotor speed of the motor.
In this alternative embodiment, noise is generated due to the rotation process of the rotor of the motor, wherein the larger the rotation speed of the rotor of the motor is, the larger the generated noise is, and therefore, the preset rotation frequency is 150Hz, the overlarge rotation speed of the rotor of the motor can be avoided, and overlarge noise is avoided, and the human ear is insensitive to the sound wave with the alternating frequency of 150Hz, so that the acoustic noise is low at the moment.
In the present alternative embodiment, the alternating current corresponding to the rotation frequency, that is, the current I corresponding to the D-axis current reference value is preset d * Current I corresponding to the Q-axis current reference value of the motor q * Can be used forIs any periodic alternating current waveform, as long as the following requirements are satisfied:
wherein t is 0 Is any random moment in the discharge process. T is I d * I q * The period of the waveform. T should be as small as possible to increase the current frequency, so the torque generated is a high frequency alternating torque, the impulse (torque integrated over time) of the torque in one current period T is zero, and the operation of the electric vehicle is hardly affected. The analysis is as follows:
according to a torque calculation formula of the permanent magnet synchronous motor:
can be obtained by substituting (2)
I.e. the sum of the torques at each cycle acts as zero, the actual motor torque appears as a dithering balanced torque. Because the motor and the automobile transmission system are of mechanical structures, little response is caused to high-frequency torque, so that as long as the frequency of a current waveform is high, the high-frequency pulsation hardly affects the rotation of the motor, and passengers do not have obvious body vibration feeling. When the alternating current frequency is higher, the motor rotor shakes very little, and the problem of shaking of the whole vehicle can be avoided when the vehicle is parked. In other words, when the rotor of the motor rotates around the rotation shaft, the center of gravity of the rotor is deviated from the axis, and therefore, a centrifugal force is generated during rotation, and vibration is generated, wherein the centrifugal force acts at a certain position for a relatively long time when the rotor is at a low speed, and therefore, the effect is remarkable, and the vibration amplitude is large, and at a high speed, the centrifugal force almost simultaneously occurs at each position, and the dynamic balance is obtained, so that the vibration is small. For example, for motor parameters are: inductance ld=120e-6h, lq=320 e-6h, permanent magnet flux linkage Φm= 0.0555Wb, pole pair pn=4; rotor moment of inertia j=0.04 kg x m2; given a current amplitude I s =300A, the angular fluctuation amplitude of the motor rotor is 0.0016rad.
In the embodiment of the present application, as an alternative implementation manner, the preset rotation frequency is 20Hz.
In this alternative embodiment, the preset rotation frequency is set to 20Hz, so that noise generated by the motor can be further reduced.
In an embodiment of the present application, as an optional implementation manner, the method of the embodiment of the present application further includes the following steps:
and when receiving the motor auxiliary heating stop instruction, controlling the motor to stop self-heating.
In this alternative embodiment, the motor can be controlled to stop self-heating by receiving the motor-assisted heating stop instruction.
In addition, the embodiment of the application also provides a motor controller, which comprises:
a processor; and
a memory configured to store machine readable instructions that, when executed by a processor, perform the motor self-heating method of any of the preceding embodiments.
The motor controller of the embodiment of the application can have the advantages of the embodiment of the application by executing the motor self-heating method.
In the embodiment of the present application, referring specifically to fig. 2, fig. 2 is a control block diagram adopted by the motor self-heating method of the motor controller in the embodiment of the present application. As shown in fig. 2, the input P is a preset power, i.e. the power that the motor controller receives that the VCU requests the motor to heat; t (T) * Allowing a maximum temperature for operation of the motor; t is the temperature of the motor acquired by the temperature sensor, namely the actual temperature of the motor; i a, I b and I c are three-phase current values of the motor, namely three-phase current detection values of the motor, collected by a current sensor; θ is the motor rotational speed position angle obtained by the position sensor. Depending on the heating power P requested by the VCU,the motor controller calculates the required current amplitude I s, namely the current amplitude required for heating the motor, through the motor loss, and the motor operation allows the highest temperature T * Calculating a maximum current value I sMax of the motor without over-temperature risk with the actual temperature T of the motor through a feedback control unit; the actual control value I s of the current amplitude is obtained by limiting the required current I s by the maximum current value ismax. The current command calculation module, upon receiving the current actual control value I s, rotates at a high frequency, such as 150Hz, on the DQ rotor coordinate system, thereby generating a vector of high frequency rotations (I d x, I q x). The phase currents I a, I b, I C undergo C.sub.ark and Park transformation (abc→dq) to give I d, I q; the current reference values I d and I q are input to a feedback control module together with the current feedback values I d and I q, and voltage instructions Ud and Uq under the DQ rotor coordinate system are obtained through calculation, and then the voltage instructions Ua, ub and Uc are obtained through inverse cl ark and inverse Park transformation (dq→abc). After the voltage command is subjected to PWM modulation, PWM signals of the switching devices of each phase are obtained, and the motor is controlled to heat according to the request power.
In yet another aspect, the present embodiments also provide a vehicle including a motor controller as in the previous embodiments.
Since the vehicle of the embodiment of the present application has the motor controller of the embodiment of the present application, it can have the advantages that the embodiment of the present application has.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
It should be noted that the functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-On-y Memory (ROM) random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, or other various media capable of storing program codes.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above is only an example of the present application, and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method of self-heating an electric motor, the method comprising:
when a motor auxiliary heating instruction is received, calculating a current amplitude required by heating of the motor based on the preset power carried by the motor auxiliary heating instruction and the loss of the motor;
calculating a D-axis current reference value and a Q-axis current reference value of the motor under a preset rotation frequency based on a current amplitude required by heating of the motor and a DQ rotor coordinate system;
acquiring a three-phase current detection value of the motor;
calculating three-phase voltages of the motor based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor and the three-phase current detection value of the motor;
and controlling the motor to perform self-heating at the preset power based on the three-phase voltage of the motor.
2. The motor self-heating method according to claim 1, wherein the calculating the three-phase voltage of the motor based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor, and the three-phase current detection value of the motor includes:
acquiring a rotating speed position angle of a motor;
based on the rotating speed position angle of the motor, clark conversion and Park conversion are carried out on a three-phase current detection value of the motor, and a D-axis current actual value of the motor and a Q-axis current actual value of the motor are obtained;
calculating the D-axis voltage under the DQ rotor coordinate system and the Q-axis voltage under the DQ rotor coordinate system based on the D-axis current reference value of the motor, the Q-axis current reference value of the motor, the D-axis current actual value of the motor and the Q-axis current actual value of the motor;
and calculating the three-phase voltage of the motor based on the D-axis voltage and the Q-axis voltage.
3. The motor self-heating method according to claim 2, wherein the calculating the three-phase voltage of the motor based on the D-axis voltage and the Q-axis voltage includes:
and carrying out inverse Clark conversion and inverse Park conversion on the D-axis voltage and the Q-axis voltage based on the rotating speed position angle of the motor, and obtaining the three-phase voltage of the motor.
4. The motor self-heating method according to claim 2, wherein after the calculation of the current amplitude required for heating of the motor based on the preset power carried by the motor auxiliary heating command and the loss of the motor, the calculation of the D-axis current reference value at a preset rotation frequency and the Q-axis current reference value of the motor based on the current amplitude required for heating of the motor and DQ rotor coordinate system is preceded by:
acquiring an operation allowable maximum temperature of the motor and an actual temperature of the motor;
calculating a maximum current value of the motor based on an operation allowable maximum temperature of the motor and an actual temperature of the motor;
and limiting the current amplitude required for heating the motor based on the maximum current value of the motor so that the current amplitude required for heating the motor is less than or equal to the maximum current value of the motor.
5. The motor self-heating method according to claim 1, wherein the controlling the motor to self-heat at the preset power based on the three-phase voltage of the motor includes:
PWM modulation is carried out on the three-phase voltage of the motor, and a driving PWM signal of the motor is obtained;
and controlling the motor to perform self-heating at the preset power based on the driving PWM signal of the motor.
6. The motor self-heating method as claimed in claim 1, wherein the preset rotation frequency is 150Hz.
7. The motor self-heating method as claimed in claim 1, wherein the preset rotation frequency is 20Hz.
8. The method of self-heating an electric machine of claim 1, further comprising:
and when a motor auxiliary heating stop instruction is received, controlling the motor to stop self-heating.
9. A motor controller, comprising:
a processor; and
a memory configured to store machine readable instructions that, when executed by the processor, perform the motor self-heating method of any of claims 1-8.
10. A vehicle comprising the motor controller of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211625622.4A CN116032191A (en) | 2022-12-16 | 2022-12-16 | Motor self-heating method, motor controller and vehicle |
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| CN202211625622.4A CN116032191A (en) | 2022-12-16 | 2022-12-16 | Motor self-heating method, motor controller and vehicle |
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