CN116365954A - Method for controlling synchronous motor, electronic device and vehicle - Google Patents
Method for controlling synchronous motor, electronic device and vehicle Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
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- Control Of Ac Motors In General (AREA)
Abstract
Embodiments of the present disclosure provide a method of controlling a synchronous motor, an electronic device, and a vehicle. The method includes determining a stator current vector value from a predetermined stator copper loss and stator winding resistance in response to an instruction to cause the motor to enter an inefficient mode of operation from a normal mode; acquiring the rotating speed and the input torque of a rotor of the motor; determining a stator current vector angle according to the acquired rotating speed and torque; and determining a given direct axis current value and a given quadrature axis current value for controlling the motor in dependence on the determined stator current vector angle and the stator current vector value such that the motor stator copper loss maintains the predetermined stator copper loss during the low efficiency mode of operation. In this way, an inefficient mode of operation is introduced that enables the motor to be heated as a heat source for the battery or the like, enabling good battery and motor performance at low ambient temperatures.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of motor control, and more particularly, to a method for controlling a synchronous motor, an electronic device, and a vehicle driven by a synchronous motor.
Background
The motor, which is also called a motor, is an electromagnetic device that converts or transmits electric energy according to the law of electromagnetic induction. The main function of the motor is to generate driving torque as a power source for electric appliances or various machines. Motors can be classified into direct current motors and alternating current motors according to structure and principle. Ac motors can be further classified into permanent magnet synchronous motors, asynchronous induction motors, and the like.
Electric vehicles generally use permanent magnet synchronous motors or asynchronous induction motors as engines for driving the vehicles to move, so as to provide a more energy-saving and environment-friendly travel mode. Electric vehicles typically use a battery pack to provide electrical power to a motor. The direct current provided by the battery pack is inverted to generate alternating current so as to drive the motor to operate.
The performance of the battery pack is greatly affected by factors such as ambient temperature. In some cold areas or at lower temperatures, the battery pack is less active, which also affects the performance of the motor and thus the overall vehicle.
Disclosure of Invention
Embodiments of the present disclosure provide a method and electronic device for controlling a vehicle to at least partially address the above-referenced problems and other potential problems with the prior art.
In one aspect of the present disclosure, a method for controlling a synchronous motor is provided. The method includes determining a stator current vector value from a predetermined stator copper loss and stator winding resistance in response to an instruction to cause the motor to enter an inefficient mode of operation from a normal mode; acquiring the rotating speed and the input torque of a rotor of the motor; determining a stator current vector angle according to the acquired rotating speed and torque; and determining a given direct axis current value and a given quadrature axis current value for controlling the motor in dependence on the determined stator current vector angle and the stator current vector value such that the stator copper loss of the motor maintains the predetermined stator copper loss during the low efficiency mode of operation.
In some embodiments, the method further comprises, in response to a mode switch instruction that causes the motor to enter a new mode of operation from a current mode, obtaining a process direct-axis current value for controlling the motor in the current mode, and determining a given direct-axis current value in the new mode of operation from the process direct-axis current value; determining a target direct current value in the new operation mode; comparing the given direct axis current value with the determined target direct axis current value; redetermining a given straight-axis current value from the given straight-axis current value and the adjustment step in response to a difference between the given straight-axis current value and the target straight-axis current value being greater than a predetermined straight-axis current adjustment step per unit time; and responsive to the difference between the given direct-axis current value and the target direct-axis current value being less than the adjustment step or equal to zero, causing the given direct-axis current value to be equal to the target direct-axis current value.
In some embodiments, the method further comprises determining a given quadrature axis current value from the redetermined given direct axis current value; and controlling the motor according to the determined given direct-axis current value and the given quadrature-axis current value.
In some embodiments, the method further comprises, in response to the acquired rotational speed being zero, equating the given direct current value to the stator current vector value and equating the given quadrature current value to zero.
In some embodiments, the method further comprises determining a direct axis voltage value and a quadrature axis voltage value from the given direct axis current value and the given quadrature axis current value; and determining phase voltages for application to stator windings of the electric machine by Park inverse transformation and Clark inverse transformation for the determined direct axis voltage value and the quadrature axis voltage value.
In some embodiments, the method further comprises obtaining an integrated initial value of the electrical angle of the rotor; determining the current electrical angle of the rotor according to the integral initial value and the rotating speed of the rotor; and performing the Park inverse transformation according to the current electrical angle.
In some embodiments, obtaining an integrated initial value of an electrical angle of the rotor includes determining the integrated initial value from the current electrical angle.
In a second aspect of the present disclosure, an electronic device is provided. The electronic device comprises at least one processing unit, and at least one memory coupled to the at least one processing unit and adapted to store instructions that, when executed by the at least one processing unit, cause the at least one processing unit to: determining a stator current vector value from a predetermined stator copper loss and stator winding resistance in response to an instruction to cause the motor to enter a low efficiency mode of operation from a normal mode; acquiring the rotating speed and the input torque of a rotor of the motor; determining a stator current vector angle according to the acquired rotating speed and torque; and determining a given direct axis current value and a given quadrature axis current value for controlling the motor in dependence on the determined stator current vector angle and the stator current vector value such that the stator copper loss of the motor maintains the predetermined stator copper loss during the low efficiency mode of operation.
In some embodiments, the processing unit is further configured to obtain a process direct-axis current value for controlling the motor in a current mode in response to a mode switching instruction that causes the motor to enter a new operation mode from the current mode, and to determine a given direct-axis current value in the new operation mode from the process direct-axis current value; determining a target direct current value in the new operation mode; comparing the given direct axis current value with the determined target direct axis current value; redetermining a given straight-axis current value from the given straight-axis current value and the adjustment step in response to a difference between the given straight-axis current value and the target straight-axis current value being greater than a predetermined straight-axis current adjustment step per unit time; and responsive to the difference between the given direct-axis current value and the target direct-axis current value being less than the adjustment step or equal to zero, causing the given direct-axis current value to be equal to the target direct-axis current value.
In some embodiments, the processing unit is further configured to determine a given quadrature axis current value from the redetermined given direct axis current value; and controlling the motor according to the determined given direct-axis current value and the given quadrature-axis current value.
In some embodiments, the processing unit is further configured to, in response to the acquired rotational speed being zero, equate the given direct current value to the stator current vector value and equate the given quadrature current value to zero.
In some embodiments, the processing unit is further configured to determine a direct axis voltage value and a quadrature axis voltage value from the given direct axis current value and the given quadrature axis current value; and determining phase voltages for application to stator windings of the electric machine by Park inverse transformation and Clark inverse transformation for the determined direct axis voltage value and the quadrature axis voltage value.
In some embodiments, the processing unit is further configured to obtain an integrated initial value of the electrical angle of the rotor; determining the current electrical angle of the rotor according to the integral initial value and the rotating speed of the rotor; and performing the Park inverse transformation according to the current electrical angle.
In some embodiments, the processing unit is further configured to determine the integration initial value from the current electrical angle.
According to a third aspect of the present disclosure, there is also provided a vehicle. The vehicle comprises an electric motor for driving the vehicle to move; and an electronic device according to the second aspect.
According to a fourth aspect of the present disclosure, a computer readable medium is provided. The computer readable medium has computer readable instructions stored thereon, which when executed by a processing unit cause the processing unit to perform the method of the first aspect above.
It should be understood that the summary is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings in which like reference numerals generally refer to like parts.
FIG. 1 schematically illustrates a schematic view of a vehicle according to an embodiment of the present disclosure;
FIG. 2 illustrates a simplified schematic diagram of a control system for an electric machine according to an embodiment of the present disclosure;
FIG. 3 shows a flow chart of a method according to an embodiment of the present disclosure;
FIG. 4 illustrates a control logic schematic of an electric machine according to an embodiment of the present disclosure;
FIG. 5 illustrates a control logic diagram for preventing a current step according to an embodiment of the present disclosure;
FIG. 6 illustrates a control logic diagram of a method according to an embodiment of the present disclosure; and
fig. 7 shows a schematic block diagram of an electronic device that may be used to implement embodiments of the present disclosure.
Detailed Description
The principles of the present disclosure will now be described with reference to various exemplary embodiments shown in the drawings. It should be understood that these embodiments are merely provided to enable those skilled in the art to better understand and further practice the present disclosure and are not intended to limit the scope of the present disclosure in any way. It should be noted that similar or identical reference numerals may be used, where possible, in the figures and similar or identical reference numerals may designate similar or identical functions. Those skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles of the disclosure described herein.
A schematic bottom view of a vehicle 200, such as an electric vehicle, is shown in fig. 1, which shows that the electric vehicle comprises a motor 201, a processing unit 202, in addition to some necessary components, such as tires, etc. It should be understood that although the improvement of the control method of the motor 201 will be described hereinafter mainly by taking an electric automobile as an example, this is illustrative and is not intended to limit the scope of the present disclosure. Any other suitable apparatus or device is possible as long as the method according to the embodiments of the present disclosure can be applied. For example, in some alternative embodiments, the methods and electronics according to embodiments of the present disclosure are equally applicable to machine tools or the like driven by motor 201.
The foregoing has mentioned that the battery pack for driving the electric vehicle is greatly affected by factors such as the ambient temperature. For some severe cold areas or situations where the ambient temperature is low, it is generally desirable to properly heat the battery pack to increase the battery activity and thus the performance of the motor 201 and the entire electric vehicle 200. In addition, in addition to the heat source required for heating the battery, there are cases where the heat source is sometimes required for heating to improve performance, for example, when charging the battery for a long period of time and the circulation water path system of the motor 201 controller.
In consideration of these factors, although some automobile manufacturers additionally provide heat sources for the vehicles 200 to heat the batteries, the circulation water paths, etc., various problems are caused by the provision of the heat sources, such as increased cost, increased assembly difficulty, space deformation of the entire vehicle, and low safety, so that more and more automobile manufacturers do not provide additional heat sources for the vehicles 200.
For permanent magnet synchronous motor 201, a common control mode is i d Control modes of =0 control mode, maximum torque current ratio control mode, field weakening control and the like. To ensure optimal energy efficiency, electric vehicle 200 typically employs a maximum torque to current ratio control mode to control operation of motor 201. However, since the maximum torque current is lower than the copper loss generated by the control mode when the vehicle 200 is in the low speed region, less heat is generated, and it is difficult to provide heating for the less active battery. Copper loss is defined herein as the loss of copper or copper that is required to form a coil in motor 201, and that is a resistor that consumes some power when current flows through it, which tends to be heat. For permanent magnet synchronous motor 201, copper loss is generally designated copper loss, since the rotor typically employs permanent magnets. For asynchronous induction machine 201, copper losses are generally referred to as rotor copper losses and stator copper losses.
Since the motor 201 is operated in the high efficiency mode, copper consumption of the motor 201 is low, particularly during low-speed operation of the motor 201. At lower copper losses, less heat generated is dissipated very quickly by the circulating water path, resulting in insufficient heating of the less active cell at temperature. The lower-activity battery in turn causes a decrease in both the charging efficiency and the operating efficiency of the battery, resulting in low performance of the motor 201 and the electric vehicle 200.
To solve or at least partially solve the problems of low battery activity, low battery charge time and a certain heating power requirement of the motor 201 controller circulation water path in the case of low ambient temperature, according to the embodiments of the present disclosure, a method and an electronic device for controlling the synchronous motor 201 are provided to adjust the current loop to give a current command when the ambient temperature is low, so that the motor 201 operates in an inefficient operation mode, thereby generating a larger copper consumption to provide the heating power for heating the battery and the circulation water path, and further improving the performance of the motor 201 and even the vehicle 200.
Before starting to describe the inventive concept of the embodiments of the present disclosure, a coordinate system and a coordinate transformation method used in the control of the motor 201 will be briefly described. The permanent magnet synchronous motor 201 is a complex nonlinear system, and in order to simplify the mathematical model thereof and realize decoupling in control, corresponding coordinate system transformation, namely Clark transformation and Park transformation, needs to be established. A driving circuit diagram of the three-phase permanent magnet synchronous motor 201 is shown in fig. 2. It can be found from the illustrated circuit that in the driving circuit of the three-phase permanent magnet synchronous motor 201, the three-phase voltage outputted by the three-phase inversion is U A 、U B And U C Will act on the motor 201, then in the three-phase planar stationary coordinate system ABC, the voltage equation satisfies the following equation:
wherein θ is the electrical angle and U m Is the phase voltage fundamental peak.
As can be seen from the formula (1), the magnitudes of the three-phase voltages are sinusoidal waveforms varying with time, which are in turn 120 ° out of phase. For three-phase current i A 、i B And i C In other words, the following formula is satisfied according to kirchhoff current quantification:
i A +i B +i C ＝0 (2)
to achieve decoupling in control, it is often necessary to convert the three-phase coordinate system ABC into an αβ stationary coordinate system and a dq coordinate system. Converting the three-phase coordinate system ABC into the αβ stationary coordinate system is called Clark transformation. For an αβ stationary coordinate system, there is an α -axis component i of the current α And beta-axis component i β . For common constant amplitude transformations, the alpha-axis component i α And beta-axis component i β The conversion formula of (2) is as follows:
in determining the alpha-axis component i from equation (2) and equation (3) α And beta-axis component i β Is subjected to Clark inverse transformation to determine a three-phase current i A 、i B And i C 。
After the alpha-axis component i has been determined α And beta-axis component i β In the case of (a), this current vector is transformed into a 2-axis (i.e., d-axis and q-axis) coordinate system that rotates synchronously with the rotor flux linkage, called Park transformation, and vice versa, called Park inverse transformation. The dq coordinate system is a coordinate system rotating with respect to the stator, and the rotational speed is the same as the rotational speed of the rotor, so that the dq coordinate system corresponds to the rotor and is a stationary coordinate system. The d-axis direction coincides with the rotor flux linkage (i.e., the pole centerline), also known as the straight axis; the q-axis direction is perpendicular to the rotor flux linkage direction, also known as the quadrature axis. The d-axis component (hereinafter also referred to as the direct-axis current value) i of the current d And q-axis current component (hereinafter also referred to as quadrature-axis current value) i q Then it is two constant values that are associated with the alpha-axis component i α And beta-axis component i β The relation of (2) is:
where θ is the electrical angle.
For the followingMaximum torque current ratio control mode, assuming that the stator phase current magnitude (hereinafter also referred to as stator current vector value) is constant, is i s The d-axis component i of the current can be determined d And q-axis component i q Is that
Where γ is the stator current vector angle, i.e., the angle of the stator current vector from the a-axis of the motor.
The electromagnetic torque formula of the permanent magnet synchronous motor 201 is:
wherein T is e For electromagnetic torque, n p Is the pole pair number of the motor, i.e. the pole number of motor 201, ψ f Is a permanent magnetic flux linkage L d Is a direct axis inductance L q Is the quadrature axis inductance.
From the above equation (5) and equation (6), it can be determined that:
in stator phase current amplitude i s If the maximum torque current ratio control mode is employed while remaining constant, the following formula needs to be satisfied:
from this it can be determined that:
then the stator current vector angle is determined according to equation (9) as:
substituting equation (10) into equation (5) may determine:
when the motor 201 is required to operate in the maximum torque current ratio control mode, the current loop d-axis current component i is set d And q-axis current component i q The control of the motor 201 is achieved by determining the phase voltages applied to the stator coils after a series of voltage conversions, clark inverse conversions and Park inverse conversions, respectively, as set forth in equation (11) above.
However, it was previously mentioned that employing the maximum torque to current ratio control mode is intended to pursue an efficient motor control mode, and where the motor 201 is required to provide a heat source to increase battery activity for low ambient temperatures, it is desirable that the motor 201 be capable of operating in an inefficient mode of operation. The low-efficiency operation mode herein refers to enabling the motor 201 to continuously and stably generate heat as a heat source for heating the battery, the circulation waterway system, and the like, in the case where a predetermined condition is satisfied. The predetermined conditions may include, but are not limited to: an ambient temperature below a predetermined threshold, a battery temperature below a predetermined threshold, and/or a circulation water system temperature below a predetermined threshold, etc. For example, in the case where the processing unit 202 of the vehicle 200 determines that any one of the above-described predetermined conditions is satisfied, the motor 201 may be brought into the low-efficiency operation mode from the normal operation mode (e.g., the maximum torque-current ratio control mode) by issuing a mode switching instruction. In the low efficiency mode of operation, the copper loss of the motor 201 may be made to be a certain constant value (e.g., a predetermined stator copper loss) in order to stably supply heat.
In the electric vehicle 200, the electric power for driving the motor 201 is derived from alternating current power, which is inverted by an inverter, from direct current power supplied from a battery. By the principle of conservation of energy, the inverter satisfies the following formula:
wherein P is DC For battery output power, i.e. input-side received power of the inverter, η is inverter efficiency, i d For the d-axis current component, i q For q-axis current component, R s For stator winding resistance, T e Is the input torque and Ω is the angular velocity of the rotor in radians/sec.
Assuming that the stator phase current amplitude needs to be adjusted to i in the inefficient mode of operation s 'and the stator current vector angle is adjusted to γ', then equation (5) adjusts accordingly to:
substituting equation (13) and equation (6) into equation (12) yields the equation:
as mentioned previously, if the control objective is to control the stator copper consumption at a certain constant value (i.e., a predetermined stator copper consumption) in the low efficiency operation mode, it can be determined according to formula (14):
wherein i is s ' is the stator phase current amplitude, P, in the inefficient mode of operation cus R is the copper loss of the preset stator s Is the stator winding resistance.
Thus, by combining equations (14) and (15), the value of γ' under different conditions can be determined by calculation. Different conditions indicate that the motor 201 is at different rotational speeds and torques. And the stator current vector angle y' and the different rotational speeds, torques in the inefficient mode of operation may be written into a table for further recall by the processing unit 202. Since the relation between the stator current vector angle y' and the different rotational speeds, torques is also determined in the case of the motor 201 and the vehicle model determination, the table may be built into a memory associated with the processing unit of the vehicle 200 or the motor 201 before the vehicle 200 is shipped or before the motor 201 is shipped.
Based on this concept, a method for controlling a permanent magnet synchronous motor 201 is provided according to an embodiment of the present disclosure. The method may be performed by the processing unit 202 of the vehicle 200 or by the processing unit of the motor 201. For example, the method may be programmed as computer readable instructions and stored in memory. Furthermore, the method may also be performed as an interrupt service routine when the processing unit 202 executes interrupt instructions. When the instruction is executed by the processing unit 202, the steps of the method corresponding to the instruction are performed. Fig. 3 shows a flow chart of a method according to an embodiment of the present disclosure.
Furthermore, the method according to embodiments of the present disclosure is based on vector control. The principle of vector control is that the torque control rule of a direct current motor is simulated on a permanent magnet synchronous motor, and the current vector is decomposed into a current component generating magnetic flux and a current component generating torque through coordinate transformation, wherein the two components are mutually perpendicular and mutually independent. In this way they can be individually regulated, similar to the double closed loop control system of a dc motor. In a vector control system, an effect model such as a current loop and a rotating speed loop is included.
As shown in fig. 3, in response to an instruction to cause the motor 201 to enter an inefficient mode of operation from a normal mode, the processing unit 202 determines a stator current vector value, i.e., the aforementioned stator phase current magnitude i ', from a predetermined stator copper loss and stator winding resistance, at block 410, in accordance with a method of an embodiment of the present disclosure' s . Where the method according to an embodiment of the present disclosure is performed by the processing unit 202 of the vehicle 200, the instruction to cause the motor 201 to enter the inefficient mode of operation from the normal mode may be issued by a different module of the processing unit 202 of the vehicle 200 in response to satisfaction of a predetermined condition. From elsewhere in the processWhen executed by a processing unit, the instructions may be issued to the processing unit 202 of the vehicle 200. In the event that the processing unit 202 receives the instruction, the processing unit 202 will determine the predetermined stator copper consumption P cus And stator winding resistance R s Determining the stator phase current magnitude i 'according to equation (15)' s 。
Then, at block 420, the processing unit 202 may obtain the current rotational speed of the rotor of the motor 201 and the input torque from the sensors. The current rotational speed of the rotor may be obtained by a sensor such as an encoder, and the required input torque may be determined by a user controlling the angle of the accelerator pedal. Subsequently, at block 430, processing unit 202 determines a stator current vector angle γ' from the acquired rotational speed and torque by querying a previously stored table of relationships of rotational speed, torque, and stator current vector angle.
After determining the stator current vector angle gamma ', processing unit 202 may determine a stator phase current magnitude i ' at block 440 based on the determined stator current vector angle gamma ' and the stator phase current magnitude i ' determined at block 410 ' s To determine a direct-axis current value i for controlling the motor 201 according to equation (13) d And quadrature axis current value i q . Next, the processing unit 202 may determine a direct current value i based on the determined direct current value i d And quadrature axis current value i q To control the motor 201 such that the stator copper consumption of the motor 201 is maintained substantially at the predetermined stator copper consumption P cus 。
At this time, the low efficiency operation mode in which the motor 201 operates, the predetermined stator copper consumption is selected so that the motor 201 can stably provide heat generation to heat the battery and the circulation water path at low temperature and low activity, thereby increasing the battery temperature and activity and thus improving the performance of the motor 201 and the entire vehicle 200.
For example, in some embodiments, the processing unit 202 may compare the direct axis current value i d And quadrature axis current value i q Assigning a value to the current loop current setpoint and determining therefrom a direct axis voltage value and a quadrature axis voltage value. Therefore, the direct axis current value i d And quadrature axis current value i q Hereinafter also referred to as given direct-axis current value i d And a given intersecting axisCurrent value i q . The phase voltages for the windings applied to the stator of the motor 201 are determined by performing Park inverse transformation and Clark inverse transformation on the determined direct axis voltage values and quadrature axis voltage values. The resulting phase voltages ultimately control the inverter to apply the phase voltages to the windings of the stator in accordance with, for example, space Vector Pulse Width Modulation (SVPWM) ripple control.
The main idea of SVPWM is to use ideal flux linkage circles of a three-phase symmetrical motor stator as a reference standard when three-phase symmetrical sine wave voltage is used for supplying power, and to properly switch different switching modes of a three-phase inverter, so that PWM waves are formed, and the accurate flux linkage circles are tracked by the formed actual flux linkage vectors. The traditional SPWM method is from the angle of the power to generate a sine wave power with adjustable frequency and voltage, and the SVPWM method considers the inverter system and the motor 201 as a whole, so that the model is simpler, and the microprocessor is convenient to control in real time.
For some special conditions, for example, when the vehicle 200 has just started but not yet started running, the rotation speed of the motor 201 is 0, in which case it is necessary to provide dc excitation power to the motor 201. Based on the principle of conservation of energy, it can be determined that:
that is, according to the formulas (14), (15) and (16), if the obtained rotation speed is 0, the given direct-axis current value can be made equal to the stator current vector value, i.e., the stator phase current amplitude i' s And the given quadrature axis current value is made 0.
Since the control targets are different in different motor control modes, there may be a difference between the determined given direct-axis current value and the given quadrature-axis current value. For example, in the maximum torque current ratio control mode, a maximum torque current ratio is sought. In the low efficiency mode of operation, the goal sought is for the copper loss to be the predetermined stator copper loss. When the mode switching command is received, there may be a large difference between the given direct-axis current value in the current mode and the given direct-axis current value in the new mode to be switched, and if not processed, torque pulsation may be brought about, thereby affecting the performance or even the experience of the motor 201 and the vehicle 200.
In order to reduce the step of current and the pulsation of torque due to the switching of modes, the processing unit 202 may also acquire a process straight-axis current value for controlling the motor 201 in the present mode in response to a mode switching instruction that causes the motor 201 to enter a new operation mode from the present mode, and determine a given straight-axis current value in the new operation mode. It should be understood that the current mode referred to herein may refer to a maximum torque to current ratio control mode or an inefficient operation mode in which the motor 201 is operating normally, while the new operation mode is an inefficient operation mode to be switched from the maximum torque to current ratio control mode or a maximum torque to current ratio control mode to be switched from the inefficient operation mode. Of course, it should also be understood that other control modes may exist, and the concepts of the present disclosure will be mainly described herein with respect to switching between the two modes, and other cases are similar and will not be described in detail below.
Fig. 4 shows a control logic schematic of a synchronous motor according to an embodiment of the present disclosure. The manner in which the synchronous motor is controlled using a current loop is shown in fig. 4, and illustrates how the method according to an embodiment of the present disclosure prevents current steps or even torque ripple during Park and Clark inverse transforms. The change-over switch in fig. 4 before the PI regulation module corresponds to a single pole double throw switch. How a method according to an embodiment of the present disclosure may prevent current steps or even torque ripple will be described herein primarily in connection with fig. 4, taking the present mode as the maximum torque to current ratio control mode, and the new operating mode as the inefficient operating mode as an example. In addition, the aforementioned process direct-axis current value in the aforementioned current mode is a given direct-axis current value for controlling the last moment of the motor before the mode switching, and is referred to as a process direct-axis current value only for distinguishing from other terms. Fig. 5 shows a processing logic block diagram of the processing unit 202. Upon receiving the mode switching instruction, the processing unit 202 first acquires a process direct axis current value of the control motor 201 in the current mode. For example, in the case where the present mode is the maximum torque current ratio control mode, the process straight axis current value (i.e., the last given straight axis current value in the present mode) may be determined according to formula (11). The processing unit 202 may then determine a target straight axis current value in the new mode of operation. The target straight-axis current value is a target current value determined according to a control target of the new operation mode. For example, if the new mode of operation is an inefficient mode of operation, the target direct current value may be determined based on the copper loss being equal to the predetermined stator copper loss.
For ease of control, the process direct current value in the current mode will first be assigned to a given direct current value in the new mode of operation, but this given direct current value will not be directly supplied to the current loop for controlling the motor. In the new operation mode, the processing unit 202 will first assign the given direct current value and the target direct current value, and in the case that the difference between the two is greater than the direct current adjustment step length in the predetermined unit time, will redetermine the given direct current value according to the following formula according to the given direct current value and the direct current adjustment step length in the predetermined unit time.
i d_target ＝i d_ori +∫i STEP ·dt (17)
Wherein i is d_target For the target direct current value, i d_ori I is an initial straight axis current value (i.e., a given straight axis current value in a new mode of operation) STEP The step size is adjusted for the straight axis current in unit time.
It should be understood that references herein to the gap being greater than the adjustment step size means that the absolute value of the gap is greater than the absolute value of the adjustment step size. That is, there are two cases where the difference between the given direct-axis current value and the target direct-axis current value is assigned. In the case that the given direct-axis current value is smaller than the target direct-axis current value and the difference between the given direct-axis current value and the target direct-axis current value is larger than the adjustment step length, the given direct-axis current value is increased by one adjustment step length in unit time to determine a new given direct-axis current. And from this calculates a new given quadrature current to thereby control the motor. The processing unit 202 repeats the above-described comparison, reassignment and control of the given and target straight axis currents until the difference between the finally determined given and target straight axis currents is equal to 0 or less than the adjustment step.
There is also a case where the given straight axis current value is larger than the target straight axis current value and the difference between them is larger than the adjustment step. Similarly, in this case, a given direct current value is reduced by one adjustment step per unit time to determine (i.e., assign) a new given direct current. And from this calculates a new given quadrature current to thereby control the motor. The processing unit 202 repeats the above-described comparison, reassignment and control of the given and target straight axis currents until the difference between the finally determined given and target straight axis currents is equal to 0 or less than the adjustment step.
It can be seen that if the target straight axis current value and the pre-transition process straight axis current value differ significantly, there may be a plurality of given straight axis current values before transitioning to the new mode of operation. For example, if the difference between the target straight axis current value and the initial straight axis current value is 5 times the straight axis current adjustment step length per unit time, 5 new given straight axis current values are required until the difference between the redetermined given straight axis current and the target straight axis current is less than one current step length or equal to 0 before the new operation mode is actually reached. In this way, the processing unit 202 can implement the switching of modes in a gradual manner, effectively avoiding the impact of the pulses of torque on the performance of the motor 201 and on the user experience.
When the difference between the given direct-axis current value and the target direct-axis current value is equal to 0 or smaller than the current step, the given direct-axis current value can be made equal to the target direct-axis current value, and the given quadrature-axis current value is determined from the newly determined given direct-axis current value, and finally the control of the motor is realized.
It should be appreciated that the above description of how the method according to the embodiments of the present disclosure implements an embodiment of preventing torque pulses in the case of mode switching, taking as an example the current mode (i.e., pre-switch mode) as the maximum torque to current ratio control mode, and the new operating mode (i.e., post-switch mode) as the inefficient operating mode, is to be understood as illustrative only and is not intended to limit the scope of the present disclosure. In some alternative embodiments, the current mode may also be an inefficient mode of operation, while the new mode of operation to be switched is a maximum torque to current ratio control mode. In this case, too, torque pulses caused during mode changes can be prevented with this method.
In the following Park inverse transformation and Clark inverse transformation, the electrical angle value θ to the rotor needs to be used. In order to ensure reliability of the inverse transformation and thus the control of the motor 201, the electrical angle value θ of the rotor required for the Park inverse transformation process can be continuously updated in a manner according to an embodiment of the present disclosure. Specifically, the processing unit 202 may continuously acquire an integrated initial value of the electrical angle of the rotor. For example, FIG. 6 shows a flowchart of a method performed as an interrupt service routine according to an embodiment of the present disclosure. As shown in fig. 6, the processing unit 202 may acquire the electrical angle determined before the end of the last interrupt routine at each interrupt routine operation as an integrated initial value of the electrical angle in the present interrupt routine, that is,
θ 0 ＝θ (18)
Wherein θ is 0 The initial value of the integral of the electrical angle at the start of the new interrupt routine, θ, is the electrical angle value before the end of the interrupt routine.
This step may be implemented in a variety of implementations. For example, in some embodiments, this step may be accomplished before the end of the interrupt routine, i.e., before the end of the interrupt routine, the current electrical angle of the rotor may be used to assign a value to the next interrupt routine to begin integrating the initial value. After the interrupt routine is started, the current electrical angle of the rotor is determined according to the integration initial value and the rotating speed of the rotor according to the following formula:
θ＝θ 0 +∫ω·dt (19)
where ω is the determined rotational speed of the rotor.
The interrupt routine may perform Park inverse transformation and Clark inverse transformation based on the re-determined current electrical angle. Thus, the latest electric angle value can be used when performing Park inverse transformation, and reliability of inverse transformation and reliability of motor 201 control can be ensured. When the current interrupt routine is to be ended, the last determined current angle value can be reassigned to the integral initial value of the angle value of the next interrupt routine, and so on, so that reliable control of the motor 201 is realized.
Fig. 7 shows a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. The apparatus 800 may be used to implement the method shown in fig. 3. As shown, the device 800 includes a Central Processing Unit (CPU) 801. The central processing unit 801 may be at least one of the processing units mentioned in the foregoing, which may perform various suitable actions and processes according to computer program instructions stored in a Read Only Memory (ROM) 802 or loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The CPU 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), etc.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a computer-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Moreover, although operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
It is to be understood that the above detailed embodiments of the present disclosure are merely illustrative or explanatory of the principles of the disclosure and are not restrictive thereof. Therefore, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention. Meanwhile, the appended claims of the present disclosure are intended to cover all changes and modifications that fall within the scope and boundary of the claims or the equivalents of the scope and boundary.
Claims (16)
1. A method for controlling a synchronous motor, comprising:
determining a stator current vector value from a predetermined stator copper loss and stator winding resistance in response to an instruction to cause the motor to enter a low efficiency mode of operation from a normal mode;
acquiring the rotating speed and the input torque of a rotor of the motor;
determining a stator current vector angle according to the acquired rotating speed and torque; and
a given direct axis current value and a given quadrature axis current value for controlling the motor are determined from the determined stator current vector angle and the stator current vector value such that the stator copper loss of the motor maintains the predetermined stator copper loss during the low efficiency mode of operation.
2. The method of claim 1, further comprising:
in response to a mode switching instruction for enabling the motor to enter a new operation mode from a current mode, acquiring a process straight-axis current value used for controlling the motor in the current mode, and determining a given straight-axis current value in the new operation mode according to the process straight-axis current value;
determining a target direct current value in the new operation mode;
comparing the given direct axis current value with the determined target direct axis current value;
Redetermining a given straight-axis current value from the given straight-axis current value and the adjustment step in response to a difference between the given straight-axis current value and the target straight-axis current value being greater than a predetermined straight-axis current adjustment step per unit time; and
in response to the difference between the given direct-axis current value and the target direct-axis current value being less than the adjustment step or equal to zero, the given direct-axis current value is made equal to the target direct-axis current value.
3. The method of claim 2, further comprising:
determining a given quadrature axis current value from the redetermined given direct axis current value; and
the motor is controlled in accordance with the determined given direct-axis current value and the given quadrature-axis current value.
4. The method of claim 1, further comprising:
in response to the acquired rotational speed being zero, the given direct current value is made equal to the stator current vector value and the given quadrature current value is made equal to zero.
5. The method of claim 1, further comprising:
determining a direct axis voltage value and a quadrature axis voltage value according to the given direct axis current value and the given quadrature axis current value; and
phase voltages for application to stator windings of the electric machine are determined by Park inverse transformation and Clark inverse transformation for the determined direct axis voltage values and quadrature axis voltage values.
6. The method of claim 5, further comprising:
acquiring an integral initial value of an electrical angle of a rotor;
determining the current electrical angle of the rotor according to the integral initial value and the rotating speed of the rotor; and
and carrying out Park inverse transformation according to the current electrical angle.
7. The method of claim 6, wherein obtaining an integrated initial value of an electrical angle of the rotor comprises:
the integration initial value is determined according to the current electrical angle.
8. An electronic device, comprising:
at least one processing unit, and
at least one memory coupled to the at least one processing unit and adapted to store instructions that, when executed by the at least one processing unit, cause the at least one processing unit to:
determining a stator current vector value from a predetermined stator copper loss and stator winding resistance in response to an instruction to cause the motor to enter a low efficiency mode of operation from a normal mode;
acquiring the rotating speed and the input torque of a rotor of the motor;
determining a stator current vector angle according to the acquired rotating speed and torque; and determining a given direct axis current value and a given quadrature axis current value for controlling the motor in dependence on the determined stator current vector angle and the stator current vector value such that the stator copper loss of the motor maintains the predetermined stator copper loss during the low efficiency mode of operation.
9. The electronic device of claim 8, wherein the processing unit is further configured to:
in response to a mode switching instruction for enabling the motor to enter a new operation mode from a current mode, acquiring a process straight-axis current value used for controlling the motor in the current mode, and determining a given straight-axis current value in the new operation mode according to the process straight-axis current value;
determining a target direct current value in the new operation mode;
comparing the given direct axis current value with the determined target direct axis current value;
redetermining a given straight-axis current value from the given straight-axis current value and the adjustment step in response to a difference between the given straight-axis current value and the target straight-axis current value being greater than a predetermined straight-axis current adjustment step per unit time; and
in response to the difference between the given direct-axis current value and the target direct-axis current value being less than the adjustment step or equal to zero, the given direct-axis current value is made equal to the target direct-axis current value.
10. The electronic device of claim 9, wherein the processing unit is further configured to:
determining a given quadrature axis current value from the redetermined given direct axis current value; and
The motor is controlled in accordance with the determined given direct-axis current value and the given quadrature-axis current value.
11. The electronic device of claim 8, wherein the processing unit is further configured to:
in response to the acquired rotational speed being zero, the given direct current value is made equal to the stator current vector value and the given quadrature current value is made equal to zero.
12. The electronic device of claim 8, wherein the processing unit is further configured to:
determining a direct axis voltage value and a quadrature axis voltage value according to the given direct axis current value and the given quadrature axis current value; and
phase voltages for application to stator windings of the electric machine are determined by Park inverse transformation and Clark inverse transformation for the determined direct axis voltage values and quadrature axis voltage values.
13. The electronic device of claim 12, wherein the processing unit is further configured to:
acquiring an integral initial value of an electrical angle of a rotor;
determining the current electrical angle of the rotor according to the integral initial value and the rotating speed of the rotor; and
and carrying out Park inverse transformation according to the current electrical angle.
14. The electronic device of claim 13, wherein the processing unit is further configured to:
The integration initial value is determined according to the current electrical angle.
15. A vehicle, comprising:
a motor for driving the vehicle to move; and
the electronic device of any of claims 8-14.
16. A computer readable medium having computer readable instructions stored thereon, which when executed by a processing unit, cause the processing unit to perform the method according to any of claims 1-7.
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| CN202111623211.7A CN116365954A (en) | 2021-12-28 | 2021-12-28 | Method for controlling synchronous motor, electronic device and vehicle |
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| CN202111623211.7A CN116365954A (en) | 2021-12-28 | 2021-12-28 | Method for controlling synchronous motor, electronic device and vehicle |
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