CN116749785A - Method and device for determining motor torque, processor and vehicle - Google Patents

Method and device for determining motor torque, processor and vehicle Download PDF

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Publication number
CN116749785A
CN116749785A CN202310738851.5A CN202310738851A CN116749785A CN 116749785 A CN116749785 A CN 116749785A CN 202310738851 A CN202310738851 A CN 202310738851A CN 116749785 A CN116749785 A CN 116749785A
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China
Prior art keywords
motor
data
torque
flux linkage
rotor
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CN202310738851.5A
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Chinese (zh)
Inventor
徐泽绪
李帅
李岩
范雨卉
董力嘉
李伟亮
刘亚川
冉再庆
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FAW Group Corp
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FAW Group Corp
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Priority to CN202310738851.5A priority Critical patent/CN116749785A/en
Publication of CN116749785A publication Critical patent/CN116749785A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque

Abstract

The invention discloses a method and a device for determining motor torque, a processor and a vehicle. Wherein the method comprises the following steps: acquiring a torque predicted value and a torque command value of a motor of a vehicle, wherein the torque command value is used for representing the torque demand of a whole vehicle controller of the vehicle on the motor, and the torque predicted value is used for estimating the actual torque for controlling the operation of the motor based on the torque command value; determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, wherein the flux linkage data is used for representing magnetic field attributes of the motor, and the inductance data is used for representing magnetic saturation and cross coupling attributes of the motor; determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise attribute of the motor, and the rotor flux is used for representing an electromagnetic attribute of a rotor of the motor; a target torque of the electric machine is determined based on the rotor flux linkage and the rotor temperature. The invention solves the technical problem of low accuracy in determining the torque of the motor.

Description

Method and device for determining motor torque, processor and vehicle
Technical Field
The invention relates to the field of vehicles, in particular to a method and a device for determining motor torque, a processor and a vehicle.
Background
At present, since there is an error between a torque command value and a torque estimated value of a motor, a phase voltage of the torque estimated value can be subjected to pulse width modulation (Pulse Width Modulation, abbreviated as PWM) to directly obtain a target torque. However, the PWM modulation alone results in a case where the control accuracy of the motor is low and the stability is poor. Therefore, there is still a technical problem that the accuracy of determining the torque of the motor is low.
Aiming at the technical problem of low accuracy of determining the torque of the motor in the related art, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining motor torque, a processor and a vehicle, which are used for at least solving the technical problem of low accuracy in determining the motor torque.
According to an aspect of an embodiment of the present invention, there is provided a method of determining motor torque. The method may include: acquiring a torque predicted value and a torque command value of a motor of a vehicle, wherein the torque command value is used for representing the torque demand of a whole vehicle controller of the vehicle on the motor, and the torque predicted value is used for estimating the actual torque for controlling the operation of the motor based on the torque command value; determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, wherein the flux linkage data is used for representing magnetic field attributes of the motor, and the inductance data is used for representing magnetic saturation and cross coupling attributes of the motor; determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise attribute of the motor, and the rotor flux is used for representing an electromagnetic attribute of a rotor of the motor; a target torque of the electric machine is determined based on the rotor flux linkage and the rotor temperature.
Optionally, determining flux linkage data and inductance data of the motor based on the torque pre-estimate and the torque command value includes: determining a phase voltage of the motor based on a deviation between the torque predicted value and the torque command value; determining flux linkage data of the motor based on the phase voltages under the coordinate axes of the magnetic field attributes; the magnetic saturation and cross-coupling properties are simulated and the inductance data is determined based on the flux linkage data.
Optionally, determining flux linkage data of the motor based on the phase voltages under the coordinate axes of the magnetic field properties includes: based on the phase voltage, determining the stator resistance of the motor, the electrical angular speed of the motor, the voltage of a straight axis in the coordinate axis and the voltage of a quadrature axis in the coordinate axis; the quadrature axis linkage data in the linkage data is determined based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis, and the direct axis linkage data in the linkage data is determined based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis.
Optionally, simulating the magnetic saturation and cross-coupling properties, determining inductance data based on the flux linkage data, includes: determining flux linkage self-induction data in the inductance data based on the direct axis flux linkage data in the flux linkage data and the direct axis current of the motor, wherein the flux linkage self-induction data is used for representing flux linkage self-induction of a direct axis in a coordinate axis; and determining linkage mutual inductance data in the inductance data based on the linkage data in the linkage data and the linkage current of the motor, wherein the linkage mutual inductance data is used for representing linkage mutual inductance of the linkage to the straight axis in the coordinate axis.
Optionally, before simulating the magnetic saturation and cross-coupling properties and determining the inductance data based on the flux linkage data, the method further comprises: and establishing a relation model between the flux linkage data and the direct axis current on the coefficient matrix of the direct axis flux linkage data, the coefficient matrix of the quadrature axis flux linkage data and the polynomial fitting substrate.
Optionally, determining the rotor flux and the rotor temperature of the electric machine based on the flux data and the inductance data comprises: determining a rotor flux of the motor based on the flux linkage data, the alternating current and the direct current of the motor, and the inductance data; the rotor temperature is determined based on a model of the relationship between the rotor flux linkage and the rotor temperature.
Optionally, determining the target torque of the electric machine based on the rotor flux linkage and the rotor temperature includes: simulating electromagnetic properties and temperature rise properties, and determining a coefficient fitting matrix at an initial temperature and a target temperature; the target torque of the motor is determined based on the coefficient fitting matrix, the target temperature, the pole pair number of the motor, and the phase current of the motor.
According to another aspect of the embodiment of the invention, a device for determining the torque of a motor is also provided. The apparatus may include: the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a torque estimated value and a torque command value of a motor of a vehicle, the torque command value is used for representing the torque demand of a whole vehicle controller of the vehicle on the motor, and the torque estimated value is used for estimating the actual torque for controlling the motor to operate based on the torque command value; a first determining unit, configured to determine flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, where the flux linkage data is used to represent magnetic field properties of the motor, and the inductance data is used to represent magnetic saturation and cross coupling properties of the motor; a second determining unit configured to determine a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise property of the motor, and the rotor flux is used for representing an electromagnetic property of a rotor of the motor; and a third determining unit for determining a target torque of the motor based on the rotor flux linkage and the rotor temperature.
According to another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium includes a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform the method for determining motor torque according to the embodiment of the present invention.
According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program executes the method for determining the motor torque according to the embodiment of the invention when running.
According to another aspect of an embodiment of the present invention, there is also provided a vehicle. The vehicle is used for executing the motor torque determination method of the embodiment of the invention.
In the embodiment of the invention, a torque predicted value and a torque command value of a motor of a vehicle are obtained, wherein the torque command value is used for representing the torque demand of a whole vehicle controller of the vehicle on the motor, and the torque predicted value is used for predicting the actual torque for controlling the motor to operate based on the torque command value; determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, wherein the flux linkage data is used for representing magnetic field attributes of the motor, and the inductance data is used for representing magnetic saturation and cross coupling attributes of the motor; determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise attribute of the motor, and the rotor flux is used for representing an electromagnetic attribute of a rotor of the motor; a target torque of the electric machine is determined based on the rotor flux linkage and the rotor temperature. That is, according to the embodiment of the invention, the magnetic field attribute and the magnetic saturation or cross coupling attribute of the motor can be used for analyzing the torque predicted value and the torque value to determine flux linkage data corresponding to the magnetic field attribute, the inductance data corresponding to the magnetic saturation and the cross coupling attribute can be determined, the inductance data and the flux linkage data can be analyzed to determine the rotor temperature corresponding to the temperature rise attribute, the rotor flux linkage of the electromagnetic attribute can be determined, the target torque of the motor can be determined according to the rotor flux linkage and the rotor temperature, and the aim of improving the calculation precision of the target torque can be achieved due to consideration of various attributes of the motor, so that the technical problem of low accuracy of determining the torque of the motor is solved, and the technical effect of effectively improving the accuracy of determining the torque of the motor is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a method of determining motor torque according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a system for determining a target torque in accordance with the related art in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of a torque online estimation model according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for online estimation of target torque of a permanent magnet synchronous motor for a vehicle according to an embodiment of the present application;
FIG. 5 is a flow chart of a method of determining inductance data of an electric machine in accordance with an embodiment of the present application;
fig. 6 is a schematic diagram of a motor torque determining apparatus according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided an embodiment of a method of determining motor torque, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order other than that shown or described herein.
Fig. 1 is a flowchart of a determination of motor torque according to an embodiment of the present invention, as shown in fig. 1, the method may include the steps of:
step S102, a torque predicted value and a torque command value of a motor of a vehicle are obtained, wherein the torque command value is used for representing the torque demand of a vehicle controller of the vehicle on the motor, and the torque predicted value is used for estimating the actual torque for controlling the motor to operate based on the torque command value.
In the technical solution provided in the above step S102 of the present invention, a torque predicted value and a torque command value of a motor of a vehicle may be obtained, where the torque command value may be used to indicate a torque demand of a vehicle controller of the vehicle on the motor. The torque predictive value may be used to estimate an actual torque that controls operation of the motor based on the torque command value, and may also be referred to as an estimated torque.
Alternatively, a torque on-line estimation model for determining the target torque may be previously established, and after the model is established, a torque predicted value and a torque command value may be input into the model as input data of the model, and the torque predicted value and the torque command value may be processed through various units in the model to determine the target torque of the motor, wherein the torque on-line estimation model may include a torque on-line estimation unit, a torque control unit, a PWM modulation unit, and a direct axis (dq axis) calculation unit, a dq axis inductance calculation unit, a rotor flux linkage calculation unit, and a rotor temperature estimation unit, and the torque on-line estimation model may also be referred to as a torque closed loop control system. It should be noted that the calculation unit in the torque online estimation model is merely illustrative, and is not limited herein.
Step S104, determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, wherein the flux linkage data is used for representing magnetic field properties of the motor, and the inductance data is used for representing magnetic saturation and cross coupling properties of the motor.
In the technical scheme provided in the step S104, after the torque predicted value and the torque command value of the motor are obtained, the torque predicted value and the torque command value can be analyzed based on the magnetic field attribute, the magnetic saturation and the cross coupling attribute of the motor, so as to determine the flux linkage data and the inductance data of the motor, wherein the magnetic field attribute can be a magnetic field effect. The flux linkage data may be used to represent a magnetic field property of the motor, and may be a flux linkage value. The cross-coupling property may be a cross-coupling effect. Inductance data may be used to represent the magnetic saturation and cross-coupling properties of the motor, and may include flux linkage self-inductance and flux linkage mutual inductance.
Alternatively, after inputting the obtained torque predicted value and torque command value into the torque online estimation model, the torque control unit in the torque online estimation model may calculate the torque predicted value and the torque command value with the torque predicted value and the torque command value as inputs, to obtain a calculation result, and may input the calculation result into the dq axis flux linkage calculation unit, and calculate the flux linkage value based on the magnetic field attribute of the motor through the dq axis flux linkage calculation unit. The inductance data can be determined by calculating the flux linkage value by the dq-axis inductance calculation unit based on the magnetic saturation cross-coupling effect of the motor.
In order to improve the calculation accuracy of the target torque of the motor, the simulation of the magnetic saturation cross coupling effect of the motor can be introduced, the inductance data can be calculated based on the flux linkage data, and the target torque of the motor can be better analyzed due to consideration of various properties and effects of the motor, so that the technical effect of improving the calculation accuracy of the target torque of the motor is achieved.
Step S106, determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing the temperature rise attribute of the motor, and the rotor flux is used for representing the electromagnetic attribute of the rotor of the motor.
In the technical scheme of the step S106 of the present invention, after determining the flux linkage data and the inductance data, the flux linkage data and the inductance data may be analyzed based on the temperature rise attribute of the motor, the rotor temperature of the motor may be determined, the flux linkage data and the inductance data may be analyzed based on the electromagnetic attribute of the motor, and the rotor flux linkage of the motor may be determined, wherein the temperature rise attribute may also be referred to as a temperature rise effect or a temperature rise condition. The rotor temperature may be used to represent a temperature rise property of the motor. The rotor flux linkage may be used to represent electromagnetic properties of a rotor in an electric machine.
Alternatively, after the dq-axis flux linkage calculation unit calculates flux linkage data and the dq-axis inductance calculation unit calculates inductance data, the calculated flux linkage data may be transmitted to the rotor flux linkage calculation unit in the torque online estimation model by the dq-axis flux linkage calculation unit, or the calculated inductance data may be transmitted to the rotor flux linkage calculation unit by the dq-axis inductance calculation unit. The rotor flux linkage can be determined by analyzing the inductance data and the flux linkage data based on electromagnetic properties by the rotor flux linkage calculation unit. The rotor flux may be input from the rotor flux calculating unit to the rotor temperature estimating unit, and the rotor temperature may be calculated based on the rotor flux.
Step S108, determining a target torque of the motor based on the rotor flux linkage and the rotor temperature.
In the above-mentioned step S108 of the present invention, after determining the rotor flux and the rotor temperature, a target torque of the motor may be determined, where the target torque may be used to represent a torque that is closer to the torque command value.
Alternatively, after the rotor temperature is calculated by the rotor temperature estimation unit, the rotor temperature may be input into the torque on-line estimation unit through the rotor temperature estimation unit, and the target torque may be calculated based on parameters such as the rotor temperature in the torque on-line estimation unit.
In the embodiment of the invention, the accuracy of determining the target torque of the motor can be improved by considering the magnetic field attribute, the magnetic saturation and cross coupling attribute and the temperature rise attribute of the motor, the torque predicted value and the torque command value of the motor can be calculated based on the plurality of attributes to determine the flux linkage data and the inductance data, and the rotor flux linkage and the rotor temperature of the rotor can be further determined, so that the target torque of the motor can be determined, the aim of improving the calculation accuracy of the target torque is achieved, and the technical effect of improving the accuracy of determining the target torque of the motor is further realized.
According to the invention, the step S102 to the step S108 are carried out by analyzing the torque predicted value and the torque value through the magnetic field attribute and the magnetic saturation or cross coupling attribute of the motor, so that magnetic linkage data corresponding to the magnetic field attribute can be determined, inductive data corresponding to the magnetic saturation and the cross coupling attribute can be determined, the inductive data and the magnetic linkage data can be analyzed through the temperature rise attribute and the electromagnetic attribute of the motor, the rotor temperature corresponding to the temperature rise attribute can be determined, the rotor flux linkage of the electromagnetic attribute can be determined, the target torque of the motor can be determined according to the rotor flux linkage and the rotor temperature, and the purpose of improving the calculation precision of the target torque can be achieved due to the consideration of various attributes of the motor, the technical problem of low accuracy of determining the torque of the motor is solved, and the technical effect of effectively improving the accuracy of determining the torque of the motor is realized.
The above-described method of this embodiment is further described below.
As an alternative embodiment, step S104, determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, includes: determining a phase voltage of the motor based on a deviation between the torque predicted value and the torque command value; determining flux linkage data of the motor based on the phase voltages under the coordinate axes of the magnetic field attributes; the magnetic saturation and cross-coupling properties are simulated and the inductance data is determined based on the flux linkage data.
In this embodiment, in determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, a deviation between the torque predicted value and the torque command value may be determined, a phase voltage of the motor may be determined based on the deviation between the torque predicted value and the torque command value, flux linkage data of the motor may be determined based on the phase voltage under coordinates of magnetic field properties, and magnetic saturation and cross coupling properties may be simulated, and the inductance data may be determined based on the flux linkage data, wherein the coordinate axes may be a rotational coordinate system of the motor, the rotational coordinate system may include two axes, a direct axis (d-axis) and an intersecting axis (q-axis), the direct axis may be a directional axis of a magnetic field of the motor, and the intersecting axis may be a directional axis of a rotor of the motor. The phase voltage may be referred to as an input phase voltage.
Alternatively, the torque predicted value and the torque command value may be used as input data of the torque closed-loop control system, the deviation between the torque predicted value and the torque command value may be calculated, the torque predicted value and the torque command value may be transmitted to the torque control unit for modulation, and the optimal phase voltage under the working condition where the current torque predicted value and the torque command value are located may be determined.
Alternatively, the phase voltage obtained by the torque control unit through modulation can be input to the PWM modulation unit to generate six paths of PWM for driving the inverter power switching device, and can be input to the dq axis flux linkage calculation unit to determine flux linkage data. In order to improve the calculation accuracy of the target torque of the motor, the magnetic saturation and cross coupling effect of the motor can be simulated in the dq-axis inductance calculation unit, and when flux linkage data is input into the dq-axis inductance calculation unit, inductance data can be determined in the simulation process.
As an alternative embodiment, step S104, determining flux linkage data of the motor based on the phase voltage under the coordinate axis of the magnetic field attribute, includes: based on the phase voltage, determining the stator resistance of the motor, the electrical angular speed of the motor, the voltage of a straight axis in the coordinate axis and the voltage of a quadrature axis in the coordinate axis; the quadrature axis linkage data in the linkage data is determined based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis, and the direct axis linkage data in the linkage data is determined based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis.
In this embodiment, in determining the flux linkage data based on the phase voltages under the coordinate axes of the flux linkage attributes, the stator resistance, the electrical angular velocity, the voltage of the straight axis in the coordinate axes, and the voltage of the intersecting axis of the coordinate axes of the motor may be determined based on the phase voltages, the intersecting axis flux linkage data in the flux linkage data may be determined based on the stator resistance, the electrical angular velocity, and the voltage of the straight axis, and the straight axis flux linkage data in the flux linkage data may be determined based on the stator resistance, the electrical angular velocity, and the voltage of the intersecting axis, wherein the flux linkage data may include the intersecting axis flux linkage data and the straight axis flux linkage data.
Alternatively, in the phase voltage input dq-axis flux linkage calculation unit, the stator resistance R, the electric angular velocity ω of the motor may be determined based on the phase voltage e Voltage u of straight axis d Voltage u of intersecting axes q 。
Alternatively, based on the stator resistance, the electrical angular velocity, and the voltage of the direct axis, the quadrature axis flux linkage data may be determined by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,may be used to represent quadrature flux linkage data; i.e d Current that can be used to represent a straight axis; r may be used to represent the stator resistance of the motor; u (u) d A voltage that can be used to represent a straight axis; omega e May be used to represent the electrical angular velocity.
Alternatively, based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis, the direct axis flux linkage data may be determined by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,may be used to represent the direct axis flux linkage data; i.e q Currents that can be used to represent the quadrature axis; u (u) q Can be used for representingVoltage of the quadrature axis.
As an alternative embodiment, step S104, simulating the magnetic saturation and cross-coupling properties, determining inductance data based on flux linkage data, includes: determining flux linkage self-induction data in the inductance data based on the direct axis flux linkage data in the flux linkage data and the direct axis current of the motor, wherein the flux linkage self-induction data is used for representing flux linkage self-induction of a direct axis in a coordinate axis; and determining linkage mutual inductance data in the inductance data based on the linkage data in the linkage data and the linkage current of the motor, wherein the linkage mutual inductance data is used for representing linkage mutual inductance of the linkage to the straight axis in the coordinate axis.
In this embodiment, in the process of simulating the magnetic saturation and the cross-coupling attribute and determining the inductance data based on the flux linkage data, flux linkage self-induction data of the inductance data may be determined based on the straight axis flux linkage data and the straight axis current in the flux linkage data, and flux linkage mutual induction data in the inductance data may be determined based on the intersecting axis flux linkage data of the flux linkage data and the intersecting axis current of the motor, where the flux linkage self-induction data may be used to represent flux linkage self-induction of the straight axis in the coordinate axis and may be referred to as dq axis self-induction. The flux linkage mutual inductance data may be used to represent the flux linkage mutual inductance of the quadrature axis to the direct axis in the coordinate axes, and may be referred to as dq axis mutual inductance. The inductance data includes flux linkage self-inductance data and flux linkage mutual inductance data.
Optionally, in order to improve the calculation accuracy of the target torque of the motor, the embodiment of the invention simulates the magnetic saturation and cross coupling effect of the motor, so that the dq-axis self-induction data and the mutual inductance data between the dq-axis self-induction data and the mutual inductance data can be calculated respectively after the direct-axis flux linkage data and the quadrature-axis flux linkage data are calculated.
For example, based on the direct axis flux linkage data and the direct axis current, flux linkage self-inductance data may be determined by the following formula:
wherein L is dd May be used to represent flux linkage self-inductance data.
For another example, based on the quadrature current and the quadrature flux linkage data, flux linkage mutual inductance data may be determined by the following formula:
wherein L is dq Can be used to represent flux linkage mutual inductance data.
As an alternative embodiment, step S104, before simulating the magnetic saturation and cross-coupling properties and determining the inductance data based on the flux linkage data, the method further comprises: and establishing a relation model between the flux linkage data and the direct axis current on the coefficient matrix of the direct axis flux linkage data, the coefficient matrix of the quadrature axis flux linkage data and the polynomial fitting substrate.
In this embodiment, before determining the inductance data, a relationship model between the flux linkage data and the direct axis current may be established for the coefficient matrix in the direct axis flux linkage data, the coefficient matrix of the quadrature axis flux linkage data, and the polynomial fitting substrate, where the relationship model may be a binary multiple function between the flux linkage data and the direct axis current, and may be used to represent a d-axis flux linkage fit result and a q-axis flux linkage fit result. The coefficient matrix in the direct axis flux linkage data may be a coefficient matrix after d-axis flux linkage fitting. The coefficient matrix of the quadrature axis flux linkage data may be a coefficient matrix after q-axis flux linkage fitting.
In the embodiment of the invention, a polynomial fitting mode can be adopted to model the relation between flux linkage data and current of the motor, and a binary multiple function of flux linkage about dq axis current can be obtained.
For example, the d-axis flux linkage fitting result can be determined by the following formula based on the coefficient matrix of the straight-axis flux linkage data and the polynomial fitting base:
wherein, the liquid crystal display device comprises a liquid crystal display device,can be used for representing the d-axis flux linkage fitting result; matrix d The method can be used for representing a coefficient matrix after d-axis flux linkage fitting; i may be used to represent a polynomial fitting basis.
For another example, the q-axis flux linkage fitting result can be determined by the following formula based on the coefficient matrix of the quadrature axis flux linkage data and the polynomial fitting base:
wherein, the liquid crystal display device comprises a liquid crystal display device,can be used for representing q-axis flux linkage fitting results; matrix q Can be used to represent the coefficient matrix after q-axis flux linkage fitting.
Optionally, before dq axis flux linkage fitting, raw data can be obtained through finite element simulation or bench calibration, in order to characterize the influence of different rotor temperatures on electromagnetic properties under the same stator current input, dq axis flux linkage maps need to be respectively obtained under the lowest temperature and the highest temperature of the rotor flux linkage, two sets of fitting coefficient matrixes are obtained after fitting processing, and based on the data, coefficient matrix variation corresponding to unit rotor temperature rise can be obtained, so that input is provided for a subsequent calculation process of output target torque.
As an alternative embodiment, step S106, determining the rotor flux and the rotor temperature of the motor based on the flux data and the inductance data, includes: determining a rotor flux of the motor based on the flux linkage data, the alternating current and the direct current of the motor, and the inductance data; the rotor temperature is determined based on a model of the relationship between the rotor flux linkage and the rotor temperature.
In this embodiment, in determining the rotor flux and the rotor temperature of the motor based on the flux data and the inductance data, the rotor flux of the motor may be determined based on the flux data, the alternating current and the direct current of the motor, and the inductance data, and the rotor temperature may be determined based on a relationship model between the rotor flux and the rotor temperature, wherein the rotor flux may also be referred to as a permanent magnet flux, simply referred to as flux, and wherein the relationship model between the rotor flux and the rotor temperature may be a correspondence table of the rotor flux and the rotor temperature. The rotor temperature may be referred to as the actual temperature value of the rotor.
Alternatively, the flux linkage data and the inductance data can be transmitted to the rotor flux linkage calculation unit through the dq axis flux linkage calculation unit and the dq axis inductance calculation unit, and the rotor flux linkage can be determined by receiving the flux linkage data and the inductance data through the rotor flux linkage calculation unit in real time.
For example, the rotor flux linkage may be determined by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,may be used to represent the rotor flux linkage.
Optionally, the rotor flux linkage may be transmitted to the rotor temperature estimation unit through the rotor flux linkage calculation unit, and the rotor temperature estimation unit may calculate the rotor temperature under the current condition by using the rotor flux linkage obtained by real-time calculation as input and using a correspondence table between the rotor flux linkage and the temperature.
As an alternative embodiment, step S108, determining the target torque of the motor based on the rotor flux and the rotor temperature, includes: simulating electromagnetic properties and temperature rise properties, and determining a coefficient fitting matrix at an initial temperature and a target temperature; the target torque of the motor is determined based on the coefficient fitting matrix, the target temperature, the pole pair number of the motor, and the phase current of the motor.
In this embodiment, in determining the target torque of the motor based on the rotor flux linkage and the rotor temperature, the electromagnetic property and the temperature rise property may be simulated, a coefficient fitting matrix at an initial temperature and the target temperature may be determined, and the target torque of the motor may be determined based on the coefficient fitting matrix, the target temperature, and the pole pair number of the motor and the phase current of the motor, wherein the initial temperature may be used to represent a motor temperature value at an initial time of starting the motor. The target temperature may be used to represent a motor temperature value at the current time of the motor.
Alternatively, the rotor temperature may be transmitted from the rotor temperature estimation unit to the torque on-line estimation unit, and the torque on-line estimation unit may take the dq-axis current and the rotor temperature of the motor as input, may perform on-line real-time estimation on the target torque of the motor, and may simulate the nonlinear electromagnetic characteristic and the temperature rise characteristic of the motor, so as to determine the target torque.
For example, based on the coefficient fitting matrix, the target temperature, the pole pair number of the motor, and the phase current of the motor, the target torque of the motor may be determined by the following formula:
T e ＝1.5n p [(Matrix d0 +Matrix d (t-t0))i q -(Matrix q0 +Matrix q (t-t0))i d ]
wherein T is e May be used to represent a target torque for the motor; n is n p May be used to represent the pole pair number of the motor; t may be used to represent a motor temperature value at a current time of the motor; t0 may be used to represent a motor temperature value at an initial time of the motor.
In the embodiment of the invention, a torque predicted value and a torque command value of a motor of a vehicle are obtained, wherein the torque command value is used for representing the torque demand of a whole vehicle controller of the vehicle on the motor, and the torque predicted value is used for predicting the actual torque for controlling the motor to operate based on the torque command value; determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, wherein the flux linkage data is used for representing magnetic field attributes of the motor, and the inductance data is used for representing magnetic saturation and cross coupling attributes of the motor; determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise attribute of the motor, and the rotor flux is used for representing an electromagnetic attribute of a rotor of the motor; a target torque of the electric machine is determined based on the rotor flux linkage and the rotor temperature. That is, according to the embodiment of the invention, the magnetic field attribute and the magnetic saturation or cross coupling attribute of the motor can be used for analyzing the torque predicted value and the torque value to determine flux linkage data corresponding to the magnetic field attribute, the inductance data corresponding to the magnetic saturation and the cross coupling attribute can be determined, the inductance data and the flux linkage data can be analyzed to determine the rotor temperature corresponding to the temperature rise attribute, the rotor flux linkage of the electromagnetic attribute can be determined, the target torque of the motor can be determined according to the rotor flux linkage and the rotor temperature, and the aim of improving the calculation precision of the target torque can be achieved due to consideration of various attributes of the motor, so that the technical problem of low accuracy of determining the torque of the motor is solved, and the technical effect of effectively improving the accuracy of determining the torque of the motor is realized.
Example 2
The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.
At present, for a driving motor for a vehicle, the output torque is a crucial technical index, and the dynamic property and the driving stability of the whole vehicle are directly related. Therefore, the core purpose of the motor controller is to control the driving motor to realize accurate and stable torque output in the whole vehicle driving process.
Fig. 2 is a schematic diagram of a system for determining a target torque in the related art according to an embodiment of the present invention, and as shown in fig. 2, the system for determining a target torque in the related art may include a torque control unit 201, a PWM modulation unit 202, and a torque on-line estimation unit 203. The motor controller receives the target torque input from the whole vehicle controller, calculates the error between the target torque and the actual torque, and obtains the motor phase voltage target value after the adjustment of the torque control unit 201. The phase voltage target value is modulated by the PWM modulation unit 202, the duty ratio of the three-phase PWM is calculated, and the inverter is controlled to be switched in a corresponding state, so that the control of the three-phase current and the output torque of the motor is realized. However, the PWM modulation alone results in a case where the control accuracy of the motor is low and the stability is poor. Therefore, there is still a technical problem that the accuracy of determining the torque of the motor is low.
In order to solve the problems, the embodiment of the invention provides an online estimation method for the output torque of the permanent magnet synchronous motor for the vehicle, which can analyze a torque predicted value and a torque value through the magnetic field attribute and the magnetic saturation or cross coupling attribute of the motor, determine flux linkage data corresponding to the magnetic field attribute, also determine inductance data corresponding to the magnetic saturation and the cross coupling attribute, analyze the inductance data and the flux linkage data through the temperature rise attribute and the electromagnetic attribute of the motor, determine the rotor temperature corresponding to the temperature rise attribute, also determine the rotor flux linkage of the electromagnetic attribute, determine the target torque of the motor according to the rotor flux linkage and the rotor temperature, and further solve the technical problem of low accuracy of determining the torque of the motor by considering various attributes of the motor, thereby realizing the technical effect of effectively improving the accuracy of determining the torque of the motor.
Embodiments of the present invention are further described below.
Fig. 3 is a schematic diagram of a torque online estimation model according to an embodiment of the present invention, and as shown in fig. 3, the torque online estimation model may include a torque control unit 301, a PWM modulation unit 302, a dq-axis flux linkage calculation unit 303, a dq-axis inductance calculation unit 304, a rotor flux linkage calculation unit 305, a rotor temperature estimation unit 306, and a torque online estimation unit 307. It should be noted that the calculation unit in the torque online estimation model is merely illustrative, and is not limited herein.
Alternatively, a torque on-line estimation model for determining the target torque may be built in advance, and after the model is built, a torque predicted value and a torque command value may be input into the model as input data of the model, and the torque predicted value and the torque command value may be processed by various units in the model to determine the target torque of the motor.
Alternatively, after inputting the obtained torque predicted value and torque command value into the torque online estimation model, the torque control unit in the torque online estimation model may calculate the torque predicted value and the torque command value with the torque predicted value and the torque command value as inputs, to obtain a calculation result, and may input the calculation result into the dq axis flux linkage calculation unit, and calculate the flux linkage value based on the magnetic field attribute of the motor through the dq axis flux linkage calculation unit. The inductance data can be determined by calculating the flux linkage value by the dq-axis inductance calculation unit based on the magnetic saturation cross-coupling effect of the motor.
Alternatively, after the dq-axis flux linkage calculation unit calculates flux linkage data and the dq-axis inductance calculation unit calculates inductance data, the calculated flux linkage data may be transmitted to the rotor flux linkage calculation unit in the torque online estimation model by the dq-axis flux linkage calculation unit, or the calculated inductance data may be transmitted to the rotor flux linkage calculation unit by the dq-axis inductance calculation unit. The rotor flux linkage can be determined by analyzing the inductance data and the flux linkage data based on electromagnetic properties by the rotor flux linkage calculation unit. The rotor flux may be input from the rotor flux calculating unit to the rotor temperature estimating unit, and the rotor temperature may be calculated based on the rotor flux.
Alternatively, after the rotor temperature is calculated by the rotor temperature estimation unit, the rotor temperature may be input into the torque on-line estimation unit through the rotor temperature estimation unit, and the target torque may be calculated based on parameters such as the rotor temperature in the torque on-line estimation unit.
Fig. 4 is a flowchart of a method for online estimating a target torque of a permanent magnet synchronous motor for a vehicle according to an embodiment of the present invention, as shown in fig. 4, the method may include the steps of:
step S402, determining flux linkage data according to the phase voltage and the phase current.
In the technical scheme provided in the step S402 in the embodiment of the present invention, the direct axis flux linkage data and the quadrature axis flux linkage data in the flux linkage data may be determined by calculating the phase voltage, the phase current, and the like.
Alternatively, the torque predicted value and the torque command value may be used as input data of the torque closed-loop control system, the deviation between the torque predicted value and the torque command value may be calculated, the torque predicted value and the torque command value may be transmitted to the torque control unit for modulation, and the optimal phase voltage under the working condition where the current torque predicted value and the torque command value are located may be determined.
Alternatively, the phase voltage obtained by the torque control unit through modulation can be input to the PWM modulation unit to generate six paths of PWM for driving the inverter power switching device, and can be input to the dq axis flux linkage calculation unit to determine flux linkage data.
Alternatively, in the phase voltage input dq-axis flux linkage calculation unit, the stator resistance R, the electric angular velocity ω of the motor may be determined based on the phase voltage e Voltage u of straight axis d Voltage u of intersecting axes q 。
For example, based on stator resistance, electrical angular velocity, and direct axis voltage, quadrature axis flux linkage data may be determined by the following equation:
wherein, the liquid crystal display device comprises a liquid crystal display device,may be used to represent quadrature flux linkage data; i.e d Current that can be used to represent a straight axis; r may be used to represent the stator resistance of the motor; u (u) d A voltage that can be used to represent a straight axis; omega e May be used to represent the electrical angular velocity.
For another example, based on stator resistance, electrical angular velocity, and quadrature axis voltage, direct axis flux linkage data may be determined by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,may be used to represent the direct axis flux linkage data; i.e q Currents that can be used to represent the quadrature axis; u (u) q May be used to represent the voltages of the quadrature axes.
In step S404, inductance data is determined based on the flux linkage data and the phase current.
In the technical solution provided in the step S404 in the embodiment of the present invention, in order to improve the calculation accuracy of the target torque of the motor, the simulation of the magnetic saturation and the cross coupling effect of the motor may be introduced, so that the dq-axis self-induction data and the mutual inductance data between the dq-axis self-induction data and the mutual inductance data may be calculated after the direct axis flux linkage data and the quadrature axis flux linkage data are calculated.
Fig. 5 is a flowchart of a method of determining inductance data of a motor according to an embodiment of the present invention, as shown in fig. 5, the method may include:
step S502, acquiring dq axis flux linkage map corresponding to the highest temperature at normal temperature.
In the technical scheme provided in the step S502 in the embodiment of the present invention, before dq axis flux linkage fitting, raw data may be obtained through finite element simulation or stage calibration, and in order to characterize the influence of different rotor temperatures on electromagnetic properties under the same stator current input, dq axis flux linkage maps need to be respectively obtained under the lowest temperature and the highest temperature of the rotor flux linkage.
And step S504, performing data reconstruction on the flux linkage map by adopting a binary polynomial fitting method to obtain coefficient matrixes corresponding to different temperatures.
In the technical scheme provided in the step S504 in the embodiment of the present invention, a polynomial fitting mode may be used to model the relationship between flux linkage data and current of the motor, a binary multiple function of flux linkage about dq axis current may be obtained, and a coefficient matrix of direct axis flux linkage data and a coefficient matrix of quadrature axis flux linkage data at different temperatures may be determined.
Optionally, two sets of fitting coefficient matrixes are obtained after the fitting processing, and based on the data, the coefficient matrix variation corresponding to the unit rotor temperature rise can be obtained, so that input is provided for the subsequent calculation process of the output target torque.
Step S506, a flux linkage calculation model after reconstruction is established.
In the technical scheme provided in the step S506 in the embodiment of the present invention, a polynomial fitting mode may be used to model the relationship between flux linkage data and current of the motor, and a binary multiple function of flux linkage about dq axis current may be obtained, that is, a flux linkage calculation model is determined.
For example, the d-axis flux linkage fitting result can be determined by the following formula based on the coefficient matrix of the straight-axis flux linkage data and the polynomial fitting base:
wherein, the liquid crystal display device comprises a liquid crystal display device,can be used for representing the d-axis flux linkage fitting result; matrix d The method can be used for representing a coefficient matrix after d-axis flux linkage fitting; i may be used to represent a polynomial fitting basis.
For another example, the q-axis flux linkage fitting result can be determined by the following formula based on the coefficient matrix of the quadrature axis flux linkage data and the polynomial fitting base:
wherein, the liquid crystal display device comprises a liquid crystal display device,can be used for representing q-axis flux linkage fitting results; matrix q Can be used for representing coefficient matrix after q-axis flux linkage fitting
And step S508, obtaining dq axis self-inductance and mutual inductance values by first-order derivation of the flux linkage model.
In the technical scheme provided in the step S508 in the embodiment of the present invention, the flux linkage model may be first-order derived to determine flux linkage self-induction data (dq axis self-induction value) and flux linkage mutual induction data (dq axis mutual induction value).
For example, based on the direct axis flux linkage data and the direct axis current, flux linkage self-inductance data may be determined by the following formula:
wherein L is dd May be used to represent flux linkage self-inductance data.
For another example, based on the quadrature current and the quadrature flux linkage data, flux linkage mutual inductance data may be determined by the following formula:
wherein L is dq Can be used to represent flux linkage mutual inductance data.
In step S406, the rotor flux linkage is determined based on the inductance data and the flux linkage data.
In the technical scheme provided in the step S406 in the embodiment of the present invention, the flux linkage data and the inductance data may be transmitted to the rotor flux linkage calculation unit through the dq axis flux linkage calculation unit and the dq axis inductance calculation unit, and the rotor flux linkage may be determined by receiving the flux linkage data and the inductance data in real time through the rotor flux linkage calculation unit.
For example, the rotor flux linkage may be determined by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,may be used to represent the rotor flux linkage.
Step S408, determining the rotor temperature based on the rotor flux linkage.
In the technical solution provided in step S408 in the embodiment of the present invention, the rotor flux may be transmitted to the rotor temperature estimation unit through the rotor flux calculation unit, and the rotor temperature estimation unit may calculate the rotor temperature under the current condition by using the rotor flux obtained by real-time calculation as input and using a correspondence table between the rotor flux and the temperature.
Step S410, determining a target torque of the motor based on the rotor temperature.
In the technical scheme provided in the step S410 in the embodiment of the present invention, the rotor temperature may be transmitted from the rotor temperature estimation unit to the torque online estimation unit, where the torque online estimation unit may take the dq axis current and the rotor temperature of the motor as input, may perform online real-time estimation on the target torque of the motor, and may simulate the nonlinear electromagnetic characteristic and the temperature rise characteristic of the motor, so as to determine the target torque.
For example, based on the coefficient fitting matrix, the target temperature, the pole pair number of the motor, and the phase current of the motor, the target torque of the motor may be determined by the following formula:
T e ＝1.5n p [(Matrix d0 +Matrix d (t-t0))i q -(Matrix q0 +Matrix q (t-t0))i d ]
wherein T is e May be used to represent a target torque for the motor; n is n p May be used to represent the pole pair number of the motor; t may be used to represent a motor temperature value at a current time of the motor; t0 may be used to represent a motor temperature value at an initial time of the motor.
According to the embodiment of the invention, the magnetic field attribute and the magnetic saturation or cross coupling attribute of the motor can be used for analyzing the torque predicted value and the torque value to determine magnetic linkage data corresponding to the magnetic field attribute, the inductance data corresponding to the magnetic saturation and the cross coupling attribute can be also determined, the inductance data and the magnetic linkage data can be analyzed through the temperature rise attribute and the electromagnetic attribute of the motor to determine the rotor temperature corresponding to the temperature rise attribute, the rotor flux linkage of the electromagnetic attribute can be also determined, the target torque of the motor can be determined according to the rotor flux linkage and the rotor temperature, and the aim of improving the calculation precision of the target torque can be achieved due to consideration of various attributes of the motor, so that the technical problem of low accuracy of determining the torque of the motor is solved, and the technical effect of effectively improving the accuracy of determining the torque of the motor is realized.
Example 3
According to the embodiment of the invention, a device for determining the motor torque is also provided. The motor torque determination device may be used to perform the motor torque determination method in embodiment 1.
Fig. 6 is a schematic diagram of a motor torque determining apparatus according to an embodiment of the present invention, and as shown in fig. 6, the motor torque determining apparatus 600 may include: an acquisition unit 602, a first determination unit 604, a second determination unit 606, and a third determination unit 608.
The obtaining unit 602 is configured to obtain a torque predicted value and a torque command value of a motor of the vehicle, where the torque command value is used to represent a torque demand of a vehicle controller of the vehicle on the motor, and the torque predicted value is used to estimate an actual torque for controlling operation of the motor based on the torque command value.
A first determining unit 604, configured to determine flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, where the flux linkage data is used to represent magnetic field properties of the motor, and the inductance data is used to represent magnetic saturation and cross coupling properties of the motor.
A second determining unit 606 for determining a rotor flux and a rotor temperature of the electric machine based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise property of the electric machine and the rotor flux is used for representing an electromagnetic property of the rotor of the electric machine.
A third determination unit 608 for determining a target torque of the electric machine based on the rotor flux and the rotor temperature.
Alternatively, the first determining unit 604 may include: a first determining module for determining a phase voltage of the motor based on a deviation between the torque predicted value and the torque command value; the second determining module is used for determining flux linkage data of the motor based on the phase voltage under the coordinate axis of the magnetic field attribute; and the third determining module is used for simulating magnetic saturation and cross coupling properties and determining inductance data based on flux linkage data.
Optionally, the second determining module may include: the first determining submodule is used for determining stator resistance of the motor, electric angular speed of the motor, voltage of a straight shaft in a coordinate axis and voltage of a quadrature shaft in the coordinate axis based on the phase voltage; and the second determining submodule is used for determining the quadrature axis flux linkage data in flux linkage data based on the stator resistance, the electric angular speed and the voltage of the direct axis and determining the direct axis flux linkage data in flux linkage data based on the stator resistance, the electric angular speed and the voltage of the quadrature axis.
Optionally, the third determining module may include: the third determining submodule is used for determining flux linkage self-induction data in the inductance data based on the direct-axis flux linkage data in the flux linkage data and the direct-axis current of the motor, wherein the flux linkage self-induction data is used for representing flux linkage self-induction of a direct axis in a coordinate axis; and the fourth determination submodule is used for determining linkage mutual inductance data in the inductance data based on linkage data in the linkage data and linkage current of the motor, wherein the linkage mutual inductance data is used for representing linkage mutual inductance of linkage to a straight axis in a coordinate axis.
Optionally, the apparatus may further include: the establishing module is used for establishing a relation model between the flux linkage data and the direct axis current for the coefficient matrix of the direct axis flux linkage data, the coefficient matrix of the quadrature axis flux linkage data and the polynomial fitting substrate.
Alternatively, the second determining unit 606 may include: a fourth determining module for determining a rotor flux of the motor based on the flux linkage data, the alternating current and the direct current of the motor, and the inductance data; and a fifth determining module for determining the rotor temperature based on a model of a relationship between the rotor flux linkage and the rotor temperature.
Optionally, the third determining unit 608 may include: the simulation module is used for simulating the electromagnetic attribute and the temperature rise attribute and determining a coefficient fitting matrix at the initial temperature and the target temperature; and a sixth determination module for determining a target torque of the motor based on the coefficient fitting matrix, the target temperature, a pole pair number of the motor, and a phase current of the motor.
In the embodiment of the invention, a torque predicted value and a torque command value of a motor of a vehicle are obtained through an obtaining unit, wherein the torque command value is used for representing the torque demand of a whole vehicle controller of the vehicle on the motor, and the torque predicted value is used for estimating the actual torque for controlling the motor to operate based on the torque command value; determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value through a first determining unit, wherein the flux linkage data is used for representing magnetic field attributes of the motor, and the inductance data is used for representing magnetic saturation and cross coupling attributes of the motor; determining, by a second determining unit, a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise property of the motor, and the rotor flux is used for representing an electromagnetic property of a rotor of the motor; the target torque of the motor is determined based on the rotor flux linkage and the rotor temperature through the third determining unit, so that the technical problem of low accuracy of determining the torque of the motor is solved, and the technical effect of improving the accuracy of determining the torque of the motor is realized.
Example 4
According to an embodiment of the present application, there is also provided a computer-readable storage medium including a stored program, wherein the program executes the method of determining motor torque described in embodiment 1.
Example 5
According to an embodiment of the present application, there is also provided a processor for running a program, wherein the program executes the method of determining motor torque described in embodiment 1.
Example 6
According to an embodiment of the present application, there is also provided a vehicle for performing the method of determining motor torque of the embodiment of the present application.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be 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 interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including 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 method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. A method of determining motor torque, comprising:
acquiring a torque predicted value and a torque command value of a motor of a vehicle, wherein the torque command value is used for representing the torque demand of a vehicle controller of the vehicle on the motor, and the torque predicted value is used for estimating the actual torque for controlling the motor to operate based on the torque command value;
determining flux linkage data and inductance data of the motor based on the torque predicted value and the torque command value, wherein the flux linkage data is used for representing magnetic field attributes of the motor, and the inductance data is used for representing magnetic saturation and cross coupling attributes of the motor;
determining a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used for representing a temperature rise attribute of the motor, and the rotor flux is used for representing an electromagnetic attribute of a rotor of the motor;
A target torque of the electric machine is determined based on the rotor flux linkage and a rotor temperature.
2. The method of claim 1, wherein determining flux linkage data and inductance data of the electric machine based on the torque estimate and the torque command value comprises:
determining a phase voltage of the motor based on a deviation between the torque predictive value and the torque command value;
determining flux linkage data of the motor based on the phase voltages at coordinate axes of the magnetic field attributes;
simulating the magnetic saturation and the cross-coupling property, and determining the inductance data based on the flux linkage data.
3. The method of claim 2, wherein determining flux linkage data for the motor based on the phase voltages at the coordinate axes of the magnetic field properties comprises:
determining stator resistance of the motor, electrical angular speed of the motor, voltage of a straight axis in the coordinate axis and voltage of an intersecting axis in the coordinate axis based on the phase voltage;
the quadrature axis linkage data in the linkage data is determined based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis, and the direct axis linkage data in the linkage data is determined based on the stator resistance, the electrical angular velocity, and the voltage of the quadrature axis.
4. The method of claim 2, wherein simulating the magnetic saturation and the cross-coupling property, determining the inductance data based on the flux linkage data, comprises:
determining flux linkage self-induction data in the inductance data based on the direct axis flux linkage data in the flux linkage data and the direct axis current of the motor, wherein the flux linkage self-induction data is used for representing flux linkage self-induction of a direct axis in the coordinate axis;
and determining linkage mutual inductance data in the inductance data based on linkage data in the linkage data and linkage current of the motor, wherein the linkage mutual inductance data is used for representing linkage mutual inductance of linkage axes in the coordinate axes to the straight axis.
5. The method of claim 4, wherein prior to modeling the magnetic saturation and the cross-coupling property, determining the inductance data based on the flux linkage data, the method further comprises:
and establishing a relation model between the flux linkage data and the direct axis current for the coefficient matrix of the direct axis flux linkage data, the coefficient matrix of the quadrature axis flux linkage data and a polynomial fitting substrate.
6. The method of claim 1, wherein determining a rotor flux and a rotor temperature of the electric machine based on the flux data and the inductance data comprises:
Determining a rotor flux of the motor based on the flux linkage data, the alternating current and the direct current of the motor, and the inductance data;
the rotor temperature is determined based on a model of a relationship between the rotor flux and the rotor temperature.
7. The method of claim 1, wherein determining the target torque of the electric machine based on the rotor flux and rotor temperature comprises:
simulating the electromagnetic attribute and the temperature rise attribute, and determining a coefficient fitting matrix at an initial temperature and the target temperature;
a target torque of the motor is determined based on the coefficient fitting matrix, the target temperature, a pole pair number of the motor, and a phase current of the motor.
8. A motor torque determination apparatus, the apparatus comprising:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a torque predicted value and a torque command value of a motor of a vehicle, the torque command value is used for representing the torque demand of a whole vehicle controller of the vehicle on the motor, and the torque predicted value is used for estimating the actual torque for controlling the motor to run based on the torque command value;
a first determining unit, configured to determine flux linkage data and inductance data of the motor based on the torque estimated value and the torque command value, where the flux linkage data is used to represent magnetic field properties of the motor, and the inductance data is used to represent magnetic saturation and cross coupling properties of the motor;
A second determining unit configured to determine a rotor flux and a rotor temperature of the motor based on the flux data and the inductance data, wherein the rotor temperature is used to represent a temperature rise property of the motor, and the rotor flux is used to represent an electromagnetic property of a rotor of the motor;
and a third determining unit for determining a target torque of the motor based on the rotor flux and the rotor temperature.
9. A processor for running a program, wherein the program when run by the processor performs the method of any one of claims 1 to 7.
10. A vehicle, characterized by being adapted to perform the method of any one of claims 1 to 7.
CN202310738851.5A 2023-06-21 2023-06-21 Method and device for determining motor torque, processor and vehicle Pending CN116749785A (en)

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Application Number Priority Date Filing Date Title
CN202310738851.5A CN116749785A (en) 2023-06-21 2023-06-21 Method and device for determining motor torque, processor and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310738851.5A CN116749785A (en) 2023-06-21 2023-06-21 Method and device for determining motor torque, processor and vehicle

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CN116749785A true CN116749785A (en) 2023-09-15

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