CN118003913B - Motor protection method and device, storage medium and vehicle - Google Patents

Motor protection method and device, storage medium and vehicle Download PDF

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Publication number
CN118003913B
CN118003913B CN202410422535.1A CN202410422535A CN118003913B CN 118003913 B CN118003913 B CN 118003913B CN 202410422535 A CN202410422535 A CN 202410422535A CN 118003913 B CN118003913 B CN 118003913B
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motor
vehicle
parameter
target
torque
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CN118003913A (en
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常城
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application discloses a motor protection method, a motor protection device, a storage medium and a vehicle, wherein the motor protection method comprises the following steps: obtaining motor operation parameters, environment load parameters, vehicle operation parameters and user driving parameters; when the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter meet the corresponding trigger conditions, controlling the vehicle to execute the target event until one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not meet the corresponding trigger conditions, and controlling the vehicle to cancel execution of the target event; the target event is used to torque limit the motor. According to the method, when the motor is subjected to load impact, the motor is subjected to torque limitation, damage to the motor caused by the load impact is reduced, the motor protection function is achieved, and then the torque limitation of the motor is relieved under the condition that the motor is determined not to be subjected to the load impact any more, so that the normal use of the motor is recovered, and the vehicle power requirement of a driver is met.

Description

Motor protection method and device, storage medium and vehicle
Technical Field
The present application relates to the field of vehicle protection, and in particular, to a motor protection method, a motor protection device, a storage medium, and a vehicle.
Background
With the rapid development of new energy automobiles, driving motors (simply referred to as motors) are widely used, and the application road conditions and driving conditions are various and complex. When the motor passes through a bumpy road section or a continuous deceleration strip, the motor is repeatedly lifted off and landed at certain moments, the mechanical impact effect is obvious, negative influence is brought to the motor, and the service life of the motor is shortened.
Disclosure of Invention
The application provides a motor protection method, a motor protection device, a storage medium and a vehicle, and aims to prolong the service life of a motor.
A motor protection method comprising:
obtaining motor operation parameters, environment load parameters, vehicle operation parameters and user driving parameters;
When the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter meet corresponding trigger conditions, controlling a vehicle to execute a target event until one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not meet corresponding trigger conditions, and controlling the vehicle to cancel execution of the target event; the target event is used to torque limit the motor.
Optionally, the motor operation parameter is determined based on an actual rotation speed of the motor, and if the actual rotation speed of the motor is greater than a first calibration value, it is determined that the motor operation parameter meets a corresponding trigger condition.
Optionally, the environmental load parameter is determined based on a rotational speed difference between an actual rotational speed of the motor and an output rotational speed of the motor at the same time, and if the rotational speed difference is greater than a second calibration value, it is determined that the environmental load parameter meets a corresponding trigger condition.
Optionally, the vehicle operation parameter is determined based on the vehicle speed of the vehicle, and if the vehicle speed of the vehicle is greater than or equal to a third calibration value, it is determined that the vehicle operation parameter meets the corresponding triggering condition.
Optionally, the user driving parameter is determined based on a motor response torque generated by triggering the vehicle by a user, and if the motor response torque is greater than or equal to a fourth calibration value, it is determined that the user driving parameter meets a corresponding triggering condition.
Optionally, controlling the vehicle to cancel execution of the target event includes:
Controlling the vehicle to cancel the execution of the target event according to a preset rule; wherein the preset rule at least comprises one of the following: triggering the vehicle to cancel the execution of the target event after delaying the target time; and controlling the vehicle to expand the available range of the motor output torque according to a specified incremental gradient until the available range reaches a target range, wherein the target range is higher than a specified range limited by the torque limit.
Optionally, the process of triggering the vehicle to cancel the execution of the target event after delaying the target time includes:
When one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not accord with the corresponding trigger conditions, sampling a plurality of actual motor rotating speeds in future time according to a designated sampling frequency;
Triggering the vehicle to cancel the execution of the target event when the number of the target rotating speeds obtained by sampling accords with a target threshold value; the target rotating speed is the actual rotating speed of the motor, which accords with a specified rotating speed threshold value, of the actual rotating speeds of the motors.
A motor protection device comprising:
The parameter determining unit is used for obtaining motor operation parameters, environment load parameters, vehicle operation parameters and user driving parameters;
The event execution unit is used for controlling a vehicle to execute a target event when the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter meet corresponding trigger conditions until one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not meet the corresponding trigger conditions, and controlling the vehicle to cancel execution of the target event; the target event is used to torque limit the motor.
Optionally, the parameter determining unit is specifically configured to:
And the motor operation parameters are determined based on the actual motor rotation speed, and if the actual motor rotation speed is greater than a first calibration value, the motor operation parameters are determined to accord with corresponding triggering conditions.
Optionally, the parameter determining unit is specifically configured to:
And the environmental load parameter is determined based on a rotation speed difference value between the actual rotation speed of the motor and the output rotation speed of the motor in the same time, and if the rotation speed difference value is larger than a second calibration value, the environmental load parameter is determined to accord with the corresponding triggering condition.
Optionally, the parameter determining unit is specifically configured to:
and the vehicle operation parameters are determined based on the speed of the vehicle, and if the speed of the vehicle is greater than or equal to a third calibration value, the vehicle operation parameters are determined to accord with the corresponding triggering conditions.
Optionally, the parameter determining unit is specifically configured to:
And the user driving parameter is determined based on the motor response torque generated by triggering the vehicle by a user, and if the motor response torque is larger than or equal to a fourth calibration value, the user driving parameter is determined to accord with the corresponding triggering condition.
Optionally, the event execution unit is specifically configured to:
Controlling the vehicle to cancel the execution of the target event according to a preset rule; wherein the preset rule at least comprises one of the following: triggering the vehicle to cancel the execution of the target event after delaying the target time; and controlling the vehicle to expand the available range of the motor output torque according to a specified incremental gradient until the available range reaches a target range, wherein the target range is higher than a specified range limited by the torque limit.
Optionally, the event execution unit is specifically configured to:
when one or more of the motor operation parameter, the environmental load parameter, the vehicle operation parameter and the user driving parameter do not meet the corresponding trigger conditions, sampling a plurality of actual motor rotating speeds occurring in future time according to a designated sampling frequency;
Triggering the vehicle to cancel the execution of the target event when the number of the target rotating speeds obtained by sampling accords with a target threshold value; the target rotating speed is the actual rotating speed of the motor, which accords with a specified rotating speed threshold value, of the actual rotating speeds of the motors.
A storage medium comprising a stored program, wherein the program when executed by a processor performs the motor protection method.
A vehicle, comprising: a processor, a memory, and a bus; the processor is connected with the memory through the bus;
the memory is used for storing a program, and the processor is used for running the program, wherein the program is executed by the processor to execute the motor protection method.
According to the technical scheme, the motor operation parameters, the environment load parameters, the vehicle operation parameters and the user driving parameters are obtained, when the motor operation parameters, the environment load parameters, the vehicle operation parameters and the user driving parameters meet corresponding trigger conditions, the vehicle is controlled to execute the target event until one or more of the motor operation parameters, the environment load parameters, the vehicle operation parameters and the user driving parameters do not meet the corresponding trigger conditions, and the vehicle is controlled to cancel execution of the target event, wherein the target event is used for limiting the torque of the motor. When the motor is subjected to load impact, the motor is limited in torque, so that damage to the motor caused by the load impact is reduced, the motor protection function is realized, and then the torque limitation of the motor is relieved under the condition that the motor is determined not to be subjected to the load impact any more, so that the normal use of the motor is recovered, and the vehicle power requirement of a driver is met.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a motor protection method according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for determining environmental load parameters according to an embodiment of the present application;
fig. 3 is a schematic flow chart of another motor protection method according to an embodiment of the present application;
Fig. 4 is a schematic diagram of a motor protection device according to an embodiment of the present application;
Fig. 5 is a schematic diagram of motor protection logic according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the present disclosure, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions, and the terms "comprise," "include," or any other variation thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The applicant found that: when a vehicle passes through a bumpy road condition (such as a bumpy road section, a continuous deceleration strip and the like), a driver mostly passes through the deceleration, but the HCU (Hybrid vehicle Control Unit, a whole vehicle controller) of the vehicle cannot recognize the bumpy road condition, so that torque distribution limitation cannot be carried out from the whole vehicle torque distribution angle, when the vehicle is in the bumpy road condition, the motor can possibly output peak torque (such as low-load running of the motor when the wheel is suspended due to the bumpy road condition, the motor output torque is instantaneously increased to peak torque, when the motor output torque exceeds the motor rotation speed limitation, the motor can be considered to be in overspeed running), external load impact (such as impact generated when the wheel is grounded and impact generated when the wheel touches an external object), the motor is damaged, and further, the service life of the motor is shortened due to the fact that the driver can pass through the bumpy road section at high speed through the vehicle due to the triggering of an accelerator pedal.
Based on the findings of the applicant, the application provides a motor protection method for identifying whether a motor is subjected to load impact (namely external load impact and internal load impact), reducing damage to the motor caused by the load impact by limiting the torque of the motor when the motor is subjected to the load impact, playing a role in protecting the motor, and then releasing the torque limitation of the motor under the condition that the motor is determined not to be subjected to the load impact any more so as to recover the normal use of the motor and meet the vehicle power requirement of a driver.
Example 1
As shown in fig. 1, a schematic flow chart of a motor protection method according to an embodiment of the present application is applicable to an MCU (Motor Control Unit, engine control unit) of a vehicle, and includes the following steps.
S101: the method comprises the steps of obtaining motor operation parameters, environment load parameters, vehicle operation parameters and user driving parameters.
Wherein the motor operating parameter, the environmental load parameter, the vehicle operating parameter, and the user driving parameter may be determined based on the sampled vehicle signals in the vehicle system.
Optionally, the motor operating parameter is determined based on an actual rotational speed of the motor, and if the actual rotational speed of the motor is greater than a first calibrated value, the motor operating parameter is determined to meet a corresponding trigger condition.
In some examples, the actual rotational speed of the motor is a vehicle signal acquired by a preset sensor on the motor, and the sampling frequency of the preset sensor may be set by a technician according to the actual situation.
It should be noted that, the actual rotation speed of the motor is used as a trigger reference basis of the target event, so that whether the motor is in overspeed operation can be identified, and in general, the overspeed operation of the motor can also bring internal load impact to the motor, thereby influencing the service life of the motor.
In one possible implementation manner, the actual rotation speed of the motor is greater than a first calibration value, which represents that the motor is in overspeed operation, the motor operation parameter meets the corresponding trigger condition, the actual rotation speed of the motor is less than or equal to the first calibration value, which represents that the motor is not in overspeed operation, and the motor operation parameter does not meet the corresponding trigger condition. The so-called first calibration value may be determined by the skilled person on the basis of the properties and material properties of the motor.
In some examples, to improve reliability of the motor operating parameter, the motor operating parameter may be determined based on a plurality of actual motor speeds that are continuous in sampling time, and if the plurality of actual motor speeds that are continuous in sampling time are all greater than a first calibration value, the motor operating parameter is determined to meet the corresponding trigger condition, and if one of the plurality of actual motor speeds that are continuous in sampling time is less than or equal to the first calibration value, the motor operating parameter is determined to not meet the corresponding trigger condition.
Optionally, the environmental load parameter is determined based on a rotational speed difference between the actual rotational speed of the motor and the output rotational speed of the motor at the same time, and if the rotational speed difference is greater than a second calibration value, it is determined that the environmental load parameter meets the corresponding trigger condition.
It should be noted that when the motor is impacted by an external load, there is a significant difference between the actual rotational speed of the motor and the output rotational speed of the motor in the same time, so the rotational speed difference between the actual rotational speed of the motor and the output rotational speed of the motor can be used as a reference basis for whether the motor is impacted by the external load. In addition, the second calibration value can be used as a boundary value of whether the motor suffers from external load impact or not, if the rotation speed difference value is larger than the second calibration value, the motor is determined to suffer from external load impact, and if the rotation speed difference value is smaller than or equal to the second calibration value, the motor is determined to not suffer from external load impact.
In some examples, the motor output speed may be determined based on a wheel speed signal shown in the vehicle system. Alternatively, the implementation process of determining the difference between the actual rotational speed of the motor and the output rotational speed of the motor at the same time and the implementation process of determining the output rotational speed of the motor based on the wheel speed signal may be referred to as steps and explanation of the steps shown in fig. 2.
In some examples, to improve reliability of the environmental load parameter, the environmental load parameter may be determined based on a plurality of rotational speed differences that are consecutive in sampling time, and if the plurality of rotational speed differences that are consecutive in sampling time are all greater than a second calibration value, the environmental load parameter is determined to meet the corresponding trigger condition, and if one of the plurality of rotational speed differences that are consecutive in sampling time is less than or equal to the second calibration value, the environmental load parameter is determined to not meet the corresponding trigger condition.
Optionally, the vehicle operation parameter is determined based on a vehicle speed of the vehicle, and if the vehicle speed of the vehicle is greater than or equal to a third calibration value, it is determined that the vehicle operation parameter meets the corresponding trigger condition.
It should be noted that, when the vehicle runs on a bumpy road condition, if the vehicle keeps a higher speed, the contact between the wheels and the ground brings obvious impact to the wheels, so that the impact is conducted to the motor through the mechanical structure, and the motor is subjected to load impact (which can be regarded as external load impact), so that the service life of the motor is affected.
In some examples, when the vehicle is traveling in a bumpy road condition, the vehicle speed is greater than or equal to a third calibrated value, which represents that the motor is subjected to load shock caused by the excessive speed, and the vehicle speed is less than the third calibrated value, which represents that the motor is not subjected to load shock caused by the speed.
Alternatively, the user driving parameter may be determined based on a motor response torque generated by the user triggering the vehicle, and if the motor response torque is greater than or equal to a fourth calibration value, it is determined that the user driving parameter meets the corresponding triggering condition.
Optionally, the user driving parameter may also be determined based on an opening degree of an accelerator pedal operated by the user, and if the opening degree of the accelerator pedal is greater than or equal to a fifth calibration value, it is determined that the user driving parameter meets the corresponding triggering condition.
In some examples, the vehicle is a new energy vehicle, a power source motor of the vehicle, and the user inputs a power parameter to the vehicle by triggering an accelerator pedal, where the power parameter may be a motor response torque or an accelerator pedal opening. In some examples, a user-entered torque signal may be read from the HCU, the torque signal including a motor response torque and a corresponding timestamp.
It should be noted that when the vehicle runs on bumpy road conditions, when a user issues a higher power demand to the vehicle, internal load impact (the response torque of the motor is too high, the motor cannot realize the response torque of the motor under the influence of external load impact, so that the motor outputs a torque higher than the performance of the motor to be damaged) is caused, and the service life of the motor is affected.
S102: when the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter meet the corresponding trigger conditions, controlling the vehicle to execute the target event until one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not meet the corresponding trigger conditions, and controlling the vehicle to cancel execution of the target event.
Wherein the target event is used to torque limit the motor. By torque limiting, it is meant that the motor output torque is limited to a specified range, avoiding motor output torque exceeding the specified range. Generally, after torque limitation is performed on the motor, the output torque of the motor does not reach the designated peak torque, so that the occurrence times of load impact caused by the excessively high output torque of the motor are reduced, damage caused by the load impact to the motor is avoided, and the service life of the motor is prolonged.
In some examples, the torque limit may be implemented as: the method includes the steps of sending a preset torque limit signal to the HCU, wherein the preset torque limit signal comprises a derating coefficient of the motor output torque (the derating coefficient is determined based on the material and the performance of the motor, and the value of the derating coefficient is generally smaller than 100%), and controlling the motor output torque to be limited in a specified range by the HCU in response to the preset torque limit signal.
In a possible implementation manner, the available range of the motor output torque is 0-1000 KN, the peak torque is 1000KN, the derating coefficient is 70%, the motor output torque is limited to be within 0-700 KN through torque limitation on the motor, after the motor is subjected to load impact and torque limitation is triggered, the maximum torque of the motor output after torque limitation is controlled within 700KN, the motor output torque cannot be instantaneously increased to 1000KN, overspeed operation of the motor is effectively prevented, damage to the motor caused by load impact is reduced, and the service life of the motor is prolonged.
In some examples, the implementation of torque limiting may also be: the available range of the motor output power is controlled, and the available range of the motor output torque is reduced based on the reduction of the available range of the motor output power, so that the motor output torque is controlled to be limited in a specified range.
It can be appreciated that after controlling the vehicle to limit the torque of the motor, when it is determined that the motor is no longer subject to load impact, the torque limit of the motor needs to be released to resume normal use of the motor, so as to avoid affecting the driving experience of the vehicle. For this reason, when one or more of the motor operation parameter, the environmental load parameter, the vehicle operation parameter, and the user driving parameter do not meet the corresponding trigger conditions, it is determined that the motor is no longer subjected to load impact, and the vehicle may be triggered to release the torque restriction on the motor, that is, to control the vehicle to cancel execution of the target event.
In some examples, it may also be determined that the vehicle is no longer accelerating on bumpy road conditions when one or more of the motor operating parameters, the environmental load parameters, the vehicle operating parameters, and the user driving parameters do not meet the corresponding trigger conditions.
It should be emphasized that when the vehicle releases the torque limitation of the motor, in order to avoid the problem that the load impact applied to the motor is not completely ended and is applied again due to the rapid change of the available range of the output torque of the motor (for example, one or more of the motor operation parameter, the environmental load parameter, the vehicle operation parameter and the user driving parameter just deviate from the bumpy road condition, and do not meet the corresponding triggering condition), the vehicle is triggered to cancel the target event, and the motor is also affected again by the external load impact), so that the release speed of the torque limitation of the motor needs to be slowed down.
Optionally, in order to avoid the motor from suffering a secondary load impact when the torque limitation is released, the implementation process for controlling the execution of the vehicle cancellation target event may include: controlling the vehicle to cancel execution of the target event according to a preset rule; wherein, the preset rule at least comprises one of the following: triggering the vehicle to cancel the execution of the target event after delaying the target time; the vehicle is controlled to expand the available range of motor output torque according to a specified incremental gradient until the available range reaches a target range that is higher than a specified range limited by the torque limit.
It can be understood that the execution of the vehicle cancellation target event is triggered after the target time is delayed, that is, when one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter are determined to be not in accordance with the corresponding triggering conditions, the torque limitation of the motor is released after the target time is delayed, the torque limitation of the motor is released after the vehicle completely passes through the bumpy road condition, and the motor is prevented from being impacted by the secondary load.
In some examples, the target time may be set by a technician according to actual situations, and in addition, the target time of the required delay may also be determined by using the actual rotation speed of the motor, and optionally, the implementation process of triggering the execution of the vehicle cancellation target event after the target time is delayed may refer to the steps shown in fig. 3 and the explanation of the steps.
In some examples, the target range is an available range of motor output torque set by a vehicle factory.
It should be further explained that, the available range of the motor output torque is enlarged according to the specified incremental gradient until the available range reaches the target range, so that the torque limitation can be prevented from being released in a short time (i.e., the available range of the motor output torque is instantaneously enlarged and the instantaneous motor output torque can reach the specified peak torque), for example, the specified range limited by the torque limitation is 0-700 kn, the target range set by the vehicle factory is 0-1000 kn, the available range of the motor output torque is enlarged according to the specified incremental gradient until the available range reaches the target range, and the available range of the motor output torque can be sequentially changed to: 0-700 KN, 0-800 KN, 0-900 KN, 0-1000 KN.
Obviously, the usable range of the motor output torque is enlarged according to the appointed incremental gradient until the usable range reaches the target range, so that the instantaneous enlargement of the usable range of the motor output torque can be prevented, the moment that the motor just breaks away from load impact is avoided, the motor output torque reaches the appointed peak torque to cause secondary load impact to the motor, and the motor is ensured not to suffer secondary load impact.
In some examples, the implementation logic of motor protection may be summarized as shown in fig. 5, in conjunction with the methods shown in fig. 2 and 3, including the implementation of the following steps: sampling the actual rotating speed of the motor according to a preset sampling frequency; the actual rotation speeds of two motors with continuous sampling time are larger than X (namely a first calibration value) as a first condition; inquiring the wheel speed of the vehicle from the ABS; deriving a motor output rotational speed based on the wheel speed; calculating a rotating speed difference value between the actual rotating speed of the motor and the output rotating speed of the motor in the same time; based on the fact that the difference value of two continuous rotating speeds of sampling time is larger than Y (namely a second calibration value), the second condition is adopted; obtaining the speed of the vehicle from the ABS; the vehicle speed is greater than or equal to Z (namely a third calibration value) as a third condition; obtaining motor response torque from the HCU; the motor response torque is greater than or equal to Q (namely a fourth calibration value) and is used as a fourth condition; judging whether the vehicle meets the first condition, the second condition, the third condition and the fourth condition; initializing variable parameters OverSpdCnt if the vehicle meets all conditions; controlling the vehicle to limit the torque of the motor; controlling the vehicle to limit the output power of the motor; if the vehicle does not meet all conditions, determining OverSpdCnt if the value is greater than 0; if OverSpdCnt is greater than 0, altering OverSpdCnt; if OverSpdCnt is not greater than 0, releasing the torque limit of the motor; the control vehicle releases the restriction of the motor output power.
The process shown in S101-S102 controls the execution and cancellation of the target event according to the motor operation parameter, the environmental load parameter, the vehicle operation parameter and the user driving parameter, and in the bumpy road condition, fully considers the complexity of the road condition and the complexity of the driver operation, comprehensively analyzes the load impact suffered by the motor (including the external environmental impact, the internal load impact and the superposition load impact of the external environmental impact and the internal load impact), reduces the damage to the motor caused by the load impact by performing torque limitation on the motor, plays a role in protecting the motor, and then releases the torque limitation of the motor under the condition that the motor is determined not to suffer the load impact any more so as to recover the normal use of the motor and meet the vehicle power requirement of the driver.
Example two
As shown in fig. 2, a flowchart of a method for determining an environmental load parameter according to an embodiment of the present application includes the following steps.
S201: the wheel speed signal of the vehicle is read from the vehicle system.
The wheel speed signal comprises a wheel speed and a corresponding time stamp, the vehicle system can be an ABS (Anti-lock Braking System ), and the wheel speed of the vehicle and the corresponding time stamp can be obtained by analyzing the wheel speed signal in the ABS, and the time stamp can be used for representing the sampling time of the wheel speed.
In some examples, the wheel speed of the vehicle and the corresponding timestamp may be sampled by a sensor preset on the wheel.
In some examples, the wheel speed signals include a left wheel signal for indicating a left front wheel speed of the vehicle and a right wheel signal representing a right front wheel speed of the vehicle for a new energy vehicle of the front drive architecture.
In some examples, the wheel speed signal is obtained by real-time monitoring, and in order to ensure the reliability of the output rotation speed of the motor, the wheel speed signal with the minimum signal value (i.e. the average value of the rotation speed of the left front wheel and the rotation speed of the right front wheel) in the plurality of wheel speed signals acquired in unit time can be used as a reading target, and a more reliable wheel speed can be obtained through the reading target.
S202: based on the wheel speed, a motor output speed is determined.
Wherein, after obtaining the left front wheel rotation speed and the right front wheel rotation speed of the vehicle, the average value of the left front wheel rotation speed and the right front wheel rotation speed is calculated, and the ratio between the average value and the preset gear ratio (which is the gear ratio between the wheels and the motor) is calculated again, and the output rotation speed of the motor is determined based on the ratio.
S203: and obtaining the actual rotating speed of the motor, wherein the sampling time of the actual rotating speed is matched with the time stamp.
The sampling time of the actual motor rotation speed is matched with a time stamp corresponding to the output motor rotation speed, and the sampling time represents that the actual motor rotation speed and the output motor rotation speed occur in the same time.
S204: the rotational speed difference is determined based on the absolute value of the difference between the motor output rotational speed and the actual rotational speed of the motor.
The difference between the motor output rotating speed and the motor actual rotating speed in the same time can be determined based on the absolute value of the difference between the motor output rotating speed and the motor actual rotating speed, the difference can effectively reflect the fluctuation change of the rotating speed generated in the motor operation process, and the fluctuation change of the rotating speed can be regarded as external load impact on the motor based on external environment.
In some examples, the difference between the output speed of the motor and the actual speed of the motor at the same time may also be considered as a criterion for identifying whether the vehicle is in a bumpy road condition. It can be understood that when the vehicle passes through a bumpy road condition, the motor is influenced by external load impact, the actual rotating speed of the motor is larger than the output rotating speed of the motor, obvious fluctuation change of the rotating speed is generated, and therefore the motor can be considered to be in a damaged state currently and needs to be protected.
The flow shown in S201-S204 above derives the motor output rotation speed by using the wheel speed signal of the vehicle, determines the environmental load parameter based on the rotation speed difference between the motor output rotation speed and the actual motor rotation speed at the same time, and provides an effective reference for motor protection by using the environmental load parameter as the reference for determining whether the motor is impacted by the external load.
Example III
As shown in fig. 3, a schematic flow chart of another motor protection method according to an embodiment of the present application includes the following steps.
S301: when one or more of the motor operating parameters, the environmental load parameters, the vehicle operating parameters and the user driving parameters do not meet the corresponding trigger conditions, sampling a plurality of actual motor speeds in future time according to the designated sampling frequency.
If the actual rotation speed of the motor is acquired by the preset sensor, the sampling frequency of the preset sensor can be controlled to obtain a plurality of actual rotation speeds of the motor in future time.
It is noted that the future time refers to a time that occurs after one or more of the motor operation parameter, the environmental load parameter, the vehicle operation parameter, and the user driving parameter are determined to be not in compliance with the corresponding trigger condition.
S302: when the number of the sampled target rotational speeds meets a target threshold, triggering the vehicle to cancel execution of the target event.
The target rotating speed is the actual rotating speed of the motor, which accords with the specified rotating speed threshold value, among the actual rotating speeds of the motors.
In some examples, if the actual rotational speed of the motor at the current time meets a specified rotational speed threshold, the determination that the motor is in normal operation at the current time may be set by a technician based on the actual situation.
In some examples, a variable parameter may be initialized based on which the number of sampled target speeds is monitored when one or more of the motor operating parameter, the environmental load parameter, the vehicle operating parameter, and the user driving parameter do not meet the corresponding trigger conditions.
In one possible implementation, when one or more of the motor operation parameter, the environmental load parameter, the vehicle operation parameter, and the user driving parameter do not meet the corresponding trigger condition, the variable parameter OverSpdCnt is initialized, the initial value of OverSpdCnt is set to 150, as the number of target rotational speeds increases, the value of OverSpdCnt correspondingly decreases, for example, each time the number of target rotational speeds increases, the value of OverSpdCnt correspondingly decreases by 1, until the value of OverSpdCnt is equal to 0, it is determined that the number of target rotational speeds obtained by sampling meets the target threshold, which may also be regarded as having reached a delayed target time, and execution of the vehicle cancellation target event may be triggered.
And when one or more of the motor operation parameters, the environmental load parameters, the vehicle operation parameters and the user driving parameters do not meet the corresponding trigger conditions, determining the delayed target time by utilizing the number of the target rotating speeds obtained by sampling, so as to avoid prematurely releasing the torque limit of the motor, prevent the motor from suffering secondary load impact and realize effective protection of the motor.
Example IV
Corresponding to the motor protection method provided by the embodiment of the application, the embodiment of the application also provides a motor protection device.
Fig. 4 is a schematic diagram of an architecture of a motor protection device according to an embodiment of the present application, including the following units.
The parameter determination unit 100 is configured to obtain a motor operation parameter, an environmental load parameter, a vehicle operation parameter, and a user driving parameter.
Optionally, the parameter determining unit 100 is specifically configured to: the motor operating parameter is determined based on the actual rotational speed of the motor, and if the actual rotational speed of the motor is greater than a first calibrated value, the motor operating parameter is determined to meet the corresponding triggering condition.
Optionally, the parameter determining unit 100 is specifically configured to: the environmental load parameter is determined based on the difference between the actual rotation speed of the motor and the output rotation speed of the motor at the same time, and if the difference is larger than a second calibration value, the environmental load parameter is determined to be in accordance with the corresponding triggering condition.
Optionally, the parameter determining unit 100 is specifically configured to: the vehicle operation parameters are determined based on the speed of the vehicle, and if the speed of the vehicle is greater than or equal to a third calibration value, the vehicle operation parameters are determined to accord with corresponding triggering conditions.
Optionally, the parameter determining unit 100 is specifically configured to: and the user driving parameter is determined based on the motor response torque generated by the user triggering vehicle, and if the motor response torque is greater than or equal to a fourth calibration value, the user driving parameter is determined to accord with the corresponding triggering condition.
The event execution unit 200 is configured to control the vehicle to execute the target event when the motor operation parameter, the environmental load parameter, the vehicle operation parameter, and the user driving parameter meet the corresponding trigger conditions, until one or more of the motor operation parameter, the environmental load parameter, the vehicle operation parameter, and the user driving parameter do not meet the corresponding trigger conditions, and control the vehicle to cancel execution of the target event; the target event is used to torque limit the motor.
Optionally, the event execution unit 200 is specifically configured to: controlling the vehicle to cancel execution of the target event according to a preset rule; wherein, the preset rule at least comprises one of the following: triggering the vehicle to cancel the execution of the target event after delaying the target time; the vehicle is controlled to expand the available range of motor output torque according to a specified incremental gradient until the available range reaches a target range that is higher than a specified range limited by the torque limit.
Optionally, the event execution unit 200 is specifically configured to: when one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not accord with the corresponding trigger conditions, sampling a plurality of actual motor rotating speeds in future time according to the appointed sampling frequency; triggering the vehicle to cancel the execution of the target event when the number of the target rotating speeds obtained by sampling accords with the target threshold value; the target rotational speed is an actual rotational speed of the motor that meets a specified rotational speed threshold among the plurality of actual rotational speeds of the motor.
The above units control the execution and cancellation of the target event according to the motor operation parameters, the environment load parameters, the vehicle operation parameters and the user driving parameters, so that when the motor suffers load impact, the motor is limited by torque, the damage to the motor caused by the load impact is reduced, the motor protection effect is achieved, and then the torque limitation of the motor is relieved under the condition that the motor is determined not to suffer the load impact any more, so that the normal use of the motor is recovered, and the vehicle power requirement of a driver is met.
The application also provides a computer readable storage medium, which comprises a stored program, wherein the program executes the motor protection method provided by the application.
The application also provides a vehicle comprising: a processor, a memory, and a bus. The processor is connected with the memory through a bus, the memory is used for storing a program, and the processor is used for running the program, wherein the motor protection method provided by the application is executed when the program runs.
Furthermore, the functions described above in embodiments of the application 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 Complex Programmable Logic Device (CPLD), and the like.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
While several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the application. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present application is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.

Claims (9)

1. A method of protecting an electric motor, comprising:
obtaining motor operation parameters, environment load parameters, vehicle operation parameters and user driving parameters; the environment load parameter is determined based on external load impact caused by the running process of the vehicle, and the external load impact is determined based on a rotating speed difference value between the actual rotating speed of the motor and the output rotating speed of the motor at the same time;
when the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter meet corresponding trigger conditions, controlling a vehicle to execute a target event until one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not meet corresponding trigger conditions, and controlling the vehicle to cancel execution of the target event; the target event is used for limiting the torque of the motor; if the rotating speed difference value is larger than a second calibration value, determining that the environmental load parameter meets a corresponding triggering condition; the second calibration value is a boundary value of the motor subjected to the external load impact.
2. The method of claim 1, wherein the motor operating parameter is determined based on an actual motor speed, and wherein if the actual motor speed is greater than a first calibrated value, the motor operating parameter is determined to meet a corresponding trigger condition.
3. The method of claim 1, wherein the vehicle operating parameter is determined based on a vehicle speed of the vehicle, and if the vehicle speed is greater than or equal to a third calibrated value, the vehicle operating parameter is determined to meet a corresponding trigger condition.
4. The method of claim 1, wherein the user driving parameter is determined based on a motor response torque generated by a user triggering the vehicle, and wherein if the motor response torque is greater than or equal to a fourth calibrated value, the user driving parameter is determined to meet a corresponding triggering condition.
5. The method of claim 1, wherein controlling the vehicle to cancel execution of the target event comprises:
Controlling the vehicle to cancel the execution of the target event according to a preset rule; wherein the preset rule at least comprises one of the following: triggering the vehicle to cancel the execution of the target event after delaying the target time; and controlling the vehicle to expand the available range of the motor output torque according to a specified incremental gradient until the available range reaches a target range, wherein the target range is higher than a specified range limited by the torque limit.
6. The method of claim 5, wherein delaying the process of triggering the vehicle to cancel execution of the target event after a target time comprises:
When one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not accord with the corresponding trigger conditions, sampling a plurality of actual motor rotating speeds in future time according to a designated sampling frequency;
Triggering the vehicle to cancel the execution of the target event when the number of the target rotating speeds obtained by sampling accords with a target threshold value; the target rotating speed is the actual rotating speed of the motor, which accords with a specified rotating speed threshold value, of the actual rotating speeds of the motors.
7. A motor protection device, comprising:
The parameter determining unit is used for obtaining motor operation parameters, environment load parameters, vehicle operation parameters and user driving parameters; the environment load parameter is determined based on external load impact caused by the running process of the vehicle, and the external load impact is determined based on a rotating speed difference value between the actual rotating speed of the motor and the output rotating speed of the motor at the same time;
The event execution unit is used for controlling a vehicle to execute a target event when the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter meet corresponding trigger conditions until one or more of the motor operation parameter, the environment load parameter, the vehicle operation parameter and the user driving parameter do not meet the corresponding trigger conditions, and controlling the vehicle to cancel execution of the target event; the target event is used for limiting the torque of the motor; if the rotating speed difference value is larger than a second calibration value, determining that the environmental load parameter meets a corresponding triggering condition; the second calibration value is a boundary value of the motor subjected to the external load impact.
8. A storage medium comprising a stored program, wherein the program when executed by a processor performs the motor protection method of any one of claims 1-6.
9. A vehicle, characterized by comprising: a processor, a memory, and a bus; the processor is connected with the memory through the bus;
The memory is used for storing a program and the processor is used for running the program, wherein the program is executed by the processor to perform the motor protection method according to any one of claims 1 to 6.
CN202410422535.1A 2024-04-09 2024-04-09 Motor protection method and device, storage medium and vehicle Active CN118003913B (en)

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