CN206743154U - A kind of controller for electric vehicle - Google Patents

Abstract

It the utility model is related to a kind of controller for electric vehicle, it is based on the accurate detection to motor rotor speed or position, for motor using direct torque as core, the system control strategy that Power Control and speed control are combined, improve to electric current and the control accuracy of speed, so as to ensure the superior function of motor control.Detected based on accurate electric current and magnetic field position, realize real closed-loop vector control, electric current and speed control are accurate, will not produce larger current spike, and MOSFET is hit small；Efficiency high under efficiency high during overload, frequent starting and climbing state, heating is small, coordinates internal temperature and power optimization adjustment curve, effectively protects driver and motor to exempt from damage.In view of above reason, the utility model can be widely applied to electric automobiles.

Description

A kind of controller for electric vehicle

Technical field

Electric automobiles are the utility model is related to, especially with regard to a kind of controller for electric vehicle.

Background technology

With the reduction of petroleum resources and the raising of people's environmental consciousness, electric car is with its zero-emission, low noise and efficiently The advantages that rate and be increasingly valued by people.Electric car is simple in construction compared with diesel locomotive, and mechanical transmission component is few, and maintenance is protected It is small to support workload, and electric car is easily manipulated, electric car development attracts people's attention with application prospect.

At present, the controller for electric vehicle and its control method generally used has following several：

1st, brushed DC motor controller

Simple PWM (Pulse Width Modulation, pulse width modulating technology) pulse wide modulation, mostly using special Chip or Analog Circuit Design, cheap, control is simple, and development is highly developed, but control accuracy is low, safeguard measure is weak. In the case of needing motor commutation (advance or move backward) during practical application, it is necessary to have external device (ED) electromagnetic contactor, reliability It is low, brush DC series/separate excitation can only be combined with or have the use of brush magneto.

2nd, the square wave controller based on switch Hall

Designed using 8 of low price or the microprocessor of 16 bit, by switch Hall element realize motor-field commutation and Velocity feedback, regulation PWM duty cycle carry out electric machine speed regulation, and electric current loop uses opened loop control, and control power supply uses linear power supply more. This solution technique is ripe, and cost is cheap, but square wave controller is also easy to produce torque ripple in electric current commutation process, and electromagnetism is made an uproar Sound is also larger, and the direct torque in a magnetic pole is only carried out by six states of switch Hall element so that magnetic field controls Precision is low, loss it is larger, less efficient, overload capacity is weak, for car class load it is uncertain in the case of, easily cause power device Part damages, and course continuation mileage is also short.

3rd, the sinusoidal wave controller based on switch Hall

This quasi-controller uses the hardware configuration of similar square wave controller, using vector control algorithm, passes through switch Hall Element and present speed estimate current electrical angle position, are respectively had any different in current detecting means：Single resistance is used such as on bus Sampling, current feedback is used as using electric current reconstructing technology；Using bridge arm sampling resistor sampling electricity under bus sampling resistor and a phase Stream；Using bridge arm sampling resistor sample rate current under two-phase；It is other also to have directly sampling two-phase phase current pattern.This quasi-controller Maximum feature is exactly that the accurate detection in magnetic field is realized by simplest means, reaches the accurate control of electric current, and control efficiency is high, Torque ripple is small, and course continuation mileage greatly improves, but starts and still started using square wave, and low speed control efficiency improves unobvious.

4th, the sinusoidal wave controller based on position sensor

This quasi-controller control device is also vector control technology, and simply angle detection and velocity feedback use position sensing Device so that control startability and low-speed performance are greatly enhanced, but car class sensors are rotary transformers, and its is reliable Property high, but price, extensive use is also only able on high speed pure electric automobile and car, on tricycle and low-speed electronic automobile Still can not afford.

In summary, commonly used controller in the market, use is to be based on switch Hall element conduct mostly The semi-loop sine control mode of position sensor (reversal point can only be detected, it is impossible to feed back accurate rotor field direction)；Control Device processed mostly without accurate current of electric and rotor angle feedback, belongs to semi-loop control, and current spike is big, causes MOSFET to hit Wear probability increase；Electric efficiency is low during high pulling torque, and caloric value is big when frequent starting and climbing are run, and controller and motor are burnt out generally Rate increase；During using rotary transformer as position sensor, and price, it can be used only in high speed electric automobile and motorbus On.

Problem be present in current controller for electric vehicle：.

Utility model content

The technical problems to be solved in the utility model is：In order to solve that current of electric and speed can not be realized in the prior art The problem of being precisely controlled, the utility model provide a kind of controller for electric vehicle to solve the above problems.

To achieve these goals, the utility model employs following technical scheme：A kind of controller for electric vehicle, its feature It is：It includes main control module, power model, interface module and power module；The main control module is electrically connected the work( Rate module, the interface module and the power module；The interface module includes sensor interface, and the sensor interface connects A rotor sensor is connect, the rotor sensor is used for the feedback Angle Position θ _ fb for detecting rotor, and should Feedback Angle Position θ _ fb information transmissions give the main control module；The power model is used for anti-to main control module offer motor Supply current I_fb, and the signal drive motor exported according to the main control module operates；The power module is electrically connected institute Main control module and the power model are stated, and is powered for the two.

The rotor sensor uses angular displacement sensor.

The power module includes bus power supply, driving power and master control power supply；The bus power supply is electrically connected institute Driving power and the master control power supply are stated, the bus power supply and the driving power are electrically connected the power model；Institute State main control module described in master control power electric connection.

The interface module also includes functional interface and communication interface；The functional interface is connected with the main control module； The communication interface is connected with a PC host computers.

A kind of controller for electric vehicle, it is characterised in that：It includes main control module, power model, interface module and power supply mould Block；The main control module is electrically connected the power model, the interface module and the power module；The interface module Including sensor interface, the sensor interface connects a rotor sensor, and the rotor sensor is used to detect The feedback speed V_fb of rotor, and give feedback speed V_fb information transmissions to the main control module；The power model For providing motor feedback current I_fb to the main control module, and the signal drive motor exported according to the main control module is transported Turn；The power module is electrically connected and powered for the main control module and the power model.

The rotor sensor uses velocity sensor.

The power module includes bus power supply, driving power and master control power supply；The bus power supply is electrically connected institute Driving power and the master control power supply are stated, the bus power supply and the driving power are electrically connected the power model；Institute State main control module described in master control power electric connection.

The interface module also includes functional interface and communication interface；The functional interface is connected with the main control module； The communication interface is connected with a PC host computers.

For the utility model due to taking above technical scheme, it has advantages below：1st, the utility model electric car controls Device is based on the accurate detection to motor rotor speed or position, for motor using direct torque as core, Power Control and speed The system control strategy that degree control is combined, improves the control accuracy to electric current and speed, so as to ensure the superior of motor control Performance.Being detected based on accurate electric current and magnetic field position, realize real closed-loop vector control, electric current and speed control are accurate, Larger current spike will not be produced, MOSFET is hit small；Efficiency high under efficiency high during overload, frequent starting and climbing state, Generate heat small, coordinate internal temperature and power optimization adjustment curve, effectively protect driver and motor to exempt from damage.2nd, this practicality is new Type controller can coordinate with efficient permanent magnet motor or switched reluctance machines, and can dock the magneto-electric encoder conduct of high performance-price ratio Position sensor, so as to form high-performance electric vehicle control system, and advanced closed-loop vector control method is used, really realized Electric car high reliability, high performance target.3rd, starting characteristic：Start steady, direct torque precision is high, can when zero-speed or low speed Big torque is exported, half hill-start ability is strong.4th, overload characteristic：Grade climbing performance is good, and overload capacity reaches more than 4 times of nominal torque, And continuous over loading ability is strong.5th, endurance：Course continuation mileage is grown, and high efficiency (more than 80%) scope is wide, and monitors battery in real time State, electricity optimal control.6th, current control：Output current can be reduced during the badness such as excess temperature, continuous over loading automatically, is protected Motor and driver.7th, battery protection：Monitoring busbar voltage and bus current in real time, to the timely protection of under-voltage, and limit female Line current avoids overdischarge.In view of above reason, the utility model can be widely applied to electric automobiles.

Brief description of the drawings

The utility model is further illustrated with reference to the accompanying drawings and examples.

Fig. 1 is a kind of controller for electric vehicle schematic diagram that the utility model embodiment provides；

Fig. 2 is Fig. 1 motor control block diagram；

Fig. 3 is the structural representation of Fig. 1 main control module.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole Embodiment.

Embodiment 1

As depicted in figs. 1 and 2, a kind of controller for electric vehicle that the utility model embodiment provides, it includes main control module 100th, power model 200 and interface module 300, and power model 200 includes motor, interface module 300 passes including rotor Sensor 301；

Rotor sensor 301 in interface module 300 is used for the feedback Angle Position θ _ fb for detecting rotor, and will Feedback Angle Position θ _ fb information transmissions are to main control module 100；Power model 200 is used for anti-to the offer motor of main control module 100 Supply current I_fb, and the control signal controlled motor exported according to main control module 100 operates；

Main control module 100 includes main control unit 101, and main control unit 101 includes differentiator 102, power controller 103, turned Square processor 104, comparator 105, speed control 106 and current controller 107, and differentiator 102 receives rotor and passed Feedback Angle Position θ _ fb information that sensor 301 transmits, the motor feedback electricity of the receiving power module 200 of current controller 107 transmission Flow I_fb；

Feedback Angle Position θ _ fb information that differentiator 102 is used to provide for rotor sensor 301 carries out differential and obtained It is respectively transmitted to feedback speed V_fb, and by feedback speed V_fb to power controller 103 and speed control 106；Power control Device 103 processed is used to be calculated for feedback speed V_fb and power settings Pow_ref set in advance progress power limit Current limit value I_limit and coefficient k, and coefficient k is sent to torque processor 104 and limits current to value I_limit and is passed Give comparator 105；Torque processor 104 is according to torque instruction T_ref attachment coefficients k set in advance by electricity is calculated Stream desired value I_ref is (according to torque instruction T_ref attachment coefficients k set in advance by current target value I_ref is calculated Process be those skilled in the art common knowledge, it is prior art, therefore is no longer described in detail), and by current target value I_ref Send comparator 105 to；Comparator 105 is used to compare current target value I_ref and current limit value I_limit, if I_ref> I_limit, then electric current loop input desired value I`_ref=I_limit；Otherwise I`_ref=I_ref, output current ring after comparing Desired value I`_ref is inputted, and sends electric current loop input desired value I`_ref to current controllers 107；Speed control 106 For calculating speed target value V_ref and feedback speed V_fb set in advance speed difference Δ V, pass through speed difference Δ V Output current value I is calculated (to calculate by speed target value V_ref set in advance and feedback speed V_fb speed difference Δ V Output current value I process is the common knowledge of those skilled in the art, and it is prior art, therefore calculating process is no longer described in detail), Velocity close-loop control is realized, and sends current value I to current controllers 107；Current controller 107 is using electric current loop input mesh Scale value I`_ref, current value I and motor feedback current I_fb calculating current difference DELTA I, output is calculated by current differential Δ I and driven Dynamic voltage U, realize that closed-loop current control (inputs desired value I`_ref, current value I and motor feedback current I_fb according to electric current loop Calculating current difference DELTA I, outputting drive voltage U process is calculated known in those skilled in the art by current differential Δ I General knowledge, it is prior art, therefore calculating process is no longer described in detail)；And driving voltage U is converted into motor drive signal and sends work(to Rate module 200 (process that motor drive signal is converted into according to driving voltage U is the common knowledge of those skilled in the art, its For prior art, therefore no longer it is described in detail), power model 200 generates current control motor according to drive signal and operated.

In above-described embodiment, rotor sensor 301 uses angular displacement sensor.

In summary, the utility model controller for electric vehicle be based on the accurate detection to motor rotor speed or position, For motor using direct torque as core, system control strategy that Power Control and speed control are combined, improve to electric current and The control accuracy of speed, so as to ensure the superior function of motor control.Detected, realized true based on accurate electric current and magnetic field position Positive closed-loop vector control, electric current and speed control are accurate, will not produce larger current spike, and MOSFET is hit small；Overload When efficiency high, efficiency high under frequent starting and climbing state, heating is small, coordinates internal temperature and power optimization adjustment curve, has Effect protection driver and motor exempt from damage.

The utility model controller can coordinate with efficient permanent magnet motor or switched reluctance machines, and can dock high performance-price ratio Magneto-electric encoder so as to form high-performance electric vehicle control system, and uses advanced closed-loop vector as position sensor Control method, really realize electric car high reliability, high performance target.

As shown in figure 1, a kind of controller for electric vehicle of the utility model also includes indicating module 400 and power module 500.

The busbar voltage and driving power 502 that power model 200 provides according to the median generatrix power supply 501 of power module 500 carry The driving voltage of confession, and receive the 6 road PWM such as U+, U-, V+, V-, W+, W- that main control unit 101 provides in main control module 100 letters Number, U, V, W motor drive current are produced by driver elements such as MOSFET, IGBT, while will the abnormal caused FO signals of driving, Motor drive current feeds back I_fb signals and actuation temperature detection signal T_fb is supplied to main control module 100.Wherein, motor drives Electric current can drive efficient permanent magnet motor or switched reluctance machines.

Interface module 300 includes sensor interface 302, functional interface 303 and communication interface 304, and sensor interface 302 is used It is connected in rotor sensor 301, and receives the signal of rotor sensor 301, after the processing such as difference, amplifier Send main control module 100 to；Functional interface 303 is used to be connected with each functional part of electric car, on the one hand receives electric car portion Part various functions signal, sends main control module 100 to after overprotection is handled, and on the other hand receives what main control module 100 provided Function control signal, export to corresponding functional part；Communication interface 304 is used to be connected with PC host computers, on the one hand receives PC Host computer data-signal sends main control module 100 to, on the other hand receives the data-signal that main control module 100 provides and exports to PC Host computer.Wherein, sensor interface 302 can dock the magneto-electric encoder of high performance-price ratio.

Indicating module 400 includes power supply instruction and abnormal instruction.Power supply instruction receives master control power supply in power module 500 Electric normal signal on 503, with the bright instruction of lamp；Abnormal instruction receives the abnormal signal that main control module 100 provides, and is referred to lamp flicker Show.

Power module 500 includes bus power supply 501, driving power 502 and master control power supply 503.Bus power supply 501 receives outer The busbar voltage that portion is made up of positive pole P+ and negative pole N-, on the one hand changes into busbar voltage driving respectively by DC-DC circuit Voltage (12V or 16V) and master control voltage (5V or 3.3V) are supplied to driving power 502 and master control power supply 503, on the other hand by mother Line voltage after capacitor cell voltage stabilizing by being supplied to power model 200, while the bus voltage signal BUS_VOR that will be detected Main control module 100 is supplied to bus current signal BUS_CUR；Driving power 502 receives the driving electricity that bus power supply 501 provides Pressure, is supplied to power model 200 after treatment；Master control power supply 503 receives the master control voltage that bus power supply 501 provides, and passes through Main control module 100, interface module 300 and indicating module 400 are respectively supplied to after processing.

The bus current detection signal BUS_CUR that main control module 100 provides according to the median generatrix power supply 501 of power module 500 With busbar voltage detection signal BUS_VOR, bus current is monitored, over-pressed or under-voltage control guarantor is carried out to busbar voltage Shield；The motor drive current feedback I_fb signals provided according to power model 200 carry out current closed-loop vector controlled and exported to work( The road pulse-width modulation PWM signal of rate module 200 6, while receive the abnormal FO signals of driving and actuation temperature detection signal T_fb difference Carry out abnormal protection and overheat protector；Rotor sensor 301 is received by the sensor interface 302 in interface module 300 Signal, received by functional interface 303 and control output each function signal of electric car, pass through communication interface 304 and PC host computers Communicated；And output abnormality signal controls abnormal indicator lamp flicker.

As shown in figure 3, main control module 100 also includes power input unit 108, non-inverting input unit 109, function number Enter unit 110, fuction output unit 111, detection input block 112, communication unit 113, memory cell 114 and simulation unit 115。

Wherein, main control unit 101 is believed the analog voltage for detecting input block 112 by ADC (not shown) Number it is converted into digital quantity；The driving sent by driver element in POE module (not shown) receiving powers module 200 is different Normal FO signals, are protected to driver element；Entered by IIC modules (not shown) and memory cell 114 (such as EEPROM) Row data and state write-in are read；It is connected by JTAG modules (not shown) with simulation unit 115, realizes program code Burning and artificial debugging；By the serial communication SCI module converters of communication unit 113 into RS485 or RS232 communication modes, with PC Host computer or rotor sensor 301 carry out information exchange；Data are carried out with external equipment by SPI or CAN communication module Communication；The input and output of function signal are realized by GPIO module (not shown)s.

Power input unit 108 is powered to main control unit 101 and ambient signals circuit, and ambient signals circuit includes protection electricity Road, filter circuit, discharge circuit etc., this is technical means commonly used by such a person skilled in the art, therefore is no longer described in detail.

Non-inverting input unit 109 is used to export the tunnel voltage duty cycle pwm signal of U, V, W three-phase 6 to power model 200。

Function input block 110 includes：The input of shift function signal, the input of dummy instruction signal, electric brake signal are defeated Enter, cruise signal inputs, the input of parking anti-theft signal and other reserved function signals input.

Fuction output unit 111 includes：The output of 12V or 5V power supplys selection signal, abnormal indication signal exports and other Reserved function signal output.

Detection input block 112 includes：Rotor detection input, current of electric detection input, busbar voltage detection are defeated Enter, bus current detection inputs, motor temperature detection input and actuation temperature detect input.Wherein, rotor detection input Refer to receive the motor angular displacement sensor or speed sensor signal that come by sensor interface 302 in interface module 300 Input；Current of electric detection input refers to that the current of electric feedback signal I_fb that power model 200 provides is inputted, and the signal is usual It is U, V, W three-phase current feedback signal or wherein any two phase feedback signal；Busbar voltage detection inputs and bus current inspection Survey busbar voltage detection signal BUS_VOR and bus current that input refers respectively to the offer of the median generatrix power supply 501 of power module 500 Detection signal BUS_CUR is inputted；Motor temperature detection input refers to receive by functional interface 303 in interface module 300 outer Portion's motor temperature detection signal；Actuation temperature detection input refers to the temperature for detecting offer in power model 200 on driver element Detection input.The characteristics of sensor detection input block 112 is other detection signals in addition to rotor detects input signal It is analog voltage signal, and is input to the AD sample ports of main control unit 101.

Communication unit 113 includes：RS-485 communication modes, RS-232 communication modes and SPI communications or CAN communication side Formula.

Memory cell 114 stores the data message of main control unit 101.

Simulation unit 115 is connected with by JTAG module (not shown)s, realizes program code burning and artificial debugging.

Embodiment 2

Another controller for electric vehicle that the utility model embodiment provides, it includes main control module 100, power model 200 and interface module 300, and power model 200 includes motor, interface module 300 includes rotor sensor 301；

Rotor sensor 301 in interface module 300 is used for the feedback speed V_fb for detecting rotor, and should Feedback speed V_fb information transmissions are to main control module 100；Power model 200 is used to provide motor feedback electricity to main control module 100 I_fb is flowed, and the control signal controlled motor exported according to main control module 100 operates；

Main control module 100 includes main control unit 101, and main control unit 101 includes power controller 103, torque processor 104th, comparator 105, speed control 106 and current controller 107, and power controller 103 and speed control 106 are distinguished Receive the feedback speed V_fb of the transmission of rotor sensor 301, the electricity of the receiving power module 200 of current controller 107 transmission Machine feedback current I_fb；

Main control module 100 includes main control unit 101, and main control unit 101 includes power controller 103, torque processor 104th, comparator 105, speed control 106 and current controller 107；Power controller 103 is used to be directed to feedback speed V_fb With power settings Pow_ref set in advance, carry out power limit and current limit value I_limit and coefficient k is calculated；It is main It is consistent with the function in embodiment 1 to control the course of work of part in module 100, therefore is no longer described in detail.

In above-described embodiment, rotor sensor 301 uses velocity sensor.

The utility model can realize including handle or pedal instruction processing function, advance/reversing/neutral shift function, Electric brake function, cruise function, weak magnetic speed-up function, parking anti-theft feature, anti-slip back function and elimination gap function.

The preferable embodiment of the utility model is these are only, but the scope of protection of the utility model is not limited to This, any one skilled in the art is in the technical scope that the utility model discloses, according to of the present utility model Technical scheme and its utility model design is subject to equivalent substitution or change, should all cover the scope of protection of the utility model it It is interior.

Claims (8)

1. A kind of 1. controller for electric vehicle, it is characterised in that：It includes main control module (100), power model (200), interface module And power module (500) (300)；

   The main control module (100) is electrically connected the power model (200), the interface module (300) and the power supply Module (500)；

   The interface module (300) includes sensor interface (302), and the sensor interface (302) connects a rotor and passed Sensor (301), the rotor sensor (301) is used for the feedback Angle Position θ _ fb for detecting rotor, and this is fed back Angle Position θ _ fb information transmissions give the main control module (100)；

   The power model (200) is used to provide motor feedback current I_fb to the main control module (100), and according to the master Control the signal drive motor operating of module (100) output；

   The power module (500) is electrically connected the main control module (100) and the power model (200), and is the two Power supply.
2. A kind of 2. controller for electric vehicle as claimed in claim 1, it is characterised in that：The rotor sensor (301) is adopted Use angular displacement sensor.
3. A kind of 3. controller for electric vehicle as claimed in claim 1 or 2, it is characterised in that：The power module (500) includes mother Line power supply (501), driving power (502) and master control power supply (503)；The bus power supply (501) is electrically connected the driving Power supply (502) and the master control power supply (503), the bus power supply (501) and the driving power (502) are electrically connected institute State power model (200)；The master control power supply (503) electrically connects the main control module (100).
4. A kind of 4. controller for electric vehicle as claimed in claim 1 or 2, it is characterised in that：The interface module (300) also includes Functional interface (303) and communication interface (304)；The functional interface (303) is connected with the main control module (100)；It is described logical Communication interface (304) is connected with a PC host computers.
5. A kind of 5. controller for electric vehicle, it is characterised in that：It includes main control module (100), power model (200), interface module And power module (500) (300)；

   The main control module (100) is electrically connected the power model (200), the interface module (300) and the power supply Module (500)；

   The interface module (300) includes sensor interface (302), and the sensor interface (302) connects a rotor and passed Sensor (301), the rotor sensor (301) are used for the feedback speed V_fb for detecting rotor, and the feedback is fast Degree V_fb information transmissions give the main control module (100)；

   The power model (200) is used to provide motor feedback current I_fb to the main control module (100), and according to the master Control the signal drive motor operating of module (100) output；

   The power module (500) is electrically connected and powered for the main control module (100) and the power model (200).
6. A kind of 6. controller for electric vehicle as claimed in claim 5, it is characterised in that：The rotor sensor (301) is adopted Use velocity sensor.
7. A kind of 7. controller for electric vehicle as described in claim 5 or 6, it is characterised in that：The power module (500) includes mother Line power supply (501), driving power (502) and master control power supply (503)；The bus power supply (501) is electrically connected the driving Power supply (502) and the master control power supply (503), the bus power supply (501) and the driving power (502) are electrically connected institute State power model (200)；The master control power supply (503) electrically connects the main control module (100).
8. A kind of 8. controller for electric vehicle as described in claim 5 or 6, it is characterised in that：The interface module (300) also includes Functional interface (303) and communication interface (304)；The functional interface (303) is connected with the main control module (100)；It is described logical Communication interface (304) is connected with a PC host computers.