CN217590648U - Motor control system and automobile - Google Patents

Motor control system and automobile Download PDF

Info

Publication number
CN217590648U
CN217590648U CN202221197691.5U CN202221197691U CN217590648U CN 217590648 U CN217590648 U CN 217590648U CN 202221197691 U CN202221197691 U CN 202221197691U CN 217590648 U CN217590648 U CN 217590648U
Authority
CN
China
Prior art keywords
rotor
rotating speed
module
real
current signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202221197691.5U
Other languages
Chinese (zh)
Inventor
徐鹏
孔庆波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Xiaopeng Motors Technology Co Ltd
Original Assignee
Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Xiaopeng Motors Technology Co Ltd filed Critical Guangzhou Xiaopeng Motors Technology Co Ltd
Priority to CN202221197691.5U priority Critical patent/CN217590648U/en
Application granted granted Critical
Publication of CN217590648U publication Critical patent/CN217590648U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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

Landscapes

  • Control Of Ac Motors In General (AREA)

Abstract

The application relates to a motor control system and car, this motor control system includes: the device comprises a wheel speed sensor, a rotor rotating speed determining module, a motor control main circuit and a driving motor; the wheel speed sensor is used for outputting the real-time rotating speed of the tire; the rotor rotating speed determining module is electrically connected with the wheel speed sensor and used for receiving the real-time rotating speed of the tire and converting the real-time rotating speed of the output rotor; the motor control main circuit is electrically connected with the rotor rotating speed determining module and is used for receiving the target rotating speed of the rotor and the real-time rotating speed of the rotor and outputting a motor driving signal according to the target rotating speed of the rotor and the real-time rotating speed of the rotor; the driving motor is electrically connected with the motor control main circuit and used for receiving the motor driving signal. The scheme provided by the application can reduce the cost of the motor control system.

Description

Motor control system and automobile
Technical Field
The application relates to the technical field of motor control, in particular to a motor control system and an automobile.
Background
At present, a driving motor of an electric automobile mainly comprises a permanent magnet motor, an asynchronous motor, an electrically excited motor and the like. In the related technology, the real-time rotating speed of the asynchronous motor is obtained by using the rotating speed sensor of the asynchronous motor, the stator current frequency of the asynchronous motor is adjusted by outputting the target rotating speed, the running of the asynchronous motor is further controlled, the slip ratio can be in the optimal value, and the optimal performance output of the motor is realized.
However, the real-time rotating speed of the asynchronous motor needs to be obtained by using a rotating speed sensor of the asynchronous motor, and the cost of the rotating speed sensor of the asynchronous motor is high, which is not beneficial to reducing the cost of a motor control system.
SUMMERY OF THE UTILITY MODEL
In order to solve or partially solve the problems existing in the related art, the application provides the motor control system and the automobile, and the cost of the motor control system can be reduced.
The present application provides in a first aspect a motor control system comprising:
the wheel speed sensor is used for outputting the real-time rotating speed of the tire;
the rotor rotating speed determining module is electrically connected with the wheel speed sensor and is used for receiving the real-time rotating speed of the tire and converting and outputting the real-time rotating speed of the rotor;
the motor control main circuit is electrically connected with the rotor rotating speed determining module and is used for receiving the target rotating speed of the rotor and the real-time rotating speed of the rotor and outputting a motor driving signal according to the target rotating speed of the rotor and the real-time rotating speed of the rotor;
and the driving motor is electrically connected with the motor control main circuit and used for receiving the motor driving signal.
In one embodiment, the rotor speed determination module receives the real-time tire speed and outputs the real-time rotor speed according to the real-time tire speed and the speed ratio of the speed reducer.
In one embodiment, the motor control system further comprises: the data switching module and the rotor rotating speed sensor;
the output end of the data switching module is electrically connected with the motor control main circuit, and the input end of the data switching module is respectively electrically connected with the rotor rotating speed determining module and the rotor rotating speed sensor;
the rotor speed sensor is used for outputting the real-time rotor speed;
the data switching module is configured to: and receiving the real-time rotor rotating speed output by the rotor rotating speed determining module or the rotor rotating speed sensor, and outputting the real-time rotor rotating speed to the motor control main circuit.
In one embodiment, the data switching module includes a first sub-module or a second sub-module;
the first sub-module is configured to: when the rotor rotating speed determining module or the wheel speed sensor is abnormal, receiving the real-time rotating speed of the rotor output by the rotor rotating speed sensor and outputting the real-time rotating speed of the rotor to the motor control main circuit;
the second sub-module is configured to: and when the rotor speed sensor is abnormal, receiving the real-time rotor speed output by the rotor speed determining module and outputting the real-time rotor speed to the motor control main circuit.
In one embodiment, the data switching module includes a third sub-module;
the third sub-module is configured to: and when the rotor rotating speed determining module, the wheel speed sensor and the rotor rotating speed sensor normally operate, receiving the real-time rotating speeds of the rotor output by the rotor rotating speed determining module and the rotor rotating speed sensor, and outputting the average value of the real-time rotating speeds of the rotor output by the rotor rotating speed determining module and the rotor rotating speed sensor to the motor control main circuit.
In one embodiment, the motor control main circuit includes:
the first linear controller is electrically connected with the rotor rotating speed determining module and used for receiving a target rotating speed of the rotor and a real-time rotating speed of the rotor, and outputting a q-axis given current signal according to a signal obtained by difference processing of the target rotating speed of the rotor and the real-time rotating speed of the rotor;
the second linear controller is electrically connected with the first linear controller and is used for receiving the q-axis given current signal and the q-axis feedback current signal, performing difference processing on the q-axis given current signal and the q-axis feedback current signal and outputting a q-axis voltage signal;
the third linear controller is used for receiving a d-axis given current signal and a d-axis feedback current signal, performing difference processing on the d-axis given current signal and the d-axis feedback current signal and outputting a d-axis voltage signal;
the first transformation module is electrically connected with the second linear controller and the third linear controller, and is used for receiving the q-axis voltage signal, the d-axis voltage signal and an estimated rotor angle, performing coordinate transformation on the d-axis voltage signal and the q-axis voltage signal according to the estimated rotor angle to obtain an alpha-axis voltage signal and a beta-axis voltage signal under a two-phase static coordinate system, and outputting the alpha-axis voltage signal and the beta-axis voltage signal;
the space vector pulse width modulation module is electrically connected with the first conversion module and is used for receiving the alpha-axis voltage signal and the beta-axis voltage signal and converting and outputting a corresponding pulse signal;
the inverter is electrically connected with the space vector pulse width modulation module and the driving motor and is used for receiving the pulse signal and converting and outputting a motor driving signal to the driving motor;
the second conversion module is electrically connected with the driving motor and used for acquiring a stator winding current signal of the driving motor, and obtaining and outputting an alpha-axis feedback current signal and a beta-axis feedback current signal after the stator winding current signal is subjected to coordinate conversion;
a third transformation module, electrically connected to the second transformation module, configured to receive the α -axis feedback current signal, the β -axis feedback current signal, and the estimated rotor angle, and perform coordinate transformation on the α -axis feedback current signal and the β -axis feedback current signal according to the estimated rotor angle, so as to obtain and output the q-axis feedback current signal and the d-axis feedback current signal;
and the flux linkage estimation module is electrically connected with the third conversion module, the rotor rotating speed determination module and the first conversion module, and is used for receiving the q-axis feedback current signal, the d-axis feedback current signal and the real-time rotating speed of the rotor and estimating and outputting the estimated rotor angle.
In one embodiment, the first linear controller, the second linear controller, and the third linear controller are proportional-integral controllers.
In one embodiment, the first transformation module is a Park inverse transformation module, the second transformation module is a Clark transformation module, and the third transformation module is a Park transformation module.
In one embodiment, the drive motor is an asynchronous motor.
A second aspect of the present application provides an automobile comprising: a motor control system as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
the application provides a motor control system, through the real-time rotational speed of wheel speed sensor output tire for the real-time rotational speed of rotor can be received to the rotor rotational speed determination module and the real-time rotational speed of conversion output rotor, and the motor control main circuit can receive rotor target rotational speed and the real-time rotational speed of rotor, and according to rotor target rotational speed and the real-time rotational speed output motor drive signal of rotor, with the operation of control driving motor. Therefore, the motor control system does not need to utilize a rotor speed sensor to obtain the real-time speed of the rotor, the rotor speed sensor is omitted, and the cost of the motor control system can be effectively reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic structural diagram of a motor control system according to an embodiment of the present application;
FIG. 2 is another schematic diagram of a motor control system according to an embodiment of the present application;
fig. 3 is another schematic structural diagram of a motor control system according to an embodiment of the present application;
fig. 4 is another schematic structural diagram of a motor control system according to an embodiment of the present application;
reference numerals: a wheel speed sensor 100; a rotor speed determination module 200; a motor control main circuit 300; a driving motor 400; a first linear controller 310; a second linear controller 320; a third linear controller 330; a first transformation module 340; a space vector pulse width modulation module 350; an inverter 360; a second transformation module 370; a third transformation module 380; a flux linkage estimation module 390; a data switching module 500; a rotor speed sensor 600.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections as well as removable connections or combinations; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the related art, the real-time rotating speed of the asynchronous motor needs to be acquired by using a rotating speed sensor of the asynchronous motor, and the cost of the rotating speed sensor of the asynchronous motor is high, so that the cost of a motor control system is not reduced.
In view of the above problems, embodiments of the present application provide a motor control system, which can reduce the cost of the motor control system.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a motor control system according to an embodiment of the present application.
Referring to fig. 1, the motor control system provided in the present embodiment includes a wheel speed sensor 100, a rotor speed determination module 200, a main motor control circuit 300, and a driving motor 400.
The wheel speed sensor 100 is used to output a real-time rotation speed of the tire.
The rotor speed determination module 200 is electrically connected to the wheel speed sensor 100, and is configured to receive the real-time rotational speed of the tire and convert the real-time rotational speed of the rotor.
The motor control main circuit 300 is electrically connected to the rotor speed determination module 200, and is configured to receive the target rotor speed and the real-time rotor speed, and output a motor driving signal according to the target rotor speed and the real-time rotor speed.
The driving motor 400 is electrically connected to the motor control main circuit 300, and is configured to receive a motor driving signal.
As can be seen from this embodiment, in the system provided in the embodiment of the present application, the wheel speed sensor 100 outputs the real-time rotational speed of the tire, so that the rotor rotational speed determining module 200 can receive the real-time rotational speed of the tire and convert the real-time rotational speed of the rotor, and the motor control main circuit 300 can receive the target rotational speed of the rotor and the real-time rotational speed of the rotor, and output the motor driving signal according to the target rotational speed of the rotor and the real-time rotational speed of the rotor, so as to control the operation of the driving motor 400. Therefore, the motor control system does not need to utilize a rotor speed sensor to obtain the real-time rotating speed of the rotor, the rotor speed sensor is omitted, and the cost of the motor control system can be effectively reduced.
The wheel speed sensor 100 may be a wheel speed sensor of a vehicle wheel, and may measure a real-time rotation speed of the vehicle wheel, i.e., a real-time rotation speed of a tire.
The rotor speed determining module 200 may convert the real-time rotation speed of the tire to obtain the real-time rotation speed of the rotor. In one embodiment, the rotor speed determination module 200 may be configured to receive the real-time tire speed and output the real-time rotor speed based on the real-time tire speed and a speed ratio of the speed reducer. Further, the rotor speed determination module 200 may multiply the real-time speed of the tire by the speed ratio of the speed reducer to obtain the real-time speed of the rotor by obtaining the speed ratio of the speed reducer.
The motor control main circuit 300 receives a target rotor rotation speed and a real-time rotor rotation speed, where the target rotor rotation speed may be a given rotation speed signal input by a user, the real-time rotor rotation speed serves as a feedback signal of the motor control main circuit 300, and the motor control main circuit 300 outputs a motor driving signal according to the target rotor rotation speed and the real-time rotor rotation speed to control the operation of the driving motor 400. The motor driving signal may be a driving current (i.e., a motor stator current) for controlling the operation of the driving motor 400, and the real-time rotor speed serves as a feedback signal, which plays a role in adjusting the frequency of the driving current, so that the slip is at an optimal value, and the optimal performance output of the driving motor 400 is realized. It is understood that the motor control main circuit 300 may be designed according to actual requirements, and the present application does not limit the circuit structure modules in the motor control main circuit 300.
The driving motor 400 may be an asynchronous motor, which may be an asynchronous motor of an automobile, and is used to drive wheels of the automobile to rotate.
Referring to fig. 2, in the embodiment shown in fig. 2, the main motor control circuit 300 includes a first linear controller 310, a second linear controller 320, a third linear controller 330, a first transformation module 340, a space vector pulse width modulation module 350, an inverter 360, a second transformation module 370, a third transformation module 380, and a flux linkage estimation module 390.
And the first linear controller 310 is electrically connected to the rotor speed determining module 200, and is configured to receive the target rotor speed and the real-time rotor speed, and output a q-axis given current signal according to a signal obtained by performing difference processing on the target rotor speed and the real-time rotor speed. Further, in one embodiment, the first linear controller 310 may first convert the target rotational speed of the rotor and the real-time rotational speed of the rotor into angular velocities, and output a q-axis given current signal according to a difference between the two angular velocities corresponding to the target rotational speed of the rotor and the real-time rotational speed of the rotor. The first linear controller 310 may be a Proportional Integral (PI) controller. In this embodiment, the first linear controller 310 is a rotating speed loop PI controller. The PI controller is a linear controller, which forms a control deviation from a given value and an actual output value, and linearly combines the proportion and integral of the deviation to form a control quantity to control a controlled object.
The second linear controller 320 is electrically connected to the first linear controller 310, and configured to receive the q-axis given current signal and the q-axis feedback current signal, perform difference processing on the q-axis given current signal and the q-axis feedback current signal, and output a q-axis voltage signal. The second linear controller 320 may also be a proportional-integral controller, and in this embodiment, the second linear controller 320 is a flux loop PI controller.
The third linear controller 330 is configured to receive the d-axis given current signal and the d-axis feedback current signal, perform difference processing on the d-axis given current signal and the d-axis feedback current signal, and output a d-axis voltage signal. The third linear controller 330 may also be a proportional-integral controller, and in this embodiment, the third linear controller 330 is a flux loop PI controller.
The first transformation module 340, electrically connected to the second linear controller 320 and the third linear controller 330, is configured to receive the q-axis voltage signal, the d-axis voltage signal, and the estimated rotor angle, perform coordinate transformation on the d-axis voltage signal and the q-axis voltage signal according to the estimated rotor angle, obtain an α -axis voltage signal and a β -axis voltage signal in a two-phase stationary coordinate system, and output the α -axis voltage signal and the β -axis voltage signal. The first transformation module 340 may be a Park inverse transformation module.
The space vector pulse width modulation module 350 is electrically connected to the first conversion module 340, and is configured to receive the α -axis voltage signal and the β -axis voltage signal and convert the α -axis voltage signal and the β -axis voltage signal to output corresponding pulse signals. A Space Vector Pulse Width Modulation module 350, i.e., a Space Vector Pulse Width Modulation (SVPWM) module. The corresponding Pulse signal output by the SVPWM module may be a PWM (Pulse Width Modulation) wave, that is, a Pulse waveform signal with a variable duty ratio.
The inverter 360 is electrically connected to the space vector pulse width modulation module 350 and the driving motor 400, and is configured to receive the pulse signal and convert and output a motor driving signal to the driving motor 400. The motor driving signal may be a driving current to control the driving motor 400 to operate.
The second transformation module 370 is electrically connected to the driving motor 400, and is configured to collect a stator winding current signal of the driving motor 400, and obtain and output an α -axis feedback current signal and a β -axis feedback current signal after performing coordinate transformation on the stator winding current signal. The second transformation module 370 may be a Clark transformation module.
And a third transformation module 380 electrically connected to the second transformation module 370, configured to receive the α -axis feedback current signal, the β -axis feedback current signal, and the estimated rotor angle, and perform coordinate transformation on the α -axis feedback current signal and the β -axis feedback current signal according to the estimated rotor angle, so as to obtain and output a q-axis feedback current signal and a d-axis feedback current signal. The third transformation module 380 may be a Park transformation module.
The flux linkage estimation module 390 is electrically connected to the third transformation module 380, the rotor speed determination module 200 and the first transformation module 340, and is configured to receive the q-axis feedback current signal, the d-axis feedback current signal and the real-time rotor speed, and estimate and output an estimated rotor angle. The rotor angle is the rotor flux angle, or called the magnetic field angle of the rotor.
Referring to fig. 3 and fig. 4 together, in order to improve the reliability of the motor control system, in one embodiment, the motor control system further includes: the data switching module 500 and the rotor speed sensor 600.
The output end of the data switching module 500 is electrically connected to the motor control main circuit 300, and the input end of the data switching module 500 is electrically connected to the rotor speed determining module 200 and the rotor speed sensor 600, respectively.
The rotor speed sensor 600 is used to output the real-time rotor speed.
The data switching module 500 is configured to: and receiving the real-time rotor rotating speed output by the rotor rotating speed determining module 200 or the rotor rotating speed sensor 600, and outputting the real-time rotor rotating speed to the motor control main circuit 300.
It is understood that the data switching module 500 receives the real-time rotor speed output by the rotor speed determining module 200 or the rotor speed sensor 600, and the real-time rotor speed output by the data switching module 500 is received from the rotor speed determining module 200 or the rotor speed sensor 600. Thus, the rotor speed sensor 600 and the wheel speed sensor 100 can be applied to the motor control system in a master-slave configuration, thereby ensuring the reliability of the motor control system.
It should be noted that, in an embodiment, the data switching module 500 has two input terminals to be electrically connected to the rotor speed determining module 200 and the rotor speed sensor 600, respectively, and receives the real-time rotor speed output by the rotor speed determining module 200 or the rotor speed sensor 600 by controlling on/off of the two input terminals.
In the embodiment shown in fig. 4, the motor control system includes the motor control main circuit 300 in the embodiment shown in fig. 2, and the output end of the data switching module 500 may be electrically connected to the first linear controller 310 and the flux linkage estimation module 390, so as to output the real-time rotor rotation speed to the first linear controller 310 and the flux linkage estimation module 390, respectively. That is, when the motor control system includes the main motor control circuit 300 in the embodiment shown in fig. 2, the data switching module 500 may output the real-time rotor speed to the first linear controller 310 and the flux linkage estimation module 390, respectively.
Further, in one embodiment, the data switching module 500 includes a first sub-module or a second sub-module.
The first sub-module may be configured to: when the rotor speed determination module 200 or the wheel speed sensor 100 is abnormal, the real-time rotor speed output by the rotor speed sensor 600 is received and output to the motor control main circuit 300.
The second sub-module is configured to: when the rotor speed sensor 600 is abnormal, the real-time rotor speed output by the rotor speed determining module 200 is received and output to the motor control main circuit 300.
In the embodiment shown in fig. 4, the motor control system includes the motor control main circuit 300 in the embodiment shown in fig. 2, and the first sub-module or the second sub-module in the data switching module 500 can output the real-time rotor speed to the first linear controller 310 and the flux linkage estimation module 390, respectively.
In one embodiment, the data switching module 500 may determine whether the rotor speed determination module 200, the wheel speed sensor 100, and the rotor speed sensor 600 are abnormally operated by receiving the warning signal. For example, when the first warning signal is received, it indicates that the rotor speed determination module 200 is abnormal; when the second warning signal is received, it indicates that the wheel speed sensor 100 is abnormal; when the third warning signal is received, it indicates that the rotor speed sensor 600 is abnormal. Thus, when the rotor speed determining module 200 or the wheel speed sensor 100 is abnormal, the real-time rotor speed output by the rotor speed sensor 600 can be relied on, and when the rotor speed sensor 600 is abnormal, the real-time rotor speed output by the speed determining module can be relied on, so that the reliability of the motor control system is ensured.
Further, in one embodiment, the data switching module 500 includes a third sub-module. The third sub-module is configured to: when the rotor speed determination module 200, the wheel speed sensor 100 and the rotor speed sensor 600 operate normally, the real-time rotor speeds output by the rotor speed determination module 200 and the rotor speed sensor 600 are received, and an average value of the real-time rotor speeds output by the rotor speed determination module 200 and the rotor speed sensor 600 is output to the motor control main circuit 300. In the embodiment shown in fig. 4, the motor control system includes the main motor control circuit 300 in the embodiment shown in fig. 2, and the third sub-module in the data switching module 500 can output the average of the real-time rotor speeds output by the rotor speed determining module 200 and the rotor speed sensor 600 to the first linear controller 310 and the flux linkage estimating module 390, respectively. Therefore, the stable real-time rotating speed of the rotor can be output, and the stability of the motor control system can be guaranteed.
The foregoing embodiment describes a motor control system provided in an embodiment of the present application, and accordingly, the present application further provides an embodiment of an automobile, where the automobile provided in this embodiment includes the motor control system described in any of the above embodiments.
The car that this embodiment provided includes: a motor control system. The motor control system includes the wheel speed sensor 100, the rotor speed determination module 200, the motor control main circuit 300, and the driving motor 400 as described in any of the above embodiments. Thus, by implementing the motor control system, the cost of the motor control system can be reduced, and the cost of the automobile can be reduced.
The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that acts and modules referred to in the specification are not necessarily required for the application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.
The foregoing description of the embodiments of the present application has been presented for purposes of illustration and description and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A motor control system, comprising:
the wheel speed sensor is used for outputting the real-time rotating speed of the tire;
the rotor rotating speed determining module is electrically connected with the wheel speed sensor and is used for receiving the real-time rotating speed of the tire and converting and outputting the real-time rotating speed of the rotor;
the motor control main circuit is electrically connected with the rotor rotating speed determining module and is used for receiving the target rotating speed of the rotor and the real-time rotating speed of the rotor and outputting a motor driving signal according to the target rotating speed of the rotor and the real-time rotating speed of the rotor;
and the driving motor is electrically connected with the motor control main circuit and used for receiving the motor driving signal.
2. The system of claim 1, wherein:
the rotor rotating speed determining module receives the real-time rotating speed of the tire and outputs the real-time rotating speed of the rotor according to the real-time rotating speed of the tire and the speed ratio of the speed reducer.
3. The system of claim 1, further comprising: the data switching module and the rotor rotating speed sensor;
the output end of the data switching module is electrically connected with the motor control main circuit, and the input end of the data switching module is respectively electrically connected with the rotor rotating speed determining module and the rotor rotating speed sensor;
the rotor speed sensor is used for outputting the real-time rotor speed;
the data switching module is configured to: and receiving the real-time rotor rotating speed output by the rotor rotating speed determining module or the rotor rotating speed sensor, and outputting the real-time rotor rotating speed to the motor control main circuit.
4. The system of claim 3, wherein the data switching module comprises a first sub-module or a second sub-module;
the first sub-module is configured to: when the rotor rotating speed determining module or the wheel speed sensor is abnormal, receiving the real-time rotating speed of the rotor output by the rotor rotating speed sensor and outputting the real-time rotating speed of the rotor to the motor control main circuit;
the second sub-module is configured to: and when the rotor speed sensor is abnormal, receiving the real-time rotor speed output by the rotor speed determining module and outputting the real-time rotor speed to the motor control main circuit.
5. The system of claim 3, wherein the data switching module comprises a third sub-module;
the third sub-module is configured to: when the rotor speed determining module, the wheel speed sensor and the rotor speed sensor normally operate, the real-time rotor speeds output by the rotor speed determining module and the rotor speed sensor are received, and the average value of the real-time rotor speeds output by the rotor speed determining module and the rotor speed sensor is output to the motor control main circuit.
6. The system of claim 1, wherein the motor control main circuit comprises:
the first linear controller is electrically connected with the rotor rotating speed determining module and is used for receiving a target rotating speed of a rotor and a real-time rotating speed of the rotor and outputting a q-axis given current signal according to a signal obtained by difference processing of the target rotating speed of the rotor and the real-time rotating speed of the rotor;
the second linear controller is electrically connected with the first linear controller and used for receiving the q-axis given current signal and the q-axis feedback current signal, performing difference processing on the q-axis given current signal and the q-axis feedback current signal and outputting a q-axis voltage signal;
the third linear controller is used for receiving a d-axis given current signal and a d-axis feedback current signal, performing difference processing on the d-axis given current signal and the d-axis feedback current signal and outputting a d-axis voltage signal;
the first transformation module is electrically connected with the second linear controller and the third linear controller, and is used for receiving the q-axis voltage signal, the d-axis voltage signal and an estimated rotor angle, performing coordinate transformation on the d-axis voltage signal and the q-axis voltage signal according to the estimated rotor angle to obtain an alpha-axis voltage signal and a beta-axis voltage signal under a two-phase static coordinate system, and outputting the alpha-axis voltage signal and the beta-axis voltage signal;
the space vector pulse width modulation module is electrically connected to the first conversion module and is used for receiving the alpha axis voltage signal and the beta axis voltage signal and converting and outputting a corresponding pulse signal;
the inverter is electrically connected with the space vector pulse width modulation module and the driving motor and is used for receiving the pulse signal and converting and outputting a motor driving signal to the driving motor;
the second conversion module is electrically connected with the driving motor and used for acquiring a stator winding current signal of the driving motor, and obtaining and outputting an alpha-axis feedback current signal and a beta-axis feedback current signal after the stator winding current signal is subjected to coordinate conversion;
a third conversion module, electrically connected to the second conversion module, for receiving the α -axis feedback current signal, the β -axis feedback current signal, and the estimated rotor angle, and performing coordinate conversion on the α -axis feedback current signal and the β -axis feedback current signal according to the estimated rotor angle to obtain and output the q-axis feedback current signal and the d-axis feedback current signal;
and the flux linkage estimation module is electrically connected with the third conversion module, the rotor rotating speed determination module and the first conversion module, and is used for receiving the q-axis feedback current signal, the d-axis feedback current signal and the real-time rotating speed of the rotor and estimating and outputting the estimated rotor angle.
7. The system of claim 6, wherein:
the first, second and third linear controllers are proportional-integral controllers.
8. The system of claim 6, wherein:
the first transformation module is a Park inverse transformation module, the second transformation module is a Clark transformation module, and the third transformation module is a Park transformation module.
9. The system according to any one of claims 1-8, wherein:
the drive motor is an asynchronous motor.
10. An automobile, comprising: a motor control system as claimed in any one of claims 1 to 9.
CN202221197691.5U 2022-05-18 2022-05-18 Motor control system and automobile Active CN217590648U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202221197691.5U CN217590648U (en) 2022-05-18 2022-05-18 Motor control system and automobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202221197691.5U CN217590648U (en) 2022-05-18 2022-05-18 Motor control system and automobile

Publications (1)

Publication Number Publication Date
CN217590648U true CN217590648U (en) 2022-10-14

Family

ID=83553210

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202221197691.5U Active CN217590648U (en) 2022-05-18 2022-05-18 Motor control system and automobile

Country Status (1)

Country Link
CN (1) CN217590648U (en)

Similar Documents

Publication Publication Date Title
CN105128696B (en) DC bus voltage controls
EP2380272B1 (en) Control system for ac motor
US8232753B2 (en) Control device for electric motor drive apparatus
US7952309B2 (en) Rotating electrical machine control device
US10778130B2 (en) Control apparatus for alternating-current rotary electric machine
US20030128009A1 (en) Motor control apparatus and method
WO2007066182A1 (en) Control apparatus and method for motor drive system
CN109347386B (en) SVPWM-based five-phase permanent magnet motor maximum torque current ratio fault-tolerant control method
US9318982B2 (en) Control apparatus for AC motor
US20140225540A1 (en) Control apparatus for ac motor
US9160267B2 (en) AC motor control apparatus
CN101577517A (en) Device and method for direct torque control of permanent magnet synchronous motor
CN112737439B (en) High-voltage direct-current starting generator electric operation flux weakening control method
CN115085610B (en) Linear brake control method and device applied to competition-level remote control model car
US9154070B2 (en) Controller for AC motor
CN113484627A (en) Wiring detection method and device for electric drive system and motor control system
CN217590648U (en) Motor control system and automobile
US9374031B2 (en) AC motor control apparatus
JP3985550B2 (en) Electric vehicle drive control device, electric vehicle drive control method, and program thereof
JP4895121B2 (en) Inverter device
CN109412490B (en) Electrical equipment, motor control system and control method and device of induction motor
CN114584030A (en) Permanent magnet synchronous motor control method and device
CN205081712U (en) PMSM speed control unit
CN111262493B (en) Constant-power dust collector and motor control method thereof
US20230006586A1 (en) Power conversion device

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant