WO2022242177A1

WO2022242177A1 - Control method and apparatus for multi-unit motor, and medium and electronic device

Info

Publication number: WO2022242177A1
Application number: PCT/CN2021/141669
Authority: WO
Inventors: 李帅; 唐佩伦; 苏瑞涛; 师浩浩
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-05-17
Filing date: 2021-12-27
Publication date: 2022-11-24
Also published as: CN113179052A

Abstract

Disclosed in embodiments of the present application are a control method and apparatus for a multi-unit motor, and a medium and an electronic device. The method is applied to a motor system. The motor system comprises a first unit motor set, a first control unit connected to the first unit motor set, a second unit motor set, and a second control unit connected to the second unit motor set, and each unit motor set comprises at least two subunit motors. The method comprises: a first control unit generates a torque instruction of each subunit motor according to a received total torque instruction; the first control unit generates a control instruction of each subunit motor according to the torque instruction of each subunit motor; and the first control unit controls each subunit motor of a first unit motor set according to the control instruction of each subunit motor and sends the control instruction of each subunit motor to a second control unit, wherein the second control unit controls each subunit motor of a second unit motor set.

Description

Control method, device, medium and electronic device of multi-unit motor

This application claims the priority of the Chinese patent application with application number 202110536426.9 submitted to the China Patent Office on May 17, 2021, the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the technical field of motors, for example, to a control method, device, medium and electronic equipment of a multi-unit motor.

Background technique

With the shortage of energy and the deterioration of the environment, people pay more and more attention to electric vehicles. The main power source of electric vehicles is the motor, and the hub motor is one of them.

For the application of in-wheel motors, based on the safety, compact structure and high heat dissipation requirements of in-wheel motors, a motor with multi-unit sub-motors that can work independently of each other is used. Each unit motor has the same motor parameters and is composed of multiple main control units. The control is carried out separately, and each main control unit controls multiple unit motors.

Contents of the invention

The present application provides a control method, device, medium and electronic equipment for a multi-unit motor, so as to reduce resource occupation of a central processing unit (Central Processing Unit, CPU) of a control unit and improve control efficiency.

A control method for a multi-unit motor is provided, which is applied to a motor system, and the motor system includes at least a first unit motor unit and a first control unit connected thereto, a second unit motor unit and a second unit unit connected thereto. A control unit, each unit motor group includes at least two sub-unit motors, the method includes:

The first control unit generates a torque command for each subunit motor according to the received total torque command;

The first control unit generates a control instruction for each subunit motor according to the torque instruction for each subunit motor;

The first control unit controls each subunit motor in the first unit motor group according to the control instruction of each subunit motor, and sends the control instruction of each subunit motor to the second A control unit, wherein the second control unit is configured to control each subunit motor in the second unit motor set according to the control instruction of each subunit motor.

Also provided is a control device for a multi-unit motor, which is configured in a first control unit, and the first control unit is configured in a motor system, wherein the motor system includes at least a first unit motor group and a first motor unit connected thereto. A control unit, a second unit motor group and a second control unit connected thereto, each unit motor group includes at least two sub-unit motors, the device includes:

The torque command generation module is configured to generate a torque command for each subunit motor according to the received total torque command;

A control instruction generation module configured to generate a control instruction for each subunit motor according to the torque instruction for each subunit motor;

The control and sending module is configured to control each subunit motor in the first unit motor group according to the control instruction of each subunit motor, and send the control instruction of each subunit motor to the second A control unit, wherein the second control unit is configured to control each subunit motor in the second unit motor set according to the control instruction of each subunit motor.

A computer-readable medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the method for controlling a multi-unit motor as described in the embodiment of the present application is realized.

An electronic device is also provided, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, when the processor executes the computer program, the multi-unit motor as described in the embodiment of the present application is realized control method.

Description of drawings

FIG. 1 is a flow chart of a control method for a multi-unit motor provided in Embodiment 1 of the present application;

Fig. 2 is a system block diagram of a four-unit motor provided in Embodiment 2 of the present application;

3 is a schematic structural diagram of a control device for a multi-unit motor provided in Embodiment 3 of the present application;

FIG. 4 is a schematic structural diagram of an electronic device provided in Embodiment 5 of the present application.

Detailed ways

The application will be described below in conjunction with the accompanying drawings and embodiments. The embodiments described here are only used to explain the present application, but not to limit the present application. For ease of description, only some structures related to the present application are shown in the drawings but not all structures.

Some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe steps as sequential processing, many of the steps may be performed in parallel, concurrently, or simultaneously. Additionally, the order of various steps may be rearranged. The process may be terminated when multiple step operations are complete, but may also have additional steps not included in the figure. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like.

Embodiment one

Fig. 1 is a flow chart of the control method of the multi-unit motor provided by Embodiment 1 of the present application. This embodiment can be applied to the situation of controlling the multi-unit motor, such as the motor system used for the hub motor in the electric vehicle, the motor The system at least includes a first unit motor group and a first control unit connected thereto, a second unit motor group and a second control unit connected thereto, and each unit motor group includes at least two subunit motors. The method can be executed by the control device of the multi-unit motor provided in the embodiment of the present application, the device can be realized by software and/or hardware, and can be integrated into the electronic equipment for controlling the multi-unit motor.

As shown in Fig. 1, the control method of the multi-unit motor includes the following steps.

S110. The first control unit generates a torque command for each sub-unit motor according to the received total torque command.

In the motor system, a main control unit can be selected from the first control unit and the second control unit to receive the total torque command. In the embodiment of this application, the first control unit is used as the main control unit as an example for description , in other embodiments, the second control unit may also be selected as the main control unit, which is not limited in this embodiment of the present application.

Usually, each subunit motor in the above motor system is the same and needs to provide the same torque. Therefore, the first control unit can average the total torque command according to the received total torque command and the number of subunit motors. points to get the torque command of each sub-unit motor. For example, if there are 2 unit motor groups in the motor system, and each unit motor group includes 2 subunit motors, then the total number of subunit motors in the motor system is 4, and the torque command of each subunit motor is The torque value is 1/4 of the torque value in the total torque command.

S120. The first control unit generates a control instruction for each subunit motor according to the torque instruction for each subunit motor.

The torque command contains the torque value of the expected motor operation, which needs to be converted into a control command for the motor and sent to the motor, and the motor can run according to the control command to achieve the desired torque. In the embodiment of the present application, the generation operation of the control instruction is completed by the first control unit as the main control unit, thereby reducing resource occupation of the CPU of the control unit and improving control efficiency.

Taking the control process of the first control unit for each sub-unit motor in the first unit motor group as an example, it may generally include: the first control unit generates a current amplitude command and a current phase angle command according to the torque command of each sub-unit motor , or direct-axis current command and quadrature-axis current command, generate corresponding direct-axis voltage command and quadrature-axis voltage command according to the current command value, and generate corresponding 6-channel pulse width modulation (Pulse Width Modulation, PWM) according to the voltage command value Signal, send these 6 PWM signals to each sub-unit motor to control each sub-unit motor to output the corresponding torque. Among them, the process of generating the corresponding direct-axis voltage command and quadrature-axis voltage command according to the current amplitude command and current phase angle command or the direct-axis current command and quadrature-axis current command can be achieved through a proportional-integral (PI) closed-loop regulator To achieve this, the process of generating corresponding 6-channel PWM signals according to the direct-axis voltage command and the quadrature-axis voltage command can be realized through a PWM modulation algorithm, which will not be repeated here.

In order to make each sub-unit motor in the second unit motor group output the same torque, each sub-unit motor needs to be controlled by the second control unit, and in order to reduce the occupation of the CPU in the second control unit, it is not necessary to The second control unit generates the corresponding control command according to the total torque command, but directly uses the control command generated by the first control unit as the main control unit. Therefore, the control command may include: a current amplitude command and a current phase angle command, or a direct-axis current command and a quadrature-axis current command; or include a direct-axis voltage command and a quadrature-axis voltage command; or include a PWM control signal. That is to say, in the process of generating control instructions by the first control unit, intermediate products (current-related instructions, voltage-related instructions) or final products (PWM control signals) can be sent to the second control unit to avoid the second control unit from occupying More CPU resources for calculations.

S130. The first control unit controls each subunit motor in the first unit motor group according to the control instruction of each subunit motor, and sends the control instruction of each subunit motor to the second control unit, wherein the second control The unit is used for controlling each subunit motor in the second unit motor group according to the control command of each subunit motor.

The first control unit and the second control unit have the same structure and function. When the control command is a current amplitude command and a current phase angle command, or a direct axis current command and a quadrature axis current command, then the first control unit and the second control unit The second control unit respectively controls each sub-unit motor in the first unit motor group and the second unit motor group, including: generating a corresponding direct-axis voltage command and a quadrature-axis voltage command according to the current-related command, and according to the voltage command value to generate corresponding 6-way PWM signals; when the control command is a direct-axis voltage command and a quadrature-axis voltage command, then the first control unit and the second control unit respectively control each of the first unit motor group and the second unit motor group The control of each sub-unit motor includes: generating corresponding 6-way PWM signals according to the voltage command value; when the control command is 6-way PWM control signals, then the first control unit and the second control unit control the first unit motor group respectively Controlling each sub-unit motor in the second unit motor group includes: directly sending the 6-way PWM control signal to each sub-unit motor, so as to realize the control of the sub-unit motor and output the desired torque.

It can be seen that in the multi-unit motor control scheme, although there are multiple unit motor groups, and the multiple unit motor groups correspond to multiple control units, one control unit can be selected as the main control unit, and the main control unit completes The calculation and generation of control instructions, and the intermediate or final results are sent to other control units, so that other control units can avoid repeated operations on the process of generating control instructions, thereby reducing the CPU usage of other control units. Improve the control efficiency of subunit motors.

The embodiment of the present application does not make any limitation on the number of control units and unit motor groups in the motor system. The control unit and the unit motor groups have a one-to-one control relationship, and there may be 2 groups of control units or 4 groups of control units, etc., each There can also be 2 or 4 subunit motors in a unit motor group.

In the technical solution provided by the embodiment of the present application, a control unit is selected as the main control unit to receive the total torque command, and the main control unit generates a control command for each sub-unit motor according to the total torque command, and sends the control command to Other control units, thus, each control unit can control each subunit motor in the unit motor group connected to the control unit according to the control instruction, and at the same time, the operation of generating the control instruction is only completed in the main control unit, while No other control unit is required for processing, thereby reducing resource occupation of the CPU of the control unit and improving control efficiency.

Embodiment two

Fig. 2 is a system block diagram of a four-unit motor provided in Embodiment 2 of the present application. In Embodiment 2, on the basis of Embodiment 1, the motor system includes 2 control units, 2 unit motor groups and each unit motor group Include 2 sub-unit motors as an example for illustration. As shown in Figure 2, the four-unit motor system includes a control unit 1, a control unit 2, a drive unit and an insulated gate bipolar transistor (Insulated Gate Bipolar Transistor, IGBT) module 1, a drive unit and an IGBT module 2, a drive unit and IGBT module 3 , drive unit and IGBT module 4 , subunit motor 1 , subunit motor 2 , subunit motor 3 and subunit motor 4 .

Among them, the control unit 1 and the control unit 2 send the PWM signal to the sub-unit motor 1-sub-unit motor 4 respectively through the drive unit and the IGBT module 1-IGBT module 4, so as to realize the control of multiple sub-unit motors. The control unit 1 and the The control units 2 are connected through a controller area network (Controller Area Network, CAN) or a serial peripheral interface (Serial Peripheral Interface, SPI) to transmit control instructions.

Exemplarily, the control unit 1 is used as the main control unit, and the total torque command is received through the CAN bus, and the total torque command is divided into four parts, which are respectively used as the respective torque commands of the sub-unit motor 1-sub-unit motor 4 . The control unit 1 will generate a current amplitude command and a current phase angle command, or a direct-axis current command and a quadrature-axis current command according to the torque command of each subunit motor, and generate a corresponding direct-axis voltage command and a quadrature-axis current command according to the current command value. Voltage command, generate corresponding 6-way PWM signals according to the voltage command value, and send these 6-way PWM signals to sub-unit motor 1 and sub-unit motor 2 through the drive unit and IGBT module 1 and drive unit and IGBT module 2 respectively, to complete the control Control of subunit motor 1 and subunit motor 2. At the same time, the generated control command is sent to the control unit 2 through CAN or SPI, so that the control unit 2 completes the control of the sub-unit motor 3 and the sub-unit motor 4 according to the control command.

The control unit 2 has the same structure and function as the control unit 1. If the control command is a current amplitude command and a current phase angle command, or a direct-axis current command and a quadrature-axis current command, then the control unit 2 is based on the current Related commands generate corresponding direct-axis voltage commands and quadrature-axis voltage commands, and generate corresponding 6-way PWM signals according to the voltage command values, and send them to the subunit motor 3 through the drive unit and IGBT module 3 and the drive unit and IGBT module 4 respectively and sub-unit motor 4; if the control command is a direct-axis voltage command and a quadrature-axis voltage command, then the control unit 2 generates corresponding 6-way PWM signals according to the voltage command value, and then passes through the drive unit and IGBT module 3 and drive The unit and the IGBT module 4 are sent to the subunit motor 3 and the subunit motor 4; if the control command is a 6-way PWM control signal, then the control unit 2 is directly sent to the The subunit motor 3 and the subunit motor 4, so as to realize the control of the subunit motor 3 and the subunit motor 4.

When the control command is a PWM signal, the control unit 2 also includes a programmable logic chip such as a complex programmable logic device (Complex Programmable Logic Device, CPLD) or a field programmable gate array (Field Programmable Gate Array, FPGA), which is used to control the PWM signal. The signal is verified and fault detected, and the PWM signal processed by the programmable logic chip will be output to the drive unit and IGBT module.

In the technical solution provided by the embodiment of the present application, the control unit 1 is selected as the main control unit to receive the total torque command, and the control unit 1 generates control commands for the subunit motor 1-subunit motor 4 according to the total torque command, and sends the The control command is sent to the control unit 2, so that each control unit can control each subunit motor connected to it according to the control command, and at the same time, the operation of generating the control command is only completed in the control unit 1 without the control unit 2 for processing, thereby reducing resource occupation of the CPU of the control unit 2 and improving control efficiency.

Embodiment Three

Fig. 3 is a schematic structural diagram of a control device for a multi-unit motor provided in Embodiment 3 of the present application. The control device is configured in a first control unit, and the first control unit is configured in a motor system, wherein the motor system includes at least The first unit motor group and the first control unit connected thereto, the second unit motor group and the second control unit connected thereto, each unit motor group includes at least two subunit motors, as shown in Figure 3, multiple The control unit for the unit motor consists of the following modules.

The torque command generation module 310 is configured to generate a torque command for each subunit motor according to the received total torque command;

The control instruction generation module 320 is configured to generate the control instruction of each subunit motor according to the torque instruction of each subunit motor;

The control and sending module 330 is configured to control each subunit motor in the first unit motor group according to the control instruction of each subunit motor, and send the control instruction of each subunit motor to the A second control unit, wherein the second control unit is configured to control each subunit motor in the second unit motor set according to the control instruction of each subunit motor.

Optionally, the control command generation module 320 is set to:

According to the received total torque command and the number of the sub-unit motors, the total torque command is equally divided to obtain the torque command of each sub-unit motor.

Optionally, the control instructions include current amplitude instructions and current phase angle instructions, or direct-axis current instructions and quadrature-axis current instructions.

Optionally, the control commands include direct-axis voltage commands and quadrature-axis voltage commands.

Optionally, the control instruction includes a PWM control signal.

The above-mentioned products can execute the multi-unit motor control method provided by the embodiment of the present application, and have corresponding functional modules and effects of the execution method.

Embodiment Four

Embodiment 4 of the present application also provides a medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a method for controlling a multi-unit motor for a motor system. The motor The system at least includes a first unit motor group and a first control unit connected thereto, a second unit motor group and a second control unit connected thereto, and each unit motor group includes at least two sub-unit motors, the method include:

media - any of various types of memory devices or storage devices. The term "media" is intended to include: installation media, such as Compact Disc Read Only Memory (CD-ROM), floppy disks, or tape drives; computer system memory or random access memory, such as dynamic random access memory ( Dynamic Random Access Memory, DRAM), double data rate random access memory (Double Data Rate Random Access Memory, DDR RAM), static random access memory (Static Random-Access Memory, SRAM), extended data output random access memory ( Extended Data Output Random Access Memory, EDO RAM), Rambus (Rambus) RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory components, etc. The media may also include other types of memory, or combinations thereof. In addition, the medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network such as the Internet. The second computer system may provide program instructions to the computer for execution. The term "medium" may include two or more media that may reside in different locations, such as in different computer systems connected by a network. A medium may store program instructions (eg, implemented as a computer program) that are executable by one or more processors. The storage medium may be a non-transitory storage medium.

A medium containing computer-executable instructions provided by an embodiment of the present application. The computer-executable instructions are not limited to operations in the control method of a multi-unit motor as described above, and can also execute multiple Related operations in the control method of the unit motor.

Embodiment five

Embodiment 5 of the present application provides an electronic device, and the electronic device can be integrated with the multi-unit motor control device provided in the embodiment of the present application. FIG. 4 is a schematic structural diagram of an electronic device provided in Embodiment 5 of the present application. As shown in FIG. 4 , this embodiment provides an electronic device 400, which includes: one or more processors 420; a storage device 410 configured to store one or more programs, when the one or more programs are executed The one or more processors 420 execute, so that the one or more processors 420 implement the control method of the multi-unit motor provided in the embodiment of the present application, which is used in a motor system, and the motor system includes at least a first A unit motor group and a first control unit connected thereto, a second unit motor group and a second control unit connected thereto, each unit motor group includes at least two sub-unit motors, the method includes:

The processor 420 also implements the technical solution of the method for controlling a multi-unit motor provided in any embodiment of the present application.

The electronic device 400 shown in FIG. 4 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.

As shown in FIG. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of processors 420 in the electronic device may be one or more, and in FIG. As an example; the processor 420, the storage device 410, the input device 430 and the output device 440 in the electronic device may be connected through a bus or in other ways. In FIG. 4, the connection through the bus 450 is taken as an example.

As a computer readable medium, the storage device 410 can be used to store software programs, computer executable programs and module units, such as program instructions corresponding to the multi-unit motor control method in the embodiment of the present application.

The storage device 410 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the terminal, and the like. In addition, the storage device 410 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. In some examples, the storage device 410 may include memory located remotely from the processor 420, and these remote memories may be connected through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 430 can be used to receive input numbers, character information or voice information, and generate key signal input related to user settings and function control of the electronic device. The output device 440 may include electronic equipment such as a display screen and a speaker.

The electronic device provided in the embodiment of the present application can achieve the purpose of reducing resource occupation of the CPU of the control unit and improving control efficiency.

The multi-unit motor control device, medium, and electronic equipment provided in the above embodiments can execute the multi-unit motor control method provided in any embodiment of the present application, and have corresponding functional modules and effects for executing the method. For technical details not exhaustively described in the foregoing embodiments, reference may be made to the method for controlling a multi-unit motor provided in any embodiment of the present application.

Claims

A control method for a multi-unit motor, which is applied to a motor system, and the motor system includes a first unit motor group and a first control unit connected to the first unit motor group, a second unit motor group and a first control unit connected to the first unit motor group The second control unit connected to the second unit motor group, each unit motor group includes at least two sub-unit motors, wherein the method includes:

The first control unit generates a torque command for each subunit motor according to the received total torque command;

The first control unit generates a control instruction for each subunit motor according to the torque instruction for each subunit motor;

The first control unit controls each subunit motor in the first unit motor group according to the control instruction of each subunit motor, and sends the control instruction of each subunit motor to the second A control unit, so that the second control unit controls each subunit motor in the second unit motor set according to the control instruction of each subunit motor.
The method according to claim 1, wherein the first control unit generates a torque command for each subunit motor according to the received total torque command, comprising:

The first control unit divides the total torque command equally according to the received total torque command and the number of the sub-unit motors to obtain the torque command of each sub-unit motor.
The method according to claim 1, wherein the control command includes a current amplitude command and a current phase angle command, or a direct-axis current command and a quadrature-axis current command.
The method according to claim 1, wherein the control command includes a direct-axis voltage command and a quadrature-axis voltage command.
The method of claim 1, wherein the control command comprises a pulse width modulated (PWM) control signal.
A control device for a multi-unit motor, which is configured in a first control unit, and the first control unit is configured in a motor system, wherein the motor system includes a first unit motor group and is connected to the first unit motor group The first control unit, the second unit motor group and the second control unit connected to the second unit motor group, each unit motor group includes at least two subunit motors, wherein the device includes:

The torque command generation module is configured to generate a torque command for each subunit motor according to the received total torque command;

A control instruction generation module configured to generate a control instruction for each subunit motor according to the torque instruction for each subunit motor;

The control and sending module is configured to control each subunit motor in the first unit motor group according to the control instruction of each subunit motor, and send the control instruction of each subunit motor to the second A control unit, so that the second control unit controls each subunit motor in the second unit motor set according to the control instruction of each subunit motor.
The device according to claim 6, wherein the control commands include current amplitude commands and current phase angle commands, or direct-axis current commands and quadrature-axis current commands.
The apparatus according to claim 6, wherein the control command includes a direct-axis voltage command and a quadrature-axis voltage command.
A computer-readable medium storing a computer program, wherein when the computer program is executed by a processor, the method for controlling a multi-unit motor according to any one of claims 1-5 is realized.
An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein, when the processor executes the computer program, any of claims 1-5 is implemented. A method for controlling a multi-unit motor.