WO2023023991A1 - 电机的控制方法、装置、系统及电动汽车 - Google Patents

电机的控制方法、装置、系统及电动汽车 Download PDF

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Publication number
WO2023023991A1
WO2023023991A1 PCT/CN2021/114600 CN2021114600W WO2023023991A1 WO 2023023991 A1 WO2023023991 A1 WO 2023023991A1 CN 2021114600 W CN2021114600 W CN 2021114600W WO 2023023991 A1 WO2023023991 A1 WO 2023023991A1
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Prior art keywords
axis current
power
output
motor
input
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PCT/CN2021/114600
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English (en)
French (fr)
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郑雄
潘先喜
但志敏
王红
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宁德时代新能源科技股份有限公司
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Priority to PCT/CN2021/114600 priority Critical patent/WO2023023991A1/zh
Priority to HUE21904641A priority patent/HUE064445T2/hu
Priority to EP21904641.4A priority patent/EP4164115B1/en
Priority to CN202180092955.2A priority patent/CN116848777A/zh
Priority to US17/858,862 priority patent/US11689143B2/en
Publication of WO2023023991A1 publication Critical patent/WO2023023991A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
    • 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

Definitions

  • the present application relates to the technical field of motor drive and control, in particular, to a motor control method, device, system and electric vehicle.
  • motors There are many types of motors, which can be divided into DC motors, asynchronous motors and synchronous motors according to their structure and working principle. Permanent magnet synchronous motors are widely used in new energy vehicle drive systems due to their high efficiency, high power factor, and high power density. However, under the condition of limited battery volume and capacity, the control algorithm needs to improve the overall efficiency of the drive system while ensuring excellent control performance.
  • the efficiency optimization control algorithm is to improve the efficiency by reasonably adjusting the voltage, current, flux linkage and other variables when the motor is running when the motor meets the operating conditions.
  • the efficiency optimization control algorithm can be basically divided into loss model method and search method according to the difference of technical principles.
  • the search method is to adjust the control variables such as current and flux linkage to minimize the input power under the premise that the output power of the motor remains unchanged.
  • the efficiency optimization of magnetic synchronous motors takes a long time.
  • the loss model method is to build a loss model based on the parameters of the motor itself, and then solve the optimal value of the model to achieve the purpose of efficiency optimization. This method has good convergence, fast response speed, and good dynamic performance. The effect is greatly affected by the parameters of the motor itself.
  • the purpose of the embodiments of the present application is to provide a motor control method, device, system and electric vehicle to solve the problem in the prior art that it takes a long time and the optimization effect is greatly affected by the parameters of the motor.
  • the embodiment of the present application provides a motor control method, including: obtaining the input power and output power of the motor; determining the loss power according to the input power and the output power; determining the target d-axis current of the motor , the target d-axis current is calculated by a tracking differentiator according to the power loss, the calculation module includes a tracking differentiator, and the calculation module runs in the controller; according to the target d-axis current and the preset It is assumed that the q-axis current determines the duty ratio, and the duty ratio is input into the inverter, so that the inverter drives the motor to run according to the duty ratio.
  • the power loss of the motor is input into the tracking differentiator, and the tracking differentiator can quickly obtain the target d-axis current, greatly reducing the dependence on motor parameters and the amount of calculation.
  • the obtaining the input power and output power of the motor includes: obtaining the input voltage and input current of the motor, obtaining the input power according to the input voltage and the input current; obtaining the input power of the motor The output torque and the output speed are obtained, and the output power is obtained according to the output torque and the output speed.
  • the power loss is obtained by calculating the input power and the output power, and then making a difference between the input power and the output power.
  • accurate power loss can be obtained, and on the other hand, the dependence on the internal parameters of the motor is reduced.
  • calculating and obtaining the power loss according to the input power and the output power includes: taking a difference between the output power and the input power as the power loss.
  • the power loss is obtained by making a difference between the input power and the output power. On the one hand, accurate power loss can be obtained, and on the other hand, the dependence on the internal parameters of the motor is reduced.
  • the determining the duty cycle according to the target d-axis current and the preset q-axis current includes:
  • the target d-axis current comparing the target d-axis current with the current d-axis current in the inverter, and comparing the preset q-axis current with the current q-axis current in the inverter, if the target d-axis current is the same as
  • the deviation of the current d-axis current is greater than a preset threshold, and/or the deviation between the preset q-axis current and the current q-axis current is greater than a preset threshold, then according to the target d-axis current and the preset q-axis current determines the duty cycle.
  • the change of the target d-axis current is small, the duty cycle will not be calculated again, but the previous duty cycle will be sent to the inverter, which reduces the calculation amount of the controller.
  • the method further includes: constructing the tracking differentiator based on a second-order transfer function; wherein, the tracking differentiator includes an input terminal and two output terminals, and the first output terminal is used for tracking the input For the dynamic characteristics of the power loss, the second output terminal is used to differentiate the signal output by the first output terminal.
  • the tracking differentiator is:
  • v 0 (k) is the input of the tracking differentiator, and is the power loss corresponding to the kth moment
  • x 1 (k+1) is the first output of the tracking differentiator at the k+1th moment, For tracking the dynamic characteristics of the power loss at the kth moment
  • x 2 (k+1) is the second output of the tracking differentiator at the k+1th moment, used to differentiate the first output
  • r is the speed factor
  • h is the filter factor.
  • the power loss of the permanent magnet synchronous motor is input into the tracking differentiator, and the tracking differentiator can quickly obtain the target d-axis current, greatly reducing the dependence on motor parameters and the amount of calculation.
  • the embodiment of the present application provides a motor control device, the control device runs in the controller, including: a power calculation module, used to obtain the input power and output power of the motor, according to the input power and the obtained The output power is calculated to obtain the loss power; the current tracking module is used to: determine the target d-axis current of the motor, and the target d-axis current is calculated and obtained by the calculation module according to the loss power, and the calculation module includes a tracking differentiator , and the calculation module runs in the controller; the efficiency optimization module is used to determine the duty ratio according to the target d-axis current and the preset q-axis current, and input the duty ratio into the inverter , so that the inverter drives the motor to run according to the duty cycle.
  • a power calculation module used to obtain the input power and output power of the motor, according to the input power and the obtained The output power is calculated to obtain the loss power
  • the current tracking module is used to: determine the target d-axis current of the motor, and the target d
  • an embodiment of the present application provides a non-transitory computer-readable storage medium, including: the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the method of the first aspect .
  • an embodiment of the present application provides a motor drive system for an electric vehicle, including the control device described in the second aspect.
  • an embodiment of the present application provides an electric vehicle, including the motor drive system described in the fourth aspect.
  • Fig. 1 (a) considers the q-axis equivalent circuit diagram of iron loss that the embodiment of the present application provides;
  • Fig. 1 (b) considers the d-axis equivalent circuit diagram of iron loss that the embodiment of the present application provides;
  • FIG. 2 is a schematic flowchart of a control method for a permanent magnet synchronous motor provided in an embodiment of the present application
  • FIG. 3 is a schematic diagram of the closed-loop adaptive control of the permanent magnet synchronous motor provided by the embodiment of the present application;
  • FIG. 4 is a schematic diagram of a tracking differentiator provided in an embodiment of the present application.
  • Figure 5 is an efficiency optimization effect diagram provided by the embodiment of the present application.
  • Fig. 6 is a schematic diagram of the optimized output torque provided by the embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of a control device for a permanent magnet synchronous motor provided in an embodiment of the present application.
  • the embodiment of the present application takes a permanent magnet synchronous motor as an example for description. It can be understood that the embodiment of the present application can also be applied to an induction motor, etc., and the embodiment of the present application does not limit the specific type of the motor.
  • the method of calculating the loss power of the permanent magnet synchronous motor using the traditional loss model method is as follows:
  • Fig. 1(a) is a q-axis equivalent circuit diagram considering iron loss provided by the embodiment of the present application
  • Fig. 1(b) is a d-axis equivalent circuit diagram provided by the embodiment of the present application considering iron loss.
  • U d is the stator voltage of the d-axis in the dq coordinate system
  • U q is the stator voltage of the q-axis in the dq coordinate system
  • R is the stator winding resistance
  • i wd is the active component of the stator current on the d-axis
  • i wq is the stator The active component of the current on the q-axis
  • ⁇ d is the d-axis stator flux linkage in the dq coordinate system
  • ⁇ q is the q-axis stator flux linkage in the dq coordinate system
  • p is the differential operator.
  • U wd is the active component of the stator voltage on the d-axis
  • U wq is the active component of the stator voltage on the q-axis
  • R Fe is the equivalent iron loss resistance
  • id is the stator current on the d-axis in the dq coordinate system
  • i q is the stator current of the q-axis in the dq coordinate system
  • i rd is the reactive component of the stator current on the d-axis
  • i rq is the reactive component of the stator current on the q-axis
  • P loss is the loss power
  • n p is the permanent magnet
  • the inventors found that the power loss P loss is a function of i wd , Te and W r , and Te and W r can be approximated as constants under steady state conditions , therefore, P loss is only related to i wd , and this function is a concave function. Therefore, the problem of finding the minimum power loss can be transformed into the problem of discussing the extreme value. According to the nature of the concave function, there must be an i wd , which makes the loss power reach the minimum value.
  • the power loss calculated by the above method is related to multiple parameters of the permanent magnet synchronous motor.
  • the parameters will change with the temperature and frequency, and also with the disturbance factors. Therefore, there will be certain errors in the optimal d-axis current calculated by formula (5), so that the efficiency of the permanent magnet synchronous motor cannot be optimized.
  • an embodiment of the present application provides a method for optimizing the efficiency of a permanent magnet synchronous motor.
  • the input of the differentiator so that the tracking differentiator outputs the target d-axis current.
  • the output target d-axis current and preset q-axis current determine the duty cycle, and the duty cycle is sent to the inverter to drive the permanent magnet synchronous motor to run. Since the permanent magnet synchronous motor is driven by the target d-axis current, its power loss can reach the minimum value, so the efficiency of the permanent magnet synchronous motor can be optimized.
  • Fig. 2 is a schematic flow chart of a control method for a permanent magnet synchronous motor provided in the embodiment of the present application.
  • Fig. Device can be DSP chip, also can be other components etc. that can realize following method, and this method comprises:
  • Step 201 Obtain the input power and output power of the motor; the controller is connected to the permanent magnet synchronous motor, and can collect relevant parameters of the permanent magnet synchronous motor in the running state, so as to obtain the input power and output power of the permanent magnet synchronous motor.
  • Step 202 Calculate and obtain power loss according to the input power and the output power
  • Step 203 Determine the target d-axis current of the motor, the target d-axis current is calculated and obtained by a calculation module based on the power loss, the calculation module includes a tracking differentiator, and the calculation module runs on the controller Middle;
  • the tracking differentiator can be formed by the first-order inertial link, or by the difference method, or by the second-order transfer function.
  • the power loss is input into the tracking differentiator as a feedback signal, and the tracking differentiator tracks the input power loss and outputs the target d-axis current. It can be understood that the target d-axis current can minimize the power loss of the permanent magnet synchronous motor.
  • other algorithms may also be included.
  • Step 204 Determine the duty ratio according to the target d-axis current and the preset q-axis current, and input the duty ratio into the inverter, so that the inverter drives the The motor runs.
  • the inverter is connected to the permanent magnet synchronous motor.
  • the controller calculates and obtains the duty cycle according to the target d-axis current and q-axis current, and inputs the duty cycle into the inverter.
  • the inverter The permanent magnet synchronous motor is driven to run according to the duty cycle.
  • the preset q-axis current is determined by the PI controller according to the given speed and the actual speed of the permanent magnet synchronous motor.
  • the PI controller is a part of the controller.
  • an estimation equation of power loss is reconstructed according to a difference between input power and output power. Then, the power loss is sent to the tracking differentiator as a feedback signal, and the tracking differentiator realizes the fast tracking of the power loss and the approximate differential signal, that is, the output of the target d-axis current, and realizes the control of the minimum power loss.
  • the dependence of the motor on its parameters can be greatly reduced, the robustness of the system can be improved, and the accuracy of the loss can be further refined.
  • the acquisition of the input power and output power of the motor includes:
  • the output torque and output speed of the motor are obtained, and the output power is obtained according to the output torque and the output speed.
  • the input power is obtained by the product of the voltage and current input to the permanent magnet synchronous motor, as shown in formula (6); the output power is calculated according to the output torque and speed of the permanent magnet synchronous motor, specifically As shown in formula (7):
  • P in is the input power
  • U is the input voltage
  • I is the input current
  • P out is the output power
  • T e is the output torque
  • W r is the output speed.
  • the input power and output power are calculated, and then the power loss is calculated according to the input power and output power.
  • accurate power loss can be obtained, and on the other hand, the dependence on the internal parameters of the motor is reduced.
  • the power loss is calculated according to the input power and the output power, including:
  • the difference between the output power and the input power is used as the power loss.
  • the power loss can be obtained by making a difference between the input power and the output power.
  • Fig. 3 is a schematic diagram of the closed-loop adaptive control of the permanent magnet synchronous motor provided by the embodiment of the present application.
  • the current can be adjusted and output by the PI controller; id is the target d-axis current, S a, b, c are the duty ratios, ia , i b , and ic are the three-phase sampling currents respectively, and i ⁇ , ⁇ ( k+1) is the current at the k+1th moment in the ⁇ coordinate system, i s (k) is the stator current at the kth moment, and w is the actual speed of the permanent magnet synchronous motor.
  • the controller is used for the calculation of power loss and the output of the target d-axis current, and sends the obtained target d-axis current and q-axis current to the minimum loss function module, which outputs S a,b,c according to the output duty
  • the ratio S a, b, c controls the on-off time of the inverter, so that the inverter drives the motor to output the target current, and finally realizes the control of the minimum power loss.
  • control schematic diagram shown in Figure 3 is an example, and in practical applications, other modifications are also possible, for example: the PI controller in Figure 3 can also be removed, and the preset q-axis current is artificially preset set up.
  • the determining the duty cycle according to the target d-axis current and the preset q-axis current includes:
  • the target d-axis current with the current d-axis current in the inverter, and comparing the preset q-axis current with the current q-axis current in the inverter, if the target d-axis current is the same as
  • the deviation of the current d-axis current is greater than a first preset threshold, and/or the deviation between the preset q-axis current and the current q-axis current is greater than a second preset threshold, then according to the target d-axis current and The preset q-axis current determines the duty cycle.
  • the current d-axis current in the inverter refers to the d-axis current used by the inverter to drive the permanent magnet synchronous motor before the target d-axis current is input into the inverter, which can also be understood as the controller
  • the target d-axis current output last time. After the controller obtains the target d-axis current, it compares the target d-axis current with the current d-axis current. If the deviation between the target d-axis current and the current d-axis current is greater than the first preset threshold, it means that the permanent magnet synchronous motor
  • the d-axis current required to achieve the minimum power loss has changed greatly compared with the previous moment, so the duty cycle needs to be recalculated.
  • the preset q-axis current is compared with the current q-axis current currently used by the inverter, if the deviation is greater than the second preset threshold, it means that the q-axis current required by the permanent magnet synchronous motor to achieve the minimum power loss is higher than If there is a large change at a moment, the duty cycle needs to be recalculated.
  • the duty ratio is calculated based on the target d-axis current and the preset q-axis current. After the duty ratio is obtained, the duty ratio is input to the inverter, and the inverter drives the permanent magnet synchronous motor to work according to the duty ratio.
  • the permanent magnet synchronization The d-axis current and q-axis current required by the motor to achieve the minimum power loss change less than the previous moment, and continuing to use the current d-axis current and current q-axis current to drive the permanent magnet synchronous motor can still approximate the minimum power loss.
  • the first preset threshold and the second preset threshold may be set according to actual needs, which is not specifically limited in this embodiment of the present application.
  • the duty cycle will not be recalculated, thereby reducing the amount of calculation.
  • the method further includes:
  • the tracking differentiator is constructed based on the second-order transfer function; wherein, the tracking differentiator includes an input terminal and two output terminals, the first output terminal is used to track the dynamic characteristics of the input power loss, and the second output terminal It is used for differentiating the signal output by the first output terminal.
  • FIG. 4 is a schematic diagram of a tracking differentiator provided in the embodiment of the present application.
  • the tracking differentiator includes an input terminal and two output terminals.
  • the loss power v(t) of the permanent magnet synchronous motor is input through the input terminal, the first output terminal outputs x 1 (t), and the second output terminal outputs x 2 (t) , x 1 (t) tracks the dynamic characteristic of v(t), and x 2 (t) differentiates x 1 (t), that is, obtains the reference value of the target d-axis current.
  • the second-order transfer function can be expressed as:
  • the tracking differentiator constructed using the second-order transfer function provided by the embodiment of the present application can be expressed by formula (8):
  • v 0 (k) is the input of the tracking differentiator, and is the power loss corresponding to the kth moment
  • x 1 (k+1) is the first output of the tracking differentiator at the k+1th moment, For tracking the dynamic characteristics of the power loss at the kth moment
  • x 2 (k+1) is the second output of the tracking differentiator at the k+1th moment, used to differentiate the first output
  • h is the speed factor, which affects the filtering performance
  • r is the filtering factor, which determines the tracking speed of the tracking differentiator to the input signal, and both h and r need to be preset artificially.
  • the tracking differentiator can quickly obtain the target d-axis current, because the tracking differentiator can not only obtain the target d-axis current as soon as possible without specifying the precise model of the controlled object Tracking the input signal, it can also give an approximate differential signal, which has good anti-disturbance ability and dynamic characteristics.
  • Fig. 5 is an effect diagram of efficiency optimization provided by the embodiment of the present application. It can be seen from Fig. 5 that the efficiency of the permanent magnet synchronous motor reaches nearly 90% in about 0.5 seconds, and the optimization speed is very fast.
  • Fig. 6 is a schematic diagram of the optimized output torque provided by the embodiment of the present application.
  • the embodiment of the present application mainly solves the problem that the traditional loss model depends on the motor parameters and the accuracy of the loss power evaluation function. Therefore, it can be seen from Fig. 6 that the output The torque reaches a higher level in a shorter period of time.
  • the robustness of the control device and the operating efficiency under different working conditions are improved.
  • Fig. 7 is a schematic structural diagram of a motor control device provided in an embodiment of the present application, and the device may be a module, program segment or code on an electronic device. It should be understood that the device corresponds to the above-mentioned embodiment of the method in FIG. 2 , and can perform various steps involved in the embodiment of the method in FIG. 2 . The specific functions of the device can refer to the description above. To avoid repetition, detailed descriptions are appropriately omitted here.
  • the device includes: a first power calculation module 701, a second power calculation module 702, a current tracking module 703 and an efficiency optimization module 704, wherein:
  • the first power calculation module 701 is used to obtain the input power and output power of the permanent magnet synchronous motor; the second power calculation module 702 is used to determine the loss power according to the input power and the output power; the current tracking module 703 is used to determine the The target d-axis current of the motor, the target d-axis current is calculated and obtained by the calculation module according to the power loss, the calculation module includes a tracking differentiator, and the calculation module runs in the controller; the efficiency optimization module 704 is used to determine the duty ratio according to the target d-axis current and the preset q-axis current, and input the duty ratio into the inverter, so that the inverter drives the The motor runs.
  • the first power calculation module 701 is specifically used for:
  • the output torque and output speed of the motor are obtained, and the output power is obtained according to the output torque and the output speed.
  • the second power calculation module 702 is specifically used for:
  • the difference between the output power and the input power is used as the power loss.
  • the efficiency optimization module 704 is specifically used for:
  • the target d-axis current with the current d-axis current in the inverter, and comparing the preset q-axis current with the current q-axis current in the inverter, if the target d-axis current is the same as
  • the deviation of the current d-axis current is greater than a first preset threshold, and/or the deviation between the preset q-axis current and the current q-axis current is greater than a second preset threshold, then according to the target d-axis current and The preset q-axis current determines the duty cycle.
  • the tracking differentiator is constructed based on a second-order transfer function; wherein, the tracking differentiator includes an input terminal and two output terminals, and the first output terminal is used to track the input power loss
  • the dynamic characteristics of the second output end are used to differentiate the signal output by the first output end.
  • the tracking differentiator is:
  • v 0 (k) is the input of the tracking differentiator, and is the power loss corresponding to the kth moment
  • x 1 (k+1) is the first output of the tracking differentiator at the k+1th moment, For tracking the dynamic characteristics of the power loss at the kth moment
  • x 2 (k+1) is the second output of the tracking differentiator at the k+1th moment, used to differentiate the first output
  • r is the speed factor
  • h is the filter factor.
  • the embodiment of the present application mainly solves the problem that the traditional loss model depends on the motor parameters and the accuracy of the loss power evaluation function, and improves the robustness of the driving system and the operating efficiency under different working conditions.
  • the specific process is as follows. First, use the equivalent circuit of the loss model to derive the relationship between the loss power and the stator current, deduce that there must be an optimal d-axis current to minimize the loss power, and then reconstruct the loss according to the difference between input power and output power Estimated equation for power.
  • the power loss is sent to the tracking differentiator as a feedback signal, and the tracking differentiator realizes the fast tracking of the power loss and the output of the approximate differential signal, that is, the target d-axis current, so as to realize the control of the minimum power loss.
  • the dependence of the motor on its parameters can be greatly reduced, the robustness of the system can be improved, and the accuracy of the loss can be further refined.
  • the embodiment of the present application further provides a motor drive system, which includes the control device described in the above embodiments.
  • the motor drive system can be used in electric vehicles, electric bicycles, electric game vehicles, etc., and can also be used in soybean milk machines, food processors, etc.
  • the embodiment of the present application does not specifically limit the application scenarios of the motor drive system.
  • the embodiment of the present application further provides an electric vehicle, and the electric vehicle includes a motor drive system.
  • the electric vehicle may also include other components, such as: power system and auxiliary system, and the power system includes power supply, energy management system and charger. Its function is mainly to provide driving power to the motor, monitor power usage and control the charger to charge the battery.
  • Auxiliary systems include auxiliary power sources, power steering systems, navigation systems, air conditioners, lighting and defrosting devices, wipers and radios, etc.
  • the auxiliary systems are mainly used to improve the maneuverability of the car and the comfort of the occupants.
  • This embodiment discloses a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by the computer, the computer
  • the methods provided by the above method embodiments can be executed, for example, including: obtaining the input power and output power of the motor, calculating and obtaining the loss power according to the input power and the output power; determining the target d-axis current of the motor, and the The target d-axis current is calculated and obtained by a calculation module according to the power loss, the calculation module includes a tracking differentiator, and the calculation module runs in the controller; according to the target d-axis current and the preset q-axis The current determines the duty ratio, and the duty ratio is input into the inverter, so that the inverter drives the motor to run according to the duty ratio.
  • This embodiment provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the methods provided in the above method embodiments, for example, including : Obtain the input power and output power of the motor, calculate and obtain the power loss according to the input power and the output power; determine the target d-axis current of the motor, and the target d-axis current is calculated by the calculation module according to the power loss Obtaining, the calculation module includes a tracking differentiator, and the calculation module runs in the controller; the duty cycle is determined according to the target d-axis current and the preset q-axis current, and the duty cycle is input In the inverter, the inverter drives the motor to run according to the duty cycle.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • a unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional module in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.

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Abstract

提供一种电机的控制方法、装置、系统及电动汽车。方法包括：获取电机的输入功率和输出功率（201）；根据输入功率和输出功率计算获得损耗功率（202）；确定电机的目标d轴电流，目标d轴电流由计算模块根据损耗功率计算获得，计算模块包括跟踪微分器，且计算模块运行在控制器中（203）；根据目标d轴电流和预设q轴电流确定占空比，并将占空比输入逆变器中，以使逆变器根据占空比驱动电机运行（204）。通过将永磁同步电机的损耗功率输入跟踪微分器，跟踪微分器可以快速获得目标d轴电流，由此大幅减少了对永磁同步电机参数的依赖和计算量。

Description

电机的控制方法、装置、系统及电动汽车 技术领域
本申请涉及电机驱动与控制技术领域，具体而言，涉及一种电机的控制方法、装置、系统及电动汽车。
背景技术
电机的种类有很多种，按结构和工作原理可划分为直流电机、异步电机和同步电机。永磁同步电机以其高效率、高功率因数、高功率密度等优点广泛应用于新能源汽车驱动系统中。但在电池体积和容量有限空间的条件下，控制算法在确保优秀控制性能的同时，还需追求提高驱动系统的整体效率。
效率优化控制算法即为在电机达到运行条件的情况下，通过合理调节电机运行时的电压、电流、磁链等变量来实现效率的提升。目前效率优化控制算法根据技术原理的区别基本可以分为损耗模型法和搜索法。搜索法是在电机输出功率不变的前提下，调整电流、磁链等控制量使输入功率最小，该方法对电机参数变化具有较强的鲁棒性，但这类算法计算量大，对永磁同步电机的效率优化耗时较长。损耗模型法是基于电机本身的参数搭建损耗模型，进而求解出模型的最优值来达到效率优化的目的，该方法收敛性好、响应速度快，具有较好的动态性能，但该方法优化的效果受电机本身的参数影响较大。
发明内容
本申请实施例的目的在于提供一种电机的控制方法、装置、系统及电动汽车，用以解决现有技术中耗时长，且优化的效果受电机参数影响较大的问题。
第一方面，本申请实施例提供一种电机的控制方法，包括：获取电机的输入功率和输出功率；根据所述输入功率和所述输出功率确定损耗功率；确定所述电机的目标d轴电流，所述目标d轴电流由跟踪微分器根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；根据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。
本申请实施例将电机的损耗功率输入跟踪微分器，跟踪微分器可以快速获得目标d轴电流，大幅减少了对电机参数的依赖和计算量。
在任一实施例中，所述获取电机的输入功率和输出功率，包括：获取所述电机的输入电压和输入电流，根据所述输入电压和所述输入电流获得所述输入功率；获取所述电机的输出转矩和输出转速，根据所述输出转矩和所述输出转速获得所述输出功率。
本申请实施例通过计算输入功率和输出功率，进而将输入功率和输出功率作差获得损耗功率，一方面可以获得准确的损耗功率，另一方面降低了对电机内部参数的依赖。
在任一实施例中，根据所述输入功率和所述输出功率计算获得损耗功率，包括：将所述输出功率与所述输入功率的差值作为所述损耗功率。本申请实施例通过将输入功率和输出功率作差获得损耗功率，一方面可以获得准确的损耗功率，另一方面降低了对电机内部参数的依赖。
在任一实施例中，所述根据所述目标d轴电流和预设q轴电流确定占空比，包括：
将所述目标d轴电流与逆变器中的当前d轴电流进行比较，以及将所述预设q轴电流与逆变器中的当前q轴电流进行比较，若所述目标d轴电流与所述当前d轴电流的偏差大于预设阈值，和/或所述预设q轴电流与所 述当前q轴电流的偏差大于预设阈值，则根据所述目标d轴电流和预设q轴电流确定占空比。当目标d轴电流变化较小时，则不会计算再次计算占空比，而是将之前的占空比送入逆变器，降低了控制器的计算量。
在任一实施例中，所述方法还包括：基于二阶传递函数构建所述跟踪微分器；其中，所述跟踪微分器包括一个输入端和两个输出端，第一输出端用于跟踪输入的所述损耗功率的动态特性，第二输出端用于对所述第一输出端输出的信号进行微分。
在任一实施例中，所述跟踪微分器为：
Figure PCTCN2021114600-appb-000001
其中，v 0(k)为所述跟踪微分器的输入，且为第k时刻对应的损耗功率；x 1(k+1)为所述跟踪微分器在第k+1时刻的第一输出，用于跟踪所述第k时刻的损耗功率的动态特性；x 2(k+1)为所述跟踪微分器在第k+1时刻的第二输出，用于对所述第一输出进行微分；r为速度因子；h为滤波因子。
本申请实施例将永磁同步电机的损耗功率输入跟踪微分器，跟踪微分器可以快速获得目标d轴电流，大幅减少了对电机参数的依赖和计算量。
第二方面，本申请实施例提供一种电机的控制装置，所述控制装置运行在控制器中，包括：功率计算模块，用于获取电机的输入功率和输出功率，根据所述输入功率和所述输出功率计算获得损耗功率；电流跟踪模块，用于：确定所述电机的目标d轴电流，所述目标d轴电流由计算模块根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；效率优化模块，用于根据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。
第三方面，本申请实施例提供一种非暂态计算机可读存储介质，包括：所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令使所述计算机执行第一方面的方法。
第四方面，本申请实施例提供一种电动汽车的电机驱动系统，包括第二方面所述的控制装置。
第五方面，本申请实施例提供一种电动汽车，包括第四方面所述的电机驱动系统。
本申请的其他特征和优点将在随后的说明书阐述，并且，部分地从说明书中变得显而易见，或者通过实施本申请实施例了解。本申请的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1(a)为本申请实施例提供的考虑铁损的q轴等效电路图；
图1(b)为本申请实施例提供的考虑铁损的d轴等效电路图；
图2为本申请实施例提供的一种永磁同步电机的控制方法流程示意图；
图3为本申请实施例提供的永磁同步电机闭环自适应控制的原理图；
图4为本申请实施例提供的跟踪微分器示意图；
图5为本申请实施例提供的效率优化效果图；
图6为本申请实施例提供的优化后输出转矩示意图；
图7为本申请实施例提供的永磁同步电机的控制装置结构示意图。
具体实施方式
为了便于描述，本申请实施例以永磁同步电机为例进行描述，可以理解的是，本申请实施例还可以适用于感应电机等，本申请实施例对电机的具体类型不作限定。
利用传统的损耗模型法计算永磁同步电机的损耗功率的方法如下：
图1(a)为本申请实施例提供的考虑铁损的q轴等效电路图，图1(b)为本申请实施例提供的考虑铁损的d轴等效电路图。
在同步旋转坐标系中，永磁同步电机的d-q轴的电压方程如公式(1)所示：
Figure PCTCN2021114600-appb-000002
当永磁同步电机处于稳态时，根据基尔霍夫定律可以获得公式
(2)：
Figure PCTCN2021114600-appb-000003
根据公式(2)可以推导出公式(3)：
Figure PCTCN2021114600-appb-000004
传统的基于损耗模型法的永磁同步电机的可控电气损耗的计算方法如公式(4)：
P loss＝P cu+P Fe    (4)
其中，P cu＝R(i d 2+i q 2)，P Fe＝R(i rd 2+i rq 2)，因此公式(4)可以推导出公式(5)：
Figure PCTCN2021114600-appb-000005
其中，U d为d-q坐标系下d轴的定子电压，U q为d-q坐标系下q轴定子电压，R为定子绕组电阻，i wd为定子电流在d轴上的有功分量，i wq为定子电流在q轴上的有功分量，ψ d为d-q坐标系下d轴定子磁链，ψ q为d-q坐标系下q轴定子磁链，p为微分算子。U wd为定子电压在d轴上的有功分量，U wq为定子电压在q轴上的有功分量，R Fe为等效铁损电阻，i d为d-q坐标系下d轴的定子电流，i q为d-q坐标系下q轴的定子电流，i rd为定子电流在d轴上的无功分量，i rq为定子电流在q轴上的无功分量，P loss为损耗功率，n p为永磁同步电机极对数，T e为输出转矩，W r为输出转速，T e和W r在稳态条件下可近似为常数，L q为q轴等效电感，L d为d轴等效电感。
发明人根据上述对永磁同步电机的损耗功率的公式(5)发现损耗功率P loss是关于i wd，T e和W r的函数，而T e和W r在稳态条件下可近似为常数，因此，P loss仅与i wd有关，并且该函数为凹函数。因此，可以把求损耗功率最小的问题转化为讨论极值的问题。由凹函数的性质可知，必存在一个i wd，使得损耗功率达到最小值。
另外，根据公式(2)可以看出上述方法计算获得的损耗功率与永磁同步电机的多个参数相关。永磁同步电机在运行状态下，参数会随着温度、频率变化，也会随着扰动因素变化。因此，通过公式(5)计算出的 最优d轴电流会存在一定的误差，从而无法使得永磁同步电机效率达到最优。
基于上述问题，本申请实施例提供一种永磁同步电机效率的优化方法，该方法重新构建了永磁同步电机的损耗功率的计算方法，利用该计算方法计算损耗功率，并将损耗功率作为跟踪微分器的输入，使得跟踪微分器输出目标d轴电流。输出的目标d轴电流和预设q轴电流确定占空比，并将占空比送入逆变器中，以驱动永磁同步电机运行。由于永磁同步电机在目标d轴电流的驱动下，其损耗功率能够达到最小值，所以使得永磁同步电机的效率达到最优。
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。
图2为本申请实施例提供的一种永磁同步电机的控制方法流程示意图，如图2所示，该方法的执行主体为控制器，控制器与永磁同步电机、逆变器连接，控制器可以是DSP芯片，也可以是其他能够实现下述方法的组件等，该方法包括：
步骤201：获取电机的输入功率和输出功率；控制器与永磁同步电机连接，可以采集永磁同步电机在运行状态下的相关参数，从而获得永磁同步电机的输入功率和输出功率。
步骤202：根据所述输入功率和所述输出功率计算获得损耗功率；
步骤203：确定所述电机的目标d轴电流，所述目标d轴电流由计算模块根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；跟踪微分器可以由一阶惯性环节构成，也可以有差分法构成，还可以采用二阶传递函数构成。将损耗功率作为反馈信号输入跟踪微分器中，跟踪微分器对输入的损耗功率进行跟踪，并输出目标d轴电流。可以理解的是，目标d轴电流为能够使得永磁同步电机的 损耗功率达到最小。另外，计算模块中，除了存储有跟踪微分器外，还可以包括其他算法。
步骤204：根据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。逆变器与永磁同步电机连接，控制器在获得目标d轴电流之后，根据目标d轴电流和q轴电流计算获得占空比，并将占空比输入到逆变器中，逆变器根据占空比驱动永磁同步电机运行。可以理解的是，预设q轴电流是PI控制器根据永磁同步电机的给定转速和实际转速确定的。且PI控制器属于控制器中的一部分。
本申请实施例通过根据输入功率和输出功率的差值重新构建损耗功率的估计方程。再将损耗功率作为反馈信号送入跟踪微分器，由跟踪微分器实现对损耗功率的快速跟踪和近似微分信号，即目标d轴电流的输出，实现最小损耗功率的控制。通过这种控制方式，可以大幅度减少电机对其参数的依赖，提高系统的鲁棒性，同时还对损耗的精度进一步精确。
在上述实施例的基础上，所述获取电机的输入功率和输出功率，包括：
获取所述电机的输入电压和输入电流，根据所述输入电压和所述输入电流获得所述输入功率；
获取所述电机的输出转矩和输出转速，根据所述输出转矩和所述输出转速获得所述输出功率。
在具体的实施过程中，输入功率为输入到永磁同步电机的电压和电流的乘积获得，如公式(6)所示；输出功率为根据永磁同步电机输出的转矩和转速计算获得，具体如公式(7)所示：
P in＝UI    (6)
P out＝T eW r    (7)
其中，P in为输入功率，U为输入电压，I为输入电流，P out为输出功率，T e为输出转矩，W r为输出转速。
本申请实施例通过计算输入功率和输出功率，进而根据输入功率和输出功率计算获得损耗功率，一方面可以获得准确的损耗功率，另一方面降低了对电机内部参数的依赖。
在上述实施例的基础上，根据所述输入功率和所述输出功率计算获得损耗功率，包括：
将所述输出功率与所述输入功率的差值作为所述损耗功率。
在具体的实施过程中，控制器在计算获得输入功率和输出功率后，将输入功率与输出功率作差，即可获得损耗功率。
本申请实施例通过将输入功率和输出功率作差获得损耗功率，一方面可以获得准确的损耗功率，另一方面降低了对电机内部参数的依赖。图3为本申请实施例提供的永磁同步电机闭环自适应控制的原理图，如图3所示，其中，P loss为损耗功率，ω *为给定转速，i q *为预设q轴电流，可以由PI控制器通过调节输出；i d为目标d轴电流，S a,b,c为占空比，i a，i b，i c分别为三相采样电流，i α,β(k+1)为αβ坐标系下第k+1时刻的电流，i s(k)为第k时刻的定子电流，w为永磁同步电机的实际转速。控制器用于损耗功率的计算和目标d轴电流的输出，将获得的目标d轴电流与q轴电流送入损失函数最小模块中，损失函数最小模块输出S a,b,c，根据输出占空比S a,b,c控制逆变器的通断时间，使逆变器驱动电机输出目标电流，最后实现最小损耗功率的控制。
应当说明的是，图3所述的控制原理图为一种示例，在实际应用中，还可以有其他变型，例如：也可以将图3中的PI控制器去除，预设q轴电流人为预先设定。
在另一实施例中，所述根据所述目标d轴电流和预设q轴电流确定占空比，包括：
将所述目标d轴电流与逆变器中的当前d轴电流进行比较，以及将所述预设q轴电流与逆变器中的当前q轴电流进行比较，若所述目标d轴电流与所述当前d轴电流的偏差大于第一预设阈值，和/或所述预设q轴电流与所述当前q轴电流的偏差大于第二预设阈值，则根据所述目标d轴电流和预设q轴电流确定占空比。
在具体的实施过程中，逆变器中的当前d轴电流是指目标d轴电流输入逆变器之前，逆变器驱动永磁同步电机工作所使用的d轴电流，也可以理解为控制器上一次输出的目标d轴电流。控制器在获得目标d轴电流后，将目标d轴电流与当前d轴电流进行比较，如果目标d轴电流与当前d轴电流之间的偏差大于第一预设阈值，则说明永磁同步电机达到损耗功率最小所需的d轴电流较上一时刻变化较大，因此，需要重新计算占空比。同理，若预设q轴电流与逆变器当前使用的当前q轴电流进行比较，若偏差大于第二预设阈值，则说明永磁同步电机达到损耗功率最小所需的q轴电流较上一时刻变化较大，也需要重新计算占空比。占空比是根据目标d轴电流和预设q轴电流计算获得的，在获得占空比后，将占空比输入逆变器，由逆变器根据占空比驱动永磁同步电机工作。如果目标d轴电流与当前d轴电流之间的偏差不大于第一预设阈值，且预设q轴电流与当前q轴电流之间的偏差不大于第二预设阈值，则说明永磁同步电机达到损耗功率最小所需的d轴电流和q轴电流较上一时刻变化较小，继续使用当前d轴电流和当前q轴电流驱动永磁同步电机仍然可以近似使得损耗功率最小。可以理解的是，第一预设阈值和第二预设阈值可以根据实际需要进行设定，本申请实施例对此不作具体限定。
本申请实施例通过将目标d轴电流与当前d轴电流进行比较，以及将预设q轴电流与当前q轴电流进行比较，当目标d轴电流与当前d轴电流的偏差较小，且预设q轴电流与当前q轴电流的偏差也较小时，则不会重新计算占空比，从而降低了计算量。
在上述实施例的基础上，所述方法还包括：
基于二阶传递函数构建所述跟踪微分器；其中，所述跟踪微分器包括一个输入端和两个输出端，第一输出端用于跟踪输入的所述损耗功率的动态特性，第二输出端用于对所述第一输出端输出的信号进行微分。
在具体的实施过程中，本申请实施例所提供的跟踪微分器为利用二阶传递函数构建获得的，图4为本申请实施例提供的一种跟踪微分器原理图，如图4所示，跟踪微分器包括一个输入端和两个输出端，通过输入端输入永磁同步电机的损耗功率v(t)，第一输出端输出x 1(t)，第二输出端输出x 2(t)，x 1(t)跟踪v(t)的动态特性，x 2(t)对x 1(t)进行微分，即获取到目标d轴电流的参考值。
在上述实施例的基础上，二阶传递函数可以表示为：
Figure PCTCN2021114600-appb-000006
本申请实施例提供的利用二阶传递函数构建的跟踪微分器可以通过公式(8)表示：
Figure PCTCN2021114600-appb-000007
其中，v 0(k)为所述跟踪微分器的输入，且为第k时刻对应的损耗功率；x 1(k+1)为所述跟踪微分器在第k+1时刻的第一输出，用于跟踪所述第k时刻的损耗功率的动态特性；x 2(k+1)为所述跟踪微分器在第k+1时刻的第二输出，用于对所述第一输出进行微分；h为速度因子，其影响滤 波性能；r为滤波因子，决定跟踪微分器对输入信号的跟踪快慢，h和r均需人为预先设定。
本申请实施例通过将永磁同步电机的损耗功率输入跟踪微分器，跟踪微分器可以快速获得目标d轴电流，由于，跟踪微分器在不需明确被控对象精确模型的前提下，不仅能尽快跟踪输入信号，同时也能给出近似微分信号，具有良好的抗扰动能力和动态特性。
图5为本申请实施例提供的效率优化效果图，从图5中可以看出永磁同步电机的效率在0.5秒左右便达到了近90％，其优化速度非常快。
图6为本申请实施例提供的优化后输出转矩示意图，本申请实施例主要解决传统损耗模型依赖电机参数的问题和损耗功率评估函数准确度的问题，因此从图6中可以看出，输出转矩在较短的时间内边达到了较高通过本申请实施例所提供的电机控制方法，提高了控制装置的鲁棒性和在不同工况下的运行效率。
图7为本申请实施例提供的电机的控制装置结构示意图，该装置可以是电子设备上的模块、程序段或代码。应理解，该装置与上述图2方法实施例对应，能够执行图2方法实施例涉及的各个步骤，该装置具体的功能可以参见上文中的描述，为避免重复，此处适当省略详细描述。所述装置包括：第一功率计算模块701、第二功率计算模块702、电流跟踪模块703和效率优化模块704，其中：
第一功率计算模块701用于获取永磁同步电机的输入功率和输出功率；第二功率计算模块702用于根据所述输入功率和所述输出功率确定损耗功率；电流跟踪模块703用于确定所述电机的目标d轴电流，所述目标d轴电流由计算模块根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；效率优化模块704用于根 据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。
在上述实施例的基础上，第一功率计算模块701具体用于：
获取所述电机的输入电压和输入电流，根据所述输入电压和所述输入电流获得所述输入功率；
获取所述电机的输出转矩和输出转速，根据所述输出转矩和所述输出转速获得所述输出功率。
在上述实施例的基础上，第二功率计算模块702具体用于：
将所述输出功率与所述输入功率的差值作为所述损耗功率。
在上述实施例的基础上，效率优化模块704具体用于：
将所述目标d轴电流与逆变器中的当前d轴电流进行比较，以及将所述预设q轴电流与逆变器中的当前q轴电流进行比较，若所述目标d轴电流与所述当前d轴电流的偏差大于第一预设阈值，和/或所述预设q轴电流与所述当前q轴电流的偏差大于第二预设阈值，则根据所述目标d轴电流和预设q轴电流确定占空比。
在上述实施例的基础上，所述跟踪微分器基于二阶传递函数构建；其中，所述跟踪微分器包括一个输入端和两个输出端，第一输出端用于跟踪输入的所述损耗功率的动态特性，第二输出端用于对所述第一输出端输出的信号进行微分。
在上述实施例的基础上，所述跟踪微分器为：
Figure PCTCN2021114600-appb-000008
其中，v 0(k)为所述跟踪微分器的输入，且为第k时刻对应的损耗功率；x 1(k+1)为所述跟踪微分器在第k+1时刻的第一输出，用于跟踪所述第k时刻的损耗功率的动态特性；x 2(k+1)为所述跟踪微分器在第k+1时 刻的第二输出，用于对所述第一输出进行微分；r为速度因子；h为滤波因子。
综上，本申请实施例主要解决传统损耗模型依赖电机参数的问题和损耗功率评估函数的精确度，提高驱动系统的鲁棒性和在不同工况下的运行效率。具体过程如下，首先，利用损耗模型的等效电路推导出损耗功率与定子电流的关系，推算出一定存在最优d轴电流使损耗功率最小，然后根据输入功率和输出功率的差值重新构建损耗功率的估计方程。再将损耗功率作为反馈信号送入跟踪微分器，由跟踪微分器实现对损耗功率的快速跟踪和近似微分信号即目标d轴电流的输出，实现最小损耗功率的控制。通过这种控制方式，可以大幅度减少电机对其参数的依赖，提高系统的鲁棒性，同时还对损耗的精度进一步精确。
在另一实施例中，本申请实施例还提供一种电机驱动系统，该电机驱动系统包括上述各实施例所述的控制装置。可以理解的是，该电机驱动系统可以用于电动汽车，还可以电动自行车、电动游戏车等，还可以用于豆浆机、料理机等。本申请实施例对电机驱动系统的应用场景不作具体限定。
在另一实施例中，本申请实施例还提供一种电动汽车，该电动汽车包括电机驱动系统。可以理解的是，电动汽车还可以包括其他部件，例如：电源系统和辅助系统，电源系统包括电源、能量管理系统和充电机。其功能主要是向电机提供驱动电能，监测电源使用情况以及控制充电机向蓄电池充电。辅助系统包括辅助动力源、动力转向系统、导航系统、空调器、照明及除霜装置、刮水器和收音机等，辅助系统主要用来提高汽车的操纵性和乘员的舒适性。
本实施例公开一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指 令，当所述程序指令被计算机执行时，计算机能够执行上述各方法实施例所提供的方法，例如包括：获取电机的输入功率和输出功率，根据所述输入功率和所述输出功率计算获得损耗功率；确定所述电机的目标d轴电流，所述目标d轴电流由计算模块根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；根据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。
本实施例提供一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令使所述计算机执行上述各方法实施例所提供的方法，例如包括：获取电机的输入功率和输出功率，根据所述输入功率和所述输出功率计算获得损耗功率；确定所述电机的目标d轴电流，所述目标d轴电流由计算模块根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；根据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。
在本申请所提供的实施例中，应该理解到，所揭露装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
另外，作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一 个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
再者，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。
以上所述仅为本申请的实施例而已，并不用于限制本申请的保护范围，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种电机的控制方法，其特征在于，应用于控制器，所述方法包括：
    获取电机的输入功率和输出功率；
    根据所述输入功率和所述输出功率，确定损耗功率；
    确定所述电机的目标d轴电流，所述目标d轴电流由计算模块根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；
    根据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。
  2. 根据权利要求1所述的方法，其特征在于，所述获取电机的输入功率和输出功率，包括：
    获取所述电机的输入电压和输入电流，根据所述输入电压和所述输入电流获得所述输入功率；
    获取所述电机的输出转矩和输出转速，根据所述输出转矩和所述输出转速获得所述输出功率。
  3. 根据权利要求1所述的方法，其特征在于，根据所述输入功率和所述输出功率计算获得损耗功率，包括：
    将所述输出功率与所述输入功率的差值作为所述损耗功率。
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述目标d轴电流和预设q轴电流确定占空比，包括：
    将所述目标d轴电流与逆变器中的当前d轴电流进行比较，以及将所述预设q轴电流与逆变器中的当前q轴电流进行比较，若所述目标d轴电流与所述当前d轴电流的偏差大于第一预设阈值，和/或所述预设q轴电流 与所述当前q轴电流的偏差大于第二预设阈值，则根据所述目标d轴电流和预设q轴电流确定占空比。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述跟踪微分器基于二阶传递函数构建；其中，所述跟踪微分器包括一个输入端和两个输出端，第一输出端用于跟踪输入的所述损耗功率的动态特性，第二输出端用于对所述第一输出端输出的信号进行微分。
  6. 根据权利要求5所述的方法，其特征在于，所述跟踪微分器为：
    Figure PCTCN2021114600-appb-100001
    其中，v 0(k)为所述跟踪微分器的输入，且为第k时刻对应的损耗功率；x 1(k+1)为所述跟踪微分器在第k+1时刻的第一输出，用于跟踪所述第k时刻的损耗功率的动态特性；x 2(k+1)为所述跟踪微分器在第k+1时刻的第二输出，用于对所述第一输出进行微分；r为速度因子；h为滤波因子。
  7. 一种电机的控制装置，其特征在于，所述控制装置运行在控制器中，包括：
    第一功率计算模块，用于获取电机的输入功率和输出功率；
    第二功率计算模块，用于根据所述输入功率和所述输出功率，确定损耗功率；
    电流跟踪模块，用于确定所述电机的目标d轴电流，所述目标d轴电流由计算模块根据所述损耗功率计算获得，所述计算模块包括跟踪微分器，且所述计算模块运行在所述控制器中；
    效率优化模块，用于根据所述目标d轴电流和预设q轴电流确定占空比，并将所述占空比输入逆变器中，以使所述逆变器根据所述占空比驱动所述电机运行。
  8. 一种电机驱动系统，其特征在于，包括如权利要求7所述的电机的控制装置。
  9. 一种电动汽车，其特征在于，包括如权利要求8所述的电机驱动系统。
  10. 一种非暂态计算机可读存储介质，其特征在于，所述非暂态计算机可读存储介质存储计算机指令，所述计算机指令被计算机运行时，使所述计算机执行如权利要求1-6任一项所述的方法。
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CN1926757A (zh) * 2004-03-24 2007-03-07 三菱电机株式会社 永磁式同步电动机的控制装置
JP2008236948A (ja) * 2007-03-22 2008-10-02 Toshiba Corp モータ制御装置および洗濯機
CN108736782A (zh) * 2018-06-04 2018-11-02 湖南机电职业技术学院 对电机矢量控制参考电流进行分配及效率优化控制的方法
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CN1926757A (zh) * 2004-03-24 2007-03-07 三菱电机株式会社 永磁式同步电动机的控制装置
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