CN101841299B - Drive motor feed-forward vector control method for electric automobile based on MAP graph - Google Patents
Drive motor feed-forward vector control method for electric automobile based on MAP graph Download PDFInfo
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- CN101841299B CN101841299B CN2010101864667A CN201010186466A CN101841299B CN 101841299 B CN101841299 B CN 101841299B CN 2010101864667 A CN2010101864667 A CN 2010101864667A CN 201010186466 A CN201010186466 A CN 201010186466A CN 101841299 B CN101841299 B CN 101841299B
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Abstract
The invention relates to a drive motor feed- forward vector control method for an electric automobile based on a MAP graph, belonging to the technical field of modern transportation. The drive motor feed- forward vector control method is characterized by comprising an electric motor three-dimensional MAP graph labeling process and an electric motor feed-forward vector control process based on the MAP graph. The method comprises the steps of: firstly, selecting a series of working points on an n-T graph as MAP graph labeling points, adjusting voltage vector U and a phase angle theta to satisfy the condition of n and T of the labeling points, selecting a group of U and theta which causes the minimal three phase current I as the optimal value of the labeling points in the MAP graph, and forming the optimal electric motor control three-dimensional MAP graph; then inquiring the MAP graph by an electric motor control three-dimensional MAP graph inquiring module according to a target torque T* and rotation speed n*, obtaining the optimal voltage vector U* and the phase angle theta * by a curved surface difference value, and obtaining six paths of PWM (pulse width modulation) control signals according to the U* and the theta * and the mechanical position angle of a rotor of the electric motor by a space voltage vector pulse width modulation module so that an inverter module generates three phase alternating voltage to control the operation of the electric motor. The invention has the advantages of avoiding over-current phenomenon avoidance, improving the safety and durability of the controller and reducing cost.
Description
Technical field
The invention belongs to the Modern Transportation Technology field, relate to a kind of motor control method, specially refer to a kind of drive motor feed-forward vector control method for electric automobile based on MAP figure.
Background technology
Vector control method is a kind of control method that present used for electric vehicle drive motors generally adopts, its technical essential is to measure the AC side three-phase current, carry out coordinate transform and obtain torque current component and field supply component, carry out PID control according to the deviation of actual current component and demand current component, the regulation voltage output vector reaches the purpose of controlling motor torque.Because vehicle operational mode complexity, dynamic Control target change at random and unpredictalbe characteristics, have characteristics such as speed-regulating range width, torque responsing speed are fast, low speed output high pulling torque when requiring the work of automobile-used drive motors, adopt traditional vector control method to carry out the requirement that the control of used for electric vehicle drive motors has the very difficult satisfied quick response of integral element in following defective: the PID control, cause over-current phenomenon avoidance, overcurrent repeatedly will shorten the life-span of IGBT in the electric machine controller, reduce the fail safe and the reliability of controller; The current sensor measurement error is relatively large during little current work, influences the Electric Machine Control performance; Feedback closed loop control response speed is slow, controlling unit is many, complex structure, cost height.In order to address the above problem, need exploitation to be fit to the automobile-used drive motors control method of vehicle behavior characteristics.
Summary of the invention
The technical problem to be solved in the present invention is: be difficult to satisfy response requirement fast at feedback closed loop PID control in traditional vector control method, cause over-current phenomenon avoidance, shorten the shortcoming in IGBT life-span in the electric machine controller, a kind of drive motor feed-forward vector control method for electric automobile based on MAP figure is proposed, inquiry is stored in electric motor control three-dimensional MAP figure in the Electric Machine Control program to obtain optimum demand voltage vector size and phase angle, implement the feedforward vector control, response speed is fast, avoided over-current phenomenon avoidance, and eliminated dependence, improved control performance current measurement, reduced cost.
Technical scheme of the present invention is: system of the present invention forms and comprises motor speed and angular position pick up, electric motor control three-dimensional MAP figure enquiry module, space voltage vector pulse width modulation module, inverter module, batteries and motor.The present invention includes electric motor control three-dimensional MAP figure demarcation process and based on the motor of MAP figure feedforward vector control process two parts.
A, electric motor control three-dimensional MAP figure demarcation process are:
The first step on motor rating test stand, is selected a series of activities point on the motor n-T figure, and motor speed is from n
MinTo n
MaxEvery interval delta n, motor torque are from T
MinTo T
MaxEvery interval delta T is as the calibration point of electric motor control three-dimensional MAP figure.
Second step, calibration point place at each electric motor control three-dimensional MAP figure, adjust voltage vector size U and motor speed n and the torque T condition of phase angle θ, choose one group of U making three-phase current I minimum and θ optimal value as this calibration point among the electric motor control three-dimensional MAP figure to satisfy this calibration point.
The 3rd goes on foot, and finishes the optimal value of all electric motor control three-dimensional MAP figure calibration points and demarcates, and forms optimum electric motor control three-dimensional MAP figure, stores in the Electric Machine Control program with the form of showing.
B, be based on the motor of MAP figure feedforward vector control process:
The first step, electric motor control three-dimensional MAP figure enquiry module is according to target torque T
*With motor speed n
*Inquiry electric motor control three-dimensional MAP figure determines target torque T
*With motor speed n
*Triangle working region in MAP figure, and obtain the motor torque T that each summit, triangle working region is located
iWith motor speed n
iAnd voltage vector size optimal value U
iWith phase angle optimal value θ
i, i=1 wherein, 2,3.
Second step is according to target torque T
*With motor speed n
*And the motor torque T at the triangular apex place that is obtained
iWith motor speed n
iAnd voltage vector size optimal value U
iWith phase angle optimal value θ
iCarry out the curved surface difference and calculate, try to achieve motor at torque T
*And rotation speed n
*The optimal voltage vector size U that the place, working point should apply
*With phase angle θ
*
In the 3rd step, the space voltage vector pulse width modulation module is according to optimal phase angle θ
*With rotor mechanical location angle
Obtain the azimuth of voltage vector under the alpha-beta rest frame
Then according to optimal voltage vector size U
*And azimuth
Try to achieve six road pwm control signals, the control inverter module produces three-phase alternating voltage, the operation of control motor.
Effect of the present invention and benefit are: adopt feed-forward vector control method, response speed is fast, avoided over-current phenomenon avoidance, improved fail safe, reliability and the durability of controller; The no current measurement links, the relatively large influence that brings of current sensor measurement error has improved control performance when having eliminated little current work; Based on feedover open loop control of MAP figure, simple in structure, the no current transducer has reduced cost.
Description of drawings
Fig. 1 is that system of the present invention forms schematic diagram.
Among the figure: T
*It is target torque; n
*It is motor speed; U
*It is voltage vector size optimal value; θ
*It is the phase angle optimal value;
It is rotor mechanical location angle.
Fig. 2 is vector control coordinate system figure of the present invention.
Among the figure: alpha-beta is a rest frame; D-q is a rotating coordinate system; U is the voltage vector size; θ is the phase angle that voltage vector shifts to an earlier date with respect to the q axle;
It is rotor mechanical location angle.
Fig. 3 is the triangle working region figure among the electric motor control three-dimensional MAP figure of the present invention.
Among the figure: A (n
1, T
1, U
1, θ
1), B (n
2, T
2, U
2, θ
2), C (n
3, T
3, U
3, θ
3) be three vertex parameters in triangle working region; T
iIt is motor torque; n
iMotor speed; U
iBe each summit voltage vector size optimal value, θ
iIt is the phase angle optimal value; I=1 wherein, 2,3;
It is motor target working point; T
*It is target torque; n
*It is motor speed; U
*It is voltage vector size optimal value; θ
*It is the phase angle optimal value.
Embodiment
Be described in detail the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.
Embodiment
As shown in Figure 1, system of the present invention forms and comprises motor speed and angular position pick up, electric motor control three-dimensional MAP figure enquiry module, space voltage vector pulse width modulation module, inverter module, batteries and motor.
The present invention includes electric motor control three-dimensional MAP figure demarcation process and based on the motor of MAP figure feedforward vector control process two parts.
A, electric motor control three-dimensional MAP figure demarcation process are:
The first step on motor rating test stand, is selected a series of activities point on the motor n-T figure, motor speed n is spaced apart 200rpm from 500rpm to 6000rpm, and motor torque T is from 0Nm to 96Nm, be spaced apart 16Nm, as the calibration point of electric motor control three-dimensional MAP figure.
Second step, at the calibration point place of each electric motor control three-dimensional MAP figure, adjust voltage vector size U and motor speed n and the torque T condition of phase angle θ to satisfy this calibration point, wherein U is the voltage vector size, θ is the phase angle that voltage vector shifts to an earlier date with respect to the q axle, as shown in Figure 2; Choose one group of U making three-phase current I minimum and θ optimal value as this calibration point among the electric motor control three-dimensional MAP figure.The three-phase current I of same calibration point place minimum means the thermal losses minimum, and electric efficiency is the highest.The each point scaling method is identical, and existing is the example explanation with motor speed n=500rpm, motor torque T=16Nm calibration point:
At first, make dynamometer machine two be operated in and decide the rotating speed pattern, the setting rotating speed is 500rpm;
Then, adjust voltage vector size U and phase angle θ, make motor torque reach target torque 16Nm, measure three-phase current I value;
At last, adjust voltage vector size U and phase angle θ repeatedly, make the calibration point of machine operation at rotation speed n=500rpm, torque T=16Nm, obtain a plurality of three-phase current I values, select big or small U of the one group of voltage vector that makes three-phase current I minimum and phase angle θ optimal value as this calibration point among the electric motor control three-dimensional MAP figure.
The 3rd goes on foot, and finishes the optimal value of all electric motor control three-dimensional MAP figure calibration points and demarcates, and forms optimum electric motor control three-dimensional MAP figure, stores in the Electric Machine Control program with the form of showing.
B, be based on the motor of MAP figure feedforward vector control process:
The first step, as shown in Figure 1, electric motor control three-dimensional MAP figure enquiry module is according to target torque T
*With motor speed n
*Inquiry electric motor control three-dimensional MAP figure determines target torque T
*With motor speed n
*Triangle working region in MAP figure, and obtain the motor torque T that each summit, triangle working region is located
iWith motor speed n
iAnd voltage vector size optimal value U
iWith phase angle optimal value θ
i, i=1 wherein, 2,3, be made as A (n
1, T
1, U
1, θ
1), B (n
2, T
2, U
2, θ
2), C (n
3, T
3, U
3, θ
3), as shown in Figure 3.
Second step is according to target torque T
*With motor speed n
*And the A, the B that are obtained, parameter that C order carry out the calculating of curved surface difference, tries to achieve motor at torque T
*And rotation speed n
*The optimal voltage vector size U that the place, working point should apply
*With phase angle θ
*, voltage vector size U wherein
*Obtain phase angle θ by publicity (1)
*Obtain by publicity (2).
[(T
2-T
1)×(U
3-U
1)-(T
3-T
1)×(U
2-U
1)]×(n
*-n
1)-[(n
2-n
1)×(U
3-U
1)-(n
3-n
1)×(U
2-U
1)]×(T
*-T
1)+[(n
2-n
1)×(T
3-T
1)-(n
3-n
1)×(T
2-T
1)]×(U
*-U
1)＝0 (1)
[(T
2-T
1)×(θ
3-θ
1)-(T
3-T
1)×(θ
2-θ
1)]×(n
*-n
1)-[(n
2-n
1)×(θ
3-θ
1)-(n
3-n
1)×(θ
2-θ
1)]×(T
*-T
1)+[(n
2-n
1)×(T
3-T
1)-(n
3-n
1)×(T
2-T
1)]×(θ
*-θ
1)＝0 (2)
In the 3rd step, the space voltage vector pulse width modulation module is according to optimal phase angle θ
*With rotor mechanical location angle
Obtain the azimuth of voltage vector under the alpha-beta rest frame
Then according to optimal voltage vector size U
*And azimuth
Try to achieve six road pwm control signals, the control inverter module produces three-phase alternating voltage, the operation of control motor.
Claims (1)
1. drive motor feed-forward vector control method for electric automobile based on MAP figure comprises electric motor control three-dimensional MAP figure demarcation process and based on the motor feedforward vector control process of MAP figure, it is characterized in that,
A, electric motor control three-dimensional MAP figure demarcation process comprise following steps:
The first step on motor rating test stand, is selected a series of activities point on the motor n-T figure, and motor speed is from n
MinTo n
MaxEvery interval delta n, motor torque are from T
MinTo T
MaxEvery interval delta T is as the calibration point of electric motor control three-dimensional MAP figure;
Second step, calibration point place at each electric motor control three-dimensional MAP figure, adjust voltage vector size U and motor speed n and the torque T condition of phase angle θ, choose one group of U making three-phase current I minimum and θ optimal value as this calibration point among the electric motor control three-dimensional MAP figure to satisfy this calibration point;
The 3rd goes on foot, and finishes the optimal value of all electric motor control three-dimensional MAP figure calibration points and demarcates, and forms optimum electric motor control three-dimensional MAP figure, stores in the Electric Machine Control program with the form of showing;
B, comprise following steps based on the motor of MAP figure feedforward vector control process:
The first step, electric motor control three-dimensional MAP figure enquiry module is according to target torque T
*With motor speed n
*Inquiry electric motor control three-dimensional MAP figure determines target torque T
*With motor speed n
*Triangle working region in MAP figure, and obtain the motor torque T that each summit, triangle working region is located
iWith motor speed n
iAnd voltage vector size optimal value U
iWith phase angle optimal value θ
i, i=1 wherein, 2,3;
Second step is according to target torque T
*With motor speed n
*And the motor torque Ti and the motor speed n at the triangular apex place that is obtained
iAnd voltage vector size optimal value U
iWith phase angle optimal value θ
iCarry out the curved surface difference and calculate, try to achieve motor at torque T
*And rotation speed n
*The optimal voltage vector size U that the place, working point should apply
*With phase angle θ
*
In the 3rd step, the space voltage vector pulse width modulation module is according to optimal phase angle θ
*With rotor mechanical location angle
Obtain the azimuth of voltage vector under the alpha-beta rest frame
Then according to optimal voltage vector size U
*And azimuth
Try to achieve six road pwm control signals, the control inverter module produces three-phase alternating voltage, the operation of control motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101864667A CN101841299B (en) | 2010-05-25 | 2010-05-25 | Drive motor feed-forward vector control method for electric automobile based on MAP graph |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101864667A CN101841299B (en) | 2010-05-25 | 2010-05-25 | Drive motor feed-forward vector control method for electric automobile based on MAP graph |
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| Publication Number | Publication Date |
|---|---|
| CN101841299A CN101841299A (en) | 2010-09-22 |
| CN101841299B true CN101841299B (en) | 2011-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101864667A Expired - Fee Related CN101841299B (en) | 2010-05-25 | 2010-05-25 | Drive motor feed-forward vector control method for electric automobile based on MAP graph |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6012211B2 (en) * | 2012-03-19 | 2016-10-25 | 日立アプライアンス株式会社 | Motor drive device and air conditioner equipped with the same |
| DE102016209179A1 (en) * | 2016-05-25 | 2017-11-30 | Continental Automotive Gmbh | Automatic optimization of an operating parameter of an electrical machine |
| CN110262576A (en) * | 2019-06-29 | 2019-09-20 | 潍柴动力股份有限公司 | A kind of rack control method and device |
| CN112865639B (en) * | 2021-02-23 | 2022-06-21 | 浙江大学 | Electric automobile permanent magnet synchronous motor control system with road condition reproduction function |
| CN113108749A (en) * | 2021-05-20 | 2021-07-13 | 中国第一汽车股份有限公司 | Phase angle calibration method and device of dual-motor hybrid power system and vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1032473A (en) * | 1987-09-29 | 1989-04-19 | 东芝株式会社 | Arrangement for controlling induction motor |
| CN1299184A (en) * | 1999-12-08 | 2001-06-13 | 三菱电机株式会社 | Vector controller for induction motor |
| CN101529714A (en) * | 2006-10-19 | 2009-09-09 | 三菱电机株式会社 | Vector controller of permanent magnet synchronous motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7759886B2 (en) * | 2007-07-27 | 2010-07-20 | Gm Global Technology Operations, Inc. | Linearity for field weakening in an interior permanent magnet machine |
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2010
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1032473A (en) * | 1987-09-29 | 1989-04-19 | 东芝株式会社 | Arrangement for controlling induction motor |
| CN1299184A (en) * | 1999-12-08 | 2001-06-13 | 三菱电机株式会社 | Vector controller for induction motor |
| CN101529714A (en) * | 2006-10-19 | 2009-09-09 | 三菱电机株式会社 | Vector controller of permanent magnet synchronous motor |
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| CN101841299A (en) | 2010-09-22 |
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