CN108128211B - New energy automobile, motor torque determination method and device thereof and motor - Google Patents

New energy automobile, motor torque determination method and device thereof and motor Download PDF

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Publication number
CN108128211B
CN108128211B CN201611093580.9A CN201611093580A CN108128211B CN 108128211 B CN108128211 B CN 108128211B CN 201611093580 A CN201611093580 A CN 201611093580A CN 108128211 B CN108128211 B CN 108128211B
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motor
torque
value
rotating speed
limit
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CN108128211A (en
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王东萃
武四辈
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

A new energy automobile, a motor torque determination method and device thereof and a motor are provided, wherein the method comprises the following steps: acquiring a motor rotating speed of a motor, wherein the motor rotating speed has a direction and a value; correcting the direction of the rotating speed of the motor in a hysteresis control mode; determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor rotating speed; and determining the value of the motor torque according to the value of the motor power and the value of the motor rotating speed. The scheme of the invention can correct the direction of the rotating speed of the motor so as to avoid frequent change of the direction of the torque of the motor when the rotating speed of the motor fluctuates near a zero value, thereby more properly determining the direction of the torque of the motor, protecting the motor and simultaneously ensuring the driving safety.

Description

New energy automobile, motor torque determination method and device thereof and motor
Technical Field
The invention relates to the field of power systems of new energy automobiles, in particular to a new energy automobile, a method and a device for determining motor torque of the new energy automobile, and a motor.
Background
At present, new energy vehicles including pure electric vehicles and hybrid electric vehicles are widely concerned. In a particular application, it is necessary to determine the motor torque appropriately so that the vehicle outputs a torque within a range of the appropriate motor torque according to the actual demand.
In the prior art, the motor torque can be obtained according to the motor power and the motor speed of the motor, for example, by the following calculation formula:
T＝9550*P/N；
wherein T is used to represent motor torque in Newton Meters (NM); specifically, the motor torque includes, as a vector, a value of the motor torque and a direction of the motor torque.
P is used to represent motor power in Kilowatts (KW); specifically, the motor power includes a value of the motor power and a direction of the motor power, and the direction of the motor power may be determined based on whether the motor is in a driving state or in a charging state, where the direction of the motor power is a positive direction when the motor is in the driving state, and the direction of the motor power is a negative direction when the motor is in the charging state.
N is used to represent the motor speed in revolutions per minute (rpm); specifically, the motor rotation speed includes a value of the motor rotation speed and a direction of the motor rotation speed, which may be determined based on the rotation of the wheel of the new energy vehicle to the front of the vehicle body or to the rear, and when the wheel rotates to the front, the direction of the motor rotation speed is a positive direction, and when the wheel rotates to the rear, the direction of the motor rotation speed is a negative direction.
However, when the motor rotation speed fluctuates around zero, the direction of the motor rotation speed may change between a positive direction and a negative direction along with the fluctuation, the direction of the motor torque may change along with the direction change of the motor rotation speed, and the frequent change of the direction of the motor torque may not only damage the motor, but also cause driving danger in severe cases. Taking the vehicle in a driving state as an example, when the direction of the motor power is positive, if the rotating speed of the motor is reduced to zero in the vehicle climbing process, the wheels are likely to slightly reverse due to inertia effect and gravity effect, so that the direction of the rotating speed of the motor is changed to negative, and according to the corresponding relation among the motor power, the rotating speed of the motor and the motor torque, the direction of the motor torque is changed to negative, so that the vehicle is rewound due to output of the reversing torque, and the rear-end collision danger is caused. If in the process of backing a car, due to the inertia effect or the gravity effect, the wheels can slightly rotate forwards, so that the rotating speed direction of the motor is changed into the forward direction, the torque direction of the motor is changed into the forward direction, and the forward driving torque is output to lead the car to move forwards, thereby causing the collision danger.
Disclosure of Invention
The invention aims to provide a new energy automobile, a motor torque determination method and device thereof and a motor, which can correct the direction of the rotating speed of the motor so as to avoid frequent change of the direction of the motor torque when the rotating speed of the motor fluctuates around a zero value, thereby more appropriately determining the direction of the motor torque, protecting the motor and ensuring the driving safety.
In order to solve the technical problem, an embodiment of the present invention provides a method for determining a motor torque of a new energy vehicle, including the following steps: acquiring a motor rotating speed of a motor, wherein the motor rotating speed has a direction and a value; correcting the direction of the rotating speed of the motor in a hysteresis control mode, and judging the direction of the rotating speed of the motor to be negative before the rotating speed of the motor rises to a hysteresis rotating speed upper limit value, wherein the hysteresis rotating speed upper limit value is greater than 0; before the rotating speed of the motor is reduced to a lower limit value of the hysteresis rotating speed, judging that the rotating speed direction of the motor is a positive direction, wherein the lower limit value of the hysteresis rotating speed is less than 0; determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor rotating speed; and determining the value of the motor torque according to the value of the motor power and the value of the motor rotating speed.
Optionally, determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor speed includes: if the direction of the motor power is the same as the direction of the motor rotating speed, determining that the direction of the motor torque is a positive direction; and if the direction of the motor power is different from the direction of the motor rotating speed, determining that the direction of the motor torque is negative.
Optionally, determining the value of the motor torque according to the value of the motor power and the value of the motor speed comprises: determining an original value of the motor torque according to the value of the motor power and the value of the motor rotating speed; according to the motor power state, searching a preset power limit table to determine a first motor limit torque, wherein the power limit table is used for indicating the corresponding relation between the first motor limit torque and the motor power state; of the absolute value of the first motor limit torque and the original value of the motor torque, a smaller value is adopted as the value of the motor torque.
Optionally, the motor is coupled with a battery, and the motor power state includes the motor power, the battery power and the bus voltage; wherein the larger the absolute value of the motor power is, the larger the absolute value of the first motor limit torque is; the larger the absolute value of the battery charge is, the larger the absolute value of the first motor limit torque is; when the motor power is positive power, the lower the bus voltage is, the smaller the absolute value of the first motor limit torque is; when the motor power is negative power, the higher the bus voltage is, the smaller the absolute value of the first motor limit torque is.
Optionally, determining the value of the motor torque according to the value of the motor power and the value of the motor speed comprises: determining an original value of the motor torque according to the value of the motor power and the value of the motor rotating speed; according to the temperature state of the motor, a preset temperature limit table is searched to determine the second motor limit torque, and the temperature limit table is used for indicating the corresponding relation between the second motor limit torque and the temperature state of the motor; of the absolute value of the second motor limit torque and the original value of the motor torque, a smaller value is adopted as the value of the motor torque.
Optionally, the motor temperature state includes a three-phase inverter temperature, a motor stator temperature, and a cooling water temperature; wherein the higher the three-phase inverter temperature is, the smaller the absolute value of the second motor limit torque is; the higher the temperature of the motor stator is, the smaller the absolute value of the second motor limit torque is; the higher the cooling water temperature is, the smaller the absolute value of the second motor limit torque is.
Optionally, determining the value of the motor torque according to the value of the motor power and the value of the motor speed comprises: determining an original value of the motor torque according to the value of the motor power and the value of the motor rotating speed; determining the torque limit of the third motor according to the preset limp home mode fault level; of the absolute value of the third motor limit torque and the original value of the motor torque, a smaller value is adopted as the value of the motor torque.
Optionally, the higher the limp home fault level, the smaller the absolute value of the third motor limit torque.
In order to solve the above technical problem, an embodiment of the present invention provides a motor torque determination device for a new energy vehicle, including: the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is suitable for acquiring the motor rotating speed of a motor, and the motor rotating speed has a direction and a value; the rotating speed direction correcting module is suitable for correcting the rotating speed direction of the motor in a hysteresis control mode, and before the rotating speed of the motor rises to a hysteresis rotating speed upper limit value, the rotating speed direction of the motor is judged to be negative, wherein the hysteresis rotating speed upper limit value is larger than 0; before the rotating speed of the motor is reduced to a lower limit value of the hysteresis rotating speed, judging that the rotating speed direction of the motor is a positive direction, wherein the lower limit value of the hysteresis rotating speed is less than 0; the torque direction determining module is suitable for determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor rotating speed; and the torque value determination module is suitable for determining the value of the motor torque according to the value of the motor power and the value of the motor rotating speed.
Optionally, the torque direction determination module comprises: a forward direction determination submodule adapted to determine that the direction of the motor torque is a forward direction when the direction of the motor power is the same as the direction of the motor rotation speed; and the negative direction determining submodule is suitable for determining that the direction of the motor torque is negative when the direction of the motor power is different from the direction of the motor rotating speed.
Optionally, the torque value determination module comprises: a first determination submodule adapted to determine an original value of the motor torque from a value of the motor power and a value of the motor speed; the first lookup submodule is suitable for looking up a preset power limit table to determine a first motor limit torque according to a motor power state, and the power limit table is used for indicating a corresponding relation between the first motor limit torque and the motor power state; a first selection submodule adapted to adopt, as the value of the motor torque, a smaller value of the absolute value of the first motor limit torque and the original value of the motor torque.
Optionally, the motor is coupled with a battery, and the motor power state includes the motor power, the battery power and the bus voltage; wherein the larger the absolute value of the motor power is, the larger the absolute value of the first motor limit torque is; the larger the absolute value of the battery charge is, the larger the absolute value of the first motor limit torque is; when the direction of the motor power is positive, the lower the bus voltage is, the smaller the absolute value of the first motor limit torque is; when the direction of the motor power is negative, the higher the bus voltage is, the smaller the absolute value of the first motor limit torque is.
Optionally, the torque value determination module comprises: a second determination submodule adapted to determine an original value of the motor torque from a value of the motor power and a value of the motor speed; the second lookup submodule is suitable for looking up a preset temperature limit table according to the temperature state of the motor to determine the second motor limit torque, and the temperature limit table is used for indicating the corresponding relation between the second motor limit torque and the temperature state of the motor; a second selection submodule adapted to adopt a smaller value of the absolute value of the second motor limit torque and the original value of the motor torque as the value of the motor torque.
Optionally, the motor temperature state includes a three-phase inverter temperature, a motor stator temperature, and a cooling water temperature; wherein the higher the three-phase inverter temperature is, the smaller the absolute value of the second motor limit torque is; the higher the temperature of the motor stator is, the smaller the absolute value of the second motor limit torque is; the higher the cooling water temperature is, the smaller the absolute value of the second motor limit torque is.
Optionally, the torque value determination module comprises: a third determination submodule adapted to determine an original value of the motor torque from the value of the motor power and the value of the motor speed; the third searching submodule is suitable for determining the limited torque of the third motor according to the preset limp mode fault level; a third selection submodule adapted to adopt, as the value of the motor torque, a smaller value of the absolute value of the third motor limit torque and the original value of the motor torque.
Optionally, the higher the limp home fault level, the smaller the absolute value of the third motor limit torque.
In order to solve the technical problem, an embodiment of the invention provides a motor of a new energy automobile, which includes the motor torque determination device of the new energy automobile.
In order to solve the technical problem, an embodiment of the invention provides a new energy automobile which comprises the motor of the new energy automobile.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the direction of the motor rotating speed can be corrected in a hysteresis control mode, the direction of the motor rotating speed is still judged to be negative before the motor rotating speed is switched to the positive direction and rises to the upper limit of the hysteresis rotating speed, and the direction of the motor rotating speed is still judged to be positive before the motor rotating speed is switched to the negative direction and falls to the lower limit of the hysteresis rotating speed, so that the frequent change of the direction of the motor torque is avoided when the motor rotating speed fluctuates around a zero value.
Further, a power limit table is preset to determine a limit value of the motor torque according to the motor power state, and when the limit value is different from an original value of the motor torque, a value with a smaller absolute value is adopted as the value of the motor torque, so that the determined value of the motor torque meets the requirement of the motor power state limit.
Further, a temperature limit table is preset to determine a limit value of the motor torque according to the motor temperature state, and when the limit value is different from an original value of the motor torque, a value with a smaller absolute value is adopted as the value of the motor torque, so that the determined value of the motor torque meets the requirement of the motor temperature state limit.
Further, a limiting value of the motor torque is determined according to a preset limp home mode fault level, and when the limiting value is different from an original value of the motor torque, a value with a smaller absolute value is adopted as the value of the motor torque, so that the determined value of the motor torque meets the requirement of limp home mode fault level limitation.
Drawings
Fig. 1 is a flowchart of a motor torque determination method of a new energy vehicle in an embodiment of the present invention;
fig. 2 is a four-quadrant diagram of the motor operation of the new energy automobile in the embodiment of the invention;
FIG. 3 is a flowchart of a motor torque determination method of another new energy vehicle according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of a motor torque determination device of a new energy vehicle in an embodiment of the invention;
FIG. 5 is a schematic diagram of a torque value determination module in an embodiment of the present invention.
Detailed Description
As described above, in a specific application of a new energy vehicle including a pure electric vehicle and a hybrid vehicle, it is necessary to appropriately determine a motor torque so that the vehicle outputs a torque within an appropriate motor torque range according to an actual demand. However, in the prior art, when the rotation speed of the motor fluctuates around zero, the direction of the torque of the motor changes along with the direction change of the rotation speed of the motor, and the frequent change of the direction of the torque of the motor can not only damage the motor, but also cause driving danger when the direction is serious.
The inventor of the invention has found through research that the key of the problem is that the fluctuation of the motor rotating speed near zero causes the direction change of the motor torque to be too sensitive, and no buffer space exists. Specifically, once the direction of the motor rotation speed is changed, the direction of the motor torque is changed immediately regardless of whether the current running state of the vehicle is a forward running state or a reverse running state.
The direction of the motor rotating speed can be corrected in a hysteresis control mode, the direction of the motor rotating speed is still judged to be negative before the motor rotating speed is switched to the positive direction and rises to the upper limit of the hysteresis rotating speed, and the direction of the motor rotating speed is still judged to be positive before the motor rotating speed is switched to the negative direction and falls to the lower limit of the hysteresis rotating speed, so that the frequent change of the direction of the motor torque is avoided when the motor rotating speed fluctuates around a zero value.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 1, fig. 1 is a flowchart of a motor torque determination method of a new energy vehicle in an embodiment of the present invention. The motor torque determination method may include steps S101 to S104.
Step S101: a motor speed of a motor is obtained, the motor speed having a direction and a value.
Step S102: correcting the direction of the rotating speed of the motor in a hysteresis control mode, and judging the direction of the rotating speed of the motor to be negative before the rotating speed of the motor rises to a hysteresis rotating speed upper limit value, wherein the hysteresis rotating speed upper limit value is greater than 0; before the rotating speed of the motor is reduced to a lower limit value of the hysteresis rotating speed, the rotating speed direction of the motor is judged to be a positive direction, wherein the lower limit value of the hysteresis rotating speed is less than 0.
Step S103: and determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor rotating speed.
Step S104: and determining the value of the motor torque according to the value of the motor power and the value of the motor rotating speed.
In the specific implementation of step S101, the motor speed is used as a vector, and the obtained motor speed includes a direction of the motor speed and a value of the motor speed. Wherein the direction of the motor rotation speed is the actual rotation direction of the motor before correction, which is a physical result; after the correction, the direction may be different from the actual rotation direction, which is a logic judgment result.
Further, the direction and the value of the motor rotation speed of the motor may be obtained in a form of a vehicle body Controller Area Network (CAN) signal through a CAN (Controller Area Network, CAN), and the embodiment of the present invention does not limit the manner of obtaining the motor rotation speed.
In the specific implementation of step S102, the direction of the motor speed is corrected by means of hysteresis control, and before the motor speed crosses zero and switches to the positive direction and rises to the upper limit of the hysteresis speed, it is still determined that the direction of the motor speed remains negative, and before the motor speed crosses zero and switches to the negative direction and falls to the lower limit of the hysteresis speed, it is still determined that the direction of the motor speed remains positive. Therefore, when the rotating speed of the motor fluctuates around the zero value, the frequent change of the rotating speed direction of the motor is ignored through correction, the stability of motor control is effectively improved, and the safety of the vehicle is improved.
The specific upper limit value and the specific lower limit value of the hysteresis loop rotating speed can be set according to actual conditions. It can be understood that if the absolute values of the upper limit value and the lower limit value of the hysteresis loop rotating speed are set too small, the problem of frequent change of the direction of the rotating speed of the motor cannot be avoided, and driving danger still exists; if the absolute values of the upper limit value and the lower limit value of the hysteresis loop rotating speed are set too large, the judgment may fail to influence normal driving when the direction of the rotating speed of the motor needs to be judged according to the current driving direction of the vehicle. As a non-limiting example, the upper hysteresis speed limit may be set to 100rpm and the lower hysteresis speed limit may be set to-100 rpm.
In the specific implementation of step S103, the direction of the motor power, the direction of the motor rotation speed, and the direction of the motor torque of the motor have a corresponding relationship, so that the direction of the motor torque can be determined according to the direction of the motor power and the direction of the motor rotation speed of the motor.
Fig. 2 is a four-quadrant diagram of the operation of the motor of the new energy automobile in the embodiment of the invention. As shown in the figure, quadrant I indicates that the vehicle is in a forward driving state, and the motor is in a forward driving state, specifically, the direction of the motor rotation speed is a forward direction, the direction of the motor torque is a forward direction, and the direction of the motor power is a forward direction. Quadrant II indicates that the vehicle is in a reverse braking state, the motor is in a negative power generation state, and specifically, the direction of the motor speed is negative, the direction of the motor torque is positive, and the direction of the motor power is negative. Quadrant III indicates that the vehicle is in a reverse driving state, the motor is in a negative driving state, specifically, the direction of the motor speed is negative, the direction of the motor torque is negative, and the direction of the motor power is positive. Quadrant IV indicates that the vehicle is in a positive braking state, the motor is in a positive power generation state, and specifically, the direction of the motor speed is positive, the direction of the motor torque is negative, and the direction of the motor power is negative.
In another specific embodiment, the quadrant II and the quadrant IV can be exchanged to form another four-quadrant graph of the motor operation, that is, the quadrant II indicates that the vehicle is in a positive braking state, the motor is in a positive power generation state, the quadrant IV indicates that the vehicle is in a reverse braking state, and the motor is in a negative power generation state. The invention is not limited in this regard.
Specifically, the following two categories can be distinguished according to the direction of the motor power of the motor and the direction of the motor speed to determine the direction of the motor torque:
and corresponding to the quadrant I and the quadrant III, if the direction of the motor power is the same as the direction of the motor rotating speed, determining that the direction of the motor torque is a positive direction.
Corresponding to the quadrant II and the quadrant IV, if the direction of the motor power is different from the direction of the motor rotating speed, the direction of the motor torque is determined to be negative.
In the specific implementation of step S104 in fig. 1, the value of the motor torque may be obtained through calculation by using a conventional calculation formula according to the value of the motor power and the value of the motor speed.
By adopting the embodiment of the invention, the direction of the rotating speed of the motor can be corrected in a hysteresis control mode, the direction of the rotating speed of the motor is still judged to be kept in a negative direction before the zero crossing of the rotating speed of the motor is switched to a positive direction and rises to the upper limit of the hysteresis rotating speed, and the direction of the rotating speed of the motor is still judged to be kept in a positive direction before the zero crossing of the rotating speed of the motor is switched to the negative direction and falls to the lower limit of the hysteresis rotating speed, so that the frequent change of the direction of the torque of the motor when the rotating speed of the motor fluctuates around a zero value is avoided.
As an improvement of the embodiments of the present invention, a technical problem to be further solved by the embodiments of the present invention is to provide an accurate value of the motor torque.
Specifically, the calculated motor torque value may have a certain gap compared to the actual available motor torque value. This is because in practical applications the value of available motor torque may be limited by a number of current driving parameters, such as insufficient available motor power or excessive motor temperature, and also by the level of limp home fault if the vehicle is in limp home fault. If the motor is controlled by the value of the motor torque obtained by calculation, the accuracy is not enough.
Referring to fig. 3, fig. 3 is a flowchart of a motor torque determination method for a new energy vehicle according to another embodiment of the present invention. The method may include steps S301 to S316.
Step S301: a motor speed of a motor is obtained, the motor speed having a direction and a value.
Step S302: and correcting the direction of the rotating speed of the motor in a hysteresis control mode.
Step S303: and determining the direction of the motor torque according to the direction of the motor power and the direction of the motor rotating speed of the motor.
Step S304: a first raw value of the motor torque is determined from the value of the motor power and the value of the motor speed.
For other descriptions of step S301 to step S304, please refer to the descriptions of step S101 to step S104 in fig. 1 for execution, which is not described herein again.
Step S305: a preset power limit table is looked up to determine the first motor limit torque.
In particular implementations, a preset power limit table may be looked up to determine the first motor limit torque based on the motor power state.
The power limit table is used for indicating the corresponding relation between the first motor limit torque and the motor power state. Specifically, the detailed corresponding relation between the first motor limit torque and the motor power, the battery capacity and the bus voltage can be obtained through a real vehicle calibration method according to calibration software.
Further, the larger the absolute value of the motor power is, the larger the absolute value of the first motor limit torque is. Specifically, the motor power is used to characterize the work performed by the motor per unit time, and the greater the motor power, the less the limit on the motor torque, i.e., the greater the available motor torque.
Similarly, the larger the absolute value of the battery charge amount is, the larger the absolute value of the first motor limit torque is. Specifically, a battery (also referred to as a battery pack) is coupled to the motor, and in a motor driving state, the battery supplies power to the motor, and in a motor power generation state, the motor charges the battery. Further, the battery level is used to represent the current available battery level, which may also be referred to as the remaining battery level. The more the battery charge, the less the limitation on the motor torque, i.e. the greater the available motor torque.
Further, the real-time electric quantity of the battery can be detected through a sensor in the battery management system, and then derating (derating) is carried out on the motor torque so as to protect the battery. The embodiment of the invention does not limit the specific detection mode.
When the motor power is positive power, the lower the bus voltage is, the smaller the absolute value of the first motor limit torque is; when the motor power is negative power, the higher the bus voltage is, the smaller the absolute value of the first motor limit torque is.
The bus voltage is generally the bus voltage that provides power for the battery, and CAN be measured by a voltage sensor in the battery management system and then acquired through the CAN network.
Further, the correspondence of the bus voltage and the torque may be analyzed in the motor driving state and the motor generating state, respectively:
when the motor power is positive power, that is, corresponding to quadrant I and quadrant III, the lower the bus voltage, that is, the lower the total conductor voltage of the battery, the lower the ability available for driving the vehicle, the greater the limit on the motor torque, that is, the smaller the available motor torque, when the motor is in a driving state.
In a particularly preferred embodiment, the first motor limit torque may be set only when the absolute value of the bus voltage is low, and the motor torque is not limited when the absolute value of the bus voltage is high.
Similarly, when the power of the motor is negative power, that is, corresponding to the quadrant II and the quadrant IV, the motor charges the battery in a power generation state, the lower the bus voltage, that is, the lower the total lead voltage of the battery, the more insufficient the electric quantity of the battery is, the higher the charging requirement is, the more large motor torque should be adopted to achieve full charging, that is, the larger the available motor torque is; correspondingly, the higher the bus voltage, the more sufficient the battery, and the lower the charging requirement, and at this time, the larger the motor torque may damage the battery, and therefore, the smaller the available motor torque.
In a particularly preferred embodiment, the first motor limit torque may be set only when the absolute value of the bus voltage is high, and the motor torque is not limited when the absolute value of the bus voltage is low.
It can be understood that, since the parameters (such as the motor power, the battery level and the bus voltage) that can be set in the real vehicle calibration method and the first motor limit torque that is obtained correspondingly are limited, the untested data portion can be obtained by interpolation, so as to obtain a complete corresponding relationship. Specifically, the interpolation method is also called "interpolation method", and may be a calculation method in which a specific function is created using function values of a number of points known in a certain interval of the function f (x), and values of the specific function are used as approximate values of the function f (x) at other points in the interval, thereby obtaining an unknown value.
Step S306: it is determined whether the absolute value of the first motor limit torque is greater than the first baseline value of the motor torque. When the judgment result is yes, step S307 may be performed; otherwise, step S308 is executed.
Step S307: the first raw value of the motor torque is used as a second raw value of the motor torque.
Step S308: the absolute value of the first motor limit torque is taken as the second raw value of the motor torque.
In the specific implementation of steps S306 to S308, when the absolute value of the first motor limit torque is different from the original value of the motor torque, a smaller absolute value is adopted as the value of the motor torque so that the determined value of the motor torque satisfies the requirement of the motor power state limit.
Step S309: the preset temperature limit table is looked up to determine the second motor limit torque.
In a specific implementation, a preset temperature limit table is looked up according to the temperature state of the motor to determine the second motor limit torque.
The temperature limit table is used for indicating the corresponding relation between the second motor limit torque and the motor temperature state. Specifically, the detailed correspondence relationship between the second motor limit torque and the three-phase inverter temperature, the motor stator temperature and the cooling water temperature can be obtained through a real-vehicle calibration method according to calibration software.
Further, with a motor that employs a three-phase inverter in a power supply system, the absolute value of the second motor limit torque decreases as the temperature of the three-phase inverter increases. Specifically, if the three-phase inverter is operated in a severe environment with high temperature, the three-phase inverter and the motor are easily damaged, and the output torque of the motor should be limited at this time, that is, the absolute value of the second motor limiting torque is smaller as the temperature is higher. It should be noted that, the embodiment of the present invention does not limit whether the motor employs a three-phase inverter.
Similarly, the higher the motor stator temperature is, the smaller the absolute value of the second motor limit torque is. Specifically, the motor stator may generate a rotating magnetic field in the motor, the temperature of the rotating magnetic field may be used to represent the temperature inside the motor, and when the temperature of the motor stator is higher, the temperature of the motor may be considered to be higher, and the output torque of the motor should be limited, that is, the absolute value of the second motor limiting torque is smaller as the temperature of the motor stator is higher.
Similarly, the higher the cooling water temperature is, the smaller the absolute value of the second motor limit torque is. Specifically, the cooling water is used to reduce the motor temperature, and when the cooling water temperature is high, it is considered that the cooling effect on the motor is reduced, that is, the temperature of the motor is also high, and the output torque of the motor should be limited, that is, the absolute value of the second motor limit torque is smaller as the cooling water temperature is higher.
In a particularly preferred embodiment, the second motor limit torque may be set only when the three-phase inverter temperature, the motor stator temperature, and the cooling water temperature are high, and the motor torque may not be limited when the three-phase inverter temperature, the motor stator temperature, and the cooling water temperature are low.
It should be noted that, in the embodiment of the present invention, three parameters, such as the temperature of the three-phase inverter, the temperature of the stator of the motor, and the temperature of the cooling water, are adopted to represent the temperature conditions of the motor and its components, so as to perform derating design on the motor torque. However, in a specific application, the temperature limit table may also be obtained by using other temperature parameter values through a calibration method, which is not limited in this embodiment of the present invention.
Further, the temperature of the three-phase inverter, the temperature of a stator of the motor and the temperature of cooling water can be obtained through real-time testing of temperature sensors of the motor.
Step S310: it is determined whether the absolute value of the second motor torque limit is greater than the second baseline value of the motor torque. When the determination result is yes, step S311 may be performed; otherwise, step S312 is executed.
Step S311: the second raw value of the motor torque is used as a third raw value of the motor torque.
Step S312: the absolute value of the second motor limit torque is used as the third original value of the motor torque.
In the specific implementation of steps S310 to S312, when the absolute value of the second motor limitation torque is different from the original value of the motor torque, a smaller absolute value is adopted as the value of the motor torque so that the determined value of the motor torque satisfies the requirement of the motor temperature state limitation.
Step S313: determining a third motor limit torque based on a preset limp home mode fault level.
A Limp Home Mode (LHM) is used to indicate a running Mode when a Control system of a vehicle is out of order, and a backup Control circuit is simply activated by an Electronic Control Unit (ECU) to Control an engine, so that the vehicle enters a protected running state. The limp home mode is started, and compared with the mode that the vehicle is stopped immediately, the time of power output can be prolonged, and the driving safety of a user is enhanced.
It will be appreciated that the values of motor torque and motor power should be limited to different degrees depending on the different limp home fault levels. The higher the limp home fault level, the smaller the absolute value of the third motor limit torque. The limp home mode fault level CAN be diagnosed by a controller fault diagnosis module according to a diagnosis strategy, and an input signal of the fault diagnosis module is a measured value or an indirect calculated value acquired by a CAN bus in real time.
Step S314: and judging whether the absolute value of the third motor limited torque is larger than a third original value of the motor torque. When the judgment result is yes, step S315 may be performed; otherwise, step S316 is executed.
Step S315: and adopting the third original value of the motor torque as the value of the motor torque.
Step S316: the absolute value of the third motor limit torque is adopted as the value of the motor torque.
In the specific implementation of steps S310 to S312, when the absolute value of the third motor restriction torque is different from the original value of the motor torque, a smaller absolute value is adopted as the value of the motor torque so that the determined value of the motor torque satisfies the requirement of the limp home mode fault level restriction.
It will be appreciated by those skilled in the art that the determination of the first, second and third motor limit torques, and their comparison with the original values of motor torques, does not affect the determination of the final available torque in practice. Further, the embodiment of the present invention may determine only one to two of the first motor limit torque, the second motor limit torque, and the third motor limit torque according to actual circumstances and compare them with the original values of the motor torques.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a motor torque determination device of a new energy vehicle in an embodiment of the present invention, and the motor torque determination device may include an obtaining module 41, a rotation speed direction correcting module 42, a torque direction determining module 43, and a torque value determining module 44.
Wherein the obtaining module 41 is adapted to obtain a motor speed of the motor, the motor speed having a direction and a value. The rotating speed direction correcting module 42 is adapted to correct the direction of the rotating speed of the motor by adopting a hysteresis control mode, and determine that the direction of the rotating speed of the motor is negative before the rotating speed of the motor rises to a hysteresis rotating speed upper limit value, wherein the hysteresis rotating speed upper limit value is greater than 0; before the rotating speed of the motor is reduced to a lower limit value of the hysteresis rotating speed, the rotating speed direction of the motor is judged to be a positive direction, wherein the lower limit value of the hysteresis rotating speed is less than 0. The torque direction determination module 43 is adapted to determine the direction of the motor torque based on the direction of the motor power and the direction of the motor speed of the motor. The torque value determination module 44 is adapted to determine the value of the motor torque based on the value of the motor power and the value of the motor speed.
Further, the torque direction determination module 43 may include a positive direction determination submodule (not shown) and a negative direction determination submodule (not shown).
Wherein the forward direction determination submodule is adapted to determine the direction of the motor torque to be a forward direction when the direction of the motor power is the same as the direction of the motor rotational speed. The negative direction determination submodule is adapted to determine that the direction of the motor torque is negative when the direction of the motor power is different from the direction of the motor rotation speed.
Referring to fig. 5, fig. 5 is a schematic diagram of a torque value determination module according to an embodiment of the present invention. The torque value determination module 44 may include a first determination submodule 441, a first lookup submodule 442, a first selection submodule 443, a second determination submodule 444, a second lookup submodule 445, a second selection submodule 446, a third determination submodule 447, a third lookup submodule 448, and a third selection submodule 449.
Wherein the first determination submodule 441 is adapted to determine a raw value of the motor torque from a value of the motor power and a value of the motor speed. The first lookup sub-module 442 is adapted to lookup a preset power limit table according to a motor power state to determine a first motor limit torque, where the power limit table is used to indicate a corresponding relationship between the first motor limit torque and the motor power state. The first selection submodule 443 is adapted to adopt a smaller value of the absolute value of the first motor limit torque and the original value of the motor torque as the value of the motor torque. The second determination submodule 444 is adapted to determine a raw value of the motor torque on the basis of the value of the motor power and the value of the motor speed. The second lookup submodule 445 is adapted to lookup a preset temperature limit table according to the motor temperature state to determine a second motor limit torque, where the temperature limit table is used to indicate a corresponding relationship between the second motor limit torque and the motor temperature state. The second selection submodule 446 is adapted to take a smaller value of the absolute value of the second motor limit torque and the original value of the motor torque as the value of the motor torque. The third determination submodule 447 is adapted to determine an original value of the motor torque from the value of the motor power and the value of the motor speed. The third lookup submodule 448 is adapted to determine a third electric machine torque limit based on a preset limp home fault level. The third selection submodule 449 is adapted to adopt, as the value of the motor torque, a smaller value of the absolute value of the third motor limit torque and the original value of the motor torque.
For more details of the motor torque determination device of the new energy vehicle, please refer to the description related to the motor torque determination method of the new energy vehicle, and details are not repeated herein.
The embodiment of the invention also provides a motor of the new energy automobile, wherein the motor can comprise the motor torque determining device of the new energy automobile, and the motor can execute the motor torque determining method of the new energy automobile. For example, the motor torque determination device of the new energy vehicle may be integrated in the controller of the motor or externally coupled to the controller of the motor.
The embodiment of the invention also provides a new energy automobile which can comprise the motor of the new energy automobile.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer-readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (16)

1. A motor torque determination method of a new energy automobile is characterized by comprising the following steps:
acquiring a motor rotating speed of a motor, wherein the motor rotating speed has a direction and a value;
correcting the direction of the rotating speed of the motor in a hysteresis control mode, and judging the direction of the rotating speed of the motor to be negative before the rotating speed of the motor rises to a hysteresis rotating speed upper limit value, wherein the hysteresis rotating speed upper limit value is greater than 0; before the rotating speed of the motor is reduced to a lower limit value of the hysteresis rotating speed, judging that the rotating speed direction of the motor is a positive direction, wherein the lower limit value of the hysteresis rotating speed is less than 0;
determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor rotating speed;
determining the value of the motor torque according to the value of the motor power and the value of the motor rotating speed;
determining the value of the motor torque from the value of the motor power and the value of the motor speed comprises:
determining a first raw value of the motor torque according to the value of the motor power and the value of the motor speed;
according to the motor power state, searching a preset power limit table to determine a first motor limit torque, wherein the power limit table is used for indicating the corresponding relation between the first motor limit torque and the motor power state;
taking a smaller value of the absolute value of the first motor limit torque and the first original value of the motor torque as a second original value of the motor torque, the second original value being a value of the motor torque;
the motor is coupled with a battery, and the motor power state comprises the motor power and bus voltage; wherein the larger the absolute value of the motor power is, the larger the absolute value of the first motor limit torque is;
when the motor power is positive power, the lower the bus voltage is, the smaller the absolute value of the first motor limit torque is; when the motor power is negative power, the higher the bus voltage is, the smaller the absolute value of the first motor limit torque is.
2. The motor torque determination method of the new energy vehicle according to claim 1, wherein determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor rotation speed includes:
if the direction of the motor power is the same as the direction of the motor rotating speed, determining that the direction of the motor torque is a positive direction;
and if the direction of the motor power is different from the direction of the motor rotating speed, determining that the direction of the motor torque is negative.
3. The motor torque determination method of the new energy vehicle according to claim 1, wherein the motor power state further includes a battery level;
the larger the absolute value of the battery charge amount is, the larger the absolute value of the first motor limit torque is.
4. The motor torque determination method of the new energy automobile according to claim 1, characterized by searching a preset temperature limit table to determine a second motor limit torque according to a motor temperature state, wherein the temperature limit table is used for indicating a corresponding relation between the second motor limit torque and the motor temperature state;
a smaller value of the absolute value of the second motor limit torque and the second original value of the motor torque is used as a third original value of the motor torque, and the third original value is used as a value of the motor torque.
5. The motor torque determination method of the new energy automobile according to claim 4, wherein the motor temperature state includes a three-phase inverter temperature, a motor stator temperature, and a cooling water temperature;
wherein the higher the three-phase inverter temperature is, the smaller the absolute value of the second motor limit torque is;
the higher the temperature of the motor stator is, the smaller the absolute value of the second motor limit torque is;
the higher the cooling water temperature is, the smaller the absolute value of the second motor limit torque is.
6. The motor torque determination method of the new energy vehicle according to claim 4, characterized in that a third motor limit torque is determined according to a preset limp home mode fault level;
a smaller value of the absolute value of the third motor limit torque and the third original value of the motor torque is adopted as the value of the motor torque.
7. The motor torque determination method of the new energy vehicle according to claim 6, characterized in that the absolute value of the third motor limit torque is smaller as the limp-home fault level is higher.
8. A motor torque determination device of a new energy automobile is characterized by comprising:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is suitable for acquiring the motor rotating speed of a motor, and the motor rotating speed has a direction and a value;
the rotating speed direction correcting module is suitable for correcting the rotating speed direction of the motor in a hysteresis control mode, and before the rotating speed of the motor rises to a hysteresis rotating speed upper limit value, the rotating speed direction of the motor is judged to be negative, wherein the hysteresis rotating speed upper limit value is larger than 0; before the rotating speed of the motor is reduced to a lower limit value of the hysteresis rotating speed, judging that the rotating speed direction of the motor is a positive direction, wherein the lower limit value of the hysteresis rotating speed is less than 0;
the torque direction determining module is suitable for determining the direction of the motor torque according to the direction of the motor power of the motor and the direction of the motor rotating speed;
the torque value determining module is suitable for determining the value of the motor torque according to the value of the motor power and the value of the motor rotating speed;
the torque value determination module includes: the first lookup submodule is suitable for looking up a preset power limit table to determine a first motor limit torque according to a motor power state, and the power limit table is used for indicating a corresponding relation between the first motor limit torque and the motor power state;
a first determination submodule adapted to determine a first raw value of the motor torque from a value of the motor power and a value of the motor speed;
a first selection submodule adapted to adopt, as a second original value of the motor torque, a smaller value of an absolute value of the first motor limit torque and a first original value of the motor torque; taking the second original value as the value of the motor torque; the motor is coupled with a battery, and the motor power state comprises the motor power and bus voltage;
wherein the larger the absolute value of the motor power is, the larger the absolute value of the first motor limit torque is;
when the direction of the motor power is positive, the lower the bus voltage is, the smaller the absolute value of the first motor limit torque is; when the direction of the motor power is negative, the higher the bus voltage is, the smaller the absolute value of the first motor limit torque is.
9. The motor torque determination device of the new energy vehicle according to claim 8, wherein the torque direction determination module includes:
a forward direction determination submodule adapted to determine that the direction of the motor torque is a forward direction when the direction of the motor power is the same as the direction of the motor rotation speed;
and the negative direction determining submodule is suitable for determining that the direction of the motor torque is negative when the direction of the motor power is different from the direction of the motor rotating speed.
10. The motor torque determination device of the new energy vehicle according to claim 8, wherein the motor power state further includes a battery level;
the larger the absolute value of the battery charge amount is, the larger the absolute value of the first motor limit torque is.
11. The motor torque determination device of the new energy vehicle according to claim 8, wherein the torque value determination module includes:
a second determination submodule adapted to determine a second raw value of the motor torque from the value of the motor power and the value of the motor speed;
the second lookup submodule is suitable for looking up a preset temperature limit table according to the temperature state of the motor to determine the second motor limit torque, and the temperature limit table is used for indicating the corresponding relation between the second motor limit torque and the temperature state of the motor;
a second selection submodule adapted to adopt, as a third original value of the motor torque, a smaller value of the absolute value of the second motor limit torque and the second original value of the motor torque; the third original value is taken as the value of the motor torque.
12. The motor torque determination device of the new energy automobile according to claim 11, wherein the motor temperature state includes a three-phase inverter temperature, a motor stator temperature, and a cooling water temperature;
wherein the higher the three-phase inverter temperature is, the smaller the absolute value of the second motor limit torque is;
the higher the temperature of the motor stator is, the smaller the absolute value of the second motor limit torque is;
the higher the cooling water temperature is, the smaller the absolute value of the second motor limit torque is.
13. The motor torque determination device of the new energy vehicle according to claim 11, wherein the torque value determination module includes:
a third determining submodule adapted to determine a third original value of the motor torque from the value of the motor power and the value of the motor rotational speed;
the third searching submodule is suitable for determining the limited torque of the third motor according to the preset limp mode fault level;
a third selection submodule adapted to adopt, as the value of the motor torque, a smaller value of the absolute value of the third motor limit torque and the third original value of the motor torque.
14. The motor torque determination device of the new energy vehicle according to claim 13, wherein the higher the limp home fault level is, the smaller an absolute value of the third motor limit torque is.
15. An electric motor of a new energy automobile, characterized by comprising the electric motor torque determination device of the new energy automobile according to any one of claims 8 to 14.
16. A new energy automobile, characterized by comprising the motor of the new energy automobile according to claim 15.
CN201611093580.9A 2016-12-01 2016-12-01 New energy automobile, motor torque determination method and device thereof and motor Active CN108128211B (en)

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