Switching tube control method and device and vehicle
By calculating the actual conduction time of the switch tube, the failure problem of the switch tube under narrow pulse conditions is solved, the reliability and stability of motor control is improved, and the duty cycle is avoided, which is improved. The motor controller is Control performance.
Patent Information
- Application Number
- CN202411357794.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-02-14
AI Technical Summary
In the prior art, the switch tube is prone to failure under narrow pulse conditions, resulting in a decrease in reliability and stability of motor control, and may cause a loss of duty cycle, affecting the control performance of the motor controller.
By obtaining the estimated on-time, narrow pulse time and switch tube cycle of the switch tube of the motor controller, calculate the time difference, and determine the actual on-time of the switch tube based on the comparison results to reduce the narrow pulse phenomenon and improve the switch tube reliability and stability.
It effectively avoids the failure of the switch tube due to multiple narrow pulses, improves the reliability and stability of motor control, and avoids duty cycle loss, which improves the control performance of the motor controller.
Smart Images
Figure CN119448834A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of motor control technology, and in particular, to a switch tube control method, device and vehicle. Background Art
[0002] With the development of motor drive technology, the application of motor drive technology is becoming more and more extensive. For example, motor drive technology has been widely used in new energy vehicles to realize the drive of new energy vehicles. The motor drive is controlled by the motor controller. In the motor controller of new energy vehicles, the switch tube is the core device for energy conversion and transmission. On the basis of the stability and reliability of the switch tube, the motor can also achieve stable and reliable control. Summary of the invention
[0003] The purpose of the present disclosure is to provide a switch tube control method, device and vehicle, which can improve the reliability and stability of the switch tube, thereby improving the reliability and stability of motor control, and improving the control performance of the motor controller.
[0004] In order to achieve the above-mentioned objectives, in a first aspect, the present disclosure provides a switch tube control method, including: obtaining an estimated on-time of a switch tube of a motor controller; obtaining a narrow pulse time and a switch tube cycle corresponding to the switch tube; determining a time difference according to the narrow pulse time and the switch tube cycle; comparing the estimated on-time with the narrow pulse time and / or the time difference to obtain a comparison result; determining an actual on-time of the switch tube according to the comparison result, the actual on-time being the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0; and controlling the switch tube according to the actual on-time.
[0005] Optionally, obtaining the estimated on-time of the switch tube of the motor controller includes: obtaining the expected on-time of the current control cycle; obtaining the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; determining a on-time compensation value based on the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; compensating the expected on-time of the current control cycle based on the on-time compensation value to obtain the estimated on-time of the current control cycle.
[0006] Optionally, determining the time difference based on the narrow pulse time and the switching tube cycle includes: subtracting the switching tube cycle from the narrow pulse time to determine a first time difference; and subtracting the switching tube cycle from half of the narrow pulse time to determine a second time difference.
[0007] Optionally, determining the actual on-time of the switch tube according to the comparison result includes: if the estimated on-time is greater than or equal to the narrow pulse time, and the estimated on-time is less than or equal to the first time difference, determining the estimated on-time as the actual on-time.
[0008] Optionally, determining the actual on-time of the switching tube according to the comparison result includes: if the estimated on-time is greater than the first time difference, and the estimated on-time is less than or equal to the second time difference, determining the first time difference as the actual on-time; if the estimated on-time is greater than the second time difference, determining the switching tube period as the actual on-time.
[0009] Optionally, determining the actual on-time of the switching tube according to the comparison result includes: if the estimated on-time is less than half of the narrow pulse time, determining the actual on-time as 0; if the estimated on-time is greater than or equal to half of the narrow pulse time, and the estimated on-time is less than the narrow pulse time, determining the narrow pulse time as the actual on-time.
[0010] Optionally, the switch tube control method also includes: obtaining the actual on-time of the previous control cycle; controlling the switch tube according to the actual on-time, including: determining the dead time according to the actual on-time of the current control cycle and the actual on-time of the previous control cycle; controlling the switch tube according to the actual on-time of the current control cycle and the dead time.
[0011] Optionally, the dead time is determined based on the actual on-time of the current control cycle and the actual on-time of the previous control cycle, including: if the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both 0 or are both the switching tube cycle, the dead time is determined to be 0; if the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both not 0 or are not the switching tube cycle, the preset dead time is determined as the dead time.
[0012] In a second aspect, the present disclosure provides a switch tube control device, including: an acquisition module, configured to: acquire an estimated on-time of a switch tube of a motor controller; acquire a narrow pulse time and a switch tube cycle corresponding to the switch tube; a control module, configured to: determine a time difference based on the narrow pulse time and the switch tube cycle; compare the estimated on-time with the narrow pulse time and / or the time difference to obtain a comparison result; determine an actual on-time of the switch tube based on the comparison result, the actual on-time being the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0; and control the switch tube based on the actual on-time.
[0013] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the switch tube control method described in the first aspect.
[0014] In a fourth aspect, the present disclosure provides a vehicle, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the switch tube control method described in the first aspect.
[0015] In a fifth aspect, the present disclosure provides a computer program product, including a computer program, which implements the switch tube control method described in the first aspect when executed by a processor.
[0016] Through the above technical solution, the estimated on-time of the switch tube is compared with the narrow pulse time and / or the time difference determined based on the narrow pulse time and the switch tube cycle, and the actual on-time of the switch tube is determined based on the comparison result. Since there is a narrow pulse phenomenon in the drive of the switch tube, if the switch tube works in a narrow pulse condition, it will cause the switch tube to fail. Therefore, based on the comprehensive consideration of the narrow pulse time, the estimated on-time and the switch tube cycle, a reasonable actual on-time is determined, and the actual on-time can reduce the narrow pulse phenomenon of the switch tube to avoid the failure of the switch tube due to multiple narrow pulses, improve the reliability and stability of the switch tube, and then improve the reliability and stability of the motor control; and it will not cause the duty cycle loss phenomenon, which can improve the control performance of the motor controller.
[0017] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1is a structural block diagram of a vehicle driving system according to an exemplary embodiment.
[0019] Figure 2 The figure is a flow chart of a switch tube control method according to an exemplary embodiment.
[0020] Figure 3 The present invention is a flow chart showing an application of switch tube control according to an exemplary embodiment.
[0021] Figure 4 The figure is a block diagram of a switch tube control device according to an exemplary embodiment.
[0022] Figure 5 It is a block diagram of an electronic device according to an exemplary embodiment.
[0023] Figure 6 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION
[0024] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.
[0025] With the development of motor drive technology, the application of motor drive technology is becoming more and more extensive. For example, motor drive technology has been widely used in new energy vehicles to realize the drive of new energy vehicles. The motor drive is controlled by the motor controller. In the motor controller of new energy vehicles, the switch tube is the core device for energy conversion and transmission.
[0026] In the embodiments of the present disclosure, the switch tube involved may be an IGBT (Insulate-Gate Bipolar Transistor) or other types of semiconductor switch devices.
[0027] In the motor controller of new energy vehicles, the IGBT module is the core device for energy conversion and transmission, and requires the IGBT to have high stability and reliability. The phenomenon of IGBT driving the narrow pulse on is due to the fact that the IGBT fails to accumulate a sufficient number of carriers when the conduction time is extremely short, and immediately enters the reverse recovery state. Under the condition of applied voltage, relatively strong di / dt (current change rate) and du / dt (voltage change rate) are generated. For the phenomenon of IGBT driving the narrow pulse off, it is equivalent to the anti-parallel diode of the other IGBT in the same bridge arm, which may not be fully turned on and immediately turned off, resulting in du / dt or oscillation that is more serious than the IGBT triggering narrow pulse. If the IGBT module works in the narrow pulse condition for many times, it will generate severe heat and cause IGBT failure. In order to ensure the reliable operation of the IGBT, the narrow pulse strategy should be reasonably controlled.
[0028] In the related art, a narrow pulse elimination technology is used. When the switch tube conduction time is less than the narrow pulse time, the switch tube does not perform an on or off action, and the upper tube and the lower tube of the switch tube work in a complementary mode. The narrow pulse time can be understood as the switch tube conduction time that will not cause the switch tube to have a narrow pulse phenomenon. The narrow pulse time can be determined in advance by measuring the switch tube, for example: testing the shortest drive on time at which the switch tube will not produce a narrow pulse phenomenon.
[0029] Therefore, when the on-time of the switch tube is less than the narrow pulse time, the narrow pulse phenomenon will not occur if the switch tube is directly controlled not to be turned on or off.
[0030] Specifically, if the on-time of the switch tube calculated by the vehicle controller (i.e., the expected on-time calculated or configured above) is less than the narrow pulse time, the corresponding control strategy can indicate that the switch tube does not perform an on-or-off action. The motor controller will directly control the upper and lower tubes of the switch tube to operate in a complementary mode according to the control strategy issued by the vehicle controller, so that the switch tube does not perform an on-or-off action.
[0031] Furthermore, if the lower tube opening time calculated by the vehicle controller is less than the narrow pulse time, the lower tube opening time may correspond to a lower tube duty cycle, but when the motor controller performs control, the lower tube will be directly controlled not to be opened and the upper tube will be fully opened, then the actual effective duty cycle of the lower tube = 0, and the duty cycle of 0 may be different from the lower tube duty cycle corresponding to the lower tube opening time calculated by the vehicle controller. For example, if the lower tube opening time calculated by the vehicle controller is not 0, the corresponding lower tube duty cycle is not 0, but the actual duty cycle is 0.
[0032] If the upper tube opening time calculated by the vehicle controller 101 is less than the narrow pulse time, the upper tube opening time can correspond to a lower tube duty cycle, but when the motor controller is controlling, it will directly control the upper tube not to be opened and the lower tube to be fully opened, then the actual effective duty cycle of the lower tube = 100%, and the 100% duty cycle may be different from the lower tube duty cycle corresponding to the upper tube opening time calculated by the vehicle controller. For example, if the upper tube opening time calculated by the vehicle controller is not 0, that is, the upper tube also has a certain opening time, so the lower tube duty cycle corresponding to the upper tube opening time is not 100%, and the actual duty cycle is 100%. It can be seen that although this narrow pulse elimination technology prevents the switch tube from operating in a narrow pulse condition, it will cause an error between the duty cycle actually executed by the motor controller and the duty cycle calculated by the vehicle controller, resulting in duty cycle loss, thereby deteriorating the current harmonics and control performance of the motor controller.
[0033] Based on this, the embodiment of the present disclosure provides a control scheme for a switch tube, in which a reasonable actual on-time is determined based on a comprehensive consideration of the narrow pulse time, the estimated on-time and the switch tube cycle. The actual on-time can eliminate the narrow pulse phenomenon of the switch tube, so as to avoid the failure of the switch tube due to multiple narrow pulses, improve the reliability and stability of the switch tube, and thus improve the reliability and stability of the motor control. In addition, since many influencing factors are taken into consideration, the actual on-time determined may be the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0, which involves a variety of situations, not just a simple non-conduction. Therefore, the control scheme will not cause the duty cycle loss phenomenon, and can effectively ensure the current harmonics and control performance, thereby improving the control performance of the motor controller.
[0034] Figure 1 is a structural block diagram of a vehicle driving system according to an exemplary embodiment. Figure 1 As shown, the vehicle drive system includes: a vehicle controller 101, a motor controller 102 and a drive motor 103. The vehicle controller 101 is connected to the motor controller 102, and the motor controller 102 is connected to the drive motor 103. In addition, the motor controller 102 includes a switch tube, and the switch tube is connected to the drive motor 103. The connection here can be a communication connection or an electrical connection.
[0035] For example, the vehicle controller 101 may be a MCU (Micro controller Unit).
[0036] In the vehicle drive system, the vehicle controller 101 can be used to determine the control strategy of the motor controller 102, which may include relevant control parameters or relevant control requirements. Then, the control strategy is sent to the motor controller 102, and the motor controller 102 generates a control signal of the switch tube according to the control strategy to control the switch tube to open and close. The drive motor 103 connected to the switch tube has different corresponding operating conditions according to the different opening and closing conditions of the switch tube, thereby realizing the drive control of the motor.
[0037] Therefore, the technical solution provided by the embodiment of the present disclosure can be applied to Figure 1 The motor controller 102 is shown.
[0038] Figure 2 1 is a flow chart of a switch tube control method according to an exemplary embodiment. The switch tube control method includes the following steps: Step S21 , obtaining the estimated on-time of the switch tube of the motor controller 102 .
[0039] Step S22, obtaining the narrow pulse time and switching tube period corresponding to the switching tube.
[0040] Step S23, determining the time difference according to the narrow pulse time and the switching tube cycle.
[0041] Step S24, comparing the estimated on-time with the narrow pulse time and / or the time difference to obtain a comparison result.
[0042] Step S25, determining the actual on-time of the switch tube according to the comparison result, wherein the actual on-time is the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0.
[0043] Step S26, controlling the switch tube according to the actual conduction time.
[0044] In some embodiments, the control of the switch tube is divided into cycles and upper and lower tubes. Therefore, steps S21 to S26 may be a switch tube control scheme for one cycle, and may be a control scheme for the upper tube or the lower tube.
[0045] In addition, the driving of the upper tube and the lower tube is complementary, so the driving control signal of the lower tube is determined based on the determination of the driving control signal of the upper tube. For example, the driving control signal of the upper tube is symmetrical with the driving control signal of the lower tube.
[0046] In the embodiments of the present disclosure, the time referred to may represent a specific time point or a specific time period, which is not limited here.
[0047] In some embodiments, the estimated on-time of the switch tube of the motor controller 102 can be Figure 1 The desired on-time issued by the vehicle controller 101 is shown.
[0048] Therefore, as an optional implementation, step S21 includes: obtaining the expected on-time of the current control cycle issued by the vehicle controller 101, and determining the expected on-time as the estimated on-time of the current control cycle.
[0049] It can be understood that various control strategies for the vehicle are pre-configured in the vehicle controller 101, and these control strategies may involve control strategies for the switch tube. Thus, the vehicle controller 101 can calculate or configure the expected on-time for each control cycle of the switch tube based on the configured control strategy, and the expected on-time can be understood as a configuration value or a calculated value. Therefore, the vehicle controller 101 can send the expected on-time to the motor controller 102. Then, for the motor controller 102, the expected on-time sent by the vehicle controller 101 is received.
[0050] In order to further eliminate the duty cycle error problem, in the embodiment of the present disclosure, the expected on-time issued by the vehicle controller 101 can also be compensated to obtain an estimated on-time. By combining the estimated on-time obtained by compensating the expected on-time to determine the actual on-time, the duty cycle loss problem can be effectively solved, thereby effectively ensuring current harmonics and control performance, thereby improving the control performance of the motor controller 102.
[0051] Therefore, as an optional implementation, step S21 includes: obtaining the expected on-time of the current control cycle; obtaining the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; determining the on-time compensation value based on the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; compensating the expected on-time of the current control cycle based on the on-time compensation value to obtain the estimated on-time of the current control cycle.
[0052] In this implementation, the expected on-time of the current control cycle is compensated by using the expected on-time and the actual on-time of the previous control cycle.
[0053] It can be understood that the expected on-time of each control cycle can reflect the duty cycle of each control cycle. For example, if the expected on-time is half of the control cycle, the duty cycle is 50%. Therefore, if there is a difference between the expected on-time and the actual on-time, it means that there is a difference between the duty cycle corresponding to the expected on-time calculated by the vehicle controller 101 and the duty cycle corresponding to the actual on-time.
[0054] Furthermore, the difference can be used to compensate the expected on-time of the current control cycle, so that the estimated on-time of the current control cycle can compensate for the duty cycle difference of the previous cycle. For example, if the actual on-time of the previous cycle is less than the expected on-time, the difference can be compensated to the current cycle, and then, after multiple control cycles, the actual control mode of the motor controller 102 is consistent with the control strategy of the vehicle controller 101. That is, this duty cycle difference compensation is reflected in a complete switch tube control process involving multiple control cycles, rather than in one control cycle.
[0055] Therefore, by adopting this implementation mode, the duty cycle loss phenomenon will not occur, and the current harmonics and control performance can be effectively guaranteed, thereby improving the control performance of the motor controller 102.
[0056] In some embodiments, the expected on-time of the previous control cycle and the actual on-time of the previous control cycle are known parameters in the motor controller 102 and can be directly obtained.
[0057] In some embodiments, the on-time compensation value is a difference between the expected on-time of the previous control cycle and the actual on-time of the previous control cycle.
[0058] In some embodiments, the estimated on-time of the current control cycle is the sum of the expected on-time of the current control cycle and the on-time compensation value.
[0059] For example, assuming that the current control cycle is k and the previous control cycle is k-1, the on-time compensation value can be expressed as: T_deta(k)=Ton_s(k-1)-Ton_d(k-1). Wherein, T_deta(k) represents the on-time compensation value of the current control cycle, Ton_s(k-1) represents the expected on-time of the previous control cycle, and Ton_d(k-1) represents the actual on-time of the previous control cycle. Furthermore, the estimated on-time of the current control cycle can be expressed as: Ton_c(k)=Ton_s(k)+T_deta(k). Wherein, Ton_c(k) represents the estimated on-time of the current control cycle, and Ton_s(k) represents the expected on-time of the current control cycle.
[0060] In step S22, the narrow pulse time and the switching tube cycle corresponding to the switch tube can be understood as the preset parameters of the switch tube and can be directly obtained. Among them, the switching tube cycle is used to characterize the switching frequency of the switch tube. For the definition of the narrow pulse time, refer to the above explanation of the narrow pulse phenomenon.
[0061] In step S23, the time difference is determined according to the narrow pulse time and the switching tube cycle.
[0062] As an optional implementation, step S23 includes: subtracting the switching tube period from the narrow pulse time to determine a first time difference; and subtracting the switching tube period from half of the narrow pulse time to determine a second time difference.
[0063] In this implementation, two time differences need to be determined, one is the difference between the switching tube period and the narrow pulse time, and the other is the difference between the switching tube period and half of the narrow pulse time.
[0064] For example, assuming that the switching tube period is Ts and the narrow pulse time is T_narrow, then the first time difference is: Ts-T_narrow; and the second time difference is: Ts-T_narrow / 2.
[0065] In step S24, the estimated on-time is compared with the narrow pulse time and / or the time difference to obtain a comparison result.
[0066] In some embodiments, the estimated on-time may be compared with the narrow pulse time first, and based on the comparison result, it is further selected whether to compare the estimated on-time with the time difference. Therefore, the estimated on-time may be compared with both the narrow pulse time and the time difference, or may be compared only with the narrow pulse time. In other embodiments, the estimated on-time may also be directly compared with the time difference without comparing with the narrow pulse time.
[0067] Therefore, as a first optional comparison method, the estimated on-time is compared with the narrow pulse time, and the estimated on-time is compared with the time difference.
[0068] As a second optional comparison method, the estimated on-time is compared with the first time difference and the second time difference respectively.
[0069] As a third optional comparison method, the estimated on-time is compared with the narrow pulse time and with half of the narrow pulse time.
[0070] Different comparison methods may result in different comparison results. Therefore, in step S25, the actual on-time of the switch tube is determined according to the comparison result. The actual on-time is the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0.
[0071] In this implementation, according to different comparison results, the actual on-time of the switch tube can be determined from the narrow pulse time, the time difference, the switch tube period, the estimated on-time or 0.
[0072] As a first optional implementation, step S25 includes: if the estimated on-time is greater than or equal to the narrow pulse time, and the estimated on-time is less than or equal to the first time difference, determining the estimated on-time as the actual on-time.
[0073] In this implementation, since the estimated on-time is greater than or equal to the narrow pulse time, and the estimated on-time is less than or equal to the first time difference, the estimated on-time can be directly determined as the actual on-time. On the basis of eliminating the narrow pulse phenomenon, the duty cycle difference can be compensated as much as possible.
[0074] For example, this implementation can be expressed as: if Ton_c(k)≥T_narrow, and Ton_c(k)≤Ts-T_narrow, then Ton_d(k)= Ton_c(k), where Ton_d(k) represents the actual on-time of the current control cycle. For the definition of other parameters, refer to the aforementioned embodiment. In addition, in subsequent embodiments, the definition of the same parameters will not be repeated.
[0075] As a second optional implementation, step S25 includes: if the estimated on-time is greater than the first time difference, and the estimated on-time is less than or equal to the second time difference, the first time difference is determined as the actual on-time; if the estimated on-time is greater than the second time difference, the switch tube period is determined as the actual on-time.
[0076] In this implementation, if the estimated on-time is between the first time difference and the second time difference, or is equal to the second time difference, the smaller first time difference can be determined as the actual on-time, that is, the actual on-time as close to the narrow pulse time as possible is selected to eliminate the narrow pulse phenomenon. If the estimated on-time is greater than the second time difference, the switch tube can be turned on throughout the switch tube cycle, and on the basis of eliminating the narrow pulse phenomenon, the duty cycle difference can be compensated as much as possible.
[0077] For example, this implementation can be expressed as follows: if Ton_c(k)>Ts-T_narrow, and Ton_c(k)≤Ts-T_narrow / 2, then Ton_d(k)=Ts-T_narrow; if Ton_c(k)>Ts-T_narrow / 2, Ton_d(k)=Ts.
[0078] As a third optional implementation, step S25 includes: if the estimated on-time is less than half of the narrow pulse time, the actual on-time is determined to be 0; if the estimated on-time is greater than or equal to half of the narrow pulse time, and the estimated on-time is less than the narrow pulse time, the narrow pulse time is determined as the actual on-time.
[0079] In this embodiment, if the estimated on-time is less than half of the narrow pulse time, the switch tube can be directly turned off to eliminate the narrow pulse phenomenon. If the estimated on-time is greater than or equal to half of the narrow pulse time and less than the narrow pulse time, the narrow pulse time can be determined as the actual on-time to eliminate the narrow pulse phenomenon. It can be understood that since the estimated on-time is greater than or equal to half of the narrow pulse time, the actual on-time is directly determined as the narrow pulse time, so that the actual on-time can meet the narrow pulse time condition to eliminate the narrow pulse phenomenon.
[0080] For example, this implementation can be expressed as: if Ton_c(k)≥T_narrow / 2, and Ton_c(k) <T_narrow,Ton_d(k)= T_narrow。
[0081] After the actual conduction time is determined in step S25, in step S26, the switch tube is controlled according to the actual conduction time.
[0082] In some embodiments, a switch control signal may be generated according to the actual on-time, and the switch control signal may be output to the switch tube.
[0083] It can be understood that in addition to the actual conduction time, the switch control signal also needs to be combined with some other information, such as: control voltage, control current and switch tube cycle, etc. The specific signal generation method can refer to the mature technology in this field.
[0084] In some embodiments, when generating the switch control signal, the dead time can also be combined. In motor control, the dead time is used to avoid the overlap of the upper and lower tubes turning on or off, so as to prevent the transistors in the motor controller 102 from being damaged and improve the motor efficiency.
[0085] The dead time refers to the time period when the upper tube and the lower tube of the switch tube are both turned off. The dead time is to avoid damage to the switch tube when the upper tube and the lower tube are turned on at the same time. For example, before the dead time, the upper tube is turned on and the lower tube is turned off. During the dead time, the upper tube is turned off and the lower tube is turned off. After the dead time, the upper tube is turned off and the lower tube is turned on.
[0086] Generally speaking, the dead time is a preset value. In the embodiment of the present disclosure, a suitable dead time can be selected in combination with the actual on time.
[0087] Therefore, as an optional implementation, the switch control method further includes: obtaining the actual on-time of the previous control cycle. Correspondingly, step S26 includes: determining the dead time according to the actual on-time of the current control cycle and the actual on-time of the previous control cycle; and controlling the switch according to the actual on-time and the dead time of the current control cycle.
[0088] In some embodiments, the dead time is determined based on the actual on-time of the current control cycle and the actual on-time of the previous control cycle, which may include: if the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both 0 or are both switching tube cycles, the dead time is determined to be 0; if the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both not 0 or are not switching tube cycles, the preset dead time is determined as the dead time.
[0089] In this implementation, if the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both 0 or both are switch tube cycles, it means that the upper tube and the lower tube will not be turned on or off at the same time, and the dead time can be set to 0. Otherwise, the dead time is set to the preset dead time, so that the switch tube is controlled according to the preset dead time.
[0090] The preset dead time can be a pre-configured dead time, which can be configured according to the actual situation of the switch tube to avoid the upper tube and the lower tube of the switch tube being turned on or off at the same time. Since it can be flexibly set according to different application scenarios, its value is not limited here.
[0091] Through this implementation, the dead time can be dynamically updated to protect the switch tube, thereby improving the reliability and stability of the switch tube.
[0092] Furthermore, the actual on-time, dead time and other related parameters of the current control cycle may be combined to generate a control signal of the switch tube to control the switch tube.
[0093] For example, the control signal of the switch tube may be a PWM (Pulse Width Modulation) signal. Therefore, the PWM signal may be generated by combining the actual on-time, dead time and other related parameters of the current control cycle and output to the switch tube.
[0094] Figure 3 This is an application flow chart of a switch tube control according to an exemplary embodiment. The switch tube control process can be applied to the lower tube control of the switch tube. In combination with the above embodiment, the lower tube control process can be referred to for the control of the upper tube.
[0095] like Figure 3 As shown, the MCU first calculates the expected on-time of the lower tube in the kth cycle and sends it to the motor controller 102. Then, the motor controller 102 calculates the on-time error of the previous cycle and compensates the on-time of the current cycle to obtain the estimated on-time.
[0096] Based on the estimated on-time, the narrow pulse time and / or the corresponding time difference are compared to obtain different comparison results, and the actual on-time takes different values according to different comparison results. For the specific implementation of taking different values of the actual on-time according to different comparison results, reference can be made to the above examples, which will not be repeated here.
[0097] After the actual on-time is determined, the dead time (ie, T_dead) is updated according to the actual on-time of the k-1 cycle and the k cycle.
[0098] Finally, a PWM signal is generated and PWM control is performed.
[0099] Furthermore, by adopting the technical solution of the embodiment of the present disclosure, the narrow pulse processing strategy uses 1 / 2 of the narrow pulse time as a threshold to dynamically adjust the actual conduction time, which can reduce the conduction error caused by the narrow pulse strategy. The conduction time error of the previous cycle is calculated, and the error is dynamically compensated to the current cycle to effectively compensate for the conduction time error of the switch tube. According to the actual conduction time of the previous cycle and the conduction time of the current cycle, the dead time of the switch tube is dynamically adjusted, and a 100% duty cycle is output when the switch tube is fully open, and a 0 duty cycle is output when the switch tube is fully closed, thereby improving the voltage utilization of the controller.
[0100] Moreover, the technical solution does not rely on hardware, is simple to calculate, and is easy to port to different controller platforms.
[0101] Figure 4 is a block diagram of a switch tube control device according to an exemplary embodiment, the device comprising: The acquisition module 401 is configured to: acquire the estimated on-time of the switch tube of the motor controller; acquire the narrow pulse time and the switch tube cycle corresponding to the switch tube. The control module 402 is configured to: determine the time difference according to the narrow pulse time and the switch tube cycle; compare the estimated on-time with the narrow pulse time and / or the time difference to obtain a comparison result; determine the actual on-time of the switch tube according to the comparison result, and the actual on-time is the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0; and control the switch tube according to the actual on-time.
[0102] Optionally, the acquisition module 401 is also configured to: obtain the expected on-time of the current control cycle; obtain the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; determine the on-time compensation value based on the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; compensate the expected on-time of the current control cycle based on the on-time compensation value to obtain the estimated on-time of the current control cycle.
[0103] Optionally, the control module 402 is further configured to: determine a first time difference by subtracting the switching tube period from the narrow pulse time; and determine a second time difference by subtracting the switching tube period from half of the narrow pulse time.
[0104] Optionally, the control module 402 is further configured to: if the estimated on-time is greater than or equal to the narrow pulse time, and the estimated on-time is less than or equal to the first time difference, determine the estimated on-time as the actual on-time.
[0105] Optionally, the control module 402 is also configured to: if the estimated on-time is greater than the first time difference, and the estimated on-time is less than or equal to the second time difference, determine the first time difference as the actual on-time; if the estimated on-time is greater than the second time difference, determine the switch tube period as the actual on-time.
[0106] Optionally, the control module 402 is also configured to: if the estimated on-time is less than half of the narrow pulse time, determine the actual on-time as 0; if the estimated on-time is greater than or equal to half of the narrow pulse time, and the estimated on-time is less than the narrow pulse time, determine the narrow pulse time as the actual on-time.
[0107] Optionally, the acquisition module 401 is also configured to: acquire the actual on-time of the previous control cycle; the control module 402 is also configured to: determine the dead time according to the actual on-time of the current control cycle and the actual on-time of the previous control cycle; and control the switch tube according to the actual on-time of the current control cycle and the dead time.
[0108] Optionally, the control module 402 is also configured as follows: if the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both 0 or are both the switching tube cycle, the dead time is determined to be 0; if the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both not 0 or are not the switching tube cycle, the preset dead time is determined as the dead time.
[0109] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0110] Figure 5 FIG. 5 is a block diagram of an electronic device 500 according to an exemplary embodiment. Figure 5 As shown, the electronic device 500 may include: a first processor 501 , a first memory 502 . The electronic device 500 may also include one or more of a multimedia component 503 , an input / output (I / O) interface 504 , and a communication component 505 .
[0111] The first processor 501 is used to control the overall operation of the electronic device 500 to complete all or part of the steps in the above-mentioned switch control method. The first memory 502 is used to store various types of data to support the operation of the electronic device 500. For example, these data may include instructions for any application or method used to operate on the electronic device 500, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The first memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 503 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the first memory 502 or sent through the communication component 505. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 504 provides an interface between the first processor 501 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 505 may include: Wi-Fi module, Bluetooth module, NFC module, etc.
[0112] In an exemplary embodiment, the electronic device 500 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned switch tube control method.
[0113] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned switch control method are implemented. For example, the computer-readable storage medium can be the above-mentioned first memory 502 including program instructions, and the above-mentioned program instructions can be executed by the first processor 501 of the electronic device 500 to complete the above-mentioned switch control method.
[0114] Figure 6 is a block diagram of a vehicle 600 according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles.
[0115] Reference Figure 6 , the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.
[0116] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.
[0117] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.
[0118] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
[0119] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
[0120] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one second processor 651 and a second memory 652, and the second processor 651 may execute instructions 653 stored in the second memory 652.
[0121] The second processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.
[0122] The second memory 652 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
[0123] In addition to the instructions 653 , the second memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the second memory 652 may be used by the computing platform 650 .
[0124] In the embodiment of the present disclosure, the second processor 651 may execute instruction 653 to complete all or part of the steps of the above-mentioned switch control method.
[0125] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above switch control method when executed by the programmable device.
[0126] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.
[0127] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.
[0128] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.
Claims
1. A switch tube control method, characterized in that: include: Get the estimated on-time of the switch tube of the motor controller; Obtaining the narrow pulse time and switching tube cycle corresponding to the switching tube; Determine a time difference according to the narrow pulse time and the switching tube period; Comparing the estimated on-time with the narrow pulse time and / or the time difference to obtain a comparison result; Determine the actual on-time of the switch tube according to the comparison result, where the actual on-time is the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0; The switch tube is controlled according to the actual conduction time.
2. The switch tube control method according to claim 1, characterized in that: The obtaining of the estimated on-time of the switch tube of the motor controller includes: Get the expected on-time of the current control cycle; Obtaining the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; Determining an on-time compensation value according to the expected on-time of the previous control cycle and the actual on-time of the previous control cycle; The expected on-time of the current control cycle is compensated according to the on-time compensation value to obtain the estimated on-time of the current control cycle.
3. The switch control method according to claim 1, characterized in that: Determining the time difference according to the narrow pulse time and the switching tube period includes: Subtract the switching tube period from the narrow pulse time to determine a first time difference; The second time difference is determined by subtracting the switching tube period from half of the narrow pulse time.
4. The switch control method according to claim 3, characterized in that: Determining the actual on-time of the switch tube according to the comparison result includes: If the estimated on-time is greater than or equal to the narrow pulse time, and the estimated on-time is less than or equal to the first time difference, the estimated on-time is determined as the actual on-time.
5. The switch control method according to claim 3, characterized in that: Determining the actual on-time of the switch tube according to the comparison result includes: If the estimated on-time is greater than the first time difference, and the estimated on-time is less than or equal to the second time difference, determining the first time difference as the actual on-time; If the estimated on-time is greater than the second time difference, the switch tube period is determined as the actual on-time.
6. The switch control method according to claim 3, characterized in that: Determining the actual on-time of the switch tube according to the comparison result includes: If the estimated on-time is less than half of the narrow pulse time, the actual on-time is determined to be 0; If the estimated on-time is greater than or equal to half of the narrow pulse time, and the estimated on-time is less than the narrow pulse time, the narrow pulse time is determined as the actual on-time.
7. The switch control method according to claim 1, characterized in that: The switch tube control method further includes: Get the actual on-time of the previous control cycle; The controlling the switch tube according to the actual conduction time includes: Determine the dead time according to the actual on time of the current control cycle and the actual on time of the previous control cycle; The switch tube is controlled according to the actual on-time of the current control cycle and the dead time.
8. The switch control method according to claim 7, characterized in that: Determining the dead time according to the actual on-time of the current control cycle and the actual on-time of the previous control cycle includes: If the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both 0 or both are the switch tube cycles, the dead time is determined to be 0; If the actual on-time of the current control cycle and the actual on-time of the previous control cycle are both not 0 or are not the switch tube cycle, the preset dead time is determined as the dead time.
9. A switch tube control device, characterized in that: include: Get module, configured as: Get the estimated on-time of the switch tube of the motor controller; Obtaining the narrow pulse time and switching tube cycle corresponding to the switching tube; The control module is configured as follows: Determine a time difference according to the narrow pulse time and the switching tube period; Comparing the estimated on-time with the narrow pulse time and / or the time difference to obtain a comparison result; Determine the actual on-time of the switch tube according to the comparison result, where the actual on-time is the narrow pulse time, the time difference, the switch tube cycle, the estimated on-time or 0; The switch tube is controlled according to the actual conduction time.
10. A vehicle, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the switch tube control method according to any one of claims 1 to 8.