Vehicle, control method and device for motor of vehicle, storage medium and program product

Abstract

The invention belongs to the technical field of new energy vehicles, and discloses a vehicle and a control method and device of a motor of the vehicle, a storage medium and a program product.The method comprises the steps that in the running process of the motor for the vehicle, the three-phase current and the three-phase voltage of a stator of the motor are obtained; in the control of a speed loop of the motor, determining a rotating speed signal and an angle signal of a rotor of the motor based on a preset full-dimensional state observer and a phase-locked loop according to the three-phase current and the three-phase voltage of a stator of the motor; and in the control of the current loop of the motor, the d-axis current of the motor is subjected to automatic compensation control by combining the rotating speed signal and the angle signal of the rotor of the motor, so that the output voltage of the motor is in a set voltage range. According to the scheme, through the position estimation strategy based on the full-dimensional state observer and the phase-locked loop and automatic compensation control over the d-axis current component, normal output of the motor torque is achieved, accurate control over the motor is guaranteed under the condition that the rotary transformer sensor breaks down, and safe operation is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of new energy vehicles, and specifically relates to a control method, device, vehicle, storage medium and computer program product for a vehicle motor, and in particular to a control method, device, vehicle, storage medium and computer program product for a permanent magnet synchronous motor for a new energy vehicle. Background Art

[0002] Motors (such as permanent magnet synchronous motors) use permanent magnet materials as the rotor structure, avoiding the excitation loss caused by the rotor excitation current. They have the advantages of simple structure, high power factor, and large torque-to-inertia ratio. Therefore, they are widely used in electric vehicles, wind power generation and other systems in the new energy field.

[0003] The motors and controllers on new energy vehicles are generally permanent magnet synchronous motors and related controllers, which are generally embedded motors. The stable operation of the vehicle requires high speed control and safety of the motor driver. Generally, speed sensors such as resolvers are used to detect the speed and feed the speed signal back to the regulation system. However, the installation environment of resolver speed sensors is harsh, and problems such as disconnection and interference often occur, affecting the vehicle speed. In serious cases, safety problems may occur.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The purpose of the present invention is to provide a control method, device, vehicle, storage medium and computer program product for a motor for a vehicle, so as to solve the problem that in the speed control of the motor on a vehicle (such as a new energy vehicle), a resolver speed sensor is used to detect the speed of the motor, but the resolver speed sensor often has problems such as disconnection and interference, which affects the reliability of the vehicle speed control and may cause safety problems in severe cases. The normal output of the motor torque is achieved through a position estimation strategy based on a full-dimensional state observer and a phase-locked loop and automatic compensation control of the d-axis current component. In the event of a resolver sensor failure, the motor can be accurately controlled to ensure the safe operation of the entire vehicle.

[0006] The present invention provides a control method for a motor for a vehicle, wherein the motor has a stator and a rotor; the control system of the motor has a speed loop and a current loop; in the position estimation strategy of the speed loop, a full-dimensional state observer and a phase-locked loop are used; the control method for the motor for a vehicle comprises: during the operation of the motor for a vehicle, obtaining the three-phase current of the stator of the motor and obtaining the three-phase voltage of the stator of the motor; in the control of the speed loop of the motor, according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor, the position estimation strategy of the speed loop is executed based on the full-dimensional state observer and the phase-locked loop to determine the speed signal of the rotor of the motor and the angle signal of the rotor of the motor; in the control of the current loop of the motor, in combination with the speed signal of the rotor of the motor and the angle signal of the rotor of the motor, the d-axis current of the motor is automatically compensated and controlled so that the output voltage of the motor is within a set voltage range.

[0007] In some embodiments, according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor, the position estimation strategy of the speed loop is executed based on the full-dimensional state observer and the phase-locked loop to determine the speed signal of the rotor of the motor and determine the angle signal of the rotor of the motor, including: determining the stator current component and the stator voltage component of the motor in the αβ axis coordinate system according to the three-phase current of the motor and the three-phase voltage of the motor; establishing the full-dimensional state observer according to the stator current component and the stator voltage component of the motor in the αβ axis coordinate system; obtaining the estimated back electromotive force component of the motor in the αβ axis coordinate system based on the full-dimensional state observer; obtaining the speed signal of the rotor of the motor through the phase-locked loop based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, and determining the angle signal of the rotor of the motor.

[0008] In some embodiments, the state equation of the full-dimensional state observer is as follows: ; ; in, , are the components of the three-phase current of the stator of the motor on the α and β axes, for , The reconstruction current, , for The derivation of , ; , are the components of the three-phase voltage of the stator of the motor on the α and β axes, is the component of the estimated electromotive force of the motor on the α and β axes, , for The derivative of L d , L q are the components of the stator inductance of the motor on the d and q axes, respectively, is the stator resistance of the motor; is the actual angular velocity of the motor, is the given angular velocity of the motor; H is the feedback matrix, , , , , , are all elements of H.

[0009] In some embodiments, based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, the speed signal of the rotor of the motor is obtained through the phase-locked loop, and the angle signal of the rotor of the motor is determined, including: based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, the speed signal of the rotor of the motor is obtained through the phase-locked loop; the speed signal of the rotor of the motor is integrated to obtain the angle signal of the rotor of the motor.

[0010] In some embodiments, the d-axis current of the motor is automatically compensated and controlled in combination with the speed signal of the motor's rotor and the angle signal of the motor's rotor so that the output voltage of the motor is within a set voltage range, including: obtaining the d-axis given current and q-axis given current of the motor according to a preset table lookup method based on the bus voltage of the motor and the speed signal of the motor's rotor; performing PI processing on the d-axis given current and the q-axis given current of the motor respectively to obtain the d-axis voltage and the q-axis voltage of the motor; obtaining the compensation current of the d-axis current component of the motor according to the d-axis voltage and the q-axis voltage of the motor; determining the difference between the d-axis given current of the motor and the compensation current of the d-axis current component of the motor as the current d-axis given current of the motor; and controlling the current loop of the motor according to the current d-axis given current of the motor, the q-axis given current of the motor, and the angle signal of the motor's rotor so that the output voltage of the motor is within a set voltage range.

[0011] In some embodiments, obtaining a compensation current of a d-axis current component of the motor according to a d-axis voltage and a q-axis voltage of the motor includes: filtering both the d-axis voltage and the q-axis voltage of the motor in a preset manner, and calculating according to the following formula to obtain a compensation current of the d-axis current component of the motor; ; ; Wherein, M is the modulation coefficient, Vdc is the bus voltage of the motor; is the difference between the estimated voltage and the given voltage of the motor, is a value after both the d-axis voltage and the q-axis voltage of the motor are filtered in a preset manner, is the proportionality coefficient, is the integration coefficient.

[0012] Matching the above method, the present invention provides a control device for a vehicle motor on the other hand, wherein the motor has a stator and a rotor; the control system of the motor has a speed loop and a current loop; the position estimation strategy of the speed loop adopts a full-dimensional state observer and a phase-locked loop; the control device for the vehicle motor comprises: an acquisition unit configured to acquire the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor during the operation of the vehicle motor; a control unit configured to execute the position estimation strategy of the speed loop based on the full-dimensional state observer and the phase-locked loop according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor in the control of the speed loop of the motor, so as to determine the speed signal of the rotor of the motor and the angle signal of the rotor of the motor; the control unit is also configured to automatically compensate the d-axis current of the motor in the control of the current loop of the motor, in combination with the speed signal of the rotor of the motor and the angle signal of the rotor of the motor, so that the output voltage of the motor is within a set voltage range.

[0013] In some embodiments, the control unit executes the position estimation strategy of the speed loop based on the full-dimensional state observer and the phase-locked loop according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor to determine the speed signal of the rotor of the motor and determine the angle signal of the rotor of the motor, including: determining the stator current component and the stator voltage component of the motor in the αβ axis coordinate system according to the three-phase current of the motor and the three-phase voltage of the motor; establishing the full-dimensional state observer according to the stator current component and the stator voltage component of the motor in the αβ axis coordinate system; obtaining the estimated back electromotive force component of the motor in the αβ axis coordinate system based on the full-dimensional state observer; obtaining the speed signal of the rotor of the motor through the phase-locked loop based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, and determining the angle signal of the rotor of the motor.

[0014] In some embodiments, the state equation of the full-dimensional state observer is as follows: ; ; in, , are the components of the three-phase current of the stator of the motor on the α and β axes, for , The reconstruction current, , for The derivation of , ; , are the components of the three-phase voltage of the stator of the motor on the α and β axes, is the component of the estimated electromotive force of the motor on the α and β axes, , for The derivative of L d , L q are the components of the stator inductance of the motor on the d and q axes, respectively, is the stator resistance of the motor; is the actual angular velocity of the motor, is the given angular velocity of the motor; H is the feedback matrix, , , , , , are all elements of H.

[0015] In some embodiments, the control unit obtains a speed signal of the rotor of the motor through the phase-locked loop based on the estimated back electromotive force component of the motor in the αβ-axis coordinate system, and determines the angle signal of the rotor of the motor, including: obtaining a speed signal of the rotor of the motor through the phase-locked loop based on the estimated back electromotive force component of the motor in the αβ-axis coordinate system; integrating the speed signal of the rotor of the motor to obtain the angle signal of the rotor of the motor.

[0016] In some embodiments, the control unit, in combination with the speed signal of the motor's rotor and the angle signal of the motor's rotor, performs automatic compensation control on the d-axis current of the motor so that the output voltage of the motor is within a set voltage range, including: obtaining the d-axis given current and q-axis given current of the motor according to a preset table lookup method based on the bus voltage of the motor and the speed signal of the motor's rotor; performing PI processing on the d-axis given current and q-axis given current of the motor respectively to obtain the d-axis voltage and q-axis voltage of the motor; obtaining the compensation current of the d-axis current component of the motor according to the d-axis voltage and q-axis voltage of the motor; determining the difference between the d-axis given current of the motor and the compensation current of the d-axis current component of the motor as the current d-axis given current of the motor; and controlling the current loop of the motor according to the current d-axis given current of the motor, the q-axis given current of the motor, and the angle signal of the motor's rotor so that the output voltage of the motor is within the set voltage range.

[0017] In some embodiments, the control unit obtains the compensation current of the d-axis current component of the motor according to the d-axis voltage and the q-axis voltage of the motor, including: filtering the d-axis voltage and the q-axis voltage of the motor in a preset manner, and calculating according to the following formula to obtain the compensation current of the d-axis current component of the motor; ; ; Wherein, M is the modulation coefficient, Vdc is the bus voltage of the motor; is the difference between the estimated voltage and the given voltage of the motor, is a value after both the d-axis voltage and the q-axis voltage of the motor are filtered in a preset manner, is the proportionality coefficient, is the integration coefficient.

[0018] Matching the above device, the present invention provides a vehicle on another aspect, including: the control device for the vehicle motor described above.

[0019] In accordance with the above method, the present invention provides a storage medium on the other hand, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the above-mentioned method for controlling a vehicle motor.

[0020] Matching the above method, another aspect of the present invention provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle motor control method when executed by a processor.

[0021] Therefore, the scheme of the present invention obtains the three-phase current and three-phase voltage of the vehicle motor, obtains the stator current component and the stator voltage component in the αβ axis coordinate system, and establishes a full-dimensional state observer; based on the full-dimensional state observer, the system estimated back electromotive force is obtained , and then the speed signal and angle signal of the motor are obtained through the PLL phase-locked loop. The speed signal is used for table lookup, and the angle signal is used for coordinate transformation, which can realize fast and accurate tracking of the motor output position; in the automatic calculation control based on the d-axis current component, if the voltage finally output by the system after table lookup exceeds the voltage to be modulated, the d-axis current is reduced, the motor terminal voltage is reduced, and the motor terminal voltage is stably controlled to achieve normal torque control and meet the normal operation requirements of the whole vehicle; thus, the normal output of the motor torque is realized through the position estimation strategy based on the full-dimensional state observer and the phase-locked loop and the automatic compensation control of the d-axis current component, and the precise control of the motor can be guaranteed in the case of a resolver sensor failure, thereby ensuring the safe operation of the whole vehicle.

[0022] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention.

[0023] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic flow chart of an embodiment of a method for controlling a motor for a vehicle of the present invention; Figure 2 A flow chart of an embodiment of the method of the present invention for determining the speed signal and the angle signal of the rotor of the motor based on a preset full-dimensional state observer and a preset phase-locked loop; Figure 3 A schematic diagram of a flow chart of an embodiment of determining a speed signal and an angle signal of a rotor of the motor by a phase-locked loop in the method of the present invention; Figure 4 It is a flow chart of an embodiment of the method of the present invention for automatically compensating and controlling the d-axis current of the motor; Figure 5 A schematic structural diagram of an embodiment of a control device for a motor for a vehicle of the present invention; Figure 6 A control block diagram of a vehicle motor controller with a position sensor in a related solution; Figure 7 A control block diagram of a control method for a permanent magnet synchronous motor for a new energy vehicle of the present invention; Figure 8 Flow chart of the calculation steps for the observer to obtain the velocity and angle; Fig. 9 It is the construction block diagram of the full-dimensional observer; Fig.10 Figure 2 is a block diagram of the angle and speed calculation method based on a phase-locked loop.

[0025] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows: 102 - acquisition unit; 104 - control unit. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] In related solutions, the electronic control system of new energy vehicles generally uses a table lookup method to obtain the d and q axis current components, but this table lookup method is a data calibrated under a fixed voltage and a certain stability. It is essentially an open-loop control. In some special motor and characteristic conditions, such as the motor inductance changes greatly with the influence of stability, it will cause large fluctuations in the output motor terminal voltage and the problem of excessive motor terminal voltage.

[0028] Figure 6 FIG. 1 is a control block diagram of a vehicle motor controller with a position sensor in a related solution. Figure 6 As shown, the d-axis and q-axis current components are Idref and Iqref, that is, the given values ​​of the d-axis and q-axis currents. The purpose is to obtain the corresponding Idref and Iqref by looking up the table according to the given torque Tref and speed n. However, the speed signal is obtained by detecting the resolver sensor. When there is a problem with the resolver sensor, there will also be problems with the table lookup, which may lead to safety problems such as loss of control.

[0029] Therefore, the scheme of the present invention proposes a control method for a vehicle motor, specifically a control method for a permanent magnet synchronous motor for a new energy vehicle. The method does not require a resolver device, and based on the position estimation strategy of a full-dimensional state observer and a phase-locked loop, the motor speed and angle are obtained, and the motor output position can be tracked quickly and accurately. At the same time, through automatic compensation control of the d-axis current component, stable control of the motor terminal voltage is achieved to meet the normal operation requirements of the whole vehicle, achieve normal torque control, and achieve normal output of the motor torque. In the event of a resolver sensor failure, the motor can be accurately controlled to ensure the safe operation of the whole vehicle.

[0030] According to an embodiment of the present invention, a control method for a motor for a vehicle is provided. Figure 1 The flow chart of an embodiment of the method of the present invention is shown. The motor has a stator and a rotor; the control system of the motor has a speed loop and a current loop; the position estimation strategy of the speed loop adopts a full-dimensional state observer and a phase-locked loop; the control method of the vehicle motor may include: steps S110 to S130.

[0031] In step S110 , during the operation of the vehicle motor, a three-phase current of a stator of the motor is obtained, and a three-phase voltage of the stator of the motor is obtained.

[0032] At step S120, in the control of the speed loop of the motor, according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor, the position estimation strategy of the speed loop is executed based on the full-dimensional state observer and the phase-locked loop to determine the speed signal of the rotor of the motor and determine the angle signal of the rotor of the motor.

[0033] At step S130, in the control of the current loop of the motor, the d-axis current of the motor is automatically compensated and controlled in combination with the speed signal of the motor's rotor and the angle signal of the motor's rotor, so that the output voltage of the motor is within the set voltage range, the stability of the motor's output voltage is ensured, and the normal output of the motor's torque is achieved, thereby protecting the safety of the motor and the electronic control.

[0034] The solution of the present invention proposes a position estimation strategy based on a full-dimensional state observer and a phase-locked loop, which realizes precise control of the on-board permanent magnet synchronous motor. At the same time, through the automatic compensation control method of the d-axis current component, the stable control of the motor terminal voltage is realized, the normal operation requirements of the whole vehicle are met, and the normal output of the motor torque is realized. Through the position estimation method and automatic compensation control strategy of the permanent magnet synchronous motor, the precise control of the motor can be guaranteed in the case of a resolver sensor failure, ensuring the safe operation of the whole vehicle.

[0035] In some embodiments, in step S120, according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor, the position estimation strategy of the speed loop is executed based on the full-dimensional state observer and the phase-locked loop to determine the speed signal of the rotor of the motor, and the specific process of determining the angle signal of the rotor of the motor is shown in the following exemplary description.

[0036] Combine the following Figure 2The method of the present invention is shown as a flow chart of an embodiment of determining the speed signal and angle signal of the rotor of the motor based on a preset full-dimensional state observer and a preset phase-locked loop, further illustrating the specific process of determining the speed signal and angle signal of the rotor of the motor based on the preset full-dimensional state observer and the preset phase-locked loop in step S120, including: steps S210 to S240.

[0037] Step S210, determining the stator current component and the stator voltage component of the motor in the αβ axis coordinate system according to the three-phase current of the motor and the three-phase voltage of the motor.

[0038] Step S220: establishing the full-dimensional state observer according to the stator current component and the stator voltage component of the motor in the αβ axis coordinate system.

[0039] Step S230, based on the full-dimensional state observer, obtain the estimated back electromotive force component (such as back electromotive force ).

[0040] Step S240, based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, obtain the speed signal of the rotor of the motor (such as the rotor angular velocity ), and determine the angle signal of the motor's rotor (such as the rotor position angle ).

[0041] Figure 7 The control block diagram of the control method of the permanent magnet synchronous motor for new energy vehicles of the present invention includes two parts: automatic compensation control and position estimation strategy. The solution of the present invention does not require a position sensor, such as Figure 7 As shown, through the αβ axis coordinate system Establish a full-dimensional state observer to obtain the estimated back EMF of the system , and then pass through the PLL phase-locked loop to obtain the speed signal and angle signal of the motor. The speed signal is used for table lookup, and the angle signal is used for coordinate transformation (such as Figure 7 Laplace transform 1 / s in); at the same time, since the current signals Idref and Iqref (i.e., the given currents of the d and q axes) obtained by the conventional table lookup method are fixed values, but the motor parameters are greatly affected by the motor temperature, there will be the disadvantage of large fluctuations in the motor terminal voltage, and even imbalance and shutdown. Therefore, the solution of the present invention, on the basis of table lookup, performs an automatic calculation control method based on the d-axis current component. If the voltage finally output by the system after table lookup exceeds the required modulation voltage, the d-axis current is reduced and the motor terminal voltage is reduced, thereby ensuring the stability of the motor output voltage, thereby protecting the safety of the motor and the electronic control.

[0042] In some embodiments, the state equation of the full-dimensional state observer is as follows: ; ; in, , are the components of the three-phase current of the stator of the motor on the α and β axes, for , The reconstruction current, , for The derivation of , ; , are the components of the three-phase voltage of the stator of the motor on the α and β axes, is the component of the estimated electromotive force of the motor on the α and β axes, , for The derivative of L d , L q are the components of the stator inductance of the motor on the d and q axes, respectively, is the stator resistance of the motor; is the actual angular velocity of the motor, is the given angular velocity of the motor; H is the feedback matrix, , , , , , are all elements of H.

[0043] Figure 8 The following is a flow chart of the calculation steps for the observer to obtain the velocity and angle. Figure 8 As shown in Figure 2, the specific implementation process of the full-dimensional state observer to obtain the speed and angle includes: Step 1: Establish the motor voltage equation based on the αβ axis coordinate system: (1); in, , , are the components of the motor back electromotive force on the α and β axes, respectively, where ; , are the components of the stator voltage on the α and β axes respectively; , are the components of the stator current on the α and β axes respectively; L d , L qare the components of the stator inductance on the d and q axes respectively; is the stator resistance; is the permanent magnet flux; is the motor angular velocity; p is the differential operator ; E x0 is the component of the motor back electromotive force on the α and β axes (i.e. )’s amplitude.

[0044] According to the motor voltage equation based on the αβ axis coordinate system, the system model that needs to be observed can be obtained. Fig. 9 is the construction block diagram of the full-dimensional observer, such as Fig. 9 The specific state equation of the observed system model to be observed is as follows: (2); (3).

[0045] in, , , that is Fig. 9 The observed variables in ; similarly, the other dotted ones are the corresponding derivatives, and y is the variable matrix that can be directly measured , C is the coefficient matrix , u is the input variable matrix of the system ; A= 、B= , which are the coefficient matrices of x and u respectively. This is to establish Fig. 9 An observed system is shown, the observed system is: (4).

[0046] In practical applications, the motor model After transposing the terms, it can also be written as an equation of this form: (5).

[0047] The left formula is written in vector form for the convenience of writing later.

[0048] Step 2: Establish a full-order observation system and obtain the dynamic equation of the observer output.

[0049] In step 2, the feedback matrix H is defined, then the observer dynamic equation is , the system framework is as follows Fig. 9 As shown in the state observation system, the closed-loop system after state feedback can be obtained: (6).

[0050] in, The feedback term H is introduced as the reconstructed state of the observed state X. and X are nearly equivalent, but if the convergence rate is not reconstructed, it cannot be integrated as expected. Therefore, the method of full-dimensional state observation is to introduce the feedback matrix , forming a closed-loop system, and controlling the convergence speed through the H matrix. It is also a reconstruction of the output state y. for How to write the derivative of .

[0051] The system is asymptotically stable, controllable and observable, and its eigenvalues ​​have negative real parts, so we can define four eigenvalues ​​that are all in Department >0), so only need to adjust It can adjust the system convergence speed. The larger it is, the faster the convergence speed is, and the following characteristic polynomial can be obtained: (7).

[0052] Among them, following the necessary conditions for the convergence of the full-dimensional state observer, we know that the characteristic matrix The eigenvalue of has a negative real part, so we can define a value arbitrarily in the control is the eigenvalue of the negative real part. In actual control, by adjusting The size of can be used to control the convergence speed of the closed-loop system. That is the bandwidth that adjusts the system convergence speed. The expected value of the characteristic matrix, I is the identity matrix, that is: ; so: .

[0053] Since the characteristic polynomial has been set The characteristic value of ,therefore ,definition is the feedback matrix of the system, and the values ​​of each item in H are obtained by solving the characteristic polynomial.

[0054] Solving the above polynomial, formula (7), we can obtain: (8).

[0055] Substitution The observed dynamic equation can be obtained: (9).

[0056] in, , , , for Figure 7 middle , , Obtained through Clark transformation, so the estimated value can be obtained according to the above equation ; The measured current With the reconstruction of the current The difference, The measured current With the reconstruction of the current When the system is stable, the difference approaches zero. , is the current obtained by the reconstructed state observer The derivation of .

[0057] In the related schemes, the vehicle motor controller generally adopts a control method with a position sensor, such as Figure 6 As shown, a rotary transformer is installed on the motor to detect the angle and position of the motor, and the angle and speed of the motor are obtained by decoding chip or soft decoding. The obtained motor angle signal is used for the Park transformation and inverse Park transformation of the motor to realize the two-phase signal transformation between the rotating coordinate system (dq axis) and the fixed coordinate system (αβ axis); the obtained motor speed signal is used to look up the given torque signal table of the whole vehicle control to obtain the required given d and q axis current signals. The solution of the present invention proposes a control solution for a vehicle-mounted permanent magnet synchronous motor, which does not require a resolver device, obtains the motor speed and angle, can quickly and accurately track the motor output position, and realizes normal torque control.

[0058] In some embodiments, in step S240, based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, the speed signal of the rotor of the motor is obtained through the phase-locked loop, and the specific process of determining the angle signal of the rotor of the motor is shown in the following exemplary description.

[0059] Combine the following Figure 3 The method of the present invention is a flowchart of an embodiment of determining the speed signal and angle signal of the rotor of the motor through a phase-locked loop, further illustrating the specific process of determining the speed signal and angle signal of the rotor of the motor through a phase-locked loop in step S240, including: steps S310 to S320.

[0060] Step S310, based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, a speed signal of the rotor of the motor is obtained through the phase-locked loop.

[0061] Step S320, integrating the speed signal of the motor's rotor to obtain an angle signal of the motor's rotor.

[0062] like Figure 8 As shown in the figure, the specific implementation process of the full-dimensional state observer to obtain the speed and angle also includes: Step three, get the speed and angle through the phase-locked loop.

[0063] Fig.10 The block diagram of the angle and speed calculation method based on the phase-locked loop is shown in Figure 2. , through the phase-locked loop Fig.10 As shown, the following relationship can be obtained: (10).

[0064] right Perform PI regulator processing to obtain the observed speed , and then integrate the speed to get the angle: (11).

[0065] Among them, K p K is the proportional control coefficient of the PI regulator. i is the coefficient of differential adjustment To find the symbol of the differential. is the angular velocity of the motor obtained by the observer. By differentiating the time, the rotor position angle used for control can be obtained . The actual current values ​​of the d and q axes are obtained by actual measurement respectively. Estimate the voltage at the motor terminals in the d and q axis coordinate system. are the components of the motor back electromotive force on the α and β axes, respectively. is the component of the motor back electromotive force on the α and β axes obtained after observation by the state observer, is the rotor position angle used for the final vector control, is the angle obtained after observation by the state observer. for The coefficient of . for and The difference.

[0066] In the solution of the present invention, based on the full-dimensional state observer, the back electromotive force estimated by the system is obtained. , and then the speed signal and angle signal of the motor are obtained through the PLL phase-locked loop. The speed signal is used for table lookup, and the angle signal is used for coordinate transformation, which can achieve fast and accurate tracking of the motor output position.

[0067] In some embodiments, in step S130, the d-axis current of the motor is automatically compensated and controlled in combination with the speed signal of the motor's rotor and the angle signal of the motor's rotor so that the output voltage of the motor is within a set voltage range. For the specific process, see the following exemplary description.

[0068] Combine the following Figure 4 The flowchart of an embodiment of the method of the present invention for automatically compensating the d-axis current of the motor further illustrates the specific process of automatically compensating the d-axis current of the motor in step S130, including: steps S410 to S450.

[0069] Step S410, according to the bus voltage of the motor and the speed signal of the rotor of the motor, a table lookup is performed according to a preset table lookup method to obtain a d-axis given current and a q-axis given current of the motor.

[0070] Step S420 , performing PI processing on the d-axis given current and the q-axis given current of the motor respectively to obtain the d-axis voltage and the q-axis voltage of the motor.

[0071] Step S430: obtaining a compensation current of a d-axis current component of the motor according to the d-axis voltage and the q-axis voltage of the motor.

[0072] Step S440: Determine the difference between the d-axis given current of the motor and the compensation current of the d-axis current component of the motor as the current d-axis given current of the motor.

[0073] Step S450, controlling the current loop of the motor according to the current d-axis given current of the motor, the q-axis given current of the motor, and the angle signal of the rotor of the motor, so that the output voltage of the motor is within a set voltage range.

[0074] In the scheme of the present invention, in the automatic calculation control based on the d-axis current component, if the voltage finally output by the system after table lookup exceeds the voltage required to be modulated, the d-axis current is reduced, the motor terminal voltage is lowered, and stable control of the motor terminal voltage is achieved to achieve normal torque control.

[0075] In some embodiments, obtaining the compensation current of the d-axis current component of the motor according to the d-axis voltage and the q-axis voltage of the motor in step S430 includes: filtering the d-axis voltage and the q-axis voltage of the motor in a preset manner, and calculating according to the following formula to obtain the compensation current of the d-axis current component of the motor; ; ; Wherein, M is the modulation coefficient, Vdc is the bus voltage of the motor; is the difference between the estimated voltage and the given voltage of the motor, is a value after both the d-axis voltage and the q-axis voltage of the motor are filtered in a preset manner, is the proportionality coefficient, is the integration coefficient.

[0076] In the solution of the present invention, the specific method based on the automatic calculation of the d-axis current component is as follows: Figure 7 As shown, the signals of the d and q axis coordinate systems are processed. Low-pass filtering (LPF) is performed to filter out high-frequency interference of the current as feedback of the current loop; Perform low-pass filtering (LPF) on the filtered After the square root of the square root is taken, the bus terminal voltage is subtracted and multiplied by the voltage modulation coefficient, and the following relationship is obtained: (12).

[0077] Where, M is the modulation factor, Vdc (or Udc) is the bus voltage; is the difference between the estimated voltage at the motor end and the given voltage. After PI regulator processing, we get , the table obtained minus , when the system looks up the table to get When the output voltage is too high due to inaccuracy or temperature, this method can be used to reduce the d-axis current so that the motor terminal voltage will drop until it reaches a stable state, thereby ensuring that the motor terminal voltage is stable. In related schemes, the d-axis current compensation method is not used in the main drive control of electric vehicles, while the scheme of the present invention integrates the table lookup and d-axis current automatic compensation control for the first time.

[0078] The solution of the present invention is applied to the motor controller of new energy vehicles and is suitable for all occasions of main drive motor control of electric vehicles. In the solution of the present invention, no position sensor is used, and the speed and angle are directly observed by the position-free method; the observer solution: based on the full-dimensional state observer of back electromotive force, by configuring the system bandwidth To adjust the system stability and convergence speed + PLL phase lock; the torque control method used: torque control mode, achieved through table lookup + d-axis current compensation; using the full-dimensional (also called full-order) observer method, high-precision control is achieved by adjusting the system bandwidth, and at the same time, the table lookup + d-axis current compensation control method is used to achieve torque output and realize stable control of the motor.

[0079] In the scheme of the present invention, the position estimation strategy based on the full-dimensional state observation and the observer based on the scheme of the present invention can realize fast and accurate tracking of the motor output position (i.e., the rotor position of the motor), and realize accurate speed positioning to meet the high speed precision control requirements of the vehicle-mounted permanent magnet synchronous motor; there is no need for a rotary transformer to detect the position and speed, and the speed and angle are obtained by a position-free method, which is safe, reliable, and has lower cost. Furthermore, in the scheme of the present invention, the motor terminal voltage is stably controlled through the automatic compensation control scheme of the d-axis current component, making the motor terminal voltage more stable.

[0080] By adopting the technical solution of this embodiment, the three-phase current and three-phase voltage of the vehicle motor are obtained to obtain the stator current component and the stator voltage component in the αβ axis coordinate system, and a full-dimensional state observer is established; based on the full-dimensional state observer, the back electromotive force estimated by the system is obtained. , and then the speed signal and angle signal of the motor are obtained through the PLL phase-locked loop. The speed signal is used for table lookup, and the angle signal is used for coordinate transformation, which can realize fast and accurate tracking of the motor output position; in the automatic calculation control based on the d-axis current component, if the voltage finally output by the system after table lookup exceeds the voltage to be modulated, the d-axis current is reduced, the motor terminal voltage is reduced, and the motor terminal voltage is stably controlled to achieve normal torque control and meet the normal operation requirements of the whole vehicle; thus, the normal output of the motor torque is realized through the position estimation strategy based on the full-dimensional state observer and the phase-locked loop and the automatic compensation control of the d-axis current component, and the precise control of the motor can be guaranteed in the case of a resolver sensor failure, thereby ensuring the safe operation of the whole vehicle.

[0081] According to an embodiment of the present invention, a control device for a motor for a vehicle corresponding to the control method for the motor for a vehicle is also provided. Figure 5 The structure diagram of an embodiment of the device of the present invention is shown. The motor has a stator and a rotor; the control system of the motor has a speed loop and a current loop; the position estimation strategy of the speed loop adopts a full-dimensional state observer and a phase-locked loop; the control device of the vehicle motor may include: an acquisition unit 102 and a control unit 104.

[0082] The acquisition unit 102 is configured to acquire the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor during the operation of the motor for the vehicle. The specific functions and processing of the acquisition unit 102 refer to step S110.

[0083] The control unit 104 is configured to execute the position estimation strategy of the speed loop based on the full-dimensional state observer and the phase-locked loop according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor in the control of the speed loop of the motor, so as to determine the speed signal of the rotor of the motor and determine the angle signal of the rotor of the motor. The specific functions and processing of the control unit 104 refer to step S120.

[0084] The control unit 104 is further configured to automatically compensate and control the d-axis current of the motor in combination with the speed signal of the motor rotor and the angle signal of the motor rotor in the control of the current loop of the motor, so that the output voltage of the motor is within the set voltage range, the stability of the motor output voltage is ensured, and the normal output of the torque of the motor is achieved, thereby protecting the safety of the motor and the electronic control. The specific functions and processing of the control unit 104 are also referred to step S130.

[0085] The solution of the present invention proposes a position estimation strategy based on a full-dimensional state observer and a phase-locked loop, which realizes precise control of the on-board permanent magnet synchronous motor. At the same time, through the automatic compensation control method of the d-axis current component, the stable control of the motor terminal voltage is realized, the normal operation requirements of the whole vehicle are met, and the normal output of the motor torque is realized. Through the position estimation method and automatic compensation control strategy of the permanent magnet synchronous motor, the precise control of the motor can be guaranteed in the case of a resolver sensor failure, ensuring the safe operation of the whole vehicle.

[0086] In some implementations, the control unit 104 executes the position estimation strategy of the speed loop based on the full-dimensional state observer and the phase-locked loop according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor to determine the speed signal of the rotor of the motor and determine the angle signal of the rotor of the motor, including: The control unit 104 is further configured to determine the stator current component and the stator voltage component of the motor in the αβ axis coordinate system according to the three-phase current and the three-phase voltage of the motor. The specific functions and processing of the control unit 104 are also shown in step S210.

[0087] The control unit 104 is further configured to establish the full-dimensional state observer according to the stator current component and the stator voltage component of the motor in the αβ axis coordinate system. The specific functions and processing of the control unit 104 are also shown in step S220.

[0088] The control unit 104 is further configured to obtain the estimated back electromotive force component (such as the back electromotive force) of the motor in the αβ axis coordinate system based on the full-dimensional state observer. ). The specific functions and processing of the control unit 104 also refer to step S230.

[0089] The control unit 104 is further configured to obtain a speed signal (such as a rotor angular velocity) of the rotor of the motor through the phase-locked loop based on the estimated back electromotive force component of the motor in the αβ axis coordinate system. ), and determine the angle signal of the motor's rotor (such as the rotor position angle ). The specific functions and processing of the control unit 104 also refer to step S240.

[0090] Figure 7 The control block diagram of the control method of the permanent magnet synchronous motor for new energy vehicles of the present invention includes two parts: automatic compensation control and position estimation strategy. The solution of the present invention does not require a position sensor, such as Figure 7 As shown, through the αβ axis coordinate system Establish a full-dimensional state observer to obtain the estimated back EMF of the system , and then pass through the PLL phase-locked loop to obtain the speed signal and angle signal of the motor. The speed signal is used for table lookup, and the angle signal is used for coordinate transformation. At the same time, since the current signals Idref and Iqref (i.e., the given currents of the d and q axes) obtained by the conventional table lookup method are fixed values, but the motor parameters are greatly affected by the motor temperature, there will be the disadvantage of large fluctuations in the motor terminal voltage, and even shutdown due to imbalance. Therefore, the solution of the present invention, on the basis of table lookup, carries out an automatic calculation control method based on the d-axis current component. If the voltage finally output by the system after table lookup exceeds the required modulation voltage, the d-axis current is reduced and the motor terminal voltage is reduced, thereby ensuring the stability of the motor output voltage, thereby protecting the safety of the motor and the electronic control.

[0091] In some embodiments, the state equation of the full-dimensional state observer is as follows: ; ; in, , are the components of the three-phase current of the stator of the motor on the α and β axes, for , The reconstruction current, , for The derivation of , ; , are the components of the three-phase voltage of the stator of the motor on the α and β axes, is the component of the estimated electromotive force of the motor on the α and β axes, , for The derivative of L d , L q are the components of the stator inductance of the motor on the d and q axes, respectively, is the stator resistance of the motor; is the actual angular velocity of the motor, is the given angular velocity of the motor; H is the feedback matrix, , , , , , are all elements of H.

[0092] Figure 8 The following is a flow chart of the calculation steps for the observer to obtain the velocity and angle. Figure 8 As shown in Figure 2, the specific implementation process of the full-dimensional state observer to obtain the speed and angle includes: Step 1: Establish the motor voltage equation based on the αβ axis coordinate system: (1); in, , , are the components of the motor back electromotive force on the α and β axes, respectively, where ; , are the components of the stator voltage on the α and β axes respectively; , are the components of the stator current on the α and β axes respectively; L d , L q are the components of the stator inductance on the d and q axes respectively; is the stator resistance; is the permanent magnet flux; is the motor angular velocity; p is the differential operator ; E x0 is the component of the motor back electromotive force on the α and β axes (i.e. )’s amplitude.

[0093] According to the motor voltage equation based on the αβ axis coordinate system, the system model that needs to be observed can be obtained. Fig. 9 is the construction block diagram of the full-dimensional observer, such as Fig. 9 The specific state equation of the observed system model to be observed is as follows: (2); (3).

[0094] in, , , that is Fig. 9 The observed variables in ; similarly, the other dotted ones are the corresponding derivatives, and y is the variable matrix that can be directly measured , C is the coefficient matrix , u is the input variable matrix of the system ; A= 、B= , which are the coefficient matrices of x and u respectively. This is to establish Fig. 9 An observed system is shown, the observed system is: (4).

[0095] In practical applications, the motor model After transposing the terms, it can also be written as an equation of this form: (5).

[0096] The left formula is written in vector form for the convenience of writing later.

[0097] Step 2: Establish a full-order observation system and obtain the dynamic equation of the observer output.

[0098] In step 2, the feedback matrix H is defined, then the observer dynamic equation is , the system framework is as follows Fig. 9 As shown in the state observation system, the closed-loop system after state feedback can be obtained: (6).

[0099] in, The feedback term H is introduced as the reconstructed state of the observed state X. and X are nearly equivalent, but if the convergence rate is not reconstructed, it cannot be integrated as expected. Therefore, the method of full-dimensional state observation is to introduce the feedback matrix , forming a closed-loop system, and controlling the convergence speed through the H matrix. It is also a reconstruction of the output state y. for How to write the derivative of .

[0100] The system is asymptotically stable, controllable and observable, and its eigenvalues ​​have negative real parts, so we can define four eigenvalues ​​that are all in Department >0), so only need to adjust It can adjust the system convergence speed. The larger it is, the faster the convergence speed is, and the following characteristic polynomial can be obtained: (7).

[0101] Among them, following the necessary conditions for the convergence of the full-dimensional state observer, we know that the characteristic matrix The eigenvalue of has a negative real part, so we can define a value arbitrarily in the control is the eigenvalue of the negative real part. In actual control, by adjusting The size of can be used to control the convergence speed of the closed-loop system. That is the bandwidth that adjusts the system convergence speed. The expected value of the characteristic matrix, I is the identity matrix, that is: ; so: .

[0102] Since the characteristic polynomial has been set The characteristic value of ,therefore ,definition is the feedback matrix of the system, and the values ​​of each item in H are obtained by solving the characteristic polynomial.

[0103] Solving the above polynomial, formula (7), we can obtain: (8).

[0104] Substitution The observed dynamic equation can be obtained: (9).

[0105] in, , , , for Figure 7 middle , , Obtained through Clark transformation, so the estimated value can be obtained according to the above equation ; The measured current With the reconstruction of the current The difference, The measured current With the reconstruction of the current When the system is stable, the difference approaches zero. , is the current obtained by the reconstructed state observer The derivation of .

[0106] In the related schemes, the vehicle motor controller generally adopts a control method with a position sensor, such as Figure 6 As shown, a rotary transformer is installed on the motor to detect the angle and position of the motor, and the angle and speed of the motor are obtained by decoding chip or soft decoding. The obtained motor angle signal is used for the Park transformation and inverse Park transformation of the motor to realize the two-phase signal transformation between the rotating coordinate system (dq axis) and the fixed coordinate system (αβ axis); the obtained motor speed signal is used to look up the given torque signal table of the whole vehicle control to obtain the required given d and q axis current signals. The solution of the present invention proposes a control solution for a vehicle-mounted permanent magnet synchronous motor, which does not require a resolver device, obtains the motor speed and angle, can quickly and accurately track the motor output position, and realizes normal torque control.

[0107] In some implementations, the control unit 104 obtains the speed signal of the rotor of the motor through the phase-locked loop based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, and determines the angle signal of the rotor of the motor, including:

[0108] The control unit 104 is further configured to obtain a speed signal of the rotor of the motor through the phase-locked loop based on the estimated back electromotive force component of the motor in the αβ axis coordinate system. The specific functions and processing of the control unit 104 are also shown in step S310.

[0109] The control unit 104 is further configured to perform integration processing on the speed signal of the rotor of the motor to obtain the angle signal of the rotor of the motor. The specific functions and processing of the control unit 104 are also shown in step S320.

[0110] like Figure 8 As shown in the figure, the specific implementation process of the full-dimensional state observer to obtain the speed and angle also includes: Step three, get the speed and angle through the phase-locked loop.

[0111] Fig.10 The block diagram of the angle and speed calculation method based on the phase-locked loop is shown in Figure 2. , through the phase-locked loop Fig.10 As shown, the following relationship can be obtained: (10).

[0112] right Perform PI regulator processing to obtain the observed speed , and then integrate the speed to get the angle: (11).

[0113] Among them, K pK is the proportional control coefficient of the PI regulator. i is the coefficient of differential adjustment To find the symbol of the differential. is the angular velocity of the motor obtained by the observer. By differentiating the time, the rotor position angle used for control can be obtained . The actual current values ​​of the d and q axes are obtained by actual measurement respectively. Estimate the voltage at the motor terminals in the d and q axis coordinate system. are the components of the motor back electromotive force on the α and β axes, respectively. is the component of the motor back electromotive force on the α and β axes obtained after observation by the state observer, is the rotor position angle used for the final vector control, is the angle obtained after observation by the state observer. for The coefficient of . for and The difference.

[0114] In the solution of the present invention, based on the full-dimensional state observer, the back electromotive force estimated by the system is obtained. , and then the speed signal and angle signal of the motor are obtained through the PLL phase-locked loop. The speed signal is used for table lookup, and the angle signal is used for coordinate transformation, which can achieve fast and accurate tracking of the motor output position.

[0115] In some implementations, the control unit 104 automatically compensates the d-axis current of the motor in combination with the speed signal of the motor rotor and the angle signal of the motor rotor so that the output voltage of the motor is within a set voltage range, including:

[0116] The control unit 104 is further configured to obtain the d-axis given current and the q-axis given current of the motor according to the bus voltage of the motor and the speed signal of the rotor of the motor by looking up the table in a preset table lookup manner. The specific functions and processing of the control unit 104 are also shown in step S410.

[0117] The control unit 104 is further configured to perform PI processing on the d-axis given current and the q-axis given current of the motor to obtain the d-axis voltage and the q-axis voltage of the motor. The specific functions and processing of the control unit 104 are also shown in step S420.

[0118] The control unit 104 is further configured to obtain a compensation current of the d-axis current component of the motor according to the d-axis voltage and the q-axis voltage of the motor. The specific functions and processing of the control unit 104 are also shown in step S430.

[0119] The control unit 104 is further configured to determine the difference between the motor's d-axis given current and the compensation current of the motor's d-axis current component as the motor's current d-axis given current. The specific functions and processing of the control unit 104 are also shown in step S440.

[0120] The control unit 104 is further configured to control the current loop of the motor according to the current d-axis given current of the motor, the q-axis given current of the motor, and the angle signal of the rotor of the motor, so that the output voltage of the motor is within the set voltage range. The specific functions and processing of the control unit 104 are also shown in step S450.

[0121] In the scheme of the present invention, in the automatic calculation control based on the d-axis current component, if the voltage finally output by the system after table lookup exceeds the voltage required to be modulated, the d-axis current is reduced, the motor terminal voltage is lowered, and stable control of the motor terminal voltage is achieved to achieve normal torque control.

[0122] In some embodiments, the control unit 104 obtains the compensation current of the d-axis current component of the motor according to the d-axis voltage and the q-axis voltage of the motor, including: the control unit 104 is further configured to filter the d-axis voltage and the q-axis voltage of the motor in a preset manner, and then calculate according to the following formula to obtain the compensation current of the d-axis current component of the motor; ; ; Wherein, M is the modulation coefficient, Vdc is the bus voltage of the motor; is the difference between the estimated voltage and the given voltage of the motor, is a value after both the d-axis voltage and the q-axis voltage of the motor are filtered in a preset manner, is the proportionality coefficient, is the integration coefficient.

[0123] In the solution of the present invention, the specific method based on the automatic calculation of the d-axis current component is as follows: Figure 7 As shown, the signals of the d and q axis coordinate systems are processed. Low-pass filtering (LPF) is performed to filter out high-frequency interference of the current as feedback of the current loop; Perform low-pass filtering (LPF) on the filtered After the square root of the square root is taken, the bus terminal voltage is subtracted and multiplied by the voltage modulation coefficient, and the following relationship is obtained: (12).

[0124] Where, M is the modulation coefficient, Vdc is the bus voltage; is the difference between the estimated voltage at the motor end and the given voltage. After PI regulator processing, we get , the table obtained minus , when the system looks up the table to get When the output voltage is too high due to inaccuracy or temperature, this method can be used to reduce the d-axis current so that the motor terminal voltage will drop until it reaches a stable state, thereby ensuring that the motor terminal voltage is stable. In related schemes, the d-axis current compensation method is not used in the main drive control of electric vehicles, while the scheme of the present invention integrates the table lookup and d-axis current automatic compensation control for the first time.

[0125] The solution of the present invention is applied to the motor controller of new energy vehicles and is suitable for all occasions of main drive motor control of electric vehicles. In the solution of the present invention, no position sensor is used, and the speed and angle are directly observed by the position-free method; the observer solution: based on the full-dimensional state observer of back electromotive force, by configuring the system bandwidth To adjust the system stability and convergence speed + PLL phase lock; the torque control method used: torque control mode, achieved through table lookup + d-axis current compensation; using the full-dimensional (also called full-order) observer method, high-precision control is achieved by adjusting the system bandwidth, and at the same time, the table lookup + d-axis current compensation control method is used to achieve torque output and realize stable control of the motor.

[0126] In the scheme of the present invention, the position estimation strategy based on the full-dimensional state observation and the observer based on the scheme of the present invention can realize fast and accurate tracking of the motor output position (i.e., the rotor position of the motor), and realize accurate speed positioning to meet the high speed precision control requirements of the vehicle-mounted permanent magnet synchronous motor; there is no need for a rotary transformer to detect the position and speed, and the speed and angle are obtained by a position-free method, which is safe, reliable, and has lower cost. Furthermore, in the scheme of the present invention, the motor terminal voltage is stably controlled through the automatic compensation control scheme of the d-axis current component, making the motor terminal voltage more stable.

[0127] Since the processing and functions implemented by the device of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0128] According to an embodiment of the present invention, a vehicle corresponding to the control device for a motor for a vehicle is also provided. The vehicle may include: the control device for the motor for a vehicle as described above.

[0129] Since the processing and functions implemented by the vehicle of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned devices, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0130] According to an embodiment of the present invention, a computer program product corresponding to a vehicle is also provided, comprising a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for controlling a motor for a vehicle are implemented.

[0131] Since the processing and functions implemented by the product of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned vehicle, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0132] According to an embodiment of the present invention, a storage medium corresponding to a control method for a vehicle motor is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the control method for a vehicle motor described above.

[0133] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0134] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0135] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A method for controlling a motor for a vehicle, characterized in that: The motor has a stator and a rotor; the control system of the motor has a speed loop and a current loop; the position estimation strategy of the speed loop adopts a full-dimensional state observer and a phase-locked loop; The full-dimensional state observer is a closed-loop state observer established in advance based on the components of the three-phase current of the stator of the motor on the α and β axes, and the components of the three-phase voltage of the stator of the motor on the α and β axes; The control method of the vehicle motor includes: During the operation of the motor for the vehicle, obtaining a three-phase current of a stator of the motor and obtaining a three-phase voltage of the stator of the motor; In the control of the speed loop of the motor, according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor, a position estimation strategy of the speed loop is executed based on the full-dimensional state observer and the phase-locked loop to determine the speed signal of the rotor of the motor and determine the angle signal of the rotor of the motor; In the control of the current loop of the motor, the d-axis current of the motor is automatically compensated and controlled in combination with the speed signal of the motor's rotor and the angle signal of the motor's rotor, so that the output voltage of the motor is within the set voltage range, and the normal output of the motor torque is achieved. In the event of a failure of the motor's resolver sensor, the output position of the motor is tracked and controlled, thereby ensuring the safe operation of the vehicle.

2. The control method for a motor for a vehicle according to claim 1, characterized in that: According to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor, the position estimation strategy of the speed loop is executed based on the full-dimensional state observer and the phase-locked loop to determine the speed signal of the rotor of the motor and determine the angle signal of the rotor of the motor, including: Determining a stator current component and a stator voltage component of the motor in an αβ axis coordinate system according to the three-phase current of the motor and the three-phase voltage of the motor; Establishing the full-dimensional state observer according to the stator current component and the stator voltage component of the motor in the αβ axis coordinate system; Based on the full-dimensional state observer, an estimated back electromotive force component of the motor in the αβ axis coordinate system is obtained; Based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, the speed signal of the rotor of the motor is obtained through the phase-locked loop, and the angle signal of the rotor of the motor is determined.

3. The control method for a motor for a vehicle according to claim 1, characterized in that: The state equation of the full-dimensional state observer is as follows: ； ； in, , are the components of the three-phase current of the stator of the motor on the α and β axes, for , The reconstruction current, , for The derivation of , ; , are the components of the three-phase voltage of the stator of the motor on the α and β axes, is the component of the estimated electromotive force of the motor on the α and β axes, , for The derivative of L d , L q are the components of the stator inductance of the motor on the d and q axes, respectively, is the stator resistance of the motor; is the actual angular velocity of the motor, is the given angular velocity of the motor; H is the feedback matrix, , , , , , are all elements of H.

4. The control method for a motor for a vehicle according to claim 2, characterized in that: Based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, a speed signal of the rotor of the motor is obtained through the phase-locked loop, and an angle signal of the rotor of the motor is determined, including: Based on the estimated back electromotive force component of the motor in the αβ axis coordinate system, a speed signal of the rotor of the motor is obtained through the phase-locked loop; The rotation speed signal of the rotor of the motor is integrated to obtain an angle signal of the rotor of the motor.

5. The control method for a motor for a vehicle according to any one of claims 1 to 4, characterized in that: Combining the speed signal of the rotor of the motor and the angle signal of the rotor of the motor, automatically compensating and controlling the d-axis current of the motor so that the output voltage of the motor is within a set voltage range, including: According to the bus voltage of the motor and the speed signal of the rotor of the motor, the d-axis given current and the q-axis given current of the motor are obtained by looking up the table according to a preset table lookup method; Performing PI processing on the d-axis given current and the q-axis given current of the motor respectively to obtain the d-axis voltage and the q-axis voltage of the motor; Obtaining a compensation current of a d-axis current component of the motor according to a d-axis voltage and a q-axis voltage of the motor; Determine the difference between the d-axis given current of the motor and the compensation current of the d-axis current component of the motor as the current d-axis given current of the motor; The current loop of the motor is controlled according to the current d-axis given current of the motor, the q-axis given current of the motor, and the angle signal of the rotor of the motor, so that the output voltage of the motor is within a set voltage range.

6. The control method for a motor for a vehicle according to claim 5, characterized in that: Obtaining a compensation current of a d-axis current component of the motor according to a d-axis voltage and a q-axis voltage of the motor, including: After filtering the d-axis voltage and the q-axis voltage of the motor in a preset manner, the compensation current of the d-axis current component of the motor is calculated according to the following formula; ； ； Wherein, M is the modulation coefficient, Vdc is the bus voltage of the motor; is the difference between the estimated voltage and the given voltage of the motor, is a value after both the d-axis voltage and the q-axis voltage of the motor are filtered in a preset manner, is the proportionality coefficient, is the integration coefficient.

7. A control device for a motor for a vehicle, characterized in that: The motor has a stator and a rotor; the control system of the motor has a speed loop and a current loop; the position estimation strategy of the speed loop adopts a full-dimensional state observer and a phase-locked loop; The full-dimensional state observer is a closed-loop state observer established in advance based on the components of the three-phase current of the stator of the motor on the α and β axes, and the components of the three-phase voltage of the stator of the motor on the α and β axes; The control device for the vehicle motor comprises: an acquisition unit configured to acquire a three-phase current of a stator of the motor and a three-phase voltage of the stator of the motor during operation of the motor for the vehicle; a control unit configured to, in the control of the speed loop of the motor, execute a position estimation strategy of the speed loop based on the full-dimensional state observer and the phase-locked loop according to the three-phase current of the stator of the motor and the three-phase voltage of the stator of the motor, so as to determine a speed signal of the rotor of the motor and determine an angle signal of the rotor of the motor; The control unit is further configured to perform automatic compensation control on the d-axis current of the motor in combination with the speed signal of the motor's rotor and the angle signal of the motor's rotor in the control of the motor's current loop, so that the output voltage of the motor is within a set voltage range, and the normal output of the motor torque is achieved. In the event of a failure of the motor's resolver sensor, the output position of the motor can be tracked and controlled, thereby ensuring the safe operation of the vehicle.

8. A vehicle, characterized in that: include: A control device for a motor for a vehicle as claimed in claim 7.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the control method for a motor for a vehicle according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for controlling a vehicle motor according to any one of claims 1 to 6 are implemented.

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