Motor controller busbar capacitance detection method, device, equipment and medium

Abstract

The present application relates to a method, device, equipment and medium for detecting the bus capacitance capacity of a motor controller, which is applied to the technical field of electric vehicles. The method includes: receiving a fast discharge instruction after disconnecting the high voltage, and executing fast discharge according to the fast discharge instruction; recording the initial voltage U1 of the bus capacitance before discharge; reading the angle of the motor rotor, and controlling the bus capacitance discharge by vector control according to the angle of the motor rotor; during the bus capacitance discharge process, periodically collecting the bus capacitance voltage, if it is greater than the target voltage U0, recording the actual current fed back by the three-phase motor, calculating the charge consumption of the bus capacitance based on the actual current accumulation, and controlling the bus capacitance discharge based on the actual current; if it is less than or equal to the target voltage U0, determining the end of discharge, and obtaining the final charge consumption Q; determining the bus capacitance capacity according to the formula: The present application can realize the detection of the bus capacitance capacity.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a method, device, equipment and medium for detecting the bus capacitance of a motor controller. Background Art

[0002] The bus capacitor of the electric vehicle motor controller is the core component of the motor controller. It can prevent the overcharging of the bus terminal voltage and the influence of the transient voltage on the motor controller, and protect the system from damage. The bus capacitor is also used to smooth the bus voltage to ensure that the bus voltage remains stable during the IGBT (Insulate-Gate Bipolar Transistor) switch operation. The bus capacitor can also weaken the peak voltage of the bus by reducing the inductance parameters of the line from the IGBT end to the power battery end in the motor controller. The bus capacitor can absorb the high pulse current of the bus end of the motor controller to ensure the stability of the system during high-speed switching. However, when the bus capacitor capacity is insufficient, it will cause damage to other components of the motor controller. Therefore, how to detect the bus capacitor capacity has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides a method, device, equipment and medium for detecting the bus capacitance of a motor controller.

[0004] According to a first aspect of the present application, a method for detecting bus capacitance of a motor controller is provided, comprising:

[0005] After the three-phase motor controller disconnects the high voltage, receiving a fast discharge instruction, and performing fast discharge according to the fast discharge instruction;

[0006] Record the initial voltage U1 of the bus capacitor before discharge;

[0007] Read the angle of the motor rotor and use vector control to control the discharge of the bus capacitor according to the angle of the motor rotor;

[0008] During the discharge process of the bus capacitor, the bus capacitor voltage is periodically collected;

[0009] When the bus capacitor voltage is greater than the target voltage U0, the actual current fed back by the three-phase motor is recorded, the charge consumption of the bus capacitor is calculated based on the actual current accumulation, and the discharge of the bus capacitor is controlled based on the actual current;

[0010] When the voltage of the bus capacitor is less than or equal to the target voltage U0, it is determined that the discharge is completed, and the final charge consumption Q is obtained;

[0011] Get the predetermined proportionality factor KL related to the motor inductance and use the formula: Determine the busbar capacitance C.

[0012] Optionally, controlling the discharge of the bus capacitor by a vector control method according to the angle of the motor rotor includes:

[0013] According to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage, Park inverse transformation and Clark inverse transformation are performed in sequence to determine the three-phase AC voltage, and space vector pulse width modulation (SVPWM) is performed according to the three-phase AC voltage to discharge the bus capacitor;

[0014] The actual current fed back by the three-phase motor includes: D-axis current;

[0015] The controlling the bus capacitor discharge based on the actual current comprises:

[0016] Based on the D-axis current and a preset D-axis current, adjusting the D-axis voltage by using a proportional-integral regulator;

[0017] According to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage, Park inverse transformation and Clark inverse transformation are performed in sequence to determine the three-phase AC voltage, and SVPWM generation is performed according to the three-phase AC voltage to make the D-axis current equal to the preset D-axis current.

[0018] Optionally, the method for determining the proportional coefficient KL related to the motor inductance includes:

[0019] After the three-phase motor controller disconnects the high voltage, receiving a fast discharge instruction, and performing fast discharge according to the fast discharge instruction;

[0020] Obtain the actual capacity C1 of the unused test capacitor and record the initial voltage U3 of the test capacitor before discharge;

[0021] Read the angle of the motor rotor, and use vector control to control the discharge of the test capacitor according to the angle of the motor rotor;

[0022] During the discharge process of the test capacitor, the voltage of the test capacitor is collected periodically;

[0023] When the test capacitor voltage is greater than the target voltage U2, the actual current fed back by the three-phase motor is recorded, the charge consumption of the test capacitor is calculated based on the actual current, and the discharge of the test capacitor is controlled based on the actual current;

[0024] When the voltage of the test capacitor is less than or equal to the target voltage U2, the discharge is determined to be completed, and the final charge consumption Q1 is obtained;

[0025] According to the formula: Determine the test capacity C2 of the test capacitor;

[0026] According to the formula: Determine the proportionality factor KL related to the motor inductance.

[0027] Optionally, the method for determining the proportional coefficient KL related to the motor inductance includes:

[0028] In the process of controlling the discharge of bus capacitor by vector control, the time T of closing the insulated gate bipolar transistor in any cycle is recorded. off , busbar capacitor voltage U C and the charging current i1 of the motor inductance;

[0029] According to the formula: A proportionality factor KL related to the motor inductance is determined, where L represents the motor inductance.

[0030] According to a second aspect of the present application, a motor controller bus capacitance detection device is provided, comprising:

[0031] A fast discharge module, used for receiving a fast discharge instruction after the three-phase motor controller disconnects the high voltage, and performing fast discharge according to the fast discharge instruction;

[0032] An initial voltage recording module is used to record the initial voltage U1 of the bus capacitor before discharge;

[0033] The bus capacitor discharge control module is used to read the angle of the motor rotor and control the bus capacitor discharge by vector control according to the angle of the motor rotor;

[0034] The voltage acquisition module is used to periodically acquire the bus capacitor voltage during the bus capacitor discharge process;

[0035] An actual current recording module, used for recording the actual current fed back by the three-phase motor when the bus capacitor voltage is greater than the target voltage U0;

[0036] A charge consumption calculation module, used for calculating the charge consumption of the bus capacitor based on the actual current accumulation;

[0037] The bus capacitor discharge control module is further used to control the bus capacitor discharge based on the actual current;

[0038] A charge consumption acquisition module is used to determine that the discharge is completed when the voltage of the bus capacitor is less than or equal to the target voltage U0, and to acquire the final charge consumption Q;

[0039] The busbar capacitance determination module is used to obtain a predetermined proportional coefficient KL related to the motor inductance, and according to the formula: Determine the busbar capacitance C.

[0040] Optionally, the bus capacitor discharge control module is specifically used to read the angle of the motor rotor, and perform Park inverse transformation and Clark inverse transformation in sequence according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage to determine the three-phase AC voltage, and perform space vector pulse width modulation SVPWM according to the three-phase AC voltage to discharge the bus capacitor;

[0041] The actual current fed back by the three-phase motor includes: D-axis current;

[0042] The bus capacitor discharge control module is specifically used to adjust the D-axis voltage using a proportional-integral regulator based on the D-axis current and the preset D-axis current; perform park inverse transformation and Clark inverse transformation in sequence according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage to determine the three-phase AC voltage, and perform SVPWM generation according to the three-phase AC voltage to make the D-axis current equal to the preset D-axis current.

[0043] Optionally, the device further comprises: a proportionality coefficient determination module;

[0044] The proportional coefficient determination module is used to receive a fast discharge instruction after the three-phase motor controller disconnects the high voltage, and perform fast discharge according to the fast discharge instruction; obtain the actual capacity C1 of the unused test capacitor, and record the initial voltage U3 of the test capacitor before discharge; read the angle of the motor rotor, and control the discharge of the test capacitor by vector control according to the angle of the motor rotor; during the discharge of the test capacitor, periodically collect the test capacitor voltage; when the test capacitor voltage is greater than the target voltage U2, record the actual current fed back by the three-phase motor, calculate the charge consumption of the test capacitor based on the actual current accumulation, and control the discharge of the test capacitor based on the actual current; when the voltage of the test capacitor is less than or equal to the target voltage U2, determine that the discharge is completed, and obtain the final charge consumption Q1; and,

[0045] According to the formula: Determine the test capacity C2 of the test capacitor; according to the formula: Determine the proportionality factor KL related to the motor inductance.

[0046] Optionally, the device further comprises: a proportionality coefficient determination module;

[0047] The proportional coefficient determination module is used to record the time T of closing the insulated gate bipolar transistor in any cycle during the process of controlling the discharge of the bus capacitor by vector control. off , busbar capacitor voltage U C and the charging current i1 of the motor inductor; and,

[0048] According to the formula: A proportionality factor KL related to the motor inductance is determined, where L represents the motor inductance.

[0049] According to a third aspect of the present application, an electronic device is provided, comprising: a processor, wherein the processor is configured to execute a computer program stored in a memory, wherein the computer program implements the method described in the first aspect when executed by the processor.

[0050] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect is implemented.

[0051] According to a fifth aspect of the present application, a computer program product is provided. When the computer program product is run on a computer, the computer is enabled to execute the method described in the first aspect.

[0052] Compared with the prior art, the technical solution provided by the embodiments of the present application has the following advantages:

[0053] After the three-phase motor controller disconnects the high voltage, the fast discharge instruction issued by the vehicle controller is used to perform fast discharge. During the bus capacitor discharge process, the actual current fed back by the three-phase motor is recorded, the charge consumption of the bus capacitor is calculated based on the actual current accumulation, and the bus capacitor discharge is controlled based on the actual current. Since there is a process of charging the motor inductance in this process, the actual charge consumption of the capacitor is the product of the cumulative charge consumption and KL, and KL is a proportional coefficient related to the motor inductance. The capacitor capacity is calculated based on the actual charge consumption of the capacitor and the voltage difference before and after the discharge. The embodiment of the present application uses the fast discharge function specified in the new energy national standard without adding any hardware to detect the bus capacitor capacity, so as to avoid damage to other components of the controller when the bus capacitor capacity is insufficient. The bus capacitor discharge is controlled by vector control, and the motor will not rotate due to the generation of torque. And the current closed-loop control can avoid control out of control. Using the inductance parameters of the permanent magnet synchronous motor, the total discharge charge is proportional to the bus capacitor current. Therefore, the proportional coefficient KL is used to calculate the capacitor capacity with higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0056] Figure 1 A flow chart of a method for detecting the bus capacitance of a motor controller in an embodiment of the present application;

[0057] Figure 2 This is a schematic diagram of the principle of vector controlled capacitor discharge in an embodiment of the present application;

[0058] Figure 3 This is an equivalent discharge diagram when the insulated gate bipolar transistor is turned on in the embodiment of the present application;

[0059] Figure 4 This is an equivalent charging diagram when the insulated gate bipolar transistor is disconnected in the embodiment of the present application;

[0060] Figure 5 A schematic diagram of the structure of a motor controller bus capacitance detection device in an embodiment of the present application;

[0061] Figure 6 A schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0064] Figure 1 A flow chart of a method for detecting the bus capacitance of a motor controller in an embodiment of the present application may include the following steps:

[0065] Step S102, after the three-phase motor controller disconnects the high voltage, a quick discharge instruction is received, and quick discharge is performed according to the quick discharge instruction.

[0066] After the three-phase motor controller disconnects the high voltage, the VCU (Vehicle Control Unit) will issue a quick discharge command. After receiving the quick discharge command, the controller executes quick discharge. The function of quick discharge is to quickly consume the power on the bus capacitor. In the embodiment of the present application, a motor controller is used to directly connect the motor, and the charge of the bus capacitor is consumed in the form of heat energy through the motor stator resistance.

[0067] Step S104, recording the initial voltage U1 of the bus capacitor before discharge.

[0068] During the discharge process of the bus capacitor, the charge of the bus capacitor will decrease, and accordingly, the bus capacitor voltage will also decrease. Therefore, the capacity of the bus capacitor can be determined by the reduction in charge and the reduction in voltage. The reduction in voltage is calculated by recording the initial voltage U1 of the bus capacitor before discharge and the target voltage U0 after the discharge. The reduction in charge is calculated by the actual current fed back by the three-phase motor during the discharge process. Among them, the target voltage U0 is a small voltage value close to 0, which can be set according to actual conditions.

[0069] Step S106, reading the angle of the motor rotor, and controlling the discharge of the bus capacitor by a vector control method according to the angle of the motor rotor.

[0070] The bus capacitor discharge is controlled by vector control. Park inverse transformation and Clark inverse transformation can be performed in sequence according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage to determine the three-phase AC voltage, and SVPWM (space vector pulse width modulation) is performed according to the three-phase AC voltage to discharge the bus capacitor.

[0071] Figure 2 Schematic diagram of the vector control capacitor discharge principle in the embodiment of the present application. Figure 2 As shown, the preset D-axis current Id is Iset, and the actual current fed back by the three-phase motor includes: the D-axis current Idfd. The D-axis current Idfd can be used to U ,I V ,I W The clark transformation and park transformation are performed in sequence. When the three-phase motor does not feed back the actual current, Idfd = 0, and the D-axis voltage can be adjusted based on Iset using the proportional integral regulator. According to the motor rotor angle θ, the D-axis voltage Ud and the Q-axis voltage Qq, the park inverse transformation and the Clark inverse transformation are performed in sequence to determine the three-phase AC voltage, and SVPWM is performed based on the three-phase AC voltage.

[0072] Step S108: periodically collecting the bus capacitor voltage during the bus capacitor discharge process.

[0073] During the discharge process of the bus capacitor, the bus capacitor voltage decreases continuously, so the bus capacitor voltage can be periodically collected to determine whether the discharge is completed.

[0074] Step S110, determining whether the bus capacitor voltage is greater than the target voltage U0.

[0075] When the bus capacitor voltage is greater than the target voltage U0, it is determined that the discharge is not completed, and step S112 is executed, that is, the bus capacitor discharge is continued; when the bus capacitor voltage is less than or equal to the target voltage U0, step S114 is executed.

[0076] Step S112, recording the actual current fed back by the three-phase motor, calculating the charge consumption of the bus capacitor based on the actual current accumulation, and controlling the discharge of the bus capacitor based on the actual current.

[0077] like Figure 2 As shown, when the three-phase motor feeds back the actual current, the D-axis voltage can be adjusted by a proportional-integral regulator based on the D-axis current and the preset D-axis current; according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage, the park inverse transformation and the Clark inverse transformation are performed in sequence to determine the three-phase AC voltage, and SVPWM generation is performed according to the three-phase AC voltage to make the D-axis current equal to the preset D-axis current.

[0078] Step S114, determining that the discharge is completed, and obtaining the final charge consumption Q.

[0079] Step S116, obtaining a predetermined proportionality coefficient KL related to the motor inductance, and according to the formula: Determine the busbar capacitance C.

[0080] During the discharge process of the bus capacitor, it is necessary to control the insulated gate bipolar transistor to turn on and off, such as Figure 3 and Figure 4 When the insulated gate bipolar transistor is turned on, there is a process of charging the motor inductance, and when the insulated gate bipolar transistor is turned off, there is a process of discharging the motor inductance. Therefore, the actual charge consumption of the capacitor is the product of the cumulative charge consumption and KL, where KL is a proportional coefficient related to the motor inductance. In some embodiments, the proportional coefficient KL can be determined according to the motor inductance, as follows:

[0081] When the insulated gate bipolar transistor is turned on, the relationship is satisfied: U C =i1R+Li1T on .U C represents capacitor voltage, i1 represents charging current, R represents motor resistance, L represents motor inductance, T on Indicates the time to turn on the insulated gate bipolar transistor.

[0082] When the insulated gate bipolar transistor is turned off, the relationship is satisfied: U L =U C +i2R+Li2T off .U L represents the inductor voltage, i2 represents the discharge current, T off Indicates the time to turn off the insulated gate bipolar transistor.

[0083] When the charging current i1 remains unchanged, the larger the motor inductance, the more energy is stored. When the inductance discharges, the more energy is stored and the larger the discharge current i2. The charging current i1 and the discharge current i2 satisfy the following relationship:

[0084]

[0085] In the process of controlling the discharge of bus capacitor by vector control, the time T of closing the insulated gate bipolar transistor in any cycle is recorded. off , busbar capacitor voltage U C And the charging current i1 of the motor inductance.

[0086] Actual current during bus capacitor discharge That is, there is a proportionality coefficient KL between the actual current i and the charging current. Since R is relatively small, Li1T on Much larger than i1R, it can be considered Furthermore, we can get

[0087] According to the formula: A proportionality factor KL related to the motor inductance is determined, where L represents the motor inductance.

[0088] In some embodiments, the proportionality coefficient KL may also be determined by experiment, as follows:

[0089] After the three-phase motor controller disconnects the high voltage, it receives a fast discharge instruction and executes fast discharge according to the fast discharge instruction. Obtain the actual capacity C1 of the unused test capacitor. Since the test capacitor has not been used, the actual capacity C1 is the accurate capacitance. Record the initial voltage U3 of the test capacitor before discharge. Read the angle of the motor rotor, and use vector control to control the discharge of the test capacitor according to the angle of the motor rotor; during the discharge of the test capacitor, periodically collect the test capacitor voltage; when the test capacitor voltage is greater than the target voltage U2, record the actual current fed back by the three-phase motor, calculate the charge consumption of the test capacitor based on the actual current accumulation, and control the discharge of the test capacitor based on the actual current; when the voltage of the test capacitor is less than or equal to the target voltage U2, determine that the discharge is over, and obtain the final charge consumption Q1;

[0090] According to the formula: Determine the test capacity C2 of the test capacitor. The proportionality factor KL is not considered in the calculation process of the test capacity C2. Therefore, according to the formula: Determine the proportionality factor KL related to the motor inductance.

[0091] The motor controller bus capacitance detection method of the embodiment of the present application, after the three-phase motor controller disconnects the high voltage, uses the fast discharge instruction issued by the vehicle controller to perform fast discharge. During the bus capacitance discharge process, the actual current of the three-phase motor feedback is recorded, the charge consumption of the bus capacitance is calculated based on the actual current accumulation, and the bus capacitance discharge is controlled based on the actual current. Since there is a process of charging the motor inductance in this process, the actual charge consumption of the capacitor is the product of the cumulative charge consumption and KL, and KL is a proportional coefficient related to the motor inductance. The capacitance is calculated based on the actual charge consumption of the capacitor and the voltage difference before and after the discharge. The embodiment of the present application uses the fast discharge function specified in the new energy national standard without adding any hardware to realize the detection of the bus capacitance capacity, so as to avoid damage to other components of the controller when the bus capacitance capacity is insufficient. The bus capacitance discharge is controlled by vector control, and the motor rotation will not be caused by the generation of torque. And the use of current closed-loop control can avoid control out of control. Using the inductance parameters of the permanent magnet synchronous motor, there is a proportional relationship between the total discharge charge and the bus capacitance current. Therefore, the capacitance can be calculated with higher accuracy using the proportionality coefficient KL.

[0092] Corresponding to the above method embodiment, the present application embodiment also provides a motor controller bus capacitance detection device, see Figure 5 The motor controller bus capacitance detection device 500 comprises:

[0093] The fast discharge module 502 is used to receive a fast discharge instruction after the three-phase motor controller disconnects the high voltage, and perform fast discharge according to the fast discharge instruction;

[0094] An initial voltage recording module 504 is used to record the initial voltage U1 of the bus capacitor before discharge;

[0095] The bus capacitor discharge control module 506 is used to read the angle of the motor rotor and control the bus capacitor discharge by vector control according to the angle of the motor rotor;

[0096] The voltage acquisition module 508 is used to periodically acquire the bus capacitor voltage during the bus capacitor discharge process;

[0097] The actual current recording module 510 records the actual current fed back by the three-phase motor when the bus capacitor voltage is greater than the target voltage U0;

[0098] A charge consumption calculation module 512, used to calculate the charge consumption of the bus capacitor based on the actual current accumulation;

[0099] The bus capacitor discharge control module 506 is further used to control the bus capacitor discharge based on the actual current;

[0100] The charge consumption acquisition module 514 is used to determine that the discharge is completed when the voltage of the bus capacitor is less than or equal to the target voltage U0, and to acquire the final charge consumption Q;

[0101] The bus capacitance determination module 516 is used to obtain a predetermined proportionality coefficient KL related to the motor inductance, and calculate the value according to the formula: Determine the busbar capacitance C.

[0102] Optionally, the bus capacitor discharge control module 506 is specifically used to read the angle of the motor rotor, and perform Park inverse transformation and Clark inverse transformation in sequence according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage to determine the three-phase AC voltage, and perform space vector pulse width modulation SVPWM according to the three-phase AC voltage to discharge the bus capacitor;

[0103] The actual current fed back by the three-phase motor includes: D-axis current;

[0104] The bus capacitor discharge control module 506 is specifically used to adjust the D-axis voltage using a proportional-integral regulator based on the D-axis current and the preset D-axis current; perform park inverse transformation and Clark inverse transformation in sequence according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage to determine the three-phase AC voltage, and perform SVPWM generation according to the three-phase AC voltage to make the D-axis current equal to the preset D-axis current.

[0105] Optionally, the motor controller bus capacitance detection device 500 further includes: a proportionality coefficient determination module;

[0106] A proportional coefficient determination module is used to receive a fast discharge instruction after the three-phase motor controller disconnects the high voltage, and perform fast discharge according to the fast discharge instruction; obtain the actual capacity C1 of the unused test capacitor, and record the initial voltage U3 of the test capacitor before discharge; read the angle of the motor rotor, and control the discharge of the test capacitor by vector control according to the angle of the motor rotor; during the discharge of the test capacitor, periodically collect the test capacitor voltage; when the test capacitor voltage is greater than the target voltage U2, record the actual current fed back by the three-phase motor, calculate the charge consumption of the test capacitor based on the actual current accumulation, and control the discharge of the test capacitor based on the actual current; when the voltage of the test capacitor is less than or equal to the target voltage U2, determine that the discharge is completed, and obtain the final charge consumption Q1; and,

[0107] According to the formula: Determine the test capacity C2 of the test capacitor; according to the formula: Determine the proportionality factor KL related to the motor inductance.

[0108] Optionally, the motor controller bus capacitance detection device 500 further includes: a proportionality coefficient determination module;

[0109] The proportional coefficient determination module is used to record the time T of closing the insulated gate bipolar transistor in any cycle during the process of controlling the discharge of the bus capacitor by vector control. off , busbar capacitor voltage U C and the charging current i1 of the motor inductor; and,

[0110] According to the formula: A proportionality factor KL related to the motor inductance is determined, where L represents the motor inductance.

[0111] The specific details of each module or unit in the above device have been described in detail in the corresponding method, so they will not be repeated here.

[0112] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0113] An embodiment of the present application also provides an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above-mentioned motor controller bus capacitance detection method in this example implementation.

[0114] Reference Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0115] like Figure 6 As shown, the electronic device may include: a processor 602 , a communication interface 604 , a memory 606 , and a communication bus 608 .

[0116] The processor 602 , the communication interface 604 , and the memory 606 communicate with each other via a communication bus 608 .

[0117] The communication interface 604 is used to communicate with other electronic devices or servers.

[0118] The processor 602 is used to execute the program 610, and specifically can execute the relevant steps in the above method embodiment.

[0119] Specifically, the program 610 may include program codes, which include computer operation instructions.

[0120] The processor 602 may be a central processing unit, or a specific integrated circuit, or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0121] The memory 606 is used to store the program 610. The memory 606 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0122] The program 610 can be specifically used to enable the processor 602 to execute the steps in the above-mentioned motor controller bus capacitance detection method embodiment.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the aforementioned method embodiments and will not be repeated here.

[0124] A computer-readable storage medium is also provided in an embodiment of the present application, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned motor controller bus capacitance detection method is implemented.

[0125] It should be noted that the computer-readable storage medium shown in the present application may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, radio frequency, etc., or any suitable combination of the above.

[0126] In an embodiment of the present application, a computer program product is also provided. When the computer program product is run on a computer, the computer executes the above-mentioned motor controller bus capacitance detection method.

[0127] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0128] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting the bus capacitance of a motor controller, characterized in that: include: After the three-phase motor controller disconnects the high voltage, receiving a fast discharge instruction, and performing fast discharge according to the fast discharge instruction; Record the initial voltage U1 of the bus capacitor before discharge; Read the angle of the motor rotor and use vector control to control the discharge of the bus capacitor according to the angle of the motor rotor; During the discharge process of the bus capacitor, the bus capacitor voltage is periodically collected; When the bus capacitor voltage is greater than the target voltage U0, the actual current fed back by the three-phase motor is recorded, the charge consumption of the bus capacitor is calculated based on the actual current accumulation, and the discharge of the bus capacitor is controlled based on the actual current; When the voltage of the bus capacitor is less than or equal to the target voltage U0, it is determined that the discharge is completed, and the final charge consumption Q is obtained; Get the predetermined proportionality factor KL related to the motor inductance and use the formula: Determine the busbar capacitance C.

2. The method according to claim 1, characterized in that The method of controlling the discharge of the bus capacitor by a vector control method according to the angle of the motor rotor includes: According to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage, Park inverse transformation and Clark inverse transformation are performed in sequence to determine the three-phase AC voltage, and space vector pulse width modulation (SVPWM) is performed according to the three-phase AC voltage to discharge the bus capacitor; The actual current fed back by the three-phase motor includes: D-axis current; The controlling the bus capacitor discharge based on the actual current comprises: Based on the D-axis current and a preset D-axis current, adjusting the D-axis voltage by using a proportional-integral regulator; According to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage, Park inverse transformation and Clark inverse transformation are performed in sequence to determine the three-phase AC voltage, and SVPWM generation is performed according to the three-phase AC voltage to make the D-axis current equal to the preset D-axis current.

3. The method according to claim 1, characterized in that The method for determining the proportional coefficient KL related to the motor inductance includes: After the three-phase motor controller disconnects the high voltage, receiving a fast discharge instruction, and performing fast discharge according to the fast discharge instruction; Obtain the actual capacity C1 of the unused test capacitor and record the initial voltage U3 of the test capacitor before discharge; Read the angle of the motor rotor, and use vector control to control the discharge of the test capacitor according to the angle of the motor rotor; During the discharge process of the test capacitor, the test capacitor voltage is periodically collected; When the test capacitor voltage is greater than the target voltage U2, the actual current fed back by the three-phase motor is recorded, the charge consumption of the test capacitor is calculated based on the actual current, and the discharge of the test capacitor is controlled based on the actual current; When the voltage of the test capacitor is less than or equal to the target voltage U2, the discharge is determined to be completed, and the final charge consumption Q1 is obtained; According to the formula: Determine the test capacity C2 of the test capacitor; According to the formula: Determine the proportionality factor KL related to the motor inductance.

4. The method according to claim 1, characterized in that: The method for determining the proportional coefficient KL related to the motor inductance includes: In the process of controlling the discharge of bus capacitor by vector control, the time T of closing the insulated gate bipolar transistor in any cycle is recorded. off , busbar capacitor voltage U C and the charging current i1 of the motor inductance; According to the formula: A proportionality factor KL related to the motor inductance is determined, where L represents the motor inductance.

5. A motor controller busbar capacitance detection device, characterized in that: The device comprises: A fast discharge module, used for receiving a fast discharge instruction after the three-phase motor controller disconnects the high voltage, and performing fast discharge according to the fast discharge instruction; An initial voltage recording module is used to record the initial voltage U1 of the bus capacitor before discharge; The bus capacitor discharge control module is used to read the angle of the motor rotor and control the bus capacitor discharge by vector control according to the angle of the motor rotor; The voltage acquisition module is used to periodically acquire the bus capacitor voltage during the bus capacitor discharge process; An actual current recording module, used for recording the actual current fed back by the three-phase motor when the bus capacitor voltage is greater than the target voltage U0; A charge consumption calculation module, used for calculating the charge consumption of the bus capacitor based on the actual current accumulation; The bus capacitor discharge control module is further used to control the bus capacitor discharge based on the actual current; A charge consumption acquisition module is used to determine that the discharge is completed when the voltage of the bus capacitor is less than or equal to the target voltage U0, and to acquire the final charge consumption Q; The busbar capacitance determination module is used to obtain a predetermined proportional coefficient KL related to the motor inductance, and according to the formula: Determine the busbar capacitance C.

6. The device according to claim 5, characterized in that The bus capacitor discharge control module is specifically used to read the angle of the motor rotor, and perform Park inverse transformation and Clark inverse transformation in sequence according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage to determine the three-phase AC voltage, and perform space vector pulse width modulation SVPWM according to the three-phase AC voltage to discharge the bus capacitor; The actual current fed back by the three-phase motor includes: D-axis current; The bus capacitor discharge control module is specifically used to adjust the D-axis voltage using a proportional-integral regulator based on the D-axis current and the preset D-axis current; perform park inverse transformation and Clark inverse transformation in sequence according to the angle of the motor rotor, the D-axis voltage and the Q-axis voltage to determine the three-phase AC voltage, and perform SVPWM generation according to the three-phase AC voltage to make the D-axis current equal to the preset D-axis current.

7. The device according to claim 5, characterized in that The device also includes: a proportionality coefficient determination module; The proportional coefficient determination module is used to receive a fast discharge instruction after the three-phase motor controller disconnects the high voltage, and perform fast discharge according to the fast discharge instruction; obtain the actual capacity C1 of the unused test capacitor, and record the initial voltage U3 of the test capacitor before discharge; read the angle of the motor rotor, and control the discharge of the test capacitor by vector control according to the angle of the motor rotor; during the discharge of the test capacitor, periodically collect the test capacitor voltage; when the test capacitor voltage is greater than the target voltage U2, record the actual current fed back by the three-phase motor, calculate the charge consumption of the test capacitor based on the actual current accumulation, and control the discharge of the test capacitor based on the actual current; when the voltage of the test capacitor is less than or equal to the target voltage U2, determine that the discharge is completed, and obtain the final charge consumption Q1; and, According to the formula: Determine the test capacity C2 of the test capacitor; according to the formula: Determine the proportionality factor KL related to the motor inductance.

8. The device according to claim 5, characterized in that The device also includes: a proportionality coefficient determination module; The proportional coefficient determination module is used to record the time T of closing the insulated gate bipolar transistor in any cycle during the process of controlling the discharge of the bus capacitor by vector control. off , busbar capacitor voltage U C and the charging current i1 of the motor inductor; and, According to the formula: A proportionality factor KL related to the motor inductance is determined, where L represents the motor inductance.

9. An electronic device, characterized in that: include: A processor, wherein the processor is used to execute a computer program stored in a memory, wherein the computer program, when executed by the processor, implements the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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