Motor locked-rotor control method and device, electronic equipment, storage medium and vehicle

Abstract

The invention provides a locked-rotor control method of a motor. The method comprises the following steps: acquiring temperatures of all power switch tubes in the motor; determining a temperature maximum value in the temperatures of all the power switch tubes, and determining whether the temperature maximum value exceeds a preset early warning threshold value or not; under the condition that it is determined that the maximum temperature value exceeds the preset early warning threshold value, the adjustment coefficient conducts non-uniform modulation on the action time of the first zero vector and the second zero vector, and the conduction duration of the first zero vector and the conduction duration of the second zero vector in one switching period are in negative correlation. Non-equally-divided modulation is carried out on the action time of the first zero vector and the second zero vector through the adjustment coefficient, the different action time of the first zero vector and the second zero vector has different losses on the power switch tube, and non-equally-divided modulation is carried out on the action time of the first zero vector and the second zero vector, so that the losses of the power switch tube can be reduced; under the condition that a power switch tube with higher power is not replaced, the motor controller outputs larger current under the locked-rotor condition, and the locked-rotor capability of the motor controller is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a motor stall control method, device, electronic equipment, storage medium and vehicle. Background Art

[0002] The vehicle's motor controller usually has stall requirements, such as a 30-second stall torque capability, to cope with the stall conditions that the vehicle may encounter, such as being stuck by a rock or a pit, starting on a slope, etc.; or, to provide the driver with a different driving experience, such as launch control.

[0003] When the rotor is stalled, the wheels no longer rotate and the position signal of the motor controller remains at a fixed phase angle. At this time, the output current of the motor controller changes from three-phase AC to three-phase DC. The output three-phase DC is different for different stall phase angles. The working state of the motor controller is different at different stall positions. Usually, when the stall position is at the positive peak or negative peak current position of any of the three phases, the heat generation of the motor controller is the worst.

[0004] At present, the corresponding power device is often selected based on the peak current (positive peak current or negative peak current) requirement, and then the stalling capability is evaluated. When it is determined that the stalling capability does not meet the requirement, a more powerful power device is replaced, which increases the cost. Summary of the invention

[0005] The present disclosure provides a motor stall control method, device, electronic device, storage medium and vehicle to solve the problems in the related art.

[0006] A first aspect of the present disclosure provides a method for controlling a stalled rotor of a motor, the method comprising:

[0007] Under the locked-rotor condition, obtain the temperature of all power switch tubes in the motor;

[0008] Determine a maximum temperature among the temperatures of all the power switch tubes, and determine whether the maximum temperature exceeds a preset warning threshold;

[0009] When it is determined that the maximum temperature exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is unequally modulated by adjusting the coefficient, and the conduction time of the first zero vector and the second zero vector is negatively correlated within a switching cycle.

[0010] In some embodiments, the non-uniformly modulating the action time of the first zero vector and the second zero vector by adjusting the coefficient includes:

[0011] The first coefficient corresponding to the first zero vector is adjusted to be larger to obtain the action time of the modulated first zero vector, wherein the adjustment coefficient includes the first coefficient and the second coefficient;

[0012] The second coefficient corresponding to the second zero vector is adjusted down to obtain the action time of the modulated second zero vector, and the action time of the modulated second zero vector is less than the action time of the modulated first zero vector.

[0013] In some embodiments, the non-uniformly modulating the action time of the first zero vector and the second zero vector by adjusting the coefficient includes:

[0014] Determining the adjustment coefficient based on a preset adjustment algorithm;

[0015] The action time of the first zero vector and the second zero vector is unequally modulated by adjusting the coefficient.

[0016] In some embodiments, the first zero vector is a 000 vector, and the second zero vector is a 111 vector;

[0017] The non-uniform modulation of the action time of the first zero vector and the second zero vector by adjusting the coefficient comprises:

[0018] The action time of the 000 vector and the 111 vector is non-uniformly modulated by the adjustment coefficient.

[0019] In some embodiments, the non-uniformly modulating the action time of the 000 vector and the 111 vector by using the adjustment coefficient includes:

[0020] The action time of the 000 vector and the 111 vector is non-uniformly modulated by a preset zero vector allocation algorithm;

[0021] The preset zero vector allocation algorithms include:

[0022]

[0023] Among them, T X With T y To calculate the action time of two adjacent vectors of the target vector, T s is the switching period, k is the adjustment coefficient, 0 <k<1。

[0024] In some embodiments, obtaining the temperature of all power switch tubes in the motor includes:

[0025] The temperatures of all power switch tubes in the motor are calculated in real time using a preset estimation algorithm.

[0026] In some embodiments, the method further comprises:

[0027] A switching signal corresponding to the controller three is generated according to the action time of the modulated first zero vector and the second zero vector.

[0028] A second aspect of the present disclosure provides a motor stall control device, the device comprising:

[0029] An acquisition unit is used to acquire the temperature of all power switch tubes in the motor under a stall condition;

[0030] A first determining unit, configured to determine a maximum temperature among the temperatures of all the power switch tubes;

[0031] A second determination unit, used to determine whether the maximum temperature exceeds a preset warning threshold;

[0032] A modulation unit is used to perform unequal modulation on the action time of the first zero vector and the second zero vector by adjusting the coefficient when it is determined that the maximum temperature exceeds the preset warning threshold, and the conduction time of the first zero vector and the second zero vector are negatively correlated within a switching cycle.

[0033] In some embodiments, the modulation unit comprises:

[0034] a processing module, configured to increase a first coefficient corresponding to the first zero vector to obtain an action time of the modulated first zero vector, wherein the adjustment coefficient includes the first coefficient and a second coefficient;

[0035] The processing module is also used to reduce the second coefficient corresponding to the second zero vector to obtain the action time of the modulated second zero vector, and the action time of the modulated second zero vector is less than the action time of the modulated first zero vector.

[0036] In some embodiments, the modulation unit comprises:

[0037] A determination module, configured to determine the adjustment coefficient based on a preset adjustment algorithm;

[0038] The modulation module is used to perform non-uniform modulation on the action time of the first zero vector and the second zero vector by adjusting the coefficient.

[0039] In some embodiments, the first zero vector is a 000 vector, and the second zero vector is a 111 vector;

[0040] The modulation module is also used for:

[0041] The action time of the 000 vector and the 111 vector is non-uniformly modulated by the adjustment coefficient.

[0042] In some embodiments, the modulation module is further configured to include:

[0043] The action time of the 000 vector and the 111 vector is non-uniformly modulated by a preset zero vector allocation algorithm;

[0044] The preset zero vector allocation algorithms include:

[0045]

[0046] Among them, T X With T y To calculate the action time of two adjacent vectors of the target vector, T s is the switching period, k is the adjustment coefficient, 0 <k<1。

[0047] In some embodiments, the acquisition unit includes:

[0048] The calculation module is used to calculate the temperature of all power switch tubes in the motor in real time through a preset estimation algorithm.

[0049] In some embodiments, the apparatus further comprises:

[0050] The generating unit is used to generate a switch signal corresponding to the controller three according to the action time of the modulated first zero vector and the second zero vector.

[0051] The third aspect embodiment of the present disclosure proposes a vehicle, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to: implement the method described in the first aspect embodiment of the present disclosure.

[0052] The fourth aspect embodiment of the present disclosure proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect embodiment of the present disclosure.

[0053] The fifth aspect embodiment of the present disclosure proposes a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor of the mobile terminal, the mobile terminal can execute the method described in the first aspect embodiment of the present disclosure.

[0054] In summary, according to the stall control method of the motor proposed in the present disclosure, the method includes obtaining the temperature of all power switch tubes in the motor under the stall condition; determining the maximum temperature among the temperatures of all the power switch tubes, and determining whether the maximum temperature exceeds the preset warning threshold; when it is determined that the maximum temperature exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is non-uniformly modulated by adjusting the coefficient, and the conduction time of the first zero vector and the second zero vector is negatively correlated in one switching cycle. In summary, when the maximum temperature among the temperatures of all the power switch tubes exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is non-uniformly modulated by adjusting the coefficient, and different action times of the first zero vector and the second zero vector have different effects on the loss of the power switch tube. Non-uniformly modulating the action time of the first zero vector and the second zero vector can reduce the loss of the power switch tube, so that the motor controller can output a larger current under the stall condition without replacing a higher power power switch tube, thereby improving the stall capability of the motor controller.

[0055] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0057] Figure 1 A flowchart of a motor stall control method provided by an embodiment of the present disclosure;

[0058] Figure 2 A flowchart of another motor stall control method provided by an embodiment of the present disclosure;

[0059] Figure 3 A flowchart of another motor stall control method provided by an embodiment of the present disclosure;

[0060] Figure 4 A schematic diagram of a target vector diagram provided by an embodiment of the present disclosure;

[0061] Figure 5 A schematic diagram of a timing diagram of a switching cycle provided by an embodiment of the present disclosure;

[0062] Figure 6 A schematic diagram of the structure of a motor stall control device provided in an embodiment of the present disclosure;

[0063] Figure 7A schematic diagram of the structure of another motor stall control device provided in an embodiment of the present disclosure;

[0064] Figure 8 A block diagram of a vehicle provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0065] Some embodiments of the present disclosure will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, modifications and equivalents of the methods, devices and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those orders set forth herein, but can be changed as becomes apparent after understanding the present disclosure, except for operations that must be performed in a specific order. In addition, for clarity and brevity, descriptions of features known in the art may be omitted.

[0066] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0067] The vehicle's motor controller usually has stall requirements, such as a 30-second stall torque capability, to cope with the stall conditions that the vehicle may encounter, such as being stuck by a rock or a pit, starting on a slope, etc.; or, to provide the driver with a different driving experience, such as launch control.

[0068] When the rotor is stalled, the wheels no longer rotate and the position signal of the motor controller remains at a fixed phase angle. At this time, the output current of the motor controller changes from three-phase AC to three-phase DC. The output three-phase DC is different for different stall phase angles. The working state of the motor controller is different at different stall positions. Usually, when the stall position is at the positive peak or negative peak current position of any of the three phases, the heat generation of the motor controller is the worst.

[0069] At present, the corresponding power device is often selected based on the peak current (positive peak current or negative peak current) requirement, and then the stalling capability is evaluated. When it is determined that the stalling capability does not meet the requirement, a more powerful power device is replaced, which increases the cost.

[0070] Therefore, in order to solve the problems existing in the related art, the present disclosure proposes a motor stall control method, under a stall condition, obtaining the temperatures of all power switch tubes in the motor; determining the maximum temperature among the temperatures of all the power switch tubes, and determining whether the maximum temperature exceeds a preset warning threshold; when it is determined that the maximum temperature exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is unequally modulated by adjusting the coefficient, and the conduction time of the first zero vector and the second zero vector is negatively correlated within a switching cycle.

[0071] When the maximum temperature of all power switch tube temperatures exceeds a preset warning threshold, the scheme performs non-uniform modulation on the action time of the first zero vector and the second zero vector by adjusting the coefficient. Different action times of the first zero vector and the second zero vector have different effects on the loss of the power switch tube. Non-uniform modulation on the action time of the first zero vector and the second zero vector can reduce the loss of the power switch tube, so that the motor controller can output a larger current in a stalled rotor condition without replacing a higher-power power switch tube, thereby improving the stalling capability of the motor controller.

[0072] The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0073] In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0074] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0075] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0076] In some embodiments, terms such as "in response to ...", "in response to determining ...", "in the case of ...", "at the time of ...", "when ...", "if ...", "if ...", etc. can be used interchangeably.

[0077] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0078] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only for distinguishing different description objects and do not constitute any restrictions on the position, order, priority, quantity or content of the description objects. For the statement of the description objects, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be constituted due to the use of prefixes.

[0079] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0080] In the embodiments of the present disclosure, terms such as "import", "input", and "read in" can be used interchangeably.

[0081] In some embodiments, devices, etc. can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

[0082] Figure 1This is a flow chart of a motor stall control method provided by an embodiment of the present disclosure. The method can be applied to terminals with motor stall function, such as electric vehicles, hybrid vehicles, electric two-wheeled vehicles and other terminals with motor stall function, and the present disclosure is not limited thereto. Figure 1 As shown, the motor stall control method includes steps 101-103.

[0083] Step 101, under a locked-rotor condition, obtaining the temperatures of all power switch tubes in the motor.

[0084] Stalling refers to the phenomenon that the motor cannot rotate due to external resistance (such as being stuck by a stone or starting on a slope), causing the motor's rotor to suddenly stop rotating, but the motor's stator winding is still energized.

[0085] The power switch tube refers to the semiconductor device used to control the current in the motor controller. The power switch tube is responsible for switching the current direction to drive the motor. When the rotor is blocked, the power switch tube will overheat due to the current not changing phase.

[0086] The temperature of the power switch tube is estimated by using the power chip in the motor controller based on the electrical characteristics of the power switch tube (such as current, voltage, conduction loss, switching loss, etc.). However, it should be clear that this statement does not limit the method of obtaining the temperature of the power switch tube to the above method, and the temperature of the power switch tube can also be obtained by other methods.

[0087] It should be noted that the temperature of the power switch tube can be obtained in real time in any scenario, not just in a locked-rotor condition.

[0088] When the motor is stalled, the current direction of the motor controller no longer changes, and the power switch tube may overheat. Real-time temperature monitoring can detect overheating risks in time and avoid damage to the power switch tube.

[0089] Step 102: determine the maximum temperature among the temperatures of all the power switch tubes, and determine whether the maximum temperature exceeds a preset warning threshold.

[0090] The power switch tube generates losses during operation, including but not limited to conduction loss and switching loss. The generation of losses is accompanied by the generation of temperature. Therefore, the higher the temperature of the power switch tube, the higher the loss of the power switch tube. The maximum temperature among the temperatures of all power switch tubes corresponds to the maximum loss. By determining whether the maximum temperature exceeds the preset warning threshold, it can be determined whether the loss of the power switch tube corresponding to the maximum temperature reaches the loss tolerance limit, so as to timely discover the loss risk of the power switch tube and avoid damage to the power switch tube. Among them, the preset warning threshold can be any value, and the embodiment of the present disclosure does not limit the specific value of the preset warning threshold.

[0091] To facilitate understanding, an example is provided. Suppose there are 6 power switch tubes, namely a1, a2, b1, b2, c1, and c2. The temperature of a1 is 150 degrees Celsius, the temperature of a2 is 155 degrees Celsius, the temperature of b1 is 160 degrees Celsius, the temperature of b2 is 165 degrees Celsius, the temperature of c1 is 175 degrees Celsius, and the temperature of c2 is 168 degrees Celsius. The preset warning threshold is 170 degrees Celsius. The maximum temperature is 175 degrees Celsius, which exceeds the preset warning threshold.

[0092] Step 103, when it is determined that the maximum temperature exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is unequally modulated by adjusting the coefficient, and the conduction time of the first zero vector and the second zero vector is negatively correlated within a switching cycle.

[0093] The adjustment coefficient is used to adjust the action time of the zero vector. The first zero vector refers to the state in which all the lower tubes of the three-phase bridge arm of the motor controller are turned on and all the upper tubes are turned off. In the seven-segment space vector pulse width modulation (SVPWM) technology, the first zero vector refers to the vector with a voltage vector amplitude of zero. The first zero vector usually refers to the 000 vector, that is, the voltage of all phases of the motor controller is zero. The second zero vector refers to the state in which all the upper tubes of the three-phase bridge arm of the motor controller are turned on and all the lower tubes are turned off. In the 7-segment SVPWM technology, the second zero vector usually refers to the 111 vector, that is, the voltage of all phases of the motor controller is high.

[0094] During the action time of the second zero vector, the power switch tube is continuously turned on, resulting in conduction loss. During the action time of the first zero vector, the power switch tube is turned off and there is no conduction loss. Therefore, by using the adjustment coefficient to reduce the action time of the second zero vector, the conduction loss of the power switch tube can be reduced. Since the conduction time of the first zero vector and the second zero vector are negatively correlated in one switching cycle, the action time of the second zero vector is reduced and the action time of the first zero vector will increase. During the action time of the first zero vector, the loss of the power switch tube itself is relatively low. Therefore, the increase in the action time of the first zero vector will not lead to a significant increase in the loss of the power switch tube.

[0095] The loss of the power switch tube is reduced, so that the power switch tube can approach the loss limit of the power switch tube with better power, thereby achieving that the motor controller can operate at a higher current without replacing a higher power power switch tube.

[0096] According to the stall control method of the motor proposed in the present disclosure, the method includes obtaining the temperature of all power switch tubes in the motor under the stall condition; determining the maximum temperature among the temperatures of all the power switch tubes, and determining whether the maximum temperature exceeds the preset warning threshold; when it is determined that the maximum temperature exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is non-uniformly modulated by adjusting the coefficient, and the conduction time of the first zero vector and the second zero vector is negatively correlated in one switching cycle. In summary, when the maximum temperature among the temperatures of all the power switch tubes exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is non-uniformly modulated by adjusting the coefficient, and different action times of the first zero vector and the second zero vector have different effects on the loss of the power switch tube. Non-uniformly modulating the action time of the first zero vector and the second zero vector can reduce the loss of the power switch tube, so that the motor controller can output a larger current under the stall condition without replacing a higher power power switch tube, thereby improving the stall capability of the motor controller.

[0097] In order to better understand the unequal modulation of the action time of the first zero vector and the second zero vector by adjusting the coefficient, Figure 2 The flowchart of a motor stall control method proposed in the present disclosure is further shown. Figure 1 The embodiment shown further explains step 103. Figure 2 The following steps may be included:

[0098] Step 201 , increasing the first coefficient corresponding to the first zero vector to obtain the action time of the modulated first zero vector, wherein the adjustment coefficient includes the first coefficient and the second coefficient.

[0099] The first coefficient refers to a parameter used to adjust the action time of the first zero vector. Since the first zero vector needs to be increased, the value of the first coefficient is greater than 1. The second coefficient refers to a parameter used to adjust the action time of the second zero vector. The action time cannot be a negative value. Therefore, the value range of the second coefficient is (0,1).

[0100] In order to facilitate a better understanding of increasing the first coefficient corresponding to the first zero vector, an example is provided. Assuming that the action time of the first zero vector is T1 and the first coefficient is 1.5, the action time of the modulated first zero vector is 1.5T1.

[0101] It should be noted that the values ​​of the first coefficient and the second coefficient may be fixed values, or the values ​​of the first coefficient and the second coefficient may be dynamically adjusted according to actual conditions.

[0102] Step 202, the second coefficient corresponding to the second zero vector is adjusted down to obtain the action time of the modulated second zero vector, wherein the action time of the modulated second zero vector is less than the action time of the modulated first zero vector.

[0103] In the related art, the action time of the first zero vector is the same as the action time of the second zero vector, and the conduction time of the first zero vector and the second zero vector are negatively correlated within a switching cycle. When the action time of the first zero vector and the second zero vector are unequally modulated, the action time of the first zero vector increases and the action time of the second zero vector decreases, so the action time of the modulated second zero vector is less than the action time of the modulated first zero vector.

[0104] In order to facilitate a better understanding of reducing the second coefficient corresponding to the second zero vector, an example is provided. Assuming that the action time of the second zero vector is T2 and the second coefficient is 0.5, the action time of the modulated second zero vector is 0.5T2.

[0105] By increasing the action time of the first zero vector and reducing the action time of the second zero vector, the loss of the power switch tube can be reduced and the energy efficiency of the power switch tube can be improved.

[0106] In order to better understand the unequal modulation of the action time of the first zero vector and the second zero vector by adjusting the coefficient, Figure 3 The flowchart of a motor stall control method proposed in the present disclosure is further shown. Figure 1 The embodiment shown further explains step 103. Figure 3 The following steps may be included:

[0107] Step 301: determine the adjustment coefficient based on a preset adjustment algorithm.

[0108] The preset adjustment algorithm includes but is not limited to a Proportional-Integral-Differentiation (PID) controller algorithm and a Bang-Bang (BB) control algorithm.

[0109] The calculation formula of the PID controller algorithm can be implemented by formula (1):

[0110]

[0111] Among them, u(t) is the adjustment coefficient, e(t) is the difference between the maximum temperature at time t and the preset warning threshold, K p is the proportional gain, K i is the integral gain, K dis the differential gain, e(τ) is the difference between the maximum temperature at time τ and the preset warning threshold, and t is the current time.

[0112] The BB control algorithm also calculates the adjustment coefficient based on the difference between the maximum temperature at time t and the preset warning threshold, which is similar to the calculation method of the PID controller algorithm and will not be elaborated in the embodiments of the present disclosure.

[0113] Step 302: Non-uniformly modulate the action time of the first zero vector and the second zero vector by adjusting the coefficient.

[0114] The preset adjustment algorithm can dynamically adjust the action time of the zero vector (000 and 111) according to the current temperature conditions, making the distribution of the action time of the first zero vector and the second zero vector more reasonable. Dynamic adjustment can ensure that the performance of the motor controller can be maintained at the best state under different working conditions.

[0115] In practical applications, the first zero vector is the 000 vector, and the second zero vector is the 111 vector. However, it should be clear that this statement is not intended to limit the first zero vector to only be the 000 vector and the second zero vector to only be the 111 vector. The first zero vector can also be other vectors, and the second zero vector can also be other vectors.

[0116] As a refinement of step 103, when performing the non-uniform modulation of the action time of the first zero vector and the second zero vector by the adjustment coefficient, it can also be implemented in the following manner but not limited to, the action time of the 000 vector and the 111 vector is non-uniformly modulated by the adjustment coefficient. By increasing the action time of the 000 vector and reducing the action time of the 111 vector, the losses between the power switch tubes are balanced to avoid local overheating.

[0117] As a refinement of the above embodiment, when performing the non-uniform modulation of the action time of the 000 vector and the 111 vector by the adjustment coefficient, it can be achieved by but not limited to the following method: the non-uniform modulation of the action time of the 000 vector and the 111 vector is performed by a preset zero vector allocation algorithm.

[0118] The preset zero vector allocation algorithm can be implemented by formula (2) and formula (3):

[0119]

[0120] Among them, T X With T y To calculate the action time of two adjacent vectors of the target vector, T s is the switching period, k is the adjustment coefficient, 0 <k<1。

[0121] In order to better understand the target vector, such as Figure 4 As shown, Figure 4 A target vector diagram is provided in an embodiment of the present disclosure. The target vector is a vector synthesized by a 100 vector and a 110 vector. However, it should be clear that this statement is not intended to limit the target vector to be synthesized only by a 100 vector and a 110 vector, and it can also be synthesized by other vectors.

[0122] In order to better understand the switching cycle, Figure 5 As shown, Figure 5 A timing diagram of a switching cycle provided in an embodiment of the present disclosure, wherein ga, gb, and gc represent different power switch tubes, the first 000 from left to right represents a segment, the first 100 from left to right represents a segment, the first 111 and the second 111 from left to right together represent a segment, the second 100 from left to right represents a segment, and the second 000 from left to right represents a segment, a total of 7 segments, i.e., 7-segment SVPWM.

[0123] In order to facilitate a better understanding of the losses of each power switch tube when the motor controller is stalled, the embodiment of the present disclosure provides the losses of each power switch tube when the motor controller is stalled as shown in the following table:

[0124] Table 1

[0125]

[0126] It can be seen from Table 1 that the current of the tube on phase a is large and the conduction time is long, so the conduction loss is large; at the same time, the current of the tube on phase a is large, so the switching loss is also large. The total loss is larger than that of other switching tubes, making it a bottleneck switching device in the stall condition.

[0127] In order to facilitate a better understanding of the losses of each power switch tube when the modulated motor controller is stalled, the embodiment of the present disclosure provides the losses of each power switch tube when the modulated motor controller is stalled as shown in the following table:

[0128] Table 2

[0129]

[0130] By adjusting the coefficient, the total loss of the power switch tube is reduced. Under the premise that the total loss that the power switch tube can withstand is certain, the stall current can be further increased, thereby improving the stall capacity.

[0131] Since the adjustment coefficient is calculated based on the dynamic change of the maximum temperature, the adjustment of the action time of the 000 vector and the 111 vector also conforms to the change of the maximum temperature, thereby realizing the dynamic adjustment of the action time of the 000 vector and the 111 vector according to the temperature change.

[0132] As a refinement of step 101, when executing the acquisition of the temperature of all power switch tubes in the motor, it can be implemented in but not limited to the following manner: the temperature of all power switch tubes in the motor is calculated in real time through a preset estimation algorithm.

[0133] The calculation formula of the preset estimation algorithm can be implemented by formula (4):

[0134] T j =T a +P loss ·R th (4)

[0135] Among them, T j is the temperature of the power switch tube, T a is the ambient temperature, P loss is the power switch loss, R th is the resistance of the power switch tube.

[0136] However, it should be clear that this statement is not intended to limit the calculation formula of the preset estimation algorithm to only be formula (4), but can also be other formulas.

[0137] The temperature is calculated by collecting relevant data of the power switch tube, without the need to install additional temperature sensors, thus reducing hardware costs.

[0138] In practical applications, the application method of the action time of the modulated first zero vector and the second zero vector can be implemented in but not limited to the following manner: a switching signal corresponding to the controller three is generated according to the action time of the modulated first zero vector and the second zero vector.

[0139] Exemplarily, during the action time of the first zero vector after modulation, a switch signal is generated that all lower tubes of the three-phase bridge arm of the motor controller are turned on and all upper tubes are turned off, and during the action time of the second zero vector after modulation, a switch signal is generated that all lower tubes of the three-phase bridge arm of the motor controller are turned off and all upper tubes are turned on. The controller includes but is not limited to the motor controller, which reduces the conduction loss and switching loss of the power switch tube by optimizing the switch signal, thereby improving the energy efficiency of the motor controller.

[0140] In summary, the embodiments of the present disclosure can achieve the following beneficial effects:

[0141] When the maximum temperature among all the power switch tube temperatures exceeds a preset warning threshold, the present invention performs non-uniform modulation on the action time of the first zero vector and the second zero vector by adjusting the coefficient. Different action times of the first zero vector and the second zero vector have different effects on the loss of the power switch tube. Non-uniform modulation on the action time of the first zero vector and the second zero vector can reduce the loss of the power switch tube, so that without replacing a higher-power power switch tube, the motor controller can output a larger current in a stalled state, thereby improving the stalling capability of the motor controller.

[0142] Corresponding to the above motor stall control method, the present invention also provides a motor stall control device. Since the device embodiment of the present invention corresponds to the above method embodiment, details not disclosed in the device embodiment can be referred to the above method embodiment, and will not be repeated in the present invention.

[0143] Figure 6 The present invention provides a schematic diagram of a motor stall control device 400, which includes:

[0144] An acquisition unit 41 is used to acquire the temperature of all power switch tubes in the motor under a locked-rotor condition;

[0145] A first determining unit 42 is used to determine the maximum temperature among the temperatures of all the power switch tubes;

[0146] A second determination unit 43 is used to determine whether the maximum temperature exceeds a preset warning threshold;

[0147] The modulation unit 44 is used to perform unequal modulation on the action time of the first zero vector and the second zero vector by adjusting the coefficient when it is determined that the maximum temperature exceeds the preset warning threshold, so that the conduction time of the first zero vector and the second zero vector is negatively correlated within a switching cycle.

[0148] According to the stall control device of the motor proposed in the present disclosure, the device includes obtaining the temperature of all power switch tubes in the motor under the stall condition; determining the maximum temperature among the temperatures of all the power switch tubes, and determining whether the maximum temperature exceeds the preset warning threshold; when it is determined that the maximum temperature exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is non-uniformly modulated by adjusting the coefficient, and the conduction time of the first zero vector and the second zero vector is negatively correlated in one switching cycle. In summary, when the maximum temperature among the temperatures of all the power switch tubes exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is non-uniformly modulated by adjusting the coefficient, and different action times of the first zero vector and the second zero vector have different effects on the loss of the power switch tube. Non-uniformly modulating the action time of the first zero vector and the second zero vector can reduce the loss of the power switch tube, so that the motor controller can output a larger current under the stall condition without replacing a higher power power switch tube, thereby improving the stall capability of the motor controller.

[0149] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Figure 7 As shown, the modulation unit 44 includes:

[0150] A processing module 441 is used to increase the first coefficient corresponding to the first zero vector to obtain the action time of the modulated first zero vector, wherein the adjustment coefficient includes the first coefficient and the second coefficient;

[0151] The processing module 441 is further used to reduce the second coefficient corresponding to the second zero vector to obtain the action time of the modulated second zero vector, and the action time of the modulated second zero vector is less than the action time of the modulated first zero vector.

[0152] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Figure 7 As shown, the modulation unit 44 includes:

[0153] A determination module 442, configured to determine the adjustment coefficient based on a preset adjustment algorithm;

[0154] The modulation module 443 is used to perform non-uniform modulation on the action time of the first zero vector and the second zero vector by adjusting the coefficient.

[0155] Further, in a possible implementation of the embodiment of the present disclosure, the first zero vector is a 000 vector, and the second zero vector is a 111 vector, such as Figure 7 As shown, the modulation module 443 is also used for:

[0156] The action time of the 000 vector and the 111 vector is non-uniformly modulated by the adjustment coefficient.

[0157] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Figure 7 As shown, the modulation module 443 is also used for:

[0158] The action time of the 000 vector and the 111 vector is non-uniformly modulated by a preset zero vector allocation algorithm;

[0159] The preset zero vector allocation algorithms include:

[0160]

[0161] Among them, T X With T y To calculate the action time of two adjacent vectors of the target vector, T s is the switching period, k is the adjustment coefficient, 0 <k<1。

[0162] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Figure 7 As shown, the acquisition unit 41 includes:

[0163] The calculation module 411 is used to calculate the temperature of all power switch tubes in the motor in real time through a preset estimation algorithm.

[0164] Furthermore, in a possible implementation of the embodiment of the present disclosure, as Figure 7 As shown, the device also includes:

[0165] The generating unit 45 is used to generate a switch signal corresponding to the controller three according to the action time of the modulated first zero vector and the second zero vector.

[0166] Since the device provided in the embodiment of the present disclosure corresponds to the methods provided in the above-mentioned embodiments, the implementation of the method is also applicable to the device provided in the embodiment and will not be described in detail in this embodiment.

[0167] In the embodiments provided in the present application, the methods and devices provided in the embodiments of the present application are introduced. In order to implement the functions in the methods provided in the embodiments of the present application, the electronic device may include a hardware structure and a software module, and implement the functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. A function of the functions may be executed in the form of a hardware structure, a software module, or a hardware structure plus a software module.

[0168] Figure 8is a block diagram of a vehicle 500 according to an exemplary embodiment. For example, the vehicle 500 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 500 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0169] Reference Figure 8 , the vehicle 500 may include various subsystems, for example, an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. The vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 500 may be interconnected by wire or wireless means.

[0170] In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, and a navigation system, among others.

[0171] The perception system 520 may include several sensors for sensing information about the environment around the vehicle 500. For example, the perception system 520 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0172] The decision control system 530 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0173] The drive system 540 may include components that provide powered motion for the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination of one or more thereof. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0174] Some or all functions of the vehicle 500 are controlled by a computing platform 550. The computing platform 550 may include at least one processor 551 and a memory 552, and the processor 551 may execute instructions 553 stored in the memory 552.

[0175] The processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0176] The memory 552 may be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0177] In addition to instructions 553 , memory 552 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 552 may be used by computing platform 550 .

[0178] In the embodiment of the present disclosure, the processor 551 may execute instruction 553 to complete all or part of the steps of the above-mentioned XXXX method.

[0179] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the motor stall control method provided by the present disclosure are implemented.

[0180] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0181] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although the specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and conducive to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in the specific embodiments or claims, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0182] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0183] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0184] In the above detailed description, reference is made to the accompanying drawings, which illustrate specific aspects of the present disclosure that can be practiced by way of illustration. In this regard, terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating directions or representing positional relationships, can be used with reference to the orientation of the described figures. Since the components of the described device can be positioned in a plurality of different orientations, directional terms can be used for illustrative purposes rather than restrictive. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. Therefore, the following detailed description should not be considered in a limiting sense.

[0185] It should be understood that, unless otherwise specifically noted, the features of some embodiments of the various present disclosures described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more; similarly, "at least one of . . . " includes any one of the related listed items and any combination of any two or more.

[0186] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0187] It should be understood that spatially relative terms such as "above", "upper", "below", and "lower" are used herein to describe the relationship of one element to another element shown in the figures. In addition to the orientation depicted in the drawings, such spatially relative terms are also intended to include different orientations of the device in use or operation. For example, if the device in the drawings is turned over, the element described as being "above" or "upper" relative to another element will be "below" or "lower" relative to the other element. Therefore, depending on the spatial orientation of the device, the term "above" includes both upper and lower orientations. The device may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatially relative terms used herein should be interpreted accordingly.

Claims

1. A method for controlling a motor stall, characterized in that: The method comprises: Under the locked-rotor condition, obtain the temperature of all power switch tubes in the motor; Determine a maximum temperature among the temperatures of all the power switch tubes, and determine whether the maximum temperature exceeds a preset warning threshold; When it is determined that the maximum temperature exceeds the preset warning threshold, the action time of the first zero vector and the second zero vector is unequally modulated by adjusting the coefficient, and the conduction time of the first zero vector and the second zero vector is negatively correlated within a switching cycle.

2. The method according to claim 1, characterized in that The non-uniform modulation of the action time of the first zero vector and the second zero vector by adjusting the coefficient comprises: The first coefficient corresponding to the first zero vector is adjusted to be larger to obtain the action time of the modulated first zero vector, wherein the adjustment coefficient includes the first coefficient and the second coefficient; The second coefficient corresponding to the second zero vector is adjusted down to obtain the action time of the modulated second zero vector, and the action time of the modulated second zero vector is less than the action time of the modulated first zero vector.

3. The method according to claim 1, characterized in that The non-uniform modulation of the action time of the first zero vector and the second zero vector by adjusting the coefficient comprises: Determining the adjustment coefficient based on a preset adjustment algorithm; The action time of the first zero vector and the second zero vector is unequally modulated by adjusting the coefficient.

4. The method according to claim 1, characterized in that: The first zero vector is a 000 vector, and the second zero vector is a 111 vector; The non-uniform modulation of the action time of the first zero vector and the second zero vector by adjusting the coefficient comprises: The action time of the 000 vector and the 111 vector is non-uniformly modulated by the adjustment coefficient.

5. The method according to claim 4, characterized in that The non-uniform modulation of the action time of the 000 vector and the 111 vector by the adjustment coefficient comprises: The action time of the 000 vector and the 111 vector is non-uniformly modulated by a preset zero vector allocation algorithm; The preset zero vector allocation algorithms include: Among them, T X With T y To calculate the action time of two adjacent vectors of the target vector, T s is the switching period, k is the adjustment coefficient, 0 <k<1。 6. The method according to claim 1, characterized in that The step of obtaining the temperature of all power switch tubes in the motor includes: The temperatures of all power switch tubes in the motor are calculated in real time using a preset estimation algorithm.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: A switching signal corresponding to the controller three is generated according to the action time of the modulated first zero vector and the second zero vector.

8. A motor stall control device, characterized in that: The device comprises: An acquisition unit is used to acquire the temperature of all power switch tubes in the motor under a stall condition; A first determining unit, configured to determine a maximum temperature among the temperatures of all the power switch tubes; A second determination unit, used to determine whether the maximum temperature exceeds a preset warning threshold; A modulation unit is used to perform unequal modulation on the action time of the first zero vector and the second zero vector by adjusting the coefficient when it is determined that the maximum temperature exceeds the preset warning threshold, and the conduction time of the first zero vector and the second zero vector are negatively correlated within a switching cycle.

9. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Implement the method described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal is enabled to execute the method according to any one of claims 1 to 7.

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