Motor controller control method, electronic equipment and driving equipment
By monitoring the status of the main relay of the power supply and the bus voltage, the motor controller is controlled to switch to the direct active short circuit mode, which solves the problem of overvoltage damage in the motor drive system in the prior art during electrical failure and improves the safety of the system.
Patent Information
- Application Number
- CN202410044791.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-11-24
- Filing Date
- 2024-01-11
- Publication Date
- 2025-05-27
AI Technical Summary
In the prior art, when an electrical failure occurs in the motor drive system, it is not considered whether the current state of the motor drive system is suitable for slowly entering a stable active short circuit state with a gradually increasing duty cycle, which is prone to overvoltage damage.
By monitoring the current status of the main power relay and/or the motor controller bus voltage, the control motor controller switches from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.
It effectively avoids overvoltage damage caused by excessive motor recoil energy and disconnection of the main power relay, ensuring the safety of the motor drive system.
Smart Images
Figure CN120039122A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of motor drive, and specifically provides a method for controlling a motor controller, an electronic device, and a driving device. Background Art
[0002] On a new energy electric vehicle equipped with a permanent magnet synchronous motor as a drive system, when the motor drive system is traveling at high speed and a relatively serious electrical fault occurs, the motor controller can perform active short-circuit protection on the motor drive system. Specifically, the motor controller will control the power devices in its inverter, such as IGBT (Insulated Gate Bipolar Transistor) or SiC (Silicon Carbide), to enter the active short-circuit state to cut off the power output and ensure that the entire vehicle enters a safe state. However, at the moment of entering the active short-circuit, extremely high transient pulse currents will appear at the three-phase terminals of the motor. This pulse current is generally greater than the maximum operating current that the motor can withstand. When the motor rotor is operating at a high temperature, it is very likely that the motor will experience irreversible demagnetization, which is unacceptable.
[0003] To solve this problem, related solutions make the power devices (IGBT, SiC) slowly cut into the stable active short-circuit state in a manner of gradually increasing the duty cycle, but this solution does not consider whether the current state of the motor drive system is suitable for slowly cutting into the stable active short-circuit state in a manner of gradually increasing the duty cycle. When performing active short-circuit protection in the active short-circuit mode with an increasing duty cycle, problems such as overvoltage damage are likely to occur. Summary of the Invention
[0004] The present application aims to solve the above technical problems, that is, to solve the problem that the existing technology does not consider whether the motor drive system is suitable for performing active short-circuit protection in the active short-circuit mode with an increasing duty cycle, which is likely to cause overvoltage damage.
[0005] In a first aspect, the present application provides a method for controlling a motor controller, which is used for a motor drive system. The method includes:
[0006] When the motor controller is in the active short-circuit mode with an increasing duty cycle, monitor the current state of the power main relay and / or the bus voltage of the motor controller;
[0007] Based on the current state of the power main relay and / or the bus voltage of the motor controller, control the motor controller to switch from the active short-circuit mode with an increasing duty cycle to the direct active short-circuit mode.
[0008] In some embodiments, monitoring the current state of the power main relay includes:
[0009] Judge whether the vehicle is currently in the collision mode;
[0010] Determine the current state of the main power relay according to the judgment result.
[0011] In some embodiments, monitoring the bus voltage of the motor controller includes: monitoring the bus voltage of the motor controller through a voltage sampling circuit or an overvoltage comparison circuit.
[0012] In some embodiments, based on the current state of the main power relay, controlling the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode includes:
[0013] When the current state of the main power relay is off, control the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode.
[0014] In some embodiments, based on the bus voltage of the motor controller, controlling the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode includes:
[0015] When the bus voltage of the motor controller is greater than a preset overvoltage threshold, control the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode.
[0016] In some embodiments, based on the current state of the main power relay and the bus voltage of the motor controller, controlling the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode includes:
[0017] When the current state of the main power relay is off and / or the bus voltage of the motor controller is greater than a preset overvoltage threshold, control the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode.
[0018] In some embodiments, the method further includes:
[0019] Before performing active short - circuit protection on the motor drive system, determine whether the main power relay is off;
[0020] If so, control the motor controller to enter the direct active short - circuit mode; if not, control the motor controller to enter the active short - circuit mode with increasing duty ratio.
[0021] In a second aspect, the present application provides a computer - readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the motor controller control method described in any one of the above is implemented.
[0022] In a third aspect, the present application provides an electronic device, which includes:
[0023] At least one processor;
[0024] And a memory communicatively connected to the at least one processor;
[0025] Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the motor controller control method described in any one of the above is implemented.
[0026] In a fourth aspect, the present application provides a driving device, which includes a driving device body and the electronic device as described above.
[0027] In the case of adopting the above technical solution, the present application can monitor the current state of the power main relay and / or the bus voltage of the motor controller when the motor controller is in the active short-circuit mode with an increasing duty cycle; based on the current state of the power main relay and / or the bus voltage of the motor controller, control the motor controller to switch from the active short-circuit mode with an increasing duty cycle to the direct active short-circuit mode. This method fully considers whether the current state of the motor drive system is suitable for gradually and slowly cutting into a stable active short-circuit state in a manner of gradually increasing the duty cycle by monitoring the current state of the main relay and / or the bus voltage of the motor controller. It can timely identify the overvoltage risk and timely exit the transition stage of increasing duty cycle, avoiding the problem that the motor back-EMF energy is too high and the voltage clamping effect of the power supply is lost due to the disconnection of the power main relay, resulting in a rapid increase in the DC-side voltage of the motor controller and causing overvoltage damage to the high-voltage devices in the motor drive system. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] The following describes the preferred embodiments of the present application in conjunction with the drawings, in which:
[0029] Figure 1 is a schematic structural diagram of a motor drive system provided by the present application;
[0030] Figure 2 is a schematic flowchart of a motor controller control method provided by an embodiment of the present application;
[0031] Figure 3 is a schematic flowchart of a motor controller control method provided by another embodiment of the present application;
[0032] Figure 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0033] The following describes some embodiments of the present application with reference to the drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present application and are not intended to limit the protection scope of the present application.
[0034] Based on the description of the background technology section, it can be known that when an electrical fault occurs in the motor drive system, the motor drive system will be actively short-circuited in the related technology. The active short-circuit protection can be divided into two types: direct active short-circuit mode and active short-circuit mode with increasing duty cycle. Usually, when the motor controller protects the motor drive system in the active short-circuit mode with increasing duty cycle, the transition mode of increasing duty cycle can suppress or reduce the transient pulse current generated when the motor enters the active protection state in the direct active short-circuit mode. However, in the prior art, it is not considered whether the current state of the motor drive system is suitable for slowly switching into a stable active short-circuit state in a manner of gradually increasing duty cycle. It was not found that the impact of the disconnection of the main power relay on the motor drive system in the active short-circuit protection mode with increasing duty cycle, it is easy for the motor to have excessive recoil energy and the power supply voltage clamping effect is lost due to the disconnection of the main power relay, so that the DC side voltage of the motor controller rises rapidly, causing overvoltage damage to the high-voltage components in the motor drive system. In view of this, the present application provides a motor controller control method, which can be specifically referred to in Figure 1 , Figure 2 and the description below.
[0035] See also Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a motor drive system provided by the present application, which may include:
[0036] A power battery 11, a motor controller 12, a motor 13, and a power main relay 14 arranged on a bus bar between the power battery 11 and the motor controller 12;
[0037] The power battery 11 is used to output direct current and supply it to the motor controller 12;
[0038] The motor controller 12 may include a three-phase bridge inverter for converting direct current into alternating current and providing the alternating current to the motor 13 .
[0039] See also Figure 2 As shown, Figure 2 : is a flow chart of a motor controller control method provided by an embodiment of the present application, which may include:
[0040] Step S21: when the motor controller is in an active short-circuit mode with increasing duty cycle, monitoring the current state of the power main relay and / or the bus voltage of the motor controller;
[0041] Step S22: Based on the current state of the power main relay and / or the bus voltage of the motor controller, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.
[0042] In some embodiments, the motor controller control method provided in the embodiments of the present application can be based onFigure 1 The motor drive system shown, hereinafter, will be applied to Figure 1 The motor drive system shown will be used as an example to describe the method provided in this application.
[0043] In an embodiment of this application, when the motor controller is in the active short - circuit mode with increasing duty ratio, specifically, it can control three upper bridge arms or three lower bridge arms of the three - phase bridge inverter in the motor controller 12 to enter the off state, and control the other three bridge arms among the three upper bridge arms and three lower bridge arms to gradually reach the closed state with a duty ratio increasing to 100%.
[0044] In an embodiment of this application, the direct active short - circuit mode can be to directly control three upper bridge arms or three lower bridge arms of the three - phase bridge inverter in the motor controller 12 to enter the off state, and control the other three bridge arms among the three upper bridge arms and three lower bridge arms to directly enter the closed state.
[0045] In some embodiments, step S21 can specifically be to monitor the current state of the power main relay and / or the bus voltage of the motor controller in real - time, so as to timely control the motor controller to exit the active short - circuit mode with increasing duty ratio. In other embodiments, for energy and cost savings, it can also be monitored at intervals.
[0046] In some embodiments, monitoring the current state of the power main relay in step S21 can be: obtaining the current state of the power main relay through the battery management system equipped in the vehicle or the indicator light of the power main relay.
[0047] In other embodiments, monitoring the current state of the power main relay in step S21 can include:
[0048] Judging whether the vehicle is currently in the collision mode;
[0049] Determining the current state of the power main relay according to the judgment result.
[0050] Because when the vehicle is in the collision mode, the power main relay will be quickly disconnected, so it is possible to obtain the current state of the power main relay in advance by judging whether the vehicle is currently in the collision mode.
[0051] In some embodiments, the current state of the whole vehicle can be obtained by monitoring the collision signal sent by the vehicle CAN (Controller Area Network); in other embodiments, the current state of the power main relay can also be determined by monitoring the opening and closing control signal sent by the CAN to the power main relay. In comparison, monitoring the collision signal can reduce the transmission delay of the CAN signal, facilitate determining the state of the power main relay in advance, and timely control the motor controller to switch from the active short-circuit mode with increasing duty ratio to the direct active short-circuit mode.
[0052] In the active short-circuit mode with increasing duty ratio, when the power main relay is disconnected, the back-electromotive force energy of the motor will cause the DC-side voltage of the motor controller to rise rapidly due to the loss of the voltage clamping effect of the power supply. Therefore, in this application, the active short-circuit mode with increasing duty ratio can also be exited by monitoring the bus voltage of the motor controller and controlling based on the bus voltage of the motor controller.
[0053] In some embodiments, monitoring the bus voltage of the motor controller in step S21 may include: monitoring the bus voltage of the motor controller through a voltage sampling circuit or an overvoltage comparison circuit.
[0054] In some embodiments, the voltage sampling circuit can be arranged Figure 1 between the power battery 11 and the motor controller 12 shown in, and is used to collect the bus voltage on the DC side of the motor controller. Among them, the voltage sampling circuit can be arranged in a conventional manner in the art.
[0055] In some embodiments, the overvoltage comparison circuit can be arranged Figure 1 between the power battery 11 and the motor controller 12 shown in, and is used to monitor the bus voltage on the DC side of the motor controller. As an example, the overvoltage comparison circuit may include a comparator. The positive input terminal of the comparator is connected to a reference voltage, which can be equal to a preset overvoltage threshold. The negative input terminal of the comparator can be connected to the bus voltage on the DC side of the motor controller. The output terminal of the comparator can output a high level or a low level based on the voltage difference between the bus voltage of the motor controller and the preset overvoltage threshold. In other embodiments, the overvoltage comparison circuit can also be arranged in other conventional manners in the art.
[0056] In some embodiments, when controlling the motor controller to switch from the active short-circuit mode with increasing duty ratio to the direct active short-circuit mode based on the current state of the power main relay, step S22 may specifically be:
[0057] When the current state of the power main relay is off, control the motor controller to switch from the active short-circuit mode with increasing duty ratio to the direct active short-circuit mode.
[0058] In some other embodiments, when controlling the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode based on the bus voltage of the motor controller, step S22 may be specifically as follows:
[0059] When the bus voltage of the motor controller is greater than a preset over - voltage threshold, control the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode.
[0060] Among them, the preset over - voltage threshold can be set according to the actual application situation.
[0061] In some embodiments, the bus voltage of the motor controller collected by the voltage sampling circuit can be compared with the preset over - voltage threshold. When the comparison result is greater, control the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode. In other embodiments, when the comparison result is less than or equal to, the current active short - circuit mode with increasing duty ratio can be maintained.
[0062] In some other embodiments, the magnitude relationship between the bus voltage of the motor controller and the preset over - voltage threshold can be determined according to the signal at the output end of the over - voltage comparison circuit. As an example, the over - voltage comparison circuit may include a comparator. When the positive input terminal of the comparator is connected to the preset over - voltage threshold and the negative input terminal of the comparator is connected to the bus voltage of the motor controller, the bus voltage of the motor controller is greater than the preset over - voltage threshold when the output terminal of the comparator outputs a high level. Corresponding step S22 may be specifically to control the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode in response to the high - level signal output by the over - voltage comparison circuit.
[0063] In some other embodiments, when controlling the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode based on the current state of the main power relay and the bus voltage of the motor controller, step S22 may be specifically as follows:
[0064] When the current state of the main power relay is off and / or the bus voltage of the motor controller is greater than the preset over - voltage threshold, control the motor controller to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode.
[0065] In some preferred embodiments, in order to timely exit the active short - circuit mode with increasing duty ratio and ensure the safety of the motor drive system, when either the current state of the main power relay is off or the bus voltage of the motor controller is greater than the preset over - voltage threshold, the motor controller can be controlled to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode.
[0066] In some other embodiments, in order to further improve the accuracy of overvoltage damage fault identification, when both the current state of the power main relay is off and the bus voltage of the motor controller is greater than a preset overvoltage threshold are satisfied, the motor controller can be controlled to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode.
[0067] The above is a method for controlling a motor controller provided by an embodiment of the present application. This method monitors the current state of the power main relay and / or the bus voltage of the motor controller when the motor controller is in the active short - circuit mode with increasing duty ratio; based on the current state of the power main relay and / or the bus voltage of the motor controller, the motor controller is controlled to switch from the active short - circuit mode with increasing duty ratio to the direct active short - circuit mode. By monitoring the current state of the main relay and / or the bus voltage of the motor controller, this method fully considers whether the current state of the motor drive system is suitable for slowly entering the stable active short - circuit state in a manner of gradually increasing the duty ratio. It can timely identify the overvoltage risk and timely exit the transition stage with increasing duty ratio, avoiding the problem that the back - flush energy of the motor is too high and the voltage clamping effect of the power supply is lost due to the disconnection of the power main relay, resulting in a rapid increase in the DC - side voltage of the motor controller and causing overvoltage damage to the high - voltage devices in the motor drive system.
[0068] In some embodiments, before performing active short - circuit protection on the motor drive system, it is possible to pre - identify whether the current state of the motor drive system is suitable for entering the active short - circuit mode with increasing duty ratio to avoid overvoltage damage. For specific details, refer to the descriptions in the following embodiments.
[0069] See Figure 3 as shown Figure 3 is a schematic flowchart of a method for controlling a motor controller provided by another embodiment of the present application, which can also be applied to Figure 1 the motor drive system shown. This method may include:
[0070] Step S31: Before performing active short - circuit protection on the motor drive system, determine whether the power main relay is off;
[0071] If it is, execute Step S32: Control the motor controller to enter the direct active short - circuit mode. While ensuring entry into a safe state, it can avoid the problem that after entering the active short - circuit protection mode with increasing duty ratio, the back - flush energy of the motor causes the DC - side voltage of the motor controller to rapidly increase due to the disconnection of the power main relay, resulting in overvoltage damage to the high - voltage devices in the motor drive system.
[0072] If the answer is no, execute step S33: control the motor controller to enter the active short - circuit mode with increasing duty ratio, so as to suppress or reduce the transient pulse current generated when the motor enters the active protection state in the direct active short - circuit mode through the transition mode of increasing duty ratio.
[0073] In some embodiments, step S31 may be specifically: obtain the current state of the power main relay through the battery management system equipped in the vehicle or the indicator light of the power main relay, and determine whether the power main relay is disconnected.
[0074] In other embodiments, step S31 may also be to determine whether the power main relay is disconnected by obtaining a collision signal. Since the vehicle will send a collision signal through the CAN when in the collision mode, and in response to the collision signal, the power main relay will quickly disconnect, so it can be determined whether the power main relay is disconnected through the collision signal.
[0075] Among them, after executing step S32, it is possible to combine with the Figure 2 method provided in the corresponding embodiment, fully consider whether the current state of the motor drive system is suitable for active short - circuit protection in the way of gradually increasing the duty ratio, and achieve the same beneficial effects as the Figure 2 corresponding embodiment.
[0076] Those skilled in the art can understand that all or part of the processes in the methods of the above - mentioned embodiments of the present application can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer - readable storage medium. When the computer program is executed by a processor, the steps of the above - mentioned method embodiments can be realized. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer - readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read - only memory, random - access memory, electrical carrier signal, telecommunication signal, and software distribution medium, etc., that can carry the computer program code.
[0077] On the other hand, the present application also provides a computer - readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it realizes the motor controller control method described in any of the above - mentioned embodiments. The computer - readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer - readable storage medium in the embodiments of the present application is a non - transitory computer - readable storage medium.
[0078] Another aspect of the present application also provides an electronic device, which may include at least one processor; and a memory communicatively connected to the at least one processor; wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the motor controller control method described in any of the above embodiments is implemented.
[0079] As an example, the electronic device may be a motor controller, and the motor controller may implement the motor controller control method described in any of the above embodiments.
[0080] In some other embodiments, the electronic device may also be a motor drive system, such as Figure 1 shown, which may at least include a motor controller.
[0081] Refer to Figure 4 shown, Figure 4 exemplarily shows the structure when there is only one memory 41 and one processor 42 connected by a bus.
[0082] In some other embodiments, the electronic device may include multiple memories 41 and multiple processors 42. And the program for implementing the motor controller control method of any of the above embodiments can be divided into multiple sub-programs, and each sub-program can be loaded and run by the processor 42 respectively to execute different steps of the motor controller control method of the above method embodiments. Specifically, each sub-program can be stored in different memories 41 respectively, and each processor 42 can be configured to execute the programs in one or more memories 41 to jointly implement the motor controller control method of the above method embodiments.
[0083] Another aspect of the present application also provides a driving device, which may include a driving device body and the electronic device as described above, and can execute the motor controller control method described in any of the above method embodiments, and achieve the same beneficial effects as the above embodiments.
[0084] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principle of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.
Claims
1. A motor controller control method, characterized in that: Applied to a motor drive system, the method comprises: When the motor controller is in an active short-circuit mode with increasing duty cycle, monitoring the current state of the power main relay and / or the motor controller bus voltage; Based on the current state of the power main relay and / or the bus voltage of the motor controller, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.
2. The method according to claim 1, characterized in that Monitoring the current status of the power main relay includes: Determine whether the vehicle is currently in collision mode; The current state of the power main relay is determined according to the judgment result.
3. The method according to claim 1, characterized in that Monitoring the bus voltage of the motor controller includes: monitoring the bus voltage of the motor controller through a voltage sampling circuit or an overvoltage comparison circuit.
4. The method according to any one of claims 1 to 3, characterized in that Based on the current state of the power main relay, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes: When the current state of the power main relay is disconnected, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.
5. The method according to any one of claims 1 to 3, characterized in that: Based on the bus voltage of the motor controller, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes: When the bus voltage of the motor controller is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.
6. The method according to any one of claims 1 to 3, characterized in that: Based on the current state of the power main relay and the bus voltage of the motor controller, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes: When the current state of the power main relay is disconnected and / or the bus voltage of the motor controller is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.
7. The method according to claim 1, characterized in that The method further comprises: Before actively short-circuiting the motor drive system, determining whether a main power relay is disconnected; If yes, the motor controller is controlled to enter the direct active short-circuit mode; if no, the motor controller is controlled to enter the active short-circuit mode with increasing duty cycle.
8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the motor controller control method according to any one of claims 1 to 7 is implemented.
9. An electronic device, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the motor controller control method according to any one of claims 1 to 7 is implemented.
10. A driving device, characterized in that: It comprises a driving device body and the electronic device described in claim 9.