Motor controller, motor control method, medium, product, equipment and vehicle

Abstract

The invention relates to a motor controller, a motor control method, a medium, a product, equipment and a vehicle. The motor controller comprises a current limit module; wherein the current limiting value module is used for determining a reference direct-axis current and / or a reference quadrature-axis current of the vehicle motor according to an expected charging current limiting value of the vehicle battery when the charge state value of the vehicle battery is greater than a state threshold value. According to the embodiment of the invention, when the vehicle battery is in the high charge state, the hard constraint on the current limit value is realized, the risk of overcharge of the battery is reduced, the charging safety of the battery in the high charge state is ensured, and the service life of the battery is prolonged.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a motor controller, a motor control method, a medium, a product, a device, and a vehicle. Background Art

[0002] With the development of vehicle technology, batteries have become a source of vehicle power. For example, electric vehicles, hybrid vehicles, and plug-in hybrid vehicles can all be powered by batteries. For battery-powered vehicles, the battery's state of charge (SOC) is one of the core parameters of vehicle operation. The SOC refers to the percentage between the battery's remaining charge and the total charge at full charge. At high SOCs, the battery is at risk of overcharging. Therefore, ensuring battery charging safety at high SOCs is a technical issue that needs to be addressed urgently. Summary of the Invention

[0003] Embodiments of the present application provide a motor controller, a motor control method, a medium, a product, a device, and a vehicle, which implement hard constraints on the current limit when the vehicle battery is in a high state of charge, reduce the risk of battery overcharging, and ensure the charging safety of the battery in a high state of charge, so as to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned purpose, according to the first aspect of the present application, a motor controller is provided, which includes a current limit module; wherein, the current limit module is used to determine the reference direct-axis current and / or reference quadrature-axis current of the vehicle motor according to the expected charging current limit of the vehicle battery when the state of charge value of the vehicle battery is greater than the state threshold.

[0005] Optionally, the current limit module includes a direct-axis current distribution module and a weak-field compensation module; wherein, the direct-axis current distribution module is used to determine the initial direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery; the weak-field compensation module is used to perform weak-field compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor.

[0006] Optionally, the current limit module further includes a quadrature-axis current calculation module; wherein the quadrature-axis current calculation module is configured to determine a reference quadrature-axis current of the vehicle motor based on a reference direct-axis current of the vehicle motor.

[0007] Optionally, the current limit module further includes a motor control module; wherein the motor control module is configured to control the vehicle motor to output a maximum feedback torque according to the reference direct-axis current and / or the reference quadrature-axis current.

[0008] According to a second aspect of the present application, a motor control method is provided, which includes: when the state of charge value of the vehicle battery is greater than a state threshold, determining a reference direct-axis current and / or a reference quadrature-axis current of the vehicle motor according to the expected charging current limit of the vehicle battery.

[0009] Optionally, determining the reference direct-axis current and reference quadrature-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery includes: determining the reference direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery; determining the reference quadrature-axis current of the vehicle motor based on the reference direct-axis current of the vehicle motor.

[0010] Optionally, determining the reference direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery includes: determining the initial direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery; and performing weak magnetic compensation on the initial direct-axis current to obtain the reference direct-axis current of the vehicle motor.

[0011] Optionally, determining the initial direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery includes: determining the initial direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery and structural parameters of the vehicle motor.

[0012] Optionally, determining the initial direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery and the structural parameters of the vehicle motor includes: determining the initial direct-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery, the permanent magnet flux of the vehicle motor and the stator winding inductance of the vehicle motor.

[0013] Optionally, performing magnetic weakening compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor includes: when the AC-DC axis voltage of the vehicle motor is greater than a voltage threshold, performing magnetic weakening compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor.

[0014] Optionally, performing magnetic weakening compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor includes: determining the reference direct-axis current of the vehicle motor according to the initial direct-axis current and a direct-axis current compensation value.

[0015] Optionally, the method further includes: determining a direct-axis current compensation value according to the quadrature-axis voltage of the vehicle motor, the direct-axis voltage of the vehicle motor, and a voltage threshold.

[0016] Optionally, determining the direct-axis current compensation value based on the quadrature-axis voltage of the vehicle motor, the direct-axis voltage of the vehicle motor and a voltage threshold includes: determining a voltage deviation value based on the quadrature-axis voltage of the vehicle motor, the direct-axis voltage of the vehicle motor and a voltage threshold; determining an initial compensation value based on the voltage deviation value; and determining a direct-axis current compensation value based on the initial compensation value.

[0017] Optionally, determining the direct-axis current compensation value based on the initial compensation value includes: when the initial compensation value does not exceed the compensation threshold, using the initial compensation value as the direct-axis current compensation value; when the initial compensation value exceeds the compensation threshold, using the compensation threshold as the direct-axis current compensation value.

[0018] Optionally, determining the reference quadrature-axis current of the vehicle motor based on the reference direct-axis current of the vehicle motor includes: determining the reference quadrature-axis current of the vehicle motor based on the reference direct-axis current of the vehicle motor and the expected charging current limit of the vehicle battery.

[0019] Optionally, the method further includes: controlling the vehicle motor to output a maximum feedback torque based on the reference direct-axis current and / or the reference quadrature-axis current.

[0020] According to a third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned motor control method is implemented.

[0021] According to a fourth aspect of the present application, a computer program product is provided, comprising a computer program, wherein the computer program implements the above-mentioned motor control method when executed by a processor.

[0022] According to a fifth aspect of the present application, an electronic device is provided, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the above-mentioned motor control method.

[0023] According to a sixth aspect of the present application, a vehicle is provided, comprising the above-mentioned electronic device.

[0024] The embodiments of the present application implement hard constraints on the current limit when the vehicle battery is in a high state of charge, thereby reducing the risk of battery overcharging, ensuring the safety of battery charging at a high state of charge, and helping to extend the battery's service life. Furthermore, when the vehicle battery is in a high state of charge, the embodiments of the present application utilize a current limit module integrated within the motor controller to determine the reference direct-axis current and / or reference quadrature-axis current of the vehicle motor based on the desired charging current limit of the vehicle battery. Embedding the current limit module within the motor controller implements hard constraints on the current limit, resulting in stronger current constraint capabilities. Compared to performing limit control outside the motor controller, the embodiments of the present application optimize the control link and improve control efficiency.

[0025] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0027] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0028] Figure 1 is a schematic diagram of a motor controller provided in an embodiment of the present application;

[0029] Figure 2 is a flow chart of a motor control method provided in an embodiment of the present application;

[0030] Figure 3 is a schematic diagram of a vehicle provided in an embodiment of the present application;

[0031] Figure 4 is a flow chart of another motor control method provided by an embodiment of the present application;

[0032] Figure 5 It is a schematic diagram of another vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0034] According to a first aspect of the present application, an embodiment of the present application provides a motor controller.

[0035] See also Figure 1 , Figure 1 Schematic diagram of a motor controller provided by an embodiment of the present application. Figure 1 As shown, the motor controller 100 includes a current limit module 110 .

[0036] The motor controller 100 is generally used to control the operating state of the vehicle motor. In an embodiment of the present application, the motor controller 100 includes a current limit module 110. The current limit module 110 is used to control the DC-axis current of the vehicle motor according to the desired charging current limit of the vehicle battery when the state of charge value of the vehicle battery is greater than the state threshold, such as determining the reference DC-axis current and / or reference DC-axis current of the vehicle motor. The embodiment of the present application does not limit the specific type of vehicle motor controlled by the motor controller 100. In some embodiments, the vehicle motor includes but is not limited to any of the following types: permanent magnet synchronous motor (PMSM), permanent magnet DC motor, permanent magnet brushless DC motor, permanent magnet stepper motor, AC asynchronous motor, switched reluctance motor, etc.

[0037] In some embodiments, as Figure 1 As shown, current limit module 110 includes a direct-axis current distribution module 111 and a field-weakening compensation module 112. Direct-axis current distribution module 111 is configured to determine the initial direct-axis current of the vehicle motor based on the desired charging current limit of the vehicle battery. Field-weakening compensation module 112 is configured to perform field-weakening compensation on the initial direct-axis current to obtain a reference direct-axis current for the vehicle motor.

[0038] In some embodiments, as Figure 1 As shown, the current limit module 110 further includes a quadrature-axis current calculation module 113. The quadrature-axis current calculation module 113 is configured to determine a reference quadrature-axis current of the vehicle motor according to a reference direct-axis current of the vehicle motor.

[0039] In some embodiments, as Figure 1As shown, the current limit module 110 further includes a motor control module 114. The motor control module 114 is configured to control the vehicle motor to output a maximum feedback torque according to a reference direct-axis current and / or a reference quadrature-axis current.

[0040] In summary, the motor controller provided in the embodiment of the present application determines the reference direct-axis current and / or reference quadrature-axis current of the vehicle motor according to the expected charging current limit of the vehicle battery when the vehicle battery is in a high state of charge. The embodiment of the present application implements hard constraints on the current limit when the vehicle battery is in a high state of charge, reduces the risk of battery overcharging, ensures the charging safety of the battery in a high state of charge, and helps to extend the service life of the battery. Moreover, when the vehicle battery is in a high state of charge, the current limit module integrated in the motor controller determines the reference direct-axis current and / or reference quadrature-axis current of the vehicle motor according to the expected charging current limit of the vehicle battery, and embeds the current limit module into the motor controller to implement hard constraints on the current limit, which has stronger current constraint capabilities. Compared with limit control outside the motor controller, the embodiment of the present application optimizes the control link and improves control efficiency.

[0041] related Figure 1 For further description of the functions and beneficial effects of each module in the embodiment, please refer to the following method embodiment, which will not be elaborated here.

[0042] According to a second aspect of the present application, an embodiment of the present application provides a motor control method.

[0043] See also Figure 2 , Figure 2 This is a flow chart of a motor control method provided by an embodiment of the present application. Figure 2 As shown, the motor control method may include the following steps:

[0044] Step S100 : When the state of charge value of the vehicle battery is greater than a state threshold, a reference direct-axis current and / or a reference quadrature-axis current of the vehicle motor is determined according to a desired charging current limit of the vehicle battery.

[0045] The state of charge of a vehicle battery refers to the available state of the remaining charge in the vehicle battery, reflecting the remaining capacity of the vehicle battery. Generally, the state of charge value of a vehicle battery refers to the percentage between the remaining charge of the vehicle battery and the total charge of the full charge. When the state of charge value of the vehicle battery is greater than the state threshold, the vehicle battery can be considered to be in a high state of charge. The embodiment of the present application does not limit the specific value of the state threshold. In actual application, it can be flexibly set according to demand. For example, the state threshold is set to 80%, 85%, 90% or 95%. The embodiment of the present application does not limit the subject for determining whether the vehicle battery is in a high state of charge. For example, in actual application, the battery management system (BMS) can determine whether the state of charge value of the vehicle battery is greater than the state threshold, or the vehicle controller can determine whether the state of charge value of the vehicle battery is greater than the state threshold.

[0046] When the state of charge value of the vehicle battery is greater than the state threshold, the vehicle motor can obtain the expected charging current limit. The expected charging current limit is usually determined by the electrochemical properties of the vehicle battery. In some embodiments, a mapping relationship between the state of charge value and the expected charging current limit can be established in advance, so that the corresponding expected charging current limit can be obtained by looking up the table according to the state of charge value. Of course, the expected charging current limit can also be calculated based on the state of charge value combined with the algorithm. In an embodiment of the present application, the battery management system can determine whether the state of charge value of the vehicle battery is greater than the state threshold, and send the expected charging current limit to the motor controller when the state of charge value of the vehicle battery is greater than the state threshold. Among them, the battery management system can send the expected charging current limit to the vehicle controller, and the vehicle controller then forwards the expected charging current limit to the motor controller.

[0047] The motor controller controls the quadrature and direct-axis currents of the vehicle motor according to the desired charging current limit of the vehicle battery. The quadrature and direct-axis currents include a reference quadrature-axis current and a reference direct-axis current. The motor controller can determine the reference quadrature-axis current and the reference direct-axis current of the vehicle motor according to the desired charging current limit. In some embodiments, the above method further includes: controlling the vehicle motor to output the maximum feedback torque according to the reference direct-axis current and / or the reference quadrature-axis current. The motor controller can further obtain the three-phase current required by the vehicle motor according to the reference quadrature-axis current and / or the reference direct-axis current, so that the vehicle motor performs torque control and outputs the correct maximum feedback torque under high charge state. For example, the motor controller inputs the reference quadrature-axis current and the reference direct-axis current into the PI (Proportional-Integral) controller for current closed-loop control to obtain the quadrature-axis voltage control quantity. and direct-axis voltage control quantity Then, the quadrature-axis voltage control quantity and the direct-axis voltage control quantity are transformed into the αβ coordinate system through Park transformation, and the analog signal of the voltage control quantity is converted into a digital signal through the SVPWM module; then the three-phase current required by the vehicle motor is obtained through the inverter.

[0048] In summary, the motor control method provided in the embodiment of the present application determines the reference direct-axis current and / or reference quadrature-axis current of the vehicle motor according to the expected charging current limit of the vehicle battery when the vehicle battery is in a high state of charge. The embodiment of the present application implements hard constraints on the current limit when the vehicle battery is in a high state of charge, reduces the risk of battery overcharging, ensures the charging safety of the battery in a high state of charge, and helps to extend the service life of the battery. Moreover, when the vehicle battery is in a high state of charge, the motor controller determines the reference direct-axis current and / or reference quadrature-axis current of the vehicle motor according to the expected charging current limit of the vehicle battery, integrates the control of the direct-axis and quadrature-axis currents into the motor controller, implements hard constraints on the current limit, and has stronger current constraint capabilities. Compared with limit control outside the motor controller, the embodiment of the present application optimizes the control link and improves control efficiency.

[0049] In some embodiments, the above step S100 may include the following steps:

[0050] Step S110: determining a reference direct-axis current of the vehicle motor according to a desired charging current limit of the vehicle battery;

[0051] Step S120 : determining a reference quadrature-axis current of the vehicle motor according to the reference direct-axis current of the vehicle motor.

[0052] The DC-axis current of the vehicle motor includes a reference DC-axis current and a reference Q-axis current of the vehicle motor, so that the motor controller can first determine the reference DC-axis current of the vehicle motor based on the expected charging current limit of the vehicle battery; and then determine the reference Q-axis current of the vehicle motor based on the reference DC-axis current.

[0053] In some embodiments, the above step S110 may include the following steps:

[0054] Step S111: determining an initial direct-axis current of the vehicle motor according to a desired charging current limit of the vehicle battery;

[0055] Step S112: performing magnetic weakening compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor.

[0056] In embodiments of the present application, a mapping relationship between a desired charging current limit and an initial direct-axis current may be pre-established, so that upon obtaining the desired charging current limit, a table lookup may be performed to obtain the corresponding initial direct-axis current. Alternatively, the initial direct-axis current may be determined based on a pre-established algorithm. In some embodiments, step S111 may include determining the initial direct-axis current of the vehicle motor based on the desired charging current limit of the vehicle battery and the structural parameters of the vehicle motor. For example, the motor controller may input the desired charging current limit of the vehicle battery and the structural parameters of the vehicle motor into a pre-established algorithm formula to obtain the initial direct-axis current of the vehicle motor. The structural parameters of the vehicle motor include, but are not limited to, at least one of the permanent magnet flux linkage of the vehicle motor and the stator winding inductance of the vehicle motor. Taking the example of the motor controller determining the initial direct-axis current based on the MTPA (Maximum Torque Per Ampere) formula, in some embodiments, step S111 may include determining the initial direct-axis current of the vehicle motor based on the desired charging current limit of the vehicle battery, the permanent magnet flux linkage of the vehicle motor, and the stator winding inductance of the vehicle motor.

[0057] For example, the initial direct-axis current of the vehicle motor can be calculated using the following formula 1.

[0058] Formula 1:

[0059] in, is the reference direct-axis current of the vehicle motor; ψ f is the permanent magnet flux of the vehicle motor; L d is the direct axis (d-axis) inductance of the stator winding of the vehicle motor; L q is the quadrature-axis (q-axis) inductance of the vehicle motor's stator winding.

[0060] In embodiments of the present application, field-weakening compensation is introduced during the calculation of the reference direct-axis current to increase the negative half-axis component of the direct-axis current. In some embodiments, field-weakening compensation is introduced in the presence of voltage saturation, so that step S112 may include: when the quad- and direct-axis voltages of the vehicle motor are greater than a voltage threshold, performing field-weakening compensation on the initial direct-axis current to obtain the reference direct-axis current of the vehicle motor. Furthermore, when the quad- and direct-axis voltages of the vehicle motor are less than or equal to the voltage threshold, the initial direct-axis current may be directly used as the reference direct-axis current for further calculation of the reference quad-axis current.

[0061] The AC-axis voltage and the direct-axis voltage of the vehicle motor refer to the combination of the AC-axis voltage and the direct-axis voltage of the vehicle motor. For example, the AC-axis voltage is the square root of the sum of the squares of the AC-axis voltage and the direct-axis voltage. The AC-axis voltage is the component of the AC-axis voltage on the quadrature axis, and the direct-axis voltage is the component of the AC-axis voltage on the direct axis. The motor controller can monitor the AC-axis voltage and the direct-axis voltage of the vehicle motor in real time and determine the AC-axis voltage of the vehicle motor. When the AC-axis voltage is greater than the voltage threshold, it is considered that the voltage of the vehicle motor is saturated, and weak magnetic compensation is introduced. The voltage threshold can be preset, and the embodiment of the present application does not limit the specific value of the voltage threshold. For example, the voltage threshold can be 600 volts, 700 volts, or 800 volts.

[0062] When performing field-weakening compensation on the initial direct-axis current, a compensation value or a compensation coefficient may be combined to determine a reference direct-axis current. For example, the sum of the initial direct-axis current and the compensation value may be used as the reference direct-axis current; alternatively, the product of the initial direct-axis current and the compensation coefficient may be used as the reference direct-axis current. In some embodiments, using field-weakening compensation combined with a compensation value as an example, step S112 may include determining the reference direct-axis current of the vehicle motor based on the initial direct-axis current and the direct-axis current compensation value.

[0063] For example, the reference direct-axis current of the vehicle motor can be calculated using the following formula 2.

[0064] Formula 2:

[0065] in, is the reference direct-axis current of the vehicle motor; is the initial direct-axis current of the vehicle motor; Δi d is the direct-axis current compensation value.

[0066] In embodiments of the present application, a direct-axis current compensation value can be determined in real time based on the quadrature-axis voltage and direct-axis voltage of the vehicle voltage, in conjunction with an algorithm, and then a reference direct-axis current can be determined based on the initial direct-axis current and the calculated direct-axis current compensation value. Therefore, in some embodiments, prior to step S112, the motor control method further includes determining the direct-axis current compensation value based on the quadrature-axis voltage of the vehicle motor, the direct-axis voltage of the vehicle motor, and a voltage threshold.

[0067] The motor controller may determine a voltage deviation value based on the vehicle motor's quadrature and direct-axis voltages and a voltage threshold, and further determine a direct-axis current compensation value based on the voltage deviation value. In some embodiments, determining the direct-axis current compensation value based on the vehicle motor's quadrature and direct-axis voltages, and the voltage threshold, includes: determining a voltage deviation value based on the vehicle motor's quadrature and direct-axis voltages, and the voltage threshold; determining an initial compensation value based on the voltage deviation value; and determining the direct-axis current compensation value based on the initial compensation value.

[0068] For example, the voltage deviation value can be calculated using the following formula 3.

[0069] Formula 3:

[0070] Among them, ΔU is the voltage deviation value; U dc is the voltage threshold, or can be called the DC bus voltage; u q is the quadrature axis voltage of the vehicle motor; u d is the direct-axis voltage of the vehicle motor.

[0071] When determining the initial compensation value based on the voltage deviation value, the voltage deviation value can be input into the PI controller so that the PI controller outputs the initial compensation value. When determining the direct-axis current compensation value based on the initial compensation value, the initial compensation value can be directly used as the direct-axis current compensation value; or, the initial compensation value can be saturated to determine the direct-axis current compensation value. In some embodiments, the direct-axis current compensation value is determined based on the initial compensation value, including: when the initial compensation value does not exceed the compensation threshold, the initial compensation value is used as the direct-axis current compensation value; when the initial compensation value exceeds the compensation threshold, the compensation threshold is used as the direct-axis current compensation value. The parameters of the above-mentioned PI controller and saturation processing can be obtained through calibration, and the embodiments of the present application are not limited to this.

[0072] After obtaining the reference direct-axis current, the reference quadrature-axis current can be obtained based on the reference direct-axis current. In some embodiments, step S120 may include determining the reference quadrature-axis current of the vehicle motor based on the reference direct-axis current of the vehicle motor and the expected charging current limit of the vehicle battery.

[0073] For example, the reference quadrature-axis current of the vehicle motor can be calculated using the following formula 4.

[0074] Formula 4:

[0075] in, is the reference quadrature-axis current of the vehicle motor, is the desired charging current limit for the vehicle battery, is the reference direct-axis current of the vehicle motor.

[0076] In summary, the motor control method provided in the embodiments of the present application first determines the reference direct-axis current of the vehicle motor based on the desired charging current limit of the vehicle battery; then determines the reference quadrature-axis current of the vehicle motor based on the reference direct-axis current; and, in the event of voltage saturation of the vehicle motor, introduces field-weakening compensation to increase the negative half-axis component of the direct-axis current. Through this method of controlling the quadrature and direct-axis currents, the embodiments of the present application achieve both hard constraints on the current limit and maximum regenerative torque output from the vehicle motor.

[0077] The motor controller and motor control method provided in the embodiments of the present application are introduced and explained using a specific example below.

[0078] See also Figure 3 , Figure 3 Schematic diagram of a vehicle provided in an embodiment of the present application. Figure 3 As shown, the vehicle includes a motor controller 100 , a battery management system 200 and a vehicle motor 300 .

[0079] The motor controller 100 includes a current limiting module 110, which is connected to the battery management system 200 and the vehicle motor 300. The current limiting module 110 can receive the desired charging current limit from the battery management system 200, and ultimately obtain three-phase current based on the desired charging current limit, and output the three-phase current to the vehicle motor 300.

[0080] The current limit module 110 may include a direct axis current distribution module 111, a weak magnetic compensation module 112, a quadrature axis current calculation module 113 and a motor control module 114. The direct axis current distribution module 111 is used to limit the desired charging current of the vehicle battery. Determine the initial direct-axis current of the vehicle motor The weak magnetic compensation module 112 is used to adjust the initial direct axis current Perform weak magnetic compensation to obtain the reference direct axis current of the vehicle motor The quadrature axis current calculation module 113 is used to calculate the reference direct axis current of the vehicle motor according to the reference direct axis current of the vehicle motor. Determine the reference quadrature-axis current of the vehicle motor The motor control module 114 is used to control the motor current according to the reference direct axis current. and the reference quadrature-axis current Controls the vehicle's motor.

[0081] Among them, such as Figure 3As shown, dq in the motor control module 114 refers to the dq-axis coordinate system that rotates with the vehicle motor, abc represents the three-phase coordinate system of the vehicle motor, and αβ refers to the αβ-axis coordinate system; thus, dq / αβ refers to the current conversion from the αβ-axis coordinate system to the dq-axis coordinate system, and αβ / abc refers to the current conversion from the abc-axis coordinate system to the αβ-axis coordinate system. Figure 3 The θ in the equation is the current angular position of the vehicle's motor.

[0082] See also Figure 4 , Figure 4 This is a flow chart of another motor control method provided by an embodiment of the present application. This motor control method can be applied to Figure 3 In the vehicle shown. Figure 4 As shown, the motor control method may include the following steps S401 to S409.

[0083] Step S401: The battery management system determines whether the state of charge of the vehicle battery is greater than a state threshold. If so, step S402 is executed; otherwise, the process ends.

[0084] Step S402: The battery management system determines a desired charging current limit when the state of charge value of the vehicle battery is greater than a state threshold.

[0085] Step S403: The battery management system sends the desired charging current limit to the motor controller.

[0086] Step S404: The motor controller determines an initial direct-axis current according to the desired charging current limit.

[0087] Step S405: The motor controller determines whether the DC-axis voltage of the vehicle motor is greater than a voltage threshold. If so, step S406 is executed; otherwise, the initial DC-axis current is used as a reference DC-axis current and step S407 is executed.

[0088] Step S406 : When the DC-axis voltage of the vehicle motor is greater than the voltage threshold, the motor controller performs magnetic weakening compensation on the initial DC-axis current to obtain a reference DC-axis current of the vehicle motor.

[0089] Step S407 : The motor controller determines a reference quadrature-axis current of the vehicle motor according to the reference direct-axis current of the vehicle motor.

[0090] Step S408: The motor controller determines the three-phase current of the vehicle motor according to the reference direct-axis current and the reference quadrature-axis current.

[0091] Step S409: The motor controller sends three-phase current to the vehicle motor.

[0092] In the embodiment of the present application, for the high state of charge of the vehicle battery, the battery management system sends the desired charging current limit to the motor controller. The motor controller generates a direct-axis current that can produce the maximum feedback torque based on the desired charging current limit, and introduces weak magnetic compensation in the case of voltage saturation to increase the negative half-axis component of the direct-axis current. The quadrature-axis current is obtained by taking the difference between the desired charging current limit and the square of the direct-axis current. The embodiment of the present application can achieve hard constraints on the current limit, reduce the risk of battery overcharging, and help obtain the maximum feedback torque under current limit conditions. In addition, the embodiment of the present application can reduce the control links of the current limit and improve control efficiency. In addition, when the feedback torque output by the vehicle motor is not enough to meet the user's braking needs, the hydraulic braking system can participate in the supplement.

[0093] According to a third aspect of the present application, embodiments of the present application further provide a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described motor control method. This non-transitory computer-readable storage medium has all the beneficial effects of the above-described motor control method, and this application will not further elaborate on them.

[0094] According to the fourth aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above-mentioned motor control method and has all the beneficial effects of the above-mentioned motor control method. This application will not go into details here.

[0095] According to a fifth aspect of the present application, an embodiment of the present application further provides an electronic device comprising: a memory and a processor, wherein the memory stores a computer program; the processor is configured to execute the computer program in the memory to implement the steps of the above-described motor control method. This electronic device has all the beneficial effects of the above-described motor control method, and this application will not further elaborate on them.

[0096] The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof, and this application does not specifically limit this. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0097] In some embodiments of the present application, a computer-readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0098] The computer-readable storage medium may be included in the electronic device or may exist independently without being incorporated into the electronic device. The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device:

[0099] When the state of charge value of the vehicle battery is greater than the state threshold, a reference direct-axis current and / or a reference quadrature-axis current of the vehicle motor is determined according to a desired charging current limit of the vehicle battery.

[0100] Computer program code for performing the operations of some embodiments of the present application can be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network (including a local area network (LAN) or a wide area network (WAN)), or can be connected to an external computer (for example, using an Internet service provider to connect via the Internet).

[0101] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function.

[0102] It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

[0103] For example, two blocks shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flow charts, and combinations of blocks in the block diagrams and / or flow charts, may be implemented using a dedicated hardware-based system that performs the specified functions or operations, or may be implemented using a combination of dedicated hardware and computer instructions.

[0104] The units described in some embodiments of the present application may be implemented in software or hardware, and may also be provided in a processor.

[0105] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), and the like.

[0106] According to the sixth aspect of this application, Figure 5 As shown, the embodiment of the present application further provides a vehicle 10, which includes the above motor controller or the above electronic device. The vehicle has all the beneficial effects of the above motor controller and the above electronic device, etc., which will not be repeated in this application.

[0107] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle or a new energy vehicle, etc., and this application does not make any specific restrictions on this.

[0108] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0109] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0111] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A motor controller, characterized in that: The motor controller (100) includes a current limit module (110); The current limit module (110) is used to determine a reference direct-axis current and / or a reference quadrature-axis current of the vehicle motor according to an expected charging current limit of the vehicle battery when the state of charge value of the vehicle battery is greater than a state threshold.

2. The motor controller according to claim 1, wherein: The current limit module (110) comprises a direct-axis current distribution module (111) and a weak magnetic compensation module (112); wherein, The direct-axis current distribution module (111) is used to determine the initial direct-axis current of the vehicle motor according to the expected charging current limit of the vehicle battery; The weak magnetic field compensation module (112) is used to perform weak magnetic field compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor.

3. The motor controller according to claim 2, characterized in that: The current limit module (110) further includes a quadrature axis current calculation module (113); wherein, The quadrature-axis current calculation module (113) is used to determine a reference quadrature-axis current of the vehicle motor based on a reference direct-axis current of the vehicle motor.

4. The motor controller according to claim 3, characterized in that: The current limit module (110) further includes a motor control module (114); wherein, The motor control module (114) is used to control the vehicle motor to output a maximum feedback torque according to the reference direct-axis current and / or the reference quadrature-axis current.

5. A motor control method, characterized in that: The method comprises: When the state of charge value of the vehicle battery is greater than the state threshold, a reference direct-axis current and / or a reference quadrature-axis current of the vehicle motor is determined according to a desired charging current limit of the vehicle battery.

6. The method according to claim 5, characterized in that The determining, based on the expected charging current limit of the vehicle battery, a reference direct-axis current and a reference quadrature-axis current of the vehicle motor includes: determining a reference direct-axis current of a vehicle motor according to a desired charging current limit of the vehicle battery; A reference quadrature-axis current of the vehicle motor is determined according to a reference direct-axis current of the vehicle motor.

7. The method according to claim 6, characterized in that The determining of a reference direct-axis current of a vehicle motor according to a desired charging current limit of the vehicle battery includes: determining an initial direct-axis current of a vehicle motor based on a desired charging current limit of the vehicle battery; Performing magnetic weakening compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor.

8. The method according to claim 7, characterized in that The determining of an initial direct-axis current of the vehicle motor according to a desired charging current limit of the vehicle battery includes: An initial direct-axis current of the vehicle motor is determined according to a desired charging current limit of the vehicle battery and structural parameters of the vehicle motor.

9. The method according to claim 8, characterized in that The determining, based on the expected charging current limit of the vehicle battery and the structural parameters of the vehicle motor, an initial direct-axis current of the vehicle motor includes: An initial direct-axis current of the vehicle motor is determined based on a desired charging current limit of the vehicle battery, a permanent magnet flux linkage of the vehicle motor, and a stator winding inductance of the vehicle motor.

10. The method according to claim 7, characterized in that The performing magnetic weakening compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor includes: When the AC- and DC-axis voltages of the vehicle motor are greater than a voltage threshold, magnetic weakening compensation is performed on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor.

11. The method according to claim 7, characterized in that The performing magnetic weakening compensation on the initial direct-axis current to obtain a reference direct-axis current of the vehicle motor includes: A reference direct-axis current of the vehicle motor is determined according to the initial direct-axis current and the direct-axis current compensation value.

12. The method according to claim 11, characterized in that The method further comprises: A direct-axis current compensation value is determined according to the quadrature-axis voltage of the vehicle motor, the direct-axis voltage of the vehicle motor, and a voltage threshold.

13. The method according to claim 12, characterized in that The determining of the direct-axis current compensation value according to the quadrature-axis voltage of the vehicle motor, the direct-axis voltage of the vehicle motor, and a voltage threshold comprises: determining a voltage deviation value according to the quadrature-axis voltage of the vehicle motor, the direct-axis voltage of the vehicle motor, and a voltage threshold; determining an initial compensation value according to the voltage deviation value; A direct-axis current compensation value is determined according to the initial compensation value.

14. The method according to claim 13, wherein: The step of determining the direct-axis current compensation value according to the initial compensation value includes: When the initial compensation value does not exceed the compensation threshold, using the initial compensation value as the direct-axis current compensation value; When the initial compensation value exceeds the compensation threshold, the compensation threshold is used as the direct-axis current compensation value.

15. The method according to claim 6, characterized in that The determining the reference quadrature-axis current of the vehicle motor according to the reference direct-axis current of the vehicle motor comprises: A reference quadrature-axis current of the vehicle motor is determined based on a reference direct-axis current of the vehicle motor and a desired charging current limit of the vehicle battery.

16. The method according to claim 5, characterized in that The method further comprises: The vehicle motor is controlled to output a maximum feedback torque according to the reference direct-axis current and / or the reference quadrature-axis current.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motor control method according to any one of claims 5 to 16 is implemented.

18. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the motor control method according to any one of claims 5 to 16 is implemented.

19. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the motor control method according to any one of claims 5 to 16.

20. A vehicle, characterized in that: Includes the motor controller according to any one of claims 1 to 4, or includes the electronic device according to claim 19.

Images