CN109347405B - Estimation method and estimation system for motor rotor temperature - Google Patents
Estimation method and estimation system for motor rotor temperature Download PDFInfo
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- CN109347405B CN109347405B CN201811168426.2A CN201811168426A CN109347405B CN 109347405 B CN109347405 B CN 109347405B CN 201811168426 A CN201811168426 A CN 201811168426A CN 109347405 B CN109347405 B CN 109347405B
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/66—Controlling or determining the temperature of the rotor
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Abstract
The invention discloses a method for estimating rotor temperature, which comprises the steps of obtaining static time, power-off temperature and a preset function when a motor is powered on, and determining initial temperature corresponding to the power-off temperature and the static time according to the preset function; acquiring a temperature rise value of a motor in a working state; adding the initial temperature and the temperature rise value to obtain the current temperature of the rotor, wherein the rest time is the time difference between the power-on time and the last power-off time of the motor; the power-off temperature is the temperature of the motor when power is turned off last time; the preset function is a function describing the temperature of the rotor after the motor is powered down and changing along with time. According to the estimation method, the initial temperature of the rotor at the power-on moment of the motor is determined through the preset function, and the current temperature of the rotor is calculated on the basis of the initial temperature, so that the accuracy of the estimation result is improved. The invention also discloses an estimation system of the rotor temperature, which has the beneficial effects.
Description
Technical Field
The invention relates to the technical field of motor temperature control, in particular to a method and a system for estimating the temperature of a motor rotor.
Background
The motor is a new energy power system component combining multiple technical fields of electricity, magnetism, heat, machinery and the like, and is widely applied to the electric vehicle by the advantages of high energy density, high efficiency and the like. In the control of motor, it has very important meaning to acquire the rotor temperature, on the one hand, if motor rotor temperature is too high, the irreversible demagnetization of permanent magnet steel appears easily in actual operation, causes the motor actual properties to descend, can reduce or eliminate the demagnetization risk through monitoring motor rotor temperature. On the other hand, the temperature of the motor rotor has strong correlation with the performance of the magnetic steel, which further influences the calculation precision of the torque of the electric drive system and causes the deviation of the performance control of the whole vehicle.
In the prior art, when the temperature of the rotor of the motor is estimated, the temperature of the stator is usually monitored after the motor is started, and the temperature of the rotor is calculated by combining the corresponding relation between the temperature of the rotor and the temperature of the stator. However, in actual use, the actual temperature of the rotor is not only affected by the current after the motor is started, but also related to the temperature of the rotor at the time of starting. In the temperature estimation method in the prior art, the temperature of the rotor is usually ignored when the motor is started, so that the estimation result of the temperature of the motor rotor has larger deviation, and the working performance of the motor is influenced.
In summary, how to improve the accuracy of estimating the rotor temperature is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for estimating a rotor temperature of a motor, which can improve accuracy of on-line estimation of the rotor temperature.
In order to achieve the above object, the present invention provides an estimation method of a rotor temperature of a motor, the estimation method comprising:
when the motor is powered on, acquiring the static time, the power-off temperature and a preset function; the static duration is the time difference between the power-on time and the last power-off time of the motor; the power-off temperature is the temperature of the motor when power is turned off last time; the preset function is a function describing the change of the temperature of the rotor along with time after the motor is powered off;
determining an initial temperature corresponding to the power-off temperature and the rest duration according to the preset function;
acquiring a temperature rise value of the motor in a working state;
and adding the initial temperature and the temperature rise value to obtain the current temperature of the rotor.
Optionally, after adding the initial temperature to the temperature increase value to obtain a current temperature of the rotor, the method further includes:
judging whether the motor is powered off or not;
if so, updating the power-off temperature to enable the updated temperature value of the power-off temperature to be equal to the temperature value of the current temperature;
optionally, before determining whether the motor is powered off, the method further includes:
and determining the theoretical temperature of the rotor according to the flux linkage density, correcting the current temperature according to the theoretical temperature, and taking the corrected result as the new current temperature.
Optionally, before obtaining the rest duration, the power-off temperature, and the preset function, the method further includes:
keeping the motor connected with a motor controller, and controlling the motor to operate at the maximum power;
separating the motor from the motor controller after the temperature of the motor is stable, and controlling the rotating speed of the motor to be reduced to 0 by utilizing a dynamometer;
obtaining the preset function of the temperature of the rotor changing along with time.
Optionally, before obtaining the rest duration, the power-off temperature, and the preset function, the method further includes:
selecting a plurality of target environment temperatures within a preset temperature range, and acquiring alternative functions of the temperature of the rotor changing along with time at each target environment temperature, wherein the alternative functions correspond to the target environment temperatures one to one;
acquiring the current environment temperature;
judging whether all the target environment temperatures contain the current environment temperature;
if so, taking the alternative function corresponding to the current environment temperature as the preset function;
if not, determining the preset function according to the current environment temperature.
Optionally, determining the preset function according to the current ambient temperature includes:
dividing the preset temperature range into a plurality of temperature intervals according to all the target environment temperatures, and setting the temperature interval where the current environment temperature is located as a target temperature interval;
determining a lower limit target environment temperature and an upper limit target environment temperature corresponding to the target temperature interval;
determining the alternative function f (y) corresponding to the lower target ambient temperature and the alternative function f (z) corresponding to the upper target ambient temperature;
correspondingly, the process of determining the initial temperature corresponding to the power-off temperature and the rest duration according to the preset function specifically includes:
and determining the initial temperature corresponding to the power-off temperature and the rest duration by a weight coefficient method.
Optionally, the process of determining the initial temperature corresponding to the power-off temperature and the rest duration by using a weight coefficient method specifically includes:
setting an absolute value of a difference between the current ambient temperature and the lower limit target ambient temperature as a first temperature difference a, and setting an absolute value of a difference between the current ambient temperature and the upper limit target ambient temperature as a second temperature difference B;
determining the preset function f (x) according to a function determination formula;
wherein the function determination formula is f (x) a · f (f)y) + b · f (z), a and b are weight coefficients, a + b is 1, and
and
and presents negative correlation.
Determining an initial temperature corresponding to the power-off temperature and the rest duration according to the preset function;
optionally, the obtaining a temperature rise value when the motor is in a working state includes:
acquiring the current rotating speed, the current phase current and the running time of the rotor when the motor is in a working state;
determining the temperature rise values corresponding to the operation duration, the current rotating speed and the current phase current in an integral calculation mode according to a numerical model; the numerical model is a model for describing the corresponding relation among the temperature rise of the rotor in unit time, the phase current and the rotating speed;
optionally, before determining whether all the target ambient temperatures include the current ambient temperature, the method further includes:
generating a plurality of alternative models according to the corresponding relation among the temperature change of the rotor, the phase current and the rotating speed under each target environment temperature; the alternative models correspond to the target environment temperature one by one;
correspondingly, after determining whether all the target ambient temperatures include the current ambient temperature, the method further includes:
if so, taking the alternative model corresponding to the current environment temperature as the numerical model;
if not, determining the numerical model according to the current environment temperature.
The present application further provides a system for estimating a rotor temperature of an electric machine, the system comprising:
the parameter acquisition module is used for acquiring the static time, the power-off temperature and a preset function when the motor is powered on; the rest time length is the time difference between the power-on time and the last power-off time of the motor; the power-off temperature is the temperature of the motor when power is turned off last time; the preset function is a function describing the change of the temperature of the rotor along with time after the motor is powered off;
the initial temperature acquisition module is used for determining initial temperatures corresponding to the power-off temperature and the rest duration according to the preset function;
the temperature rise acquisition module is used for acquiring a temperature rise value of the motor in a working state;
and the current temperature acquisition module is used for adding the initial temperature and the temperature rise value to obtain the current temperature of the rotor.
The invention provides an estimation method of motor rotor temperature, which comprises the steps of obtaining static time, power-off temperature and a preset function when a motor is powered on, and determining initial temperature corresponding to the power-off temperature and the static time according to the preset function; acquiring a temperature rise value of a motor in a working state; adding the initial temperature and the temperature rise value to obtain the current temperature of the rotor, wherein the rest time is the time difference between the power-on time and the last power-off time of the motor; the power-off temperature is the temperature of the motor when power is turned off last time; the preset function is a function describing the temperature of the rotor after the motor is powered down and changing along with time.
The preset function describes the corresponding relation of the temperature of the rotor changing along with the time after the power is off, namely, the motor generates heat in the power-on operation process, the motor radiates heat to the periphery after the power is off, and the temperature of the rotor gradually decreases along with the increase of the time until the temperature of the environment keeps stable. In a preset function, the temperature of a rotor when the motor is powered on, namely the initial temperature, can be determined through the power-off temperature and the static duration; and then acquiring a temperature rise value of the rotor in the running process of the motor, and adding the temperature rise value and the initial temperature to obtain the actual temperature of the rotor in the running state, namely the current temperature.
According to the estimation method, the initial temperature of the rotor at the power-on moment of the motor is determined through the preset function, and the current temperature of the rotor is calculated on the basis of the initial temperature, so that the accuracy of the estimation result is improved. The application also provides an estimation system of the motor rotor temperature, which has the beneficial effects and is not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a gantry system for testing rotor temperature provided by the present invention;
FIG. 2 is a side view of the motor of FIG. 1 provided in accordance with the present invention;
FIG. 3 is a flow chart illustrating the steps of an estimation method according to the present invention;
FIG. 4 is a flow chart of steps of another estimation method provided by the present invention;
FIG. 5 is a graph of a predetermined function provided by the present invention;
FIG. 6 is a graph showing the relationship between the temperature rise per unit time and the rotational speed of the rotor under the condition of no phase current;
FIG. 7 is a graph showing the relationship between the temperature rise per unit time of the rotor and the rotational speed and phase current under the condition of phase current;
FIG. 8 is a logic diagram of the estimation method provided by the present invention;
fig. 9 is a schematic structural diagram of an estimation system provided in the present invention.
The reference numerals in figures 1 to 9 are:
the device comprises a dynamometer 1, a spline 2, a motor fixing support 3, a motor 4, an opening part 5, an end face 6, an infrared thermometer 7, an infrared thermometer fixing support 8, a notebook computer 9, a motor controller 10, an environmental chamber 11, a stator winding 12, a rotor 13, a temperature sensor 14, a data collector 15 and a stator core 16;
the temperature-rise control module comprises a parameter acquisition module 100, an initial temperature acquisition module 200, a temperature-rise acquisition module 300 and a current temperature acquisition module 400.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 9, fig. 1 is a schematic view of a rack system for testing a temperature of a rotor according to the present invention; FIG. 2 is a side view of the motor of FIG. 1 provided in accordance with the present invention; FIG. 3 is a flow chart illustrating the steps of an estimation method according to the present invention; FIG. 4 is a flow chart of steps of another estimation method provided by the present invention; FIG. 5 is a graph of a predetermined function provided by the present invention; FIG. 6 is a graph showing the relationship between the temperature rise per unit time and the rotational speed of the rotor under the condition of no phase current; FIG. 7 is a graph showing the relationship between the temperature rise per unit time of the rotor and the rotational speed and phase current under the condition of phase current; FIG. 8 is a logic diagram of the estimation method provided by the present invention; fig. 9 is a schematic structural diagram of an estimation system provided in the present invention.
Referring to fig. 1 and 2, the present application illustrates a process for implementing the estimation method by taking a stage system of the rotor temperature provided in the figure as an example. The bench system comprises a dynamometer 1, a motor fixing support 3, a motor 4, a motor controller 10, an infrared thermometer 7, an infrared thermometer fixing support 8, a notebook computer 9, a temperature sensor 14 for measuring the temperature of a stator, a data collector 15 for collecting the temperature of the stator and an environment cabin 11 with controllable temperature.
The motor 4 and the motor controller 10 are fixed on the motor fixing support 3, 8 or other quantity of temperature sensors 14 are uniformly distributed on the stator iron core 16 of the end face 6, so that the temperature of the stator iron core 16 and the temperature of the stator winding 12 can be measured, and the temperature value measured by the temperature sensors 14 is uploaded to the notebook computer 9 through the data collector 15.
The end face 6 of the motor 4 is provided with an opening 5 for exposing the inner rotor 13 to the outside, and the opening 5 may be trapezoidal and sealed by germanium glass or other transparent materials. The end face of the rotor 13 inside the motor 4 is provided with a coating layer covered with the same color.
The infrared thermometer 7 is fixedly arranged on the infrared thermometer fixing support 8, a remote sensing probe on the axis of the infrared thermometer fixing support corresponds to the rotor 13, so that the coating layer on the end face of the rotor 13 is identified and the temperature is measured, the infrared thermometer 7 is connected with the notebook computer 9, and the collected rotor 13 temperature value is uploaded to the notebook computer 9 through a data line or a wireless transmission signal.
The input shaft of the dynamometer 1 is coaxially connected with the output shaft of the motor 4 through the spline 2. The dynamometer 1 can directly control the rotating speed of the motor 4 to carry out a test experiment. In addition, the dynamometer 1 is connected with the notebook computer 9 through a built-in data acquisition and control unit, and acquires and controls related parameters of the dynamometer. It will be appreciated that the data acquisition and control of the gantry system should be synchronized in time.
Referring to fig. 3, the present invention provides a method for estimating a rotor temperature, which includes the following specific steps:
step S1, when the motor 4 is powered on, the static time length, the power-off temperature and the preset function are obtained.
Specifically, the power-on/power-off specifically means that the motor controller 10 completes the power-on/power-off control program under the power-on/power-off condition of the motor controller 10. After the power is on, the motor 4 can generate heat in the running process; when the power is off, the motor 4 radiates heat to the surroundings, and the temperature of the rotor 13 gradually decreases with time until the ambient temperature is stabilized.
The preset function is a function describing the change of the temperature of the rotor 13 along with the time after the motor 4 is powered off; in the process of determining the preset function, the motor 4 is controlled to be powered off, the temperature of the rotor 13 is detected by the infrared thermometer 7, the temperatures of the rotor 13 at different times are recorded, a two-dimensional graph can be obtained according to the change relation between the temperatures and the times, and the two-dimensional graph can be fitted to a curve of the preset function with monotonicity. For example, referring to fig. 5, when the time value is taken as the abscissa and the temperature value is taken as the ordinate, the preset function has a monotonically decreasing trend.
The static time length represents the time difference between the last power-off time and the current power-on time of the motor 4. In the process of determining the static duration, the power-off time can be used as a time starting point, and the time length is continuously accumulated through the motor controller 10; or the difference value calculated according to the two time points of the last power-off time and the current power-on time. The power-off temperature indicates the temperature of the rotor 13 at the last power-off time of the motor 4, and is directly stored in the motor controller 10 at the power-off time.
During actual use, the preset function, the power-down temperature, may be stored in the motor controller 10. When the motor 4 is powered on, the stored power-off temperature, the stored static time and the stored preset function are directly called.
And step S2, determining initial temperature corresponding to the power-off temperature and the rest time length according to a preset function.
Specifically, since the preset function is a monotonic function, the power-off temperature and the resting time are both known parameters, and the temperature value of the power-on temperature is smaller than that of the last power-off temperature, the initial temperature of the rotor 13 during the power-on of the motor 4 at this time can be directly determined by combining the preset function. For example, taking fig. 5 as an example, the temperature corresponding to the power-off temperature T1 and the rest period ts is the initial temperature T1'.
It should be noted that, if the motor 4 is powered on for the first time, the current ambient temperature may be obtained, and the temperature value of the current ambient temperature is used as the temperature value of the initial temperature of the rotor 13.
Step S3, a temperature rise value when the motor 4 is in the operating state is acquired.
Specifically, the temperature rise value specifically refers to a variation of a rise temperature of the rotor 13 after the motor 4 is powered on, the temperature rise value is in positive correlation with the operation time of the motor 4, and the obtained temperature rise value is a temperature rise value corresponding to the current time. The method and the specific process for obtaining the temperature rise value of the rotor 13 can refer to the manner provided by the prior art.
Step S4, the initial temperature is added to the temperature increase value to obtain the current temperature of the rotor 13.
The invention provides a method for estimating the rotor temperature of a motor 4, which considers the influence of the initial temperature of the motor 4 on the current temperature of a rotor 13 when the motor is powered on. When the power is on, the initial temperature is calculated by using the preset function, meanwhile, the temperature rise value of the rotor 13 is calculated in an accumulated mode after the power is on, and the current temperature of the rotor 13 during operation is determined according to the temperature rise value and the initial temperature, so that the effect of improving the accuracy of the estimation result is achieved.
Referring to fig. 4, on the basis of the above-mentioned embodiment, as a preferred embodiment, after adding the initial temperature and the temperature rise value to obtain the current temperature of the rotor 13, the method further includes:
step S5, judging whether the motor 4 is powered off; if yes, go to step S6;
step S6, updating the power-off temperature to enable the temperature value of the updated power-off temperature to be equal to the temperature value of the current temperature;
specifically, the main purpose of the present embodiment is to update the stored power-off temperature according to the operation condition of the rotor 13, that is, to assign the temperature value of the current temperature of the rotor 13 when the motor 4 is powered off to the power-off temperature, and store the updated power-off temperature in the motor controller 10, and read the updated power-off temperature at this time when the motor 4 is powered on next time. When the motor 4 repeatedly switches the power-on state and the power-off state, the corresponding power-off temperature can be obtained every time the motor is powered on, so that the continuous and accurate estimation of the temperature of the rotor 13 is guaranteed. If the motor 4 is not powered off, the process returns to step S3, i.e. the temperature increase value of the rotor 13 is continuously obtained, and the current temperature of the rotor 13 is continuously updated.
Further, referring to fig. 4, in order to further optimize the estimation method and reduce the error of the current temperature of the rotor 13 in consideration that the current temperature of the rotor 13 calculated after the operation for a period of time may affect the accuracy of the estimation result due to the accumulated error, in this embodiment, before determining whether the motor 4 is powered down, the method further includes:
step S7, determining a theoretical temperature of the rotor 13 according to the flux linkage density, correcting the current temperature according to the theoretical temperature, and taking the corrected result as a new current temperature.
Specifically, the correction is performed after the current temperature is calculated and before it is determined whether the motor 4 is powered down. The correction time is specifically selected according to requirements, and for example, the correction may be performed when the rotation speed of the motor 4 is greater than a preset threshold rotation speed, or after the motor 4 is started and stopped for multiple times. During correction, the motor controller 10 is controlled to be in a zero-torque state, the measured back electromotive force of the motor 4 is used for calculating the current flux linkage density of the motor 4, a purchased two-dimensional table of the motor flux linkage density and the rotor temperature is usually provided by a manufacturer of the motor 4, and the rotor temperature corresponding to the current flux linkage density in the two-dimensional table is the theoretical temperature. And the temperature value of the theoretical temperature is taken as the calculated temperature value of the current temperature, so that the correction of the current temperature can be completed.
Further, in order to optimize the estimation method, on the basis of any one of the above implementations, the preset function of the motor 4 is determined experimentally before obtaining the rest time, the power-off temperature, and the preset function, and the specific determination process may include the following steps:
the motor 4 is kept connected with the motor controller 10, and the motor 4 is controlled to run at the maximum power;
when the temperature of the motor 4 is stable, separating the motor 4 from the motor controller 10, and controlling the rotating speed of the motor 4 to be reduced to 0 by using the dynamometer 1;
a preset function of the temperature of the rotor 13 over time is obtained.
Specifically, in the process of determining the preset function, the motor 4 is always kept in a natural cooling state, the motor controller 10 is used for controlling the motor 4 to continuously run at the maximum power, the temperature of the motor 4 can gradually rise in the running process, the temperature of the motor 4 is considered to be stable when the temperature does not change any more, and the temperature of the rotor 13 at the moment is taken as the maximum rotor temperature. After the temperature is stable, the rotating speed of the motor 4 is rapidly reduced to 0 by using the dynamometer 1, data of the temperature of the rotor 13 changing along with time are recorded until the temperature of the rotor 13 reaches the environmental temperature provided by the environmental chamber 11 and keeps stable, and a preset function is determined by using the recorded data. It can be understood that the determination process of the preset function simulates the temperature change condition of the rotor 13 after the motor 4 is powered off; in addition, in the predetermined function, the maximum value of the temperature is the temperature value of the maximum rotor temperature, and the minimum value is the temperature value of the ambient temperature during the test.
Further, considering that the temperature drop of the rotor 13 after the motor 4 is powered off and the temperature rise of the rotor 13 after the motor 4 is powered on all change under different environmental temperatures, that is, the environmental temperature may affect the preset function and the temperature rise value, on the basis of any one of the above embodiments, to improve the accuracy of the estimation method, before the obtaining the resting duration, the power-off temperature, and the preset function, the method further includes:
selecting a plurality of target environment temperatures within a preset temperature range, and acquiring alternative functions of the temperature of the rotor 13 changing along with time at each target environment temperature, wherein the alternative functions correspond to the target environment temperatures one by one.
Specifically, the preset temperature range may be 0 ℃ to 80 ℃, and preferably a plurality of target environmental temperatures are selected in equal steps within the preset temperature range, for example, 10 ℃, 20 ℃, 30 ℃ and the like; the density of the target ambient temperatures may also be increased empirically or on demand at the normal temperatures at which the motor 4 is operated, e.g. a greater probability of the motor 4 operating at an ambient temperature of 20 c to 40 c, a greater number of target ambient temperatures being selected in this range of ambient temperatures and a lesser number of target ambient temperatures being selected in other ranges of ambient temperatures.
It will be understood that the predetermined function is determined experimentally at a known ambient temperature, and the alternative function is tested in a manner consistent with the experimental procedure of the predetermined function, only by controlling the motor 4 at different ambient temperatures through the environmental chamber 11. Specifically, the motor 4 is operated at one of the target ambient temperatures, the change relationship of the temperature of the rotor 13 with time at the target ambient temperature is recorded, and an alternative function corresponding to the change relationship is generated; and then, repeating the experiment at other target environment temperatures, and determining the alternative functions corresponding to the target environment temperatures one by one.
Acquiring the current environment temperature;
judging whether all target environment temperatures contain the current environment temperature;
if so, taking the alternative function corresponding to the current environment temperature as the current preset function;
if not, determining a preset function according to the current environment temperature.
Specifically, when the motor 4 is powered on, the current ambient temperature is obtained through the temperature sensing component, and if the current ambient temperature is exactly the same as one of the target ambient temperatures, the alternative function corresponding to the target ambient temperature is determined as the preset function.
If the temperature value of the current ambient temperature at which the motor 4 is located is different from the temperature value of any one target ambient temperature, a target ambient temperature with the smallest temperature difference with the current temperature can be selected from all the target ambient temperatures, and the alternative function corresponding to the target ambient temperature is used as the preset function.
Further, in order to improve the accuracy of the estimation result, the preset function may be determined by combining two candidate functions, and therefore, in this embodiment, the process of determining the preset function according to the current ambient temperature specifically includes:
dividing a preset temperature range into a plurality of temperature intervals according to all target environment temperatures, and setting the temperature interval in which the current environment temperature is located as a target temperature interval; and determining a lower limit target environment temperature and an upper limit target environment temperature corresponding to the target temperature interval.
Specifically, in the process of dividing the temperature interval, all the target ambient temperatures are uniformly arranged according to the ascending order or the descending order of the temperature values. In order to improve the accuracy of the preset function, it is preferable that a temperature region between two adjacent target ambient temperatures is defined as one temperature zone, and in this case, a lower temperature value of the two target ambient temperatures is defined as a lower limit target ambient temperature corresponding to the temperature zone, and a higher temperature value is defined as an upper limit target ambient temperature.
Determining an alternative function corresponding to the lower-limit target environment temperature, and for convenience of description, referring the alternative function to f (y); and determining an alternative function corresponding to the upper limit target environment temperature, wherein the alternative function is called f (z) for convenience of description below.
Finally, combining the alternative functions f (y) and f (z), determining the initial temperature corresponding to the power-off temperature and the rest time length by a weight coefficient method.
Optionally, in the manner of calculating the initial temperature by using the weight coefficient method provided by the present application, the process of determining the initial temperature corresponding to the power-off temperature and the static duration by using the weight coefficient method specifically includes:
setting the absolute value of the difference between the current environment temperature and the lower limit target environment temperature as a first temperature difference A, and setting the absolute value of the difference between the current environment temperature and the upper limit target environment temperature as a second temperature difference B;
determining a preset function f (x) according to a function determination formula;
wherein the function determination formula is f (x) a · f (y) + b · f (z), a and b are weight coefficients, a + b ═ 1, and
and
is in negative correlation;
and determining initial temperatures corresponding to the power-off temperature and the rest duration according to a preset function.
For example, when the target ambient temperature is 15 ℃, 20 ℃, 25 ℃, the temperature ranges include (15 ℃, 20 ℃) and (20 ℃, 25 ℃). When the current environmental temperature is 19 ℃, the target temperature interval is (15 ℃, 20 ℃), the lower limit target environmental temperature is 15 ℃, and the upper limit target environmental temperature is 20 ℃; it can be understood that the closer the current ambient temperature is to the upper-limit target ambient temperature, the greater the weight of f (z), i.e., the greater the value of b.
Optionally, in another way of calculating the initial temperature by using the weight coefficient method provided by the present application, the process of determining the initial temperature corresponding to the power-off temperature and the rest duration by using the weight coefficient method specifically includes:
determining an initial temperature T corresponding to the power-down temperature and the rest time according to f (y)ADetermining the initial temperature T corresponding to the power-off temperature and the rest time according to f (z)B；
Determining an initial temperature T according to the formula, wherein the formula is T ═ a.TA+b·TBA and b are weight coefficients, a + b is 1, and
and
and presents negative correlation.
It can be understood that the mathematical meaning and the determination manner of a and b are consistent with the previous embodiment of the weight coefficient method, and are not described herein again. In addition, the method for determining the temperature of the rotor 13 by the weight coefficient method is also suitable for temperature estimation under the variable-temperature working condition, and the application range of the estimation method is enlarged.
Optionally, in an embodiment of determining a temperature rise value provided by the present application, a process of obtaining the temperature rise value when the motor 4 is in the operating state specifically includes:
and acquiring the current rotating speed, the current phase current and the running time of the rotor 13 when the motor 4 is in the working state.
Determining temperature rise values corresponding to the operation duration, the current rotating speed and the current phase current in an integral calculation mode according to the numerical model; the numerical model is a model describing a corresponding relationship among the temperature rise per unit time, the phase current, and the rotational speed of the rotor 13.
Specifically, in the prior art, a corresponding model is usually established according to the temperature, the rotation speed and the phase current, and the temperature rise value is calculated according to the model, however, the calculation error of the model is large. According to the method and the device, a numerical model is established according to the corresponding relation between the temperature rise in unit time and the corresponding relation between the rotating speed and the phase current, and then the temperature rise value is determined in an integral mode according to the operation time length and the numerical model, so that the calculated temperature rise value is more accurate.
The specific process of establishing the numerical model can refer to the following modes:
and determining the corresponding relation between the temperature rise of the rotor 13 in unit time and the rotating speed under the condition of no phase current. Specifically, the three-phase electric wire of the motor 4 is kept separated from the motor controller 10, that is, the three-phase electric wire is set to be a no-load test environment; then keeping the motor 4 in normal cooling and starting the dynamometer 1 to drag the motor 4 to maintain an optional target rotating speed within a preset rotating speed range, wherein each target rotating speed is preferably within the preset rotating speed range at fixed intervals; when the temperature of the rotor 13 of the motor 4 is stable, recording the temperature rise value and the used time length of the rotor 13 at the rotating speed; finally, the data obtained by the test and the record are analyzed and processed to obtain the corresponding relationship between the temperature rise of the rotor 13 in unit time and the rotating speed under the no-load condition, as shown in fig. 6.
And determining the corresponding relation between the temperature rise of the rotor in unit time and the phase current and the rotating speed under the condition of the phase current. Specifically, the three-phase electric wire of the motor 4 is kept connected with the motor controller 10, that is, the three-phase electric wire is set to be a loaded test environment; then keeping the motor 4 in normal cooling and controlling the motor 4 to maintain the selected target rotating speed, and adopting different target phase currents to operate, wherein the range of the target phase currents does not exceed the maximum allowed phase currents at the rotating speed; when the temperature of the rotor 13 of the motor 4 is stable, the temperature rise value and the used time length of the rotor 13 of the motor 4 under the conditions of the rotating speed and the current of different phases are recorded.
The above operations are repeated at other target rotation speeds to perform test experiments, data are recorded, and the test and recorded data are analyzed and processed to obtain a numerical model of the corresponding relationship between the temperature rise of the rotor in unit time and the phase current and the rotation speed under the loaded condition, as shown in fig. 7.
Furthermore, in view of the influence of the ambient temperature on the temperature rise value of the rotor 13 during the operation phase of the motor 4, in order to further improve the accuracy of the estimation result, on the basis of any of the above embodiments, before determining whether all the target ambient temperatures include the current ambient temperature, the method further includes:
generating a plurality of candidate models according to the corresponding relation among the temperature change of the rotor 13, the phase current and the rotating speed at each target environment temperature; wherein, the alternative models correspond to the target environment temperature one by one;
and after judging whether all the target environment temperatures contain the current environment temperature, the method further comprises the following steps:
if so, taking the alternative model corresponding to the current environment temperature as the current numerical model;
if not, determining the numerical model according to the current environment temperature.
Specifically, the determination method of the alternative model is similar to that of the numerical model, specifically, the temperature value of the current temperature is equal to the temperature value of one of the target ambient temperatures through the environmental chamber 11, and then a test experiment is performed to determine the alternative model at the target ambient temperature; and then adjusting the current temperature, and repeating the test experiment at the temperature of each other target environment to respectively determine the corresponding alternative models.
When the motor 4 is powered on, the current environment temperature is obtained, and the current environment temperature is compared with the target environment temperature, so that the numerical model corresponding to the current environment temperature is determined. It can be understood that a weight coefficient method may also be adopted in the process of calculating the temperature rise value, and the specific calculation manner may refer to the above embodiment of the weight coefficient method and make simple modifications, which is not described herein again.
Because the current rotating speed and the current phase current CAN be sent to the notebook computer 9 from the CAN bus of the motor controller 10 for storage, the current rotating speed and the current phase current CAN be directly read. When the motor 4 operates, a corresponding numerical model is determined from the plurality of standby models according to the current environment temperature, and then the temperature rise value of the rotor 13 is determined according to the current rotating speed and the current phase current.
Referring to fig. 9, the present application further provides an estimation system of a rotor temperature, which may include:
a parameter obtaining module 100, configured to obtain a rest duration, a power-off temperature, and a preset function when the motor 4 is powered on; the rest duration is the time difference between the power-on time and the last power-off time of the motor 4; the power-off temperature is the temperature of the motor 4 when power is turned off last time; the preset function is a function describing the change of the temperature of the rotor 13 along with the time after the motor 4 is powered off;
an initial temperature obtaining module 200, configured to determine an initial temperature corresponding to the power-off temperature and the resting duration according to a preset function;
the temperature rise obtaining module 300 is configured to obtain a temperature rise value of the motor 4 in a working state;
and a current temperature obtaining module 400, configured to add the initial temperature and the temperature rise value to obtain a current temperature of the rotor 13.
Since the embodiment of the estimation system part corresponds to the embodiment of the estimation method part, please refer to the description of the embodiment of the estimation method part, which is not repeated herein.
Referring to fig. 8, the logic of the estimation method provided by the present application is explained below by means of fig. 8. Firstly, when the system is powered on, the initial temperature obtaining module 200 reads the static time ts and the temperature T of the rotor 13 stored in the system when the system is powered off last time1' and calculating the initial temperature T of the rotor 13 at the time of the current power-onin. In addition, the motor running state judging module judges the rotating speed N of the motor 4 according to the rotating speedmotAnd motor 4 torque TmotJudges the running state of the motor 4 and outputs a mark Sf. In addition, the temperature rise acquiring submodule of the rotor in the temperature rise acquiring module 300 in unit time is used for acquiring the state mark S of the motor 4fCalculating the rotor temperature rise delta T in unit time by using the ambient temperature T' and the phase current IdelAnd then is obtained by a rotor 13 temperature rise calculation submodule in the temperature rise obtaining module 300Obtaining the temperature rise value T of the rotor 13del. Then, the initial temperature T of the rotor 13 is setinAnd continuously calculating and updating the temperature rise T of the rotor 13delAdded up to obtain the current temperature T of the rotor 130The current temperature T of the rotor 13 is corrected by a temperature correction module0Is corrected to T0'; last system power-off time pair T0' store for recall next time the system is powered up, otherwise input to other functional modules for use.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A method of estimating a temperature of a rotor of an electric machine, comprising:
when the motor is powered on, acquiring the static time, the power-off temperature and a preset function; the static duration is the time difference between the power-on time and the last power-off time of the motor; the power-off temperature is the temperature of the motor when power is turned off last time; the preset function is a function describing the change of the temperature of the rotor along with time after the motor is powered off;
determining an initial temperature corresponding to the power-off temperature and the rest duration according to the preset function;
acquiring a temperature rise value of the motor in a working state;
adding the initial temperature and the temperature rise value to obtain the current temperature of the rotor;
after adding the initial temperature and the temperature rise value to obtain the current temperature of the rotor, the method further comprises the following steps:
judging whether the motor is powered off or not;
if so, updating the power-off temperature to enable the updated temperature value of the power-off temperature to be equal to the temperature value of the current temperature;
before judging whether the motor is powered down, the method further comprises the following steps:
and determining the theoretical temperature of the rotor according to the flux linkage density, correcting the current temperature according to the theoretical temperature, and taking the corrected result as the new current temperature.
2. The estimation method according to claim 1, further comprising, before obtaining the rest period, the power-down temperature, and the preset function:
keeping the motor connected with a motor controller, and controlling the motor to operate at the maximum power;
separating the motor from the motor controller after the temperature of the motor is stable, and controlling the rotating speed of the motor to be reduced to 0 by utilizing a dynamometer;
obtaining the preset function of the temperature of the rotor changing along with time.
3. The estimation method according to any one of claims 1 to 2, wherein before obtaining the rest time length, the power-off temperature and the preset function, the estimation method further comprises:
selecting a plurality of target environment temperatures within a preset temperature range, and acquiring alternative functions of the temperature of the rotor changing along with time at each target environment temperature, wherein the alternative functions correspond to the target environment temperatures one to one;
acquiring the current environment temperature;
judging whether all the target environment temperatures contain the current environment temperature;
if so, taking the alternative function corresponding to the current environment temperature as the preset function;
if not, determining the preset function according to the current environment temperature.
4. The estimation method according to claim 3, wherein determining the preset function according to the current ambient temperature comprises:
dividing the preset temperature range into a plurality of temperature intervals according to all the target environment temperatures, and setting the temperature interval where the current environment temperature is located as a target temperature interval;
determining a lower limit target environment temperature and an upper limit target environment temperature corresponding to the target temperature interval;
determining the alternative function f (y) corresponding to the lower target ambient temperature and the alternative function f (z) corresponding to the upper target ambient temperature;
correspondingly, the process of determining the initial temperature corresponding to the power-off temperature and the rest duration according to the preset function specifically includes:
and determining the initial temperature corresponding to the power-off temperature and the rest duration by a weight coefficient method.
5. The estimation method according to claim 4, wherein the process of determining the initial temperature corresponding to the power-off temperature and the rest period by the weight coefficient method is specifically:
setting an absolute value of a difference between the current ambient temperature and the lower limit target ambient temperature as a first temperature difference a, and setting an absolute value of a difference between the current ambient temperature and the upper limit target ambient temperature as a second temperature difference B;
determining the preset function f (x) according to a function determination formula;
wherein the function determination formula is f (x) a · f (y) + b · f (z), a and b are weight coefficients, a + b ═ 1, and
and
is in negative correlation;
and determining the initial temperature corresponding to the power-off temperature and the rest duration according to the preset function.
6. The estimation method according to claim 5, wherein obtaining the temperature rise value when the motor is in an operating state includes:
acquiring the current rotating speed, the current phase current and the running time of the rotor when the motor is in a working state;
determining the temperature rise values corresponding to the operation duration, the current rotating speed and the current phase current in an integral calculation mode according to a numerical model; the numerical model is a model for describing the corresponding relation among the temperature rise of the rotor in unit time, the phase current and the rotating speed.
7. The estimation method according to claim 6, before determining whether all of the target ambient temperatures include the current ambient temperature, further comprising:
generating a plurality of alternative models according to the corresponding relation among the temperature change of the rotor, the phase current and the rotating speed under each target environment temperature; the alternative models correspond to the target environment temperature one by one;
correspondingly, after determining whether all the target ambient temperatures include the current ambient temperature, the method further includes:
if so, taking the alternative model corresponding to the current environment temperature as the numerical model;
if not, determining the numerical model according to the current environment temperature.
8. An estimation system for motor rotor temperature, comprising:
the parameter acquisition module is used for acquiring the static time, the power-off temperature and a preset function when the motor is powered on; the rest time length is the time difference between the power-on time and the last power-off time of the motor; the power-off temperature is the temperature of the motor when power is turned off last time; the preset function is a function describing the change of the temperature of the rotor along with time after the motor is powered off;
the initial temperature acquisition module is used for determining initial temperatures corresponding to the power-off temperature and the rest duration according to the preset function;
the temperature rise acquisition module is used for acquiring a temperature rise value of the motor in a working state;
a current temperature obtaining module, configured to add the initial temperature and the temperature rise value to obtain a current temperature of the rotor; the temperature control device is also used for judging whether the motor is powered off or not after the initial temperature and the temperature rise value are added to obtain the current temperature of the rotor, and updating the power-off temperature when the judgment result is yes, so that the temperature value of the updated power-off temperature is equal to the temperature value of the current temperature; and before judging whether the motor is powered off, determining the theoretical temperature of the rotor according to the flux linkage density, correcting the current temperature according to the theoretical temperature, and taking the corrected result as the new current temperature.
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| CN110138312A (en) * | 2019-05-13 | 2019-08-16 | 浙江吉利控股集团有限公司 | A kind of motor rotor temperature estimation method, device and controller |
| CN112086936B (en) * | 2019-06-12 | 2023-05-16 | 广州汽车集团股份有限公司 | Overheat protection method for motor |
| CN110425025B (en) * | 2019-07-10 | 2021-11-19 | 东风商用车有限公司 | Vehicle postprocessor NOx sensor and method for determining initial temperature of installation pipe wall of differential pressure sensor |
| CN110323994B (en) * | 2019-07-24 | 2021-02-26 | 重庆长安新能源汽车科技有限公司 | Method, system, vehicle and storage medium for estimating temperature of motor rotor on line in real time |
| CN110554718A (en) * | 2019-09-16 | 2019-12-10 | 珠海格力电器股份有限公司 | Temperature compensation method and device, storage medium and temperature controller |
| CN110474574B (en) * | 2019-09-19 | 2021-05-25 | 上海元城汽车技术有限公司 | Control method and device of permanent magnet synchronous motor and motor controller |
| CN110702272B (en) * | 2019-09-24 | 2021-11-05 | 中国第一汽车股份有限公司 | Method and device for estimating temperature of motor rotor, motor and storage medium |
| CN110932490B (en) * | 2019-11-22 | 2021-10-15 | 上海电气电站设备有限公司 | Method for calculating forced excitation temperature of rotor of double-water internal cooling non-salient pole synchronous motor |
| CN112865665B (en) * | 2021-01-26 | 2022-12-02 | 大陆汽车电子(长春)有限公司 | Electronic control unit for driving an electric motor in a sensorless manner |
| CN114679112A (en) * | 2021-04-08 | 2022-06-28 | 北京新能源汽车股份有限公司 | Motor control method, motor controller, system and vehicle |
| CN116614035B (en) * | 2023-05-29 | 2024-06-28 | 重庆青山工业有限责任公司 | Real-time online estimation method for rotor temperature of permanent magnet synchronous motor |
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| JP6231523B2 (en) * | 2015-07-09 | 2017-11-15 | ファナック株式会社 | Motor controller for estimating winding temperature, and allowable duty cycle time calculation method for machine |
| CN105160109A (en) * | 2015-09-11 | 2015-12-16 | 东华大学 | Motor temperature rise forecast method based on radial basis function (RBF) neural network |
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