CN109353228B - Motor torque control method and device - Google Patents
Motor torque control method and device Download PDFInfo
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- CN109353228B CN109353228B CN201811153313.5A CN201811153313A CN109353228B CN 109353228 B CN109353228 B CN 109353228B CN 201811153313 A CN201811153313 A CN 201811153313A CN 109353228 B CN109353228 B CN 109353228B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/425—Temperature
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a motor torque control method and a device, which can obtain the value of a weighting coefficient based on the working torque, the rated torque and the peak torque after obtaining the working torque, the rated torque and the peak torque in the current working process of a motor; comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result; based on the comparison result, the operating torque is adjusted in a range from the rated torque to the peak torque. Since the operating torque can be adjusted in the range from the setpoint torque to the peak torque, this means that the operating torque can be varied between the setpoint torque, the peak torque and the setpoint torque and the peak torque, by means of which the times of the operating torque between the setpoint torque, the peak torque and the setpoint torque and the peak torque can be determined in each case, so that the operating torque can be limited by the adjustment of the operating torque to the setpoint torque, the peak torque and the times between the setpoint torque and the peak torque.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a motor torque control method and device.
Background
With the development of science and technology and economy, the application of the motor is more and more extensive, and because the motor is used as a core driving part of the equipment where the motor is located, the driving specificity of the motor directly determines the performance of the equipment where the motor is located, and therefore the motor protection becomes a main concern of motor research.
The current methods for protecting the motor are as follows: the method comprises the steps of monitoring whether at least one of overvoltage, undervoltage, overcurrent and reverse phase of the motor exists, and if so, directly performing power-off protection on the motor, wherein the most important point for the motor is motor torque, and the time limit for the motor torque to work at rated torque and peak torque is not limited at present.
Disclosure of Invention
In view of the above, the present invention provides a method and a device for controlling motor torque, which are used to limit the time when the motor torque operates at the rated torque and the peak torque. The technical scheme is as follows:
the invention provides a motor torque control method, which comprises the following steps:
obtaining the working torque, the rated torque and the peak torque of the motor in the current working process;
obtaining a value of a weighting coefficient which is used for adjusting the working torque and is related to time based on the working torque, the rated torque and the peak torque;
comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result;
adjusting the working torque from the rated torque to the peak torque based on the comparison result, so that the working torque is limited to the rated torque, the peak torque and the time between the rated torque and the peak torque by the adjustment of the working torque.
Preferably, the method further comprises: obtaining the temperature of the motor in the current working process;
if the temperature is greater than or equal to a preset temperature value, triggering a step of obtaining a value of a time-dependent weighting coefficient for adjusting the working torque based on the working torque, the rated torque and the peak torque;
and if the temperature is less than the preset temperature value, determining a preset reset value as the value of the weighting coefficient.
Preferably, the obtaining, based on the working torque, the rated torque and the peak torque, a value of a time-dependent weighting coefficient for adjusting the working torque includes:
obtaining an overload coefficient of the motor based on the working torque, the rated torque and the peak torque, wherein the overload coefficient of the motor is used for indicating the magnitude relation between the working torque and the peak torque;
determining a start time and an end time corresponding to the overload coefficient, wherein the start time and the end time are related to a preset sampling time;
and integrating the overload coefficient based on the starting time and the ending time, and comparing an integration result obtained by integration with the maximum time length of the preset allowable work at the peak torque to obtain a value of the weighting coefficient.
Preferably, the adjusting the operating torque from the rated torque to the peak torque based on the comparison result includes:
if the comparison result shows that a first difference value obtained by subtracting the value of the weighting coefficient from a first preset value is less than or equal to the value of the preset comparison parameter, the working torque is adjusted to the peak torque;
if the comparison result shows that the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value, the working torque is adjusted to the rated torque;
and if the comparison result shows that the first difference is larger than the value of the preset comparison parameter and the first difference is smaller than the second difference, adjusting the working torque between the rated torque and the peak torque.
Preferably, adjusting the operating torque between the rated torque and the peak torque comprises:
based on the formula:
trqMTMax ═ trqNom + (trqPeak-trqNom) (-MTMag _ facMTTemp _ mp), where trqMTMax is the operating torque, trqNom is the rated torque, trqPeak is the peak torque, and MTMag _ facMTTemp _ mp is the value of the weighting factor.
The present invention also provides a motor torque control device, the device comprising:
the obtaining unit is used for obtaining the working torque, the rated torque and the peak torque of the motor in the current working process;
a weighting coefficient obtaining unit, configured to obtain a value of a weighting coefficient, which is used for adjusting the working torque and is related to time, based on the working torque, the rated torque, and the peak torque;
the comparison unit is used for comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result;
and the adjusting unit is used for adjusting the working torque from the rated torque to the peak torque based on the comparison result so as to limit the working torque to be rated torque, peak torque and time between the rated torque and the peak torque through the adjustment of the working torque.
Preferably, the obtaining unit is further configured to obtain a temperature of the motor in a current working process;
the weighting coefficient obtaining unit is configured to obtain a value of a weighting coefficient, which is used for adjusting the working torque and is related to time, based on the working torque, the rated torque and the peak torque if the temperature is greater than or equal to a preset temperature value, and determine a preset reset value as the value of the weighting coefficient if the temperature is less than the preset temperature value.
Preferably, the weighting coefficient obtaining unit is configured to obtain an overload coefficient of the motor based on the working torque, the rated torque, and the peak torque, determine a start time and an end time corresponding to the overload coefficient, integrate the overload coefficient based on the start time and the end time, and compare an integration result obtained by integration with a preset maximum time allowed to work at the peak torque to obtain a value of the weighting coefficient;
wherein the start time and the end time are related to a preset sampling time, and the overload coefficient of the motor is used for indicating the magnitude relation between the working torque and the peak torque.
Preferably, the adjusting unit is configured to adjust the working torque to the peak torque if the comparison result indicates that a first difference obtained by subtracting the value of the weighting coefficient from a first preset value is less than or equal to the value of the preset comparison parameter;
and the controller is used for adjusting the working torque to the rated torque if the comparison result shows that the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value;
and the controller is used for adjusting the working torque between the rated torque and the peak torque if the comparison result shows that the first difference is larger than the value of the preset comparison parameter and the first difference is smaller than the second difference.
Preferably, the adjusting unit is configured to:
trqMTMax ═ trqNom + (trqPeak-trqNom) (-1-MTMag _ facMTTemp _ mp) adjusts the operating torque between the rated torque and the peak torque, where trqMTMax is the operating torque, trqNom is the rated torque, trqPeak is the peak torque, and MTMag _ facMTTemp _ mp is the value of the weighting factor.
According to the technical scheme, after the working torque, the rated torque and the peak torque in the current working process of the motor are obtained, the value of the weighting coefficient which is used for adjusting the working torque and related to time can be obtained on the basis of the working torque, the rated torque and the peak torque; comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result; based on the comparison result, the working torque is adjusted from the rated torque to the peak torque, so that the working torque is reasonably adjusted based on the value of the weighting coefficient and the value of the preset comparison parameter, and because the working torque can be adjusted from the rated torque to the peak torque, the working torque can be changed among the rated torque, the peak torque, the rated torque and the peak torque, the time of the working torque among the rated torque, the peak torque and the time between the rated torque and the peak torque can be respectively determined through the change, so that the working torque can be limited to the rated torque, the peak torque and the time between the rated torque and the peak torque through the adjustment of the working torque, namely, the adjustment of the working torque among the rated torque, the peak torque and the time between the rated torque and the peak torque is realized.
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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling motor torque according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of an operating torque adjustment provided by an embodiment of the present invention;
FIG. 3 is a flow chart of another method of controlling motor torque provided by an embodiment of the present invention;
fig. 4 is a flowchart of a motor torque control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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, a flow chart of a motor torque control method provided by an exemplary embodiment of the present disclosure is shown for adjusting an operating torque between a rated torque, a peak torque, and a time between the rated torque and the peak torque, wherein the motor torque control method shown in fig. 1 may include the steps of:
s101: and obtaining the working torque, the rated torque and the peak torque of the motor in the current working process.
If the motor torque control method of the embodiment can be executed by the controller, the working torque can be directly input into the controller or obtained through equipment with a torque acquisition function, and then the equipment sends the working torque to the controller.
In addition to the working torque, the working speed (i.e. the actual speed in the current working process) can be acquired during the working process of the motor, and each working speed corresponds to a rated torque and a peak torque respectively, wherein the rated torque is the torque of the motor working under the rated voltage, and the peak torque is the maximum torque allowed under the corresponding speed during the working process of the motor. The procedure for obtaining the nominal torque and the peak torque is as follows:
obtaining curves corresponding to the rated torque and the peak torque respectively, if the curve corresponding to the rated torque is MTMag _ trqNom _ CUR, the curve can be given in the motor delivery process, and the corresponding relation between the working rotating speed and the rated torque is recorded in the curve, the curve corresponding to the peak torque is MTMag _ trqPeak _ CUR, the curve can also be given in the motor delivery process, and the corresponding relation between the working rotating speed and the peak torque is recorded in the curve, so that under the condition of obtaining the working rotating speed, the rated torque and the peak torque corresponding to the current working rotating speed can be found in the curve MTMag _ trqNom _ CUR and the curve MTMag _ trqPeak _ CUR.
S102: and obtaining a value of a weighting coefficient which is used for adjusting the working torque and is relevant to time based on the working torque, the rated torque and the peak torque. That is, the value of the time-dependent weighting factor for adjusting the operating torque can be obtained from the operating torque, the rated torque, and the peak torque.
In the present embodiment, one way to obtain the value of the time-dependent weighting coefficient for adjusting the operating torque is: obtaining an overload coefficient of the motor based on the working torque, the rated torque and the peak torque, wherein the overload coefficient of the motor is used for indicating the magnitude relation between the working torque and the peak torque; determining a start time and an end time corresponding to the overload coefficient, wherein the start time and the end time are related to a preset sampling time; and integrating the overload coefficient based on the starting time and the ending time, and comparing an integration result obtained by integration with the preset maximum time allowed to work at the peak torque to obtain a value of the weighting coefficient.
For example, the overload factor of the motor can be obtained by the mathematical transformation of the working torque, the rated torque and the peak torque, and one way is as follows: the overload factor is the ratio of the peak torque minus the operating torque to the peak torque minus the nominal torque. In this embodiment, the MTMag _ facOvrLd _ mp is recorded as an overload coefficient, and the corresponding formula is as follows:
wherein trqMTMax is the working torque, trqNom is the rated torque, trqPeak is the peak torque, and the overload coefficient can represent the magnitude relationship between the working torque and the peak torque according to the formula of the overload coefficient, and the reason is as follows: the peak torque is larger than the rated torque under the same working speed, the value obtained by subtracting the rated torque from the peak torque is a positive value, namely trqPeak-trqNom is a positive value, therefore, when the peak torque is larger than the working torque, trqPeak-trqMTAct is a positive number, when the numerator denominator is a positive number, the ratio of the trqPeak-trqMTAct is a positive value, the overload coefficient is a positive value, when the peak torque is smaller than the working torque, trqPeak-trqMTAct is a negative number, and the result of the negative number being larger than the positive number is a negative number, so that the overload coefficient is a negative value, and therefore, the magnitude relation between the working torque and the peak torque can be represented through the overload coefficient.
And the start time and the end time are the start time and the end time of any one of the states that the working torque is the rated torque, the peak torque and the torque between the rated torque and the peak torque, when sampling is carried out through the preset sampling time, the working torque is found to be changed, if the working torque is changed from the rated torque to the peak torque, the time corresponding to the preset sampling time when the working torque is changed is determined as the start time of one state, the working torque is determined as the end time of the other state, if the working torque is changed from the rated torque to the peak torque, the time corresponding to the preset sampling time is the start time of the peak torque but the end time of the rated torque, and if the working torque is found not to be changed when sampling is carried out through the preset sampling time, the time is accumulated until the end time is obtained. The points to be explained here are: when the first sampling is carried out through the preset sampling time, if the first sampling is carried out through the preset sampling time when the motor is electrified again, the starting time of the state of the working torque is considered when the first sampling is carried out or the time when the motor is electrified again is determined as the starting time.
And integrating the overload coefficient based on the starting time and the ending time, and comparing an integration result obtained by integration with the preset maximum time allowed to work at the peak torque to obtain a value of the weighting coefficient. As in this embodiment, MTMag _ facMTTemp _ mp is a weighting coefficient, and its corresponding calculation formula is as follows:
wherein Ki is the maximum time length allowed to work at the peak torque in advance, and the maximum time length can be set when the motor leaves a factory based on the motor performance, t1To start time, t2For the ending time, the calculation formula of the weighting coefficient shows that when the time length between the starting time and the ending time is greater than Ki, if the working torque is less than or equal to the rated torque, the numerator trqPeak-trqMTAc in the overload coefficient is greater than the denominator trqPeak-trqNom in the overload coefficient, namely the overload coefficient is a numerical value greater than or equal to 1, the integral result of the overload coefficient in the starting time and the ending time is greater than or equal to Ki, therefore, the ratio of the integral result to Ki is a value greater than or equal to 1, namely, the value of the weighting coefficient is greater than or equal to 1; if the working torque is larger than or equal to the peak torque of the motor, the numerator trqPeak-trqMTAc in the overload coefficient is smaller than or equal to 0 and smaller than the denominator trqPeak-trqNom in the overload coefficient, namely the overload coefficient is a numerical value smaller than or equal to 0, the integral result of the overload coefficient between the starting time and the ending time is smaller than or equal to 0, the ratio of the integral result obtained by the integration to Ki is a value smaller than or equal to 0, namely the value of the weighting coefficient is smaller than or equal to 0.
S103: the value of the weighting coefficient is compared with the value of the preset comparison parameter to obtain a comparison result, where the value of the preset comparison parameter may be determined according to an actual requirement, for example, in order to expand a working range of the working torque, for example, a change from a rated torque to a peak torque, the value of the preset comparison parameter may be 0, and the value of the preset comparison parameter is not limited in this embodiment.
It can be understood that: the ratio of the two coefficients is aligned to yield two types: the value of one coefficient is greater than that of the other coefficient, or the values of the two coefficients are the same, and the working torque in the embodiment has three states: the working torque is the rated torque, the working torque is the peak torque, and the working torque is between the rated torque and the peak torque, because in order to satisfy this condition, the comparison between the weighting coefficient and the preset comparison parameter is changed to some extent in this embodiment, and a feasible way of the change is:
a first preset value is introduced, the value of the first preset value can be determined according to actual requirements, for example, the first preset value is 1, and the corresponding comparison results include, but are not limited to, the following:
a first difference value obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to the value of the preset comparison parameter;
the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value;
the first difference is greater than the value of the preset comparison parameter and is less than the second difference.
The following deduces and explains the three comparison results with the first preset value of 1 and the preset comparison parameter of 0:
according to the calculation formula of the weighting coefficient, when the time length between the starting time and the ending time is greater than Ki, if the working torque is less than or equal to the rated torque, the numerator trqPeak-trqMTAc in the overload coefficient is greater than the denominator trqPeak-trqNom in the overload coefficient, namely the overload coefficient is a numerical value greater than or equal to 1, the integral result of the overload coefficient in the starting time and the ending time is greater than or equal to Ki, therefore, the ratio of the integral result to Ki is a value greater than or equal to 1, namely the value of the weighting coefficient is greater than or equal to 1; then, a first difference obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to 0, and the value of the preset comparison parameter is 0, at this time, the first difference obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to the value of the preset comparison parameter.
When the time length between the starting time and the ending time is greater than Ki, if the working torque is greater than or equal to the peak torque of the motor, the numerator trqPeak-trqMTAc in the overload coefficient is less than or equal to 0 and less than the denominator trqPeak-trqNom in the overload coefficient, namely the overload coefficient is a numerical value less than or equal to 0, the integral result of the overload coefficient between the starting time and the ending time is less than or equal to 0, the ratio of the integral result obtained by the integration to Ki is a value less than or equal to 0, namely the value of the weighting coefficient is less than or equal to 0; then, a first difference obtained by subtracting the value of the weighting coefficient from the first preset value is greater than or equal to 1, the value of the preset comparison parameter is 0, a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value is 1, and at this time, the first difference obtained by subtracting the value of the weighting coefficient from the first preset value is greater than or equal to the second difference obtained by subtracting the value of the preset comparison parameter from the first preset value.
When the time length between the starting time and the ending time is larger than Ki, if the working torque is between the rated torque and the peak torque, the numerator trqPeak-trqMTAc in the overload coefficient is larger than 0 and smaller than the denominator trqPeak-trqNom in the overload coefficient, and the ratio of the integral result Ki of the overload coefficient between the starting time and the ending time is between 1 and 0, a first difference obtained by subtracting the value of the weighting coefficient from the first preset value is larger than the value of the preset comparison parameter, and the first difference is smaller than a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value.
S104: based on the comparison result, the operating torque is adjusted in a range from the rated torque to the peak torque such that the operating torque is limited to the rated torque, the peak torque, and a time between the rated torque and the peak torque by the adjustment of the operating torque.
For example, if the comparison result shows that a first difference obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to the value of the preset comparison parameter, the working torque is adjusted to be the peak torque; if the comparison result shows that the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value, the working torque is adjusted to be the rated torque; and if the comparison result shows that the first difference is larger than the value of the preset comparison parameter and the first difference is smaller than the second difference, adjusting the working torque between the rated torque and the peak torque.
One possible way in which the operating torque is adjusted between the nominal torque and the peak torque is: based on the formula:
trqMTMax is the operating torque, trqNom is the rated torque, trqPeak is the peak torque, and MTMag _ facMTTemp _ mp is the value of the weighting factor, so that the operating torque can be adjusted between the rated torque and the peak torque based on the value of the weighting factor.
A circuit diagram for adjusting the operating torque based on the comparison result is shown in fig. 2, where y in fig. 2 represents output, a first difference (B in fig. 2) obtained by subtracting a value of the weighting coefficient from a first preset value is less than or equal to a value of a preset comparison parameter (a in fig. 2), a switch in a switch 1 directly connected to y is connected to a pin 3, a switch in a switch 2 connected to the switch 1 is connected to the pin 1, and a peak torque is output at this time; when the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value, a switch in the switch 1 directly connected with the y is connected to the pin 1, and at the moment, rated torque is output; when the first difference is larger than the value of the preset comparison parameter and the first difference is smaller than the second difference, the switch in the switch 1 directly connected with the y is connected to the pin 3, and the switch in the switch 2 connected with the switch 1 is connected to the pin 3, and then a torque between the rated torque and the peak torque is output based on the rated torque and the peak torque, for example, trqMTMax obtained based on the above formula is output.
The reason why limiting the operating torque to the rated torque, the peak torque and the time between the rated torque and the peak torque is achieved when adjusting the operating torque is explained by taking as an example that the operating torque is operated under the rated torque before adjustment:
as mentioned above, according to the calculation formula of the weighting coefficient, when the duration between the start time and the end time is greater than Ki, if the working torque is less than or equal to the rated torque, the numerator trqPeak-trqMTAc in the overload coefficient is greater than the denominator trqPeak-trqNom in the overload coefficient, that is, the overload coefficient is a value greater than or equal to 1, the integration result of the overload coefficient in the start time and the end time is greater than or equal to Ki, and thus the ratio of the integration result to Ki is a value greater than or equal to 1, that is, the value of the weighting coefficient is greater than or equal to 1; then, a first difference obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to 0, and the value of the preset comparison parameter is 0, then the first difference obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to the value of the preset comparison parameter, and under the condition, the working torque is adjusted to the peak torque, so that the time when the working torque is the rated torque is limited to the time before the working torque is adjusted to the peak torque, that is, the time when the first difference obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to the value of the preset comparison parameter is obtained.
The reason for adjusting the operating torque between the rated torque and the peak torque is: if the motor works at the peak torque for a long time, the current can be excessive and generate heat, so that the motor is high in temperature for a long time, the insulating layer of the motor is easy to age under the condition that the rated temperature is exceeded, the leakage current is increased, the insulating layer is damaged to a certain extent when the leakage current flows through the insulating layer, and the service life of the motor is shortened. If the motor works at the rated torque for a long time, the power of the vehicle is affected, so in this embodiment, if the motor works at the peak torque for a long time, the motor is adjusted to the rated torque, the motor is cooled, so as to prolong the service life of the motor, and if the motor works at the rated torque for a long time, the motor is adjusted to the peak torque, and the power of the vehicle is improved.
According to the technical scheme, after the working torque, the rated torque and the peak torque in the current working process of the motor are obtained, the value of the weighting coefficient which is used for adjusting the working torque and related to time can be obtained on the basis of the working torque, the rated torque and the peak torque; comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result; based on the comparison result, the working torque is adjusted from the rated torque to the peak torque, so that the working torque is reasonably adjusted based on the value of the weighting coefficient and the value of the preset comparison parameter, and because the working torque can be adjusted from the rated torque to the peak torque, the working torque can be changed among the rated torque, the peak torque, the rated torque and the peak torque, the time of the working torque among the rated torque, the peak torque and the time between the rated torque and the peak torque can be respectively determined through the change, so that the working torque can be limited to the rated torque, the peak torque and the time between the rated torque and the peak torque through the adjustment of the working torque, namely, the adjustment of the working torque among the rated torque, the peak torque and the time between the rated torque and the peak torque is realized.
Referring to fig. 3, which shows a flowchart of another motor torque control method provided by an exemplary embodiment of the present disclosure, a temperature of a motor in a current working process is obtained, and an adjustment of a working torque is determined based on the motor temperature, where the another motor torque control method shown in fig. 3 may include the following steps:
s301: and obtaining the working torque, the rated torque and the peak torque of the motor in the current working process.
In this embodiment, step S301 can refer to step S101, which is not described again.
S302: and obtaining the temperature of the motor in the current working process. It can be understood that, when the motor works, the motor can generate temperature, and a preset temperature value (the embodiment is not limited according to actual requirements) can be set for the motor, and when the motor temperature exceeds the preset temperature value, the motor is in an abnormal working state, and the abnormality may be: the motor insulating layer is easy to age and increase leakage current under the condition of exceeding rated temperature, and the leakage current can cause damage to the insulating layer to a certain extent, so that the service life of the motor is shortened.
One point to be explained here is: the above steps S301 and S302 may be executed simultaneously, or step S302 may be executed before step S301, and the execution sequence between step S301 and step S302 is not limited in this embodiment.
S303: and if the temperature is greater than or equal to the preset temperature value, obtaining a value of a weighting coefficient which is used for adjusting the working torque and is related to time based on the working torque, the rated torque and the peak torque.
In this embodiment, step S303 can refer to step S102, which is not described again.
S304: and if the temperature is less than the preset temperature value, determining the preset reset value as the value of the weighting coefficient. It can be understood that: if the temperature is lower than the preset temperature value, it is indicated that the motor is in a normal working state, at this time, the value of the weighting coefficient does not need to be obtained based on the working torque, the rated torque and the peak torque, but the preset reset value is directly determined as the value of the weighting coefficient, wherein the preset reset value can be determined according to the actual requirement, and this embodiment is not limited.
For example, when the preset temperature value is 90 degrees, if the current temperature of the motor is less than 90 degrees, the overload coefficient obtained based on the working torque, the rated torque and the peak torque does not work any more, and thus the weighting coefficient cannot be obtained based on the time integral of the overload coefficient, at this time, the preset reset value is determined as the value of the weighting coefficient, and the following step S305 is continuously executed to realize the adjustment of the working torque.
S305: and comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result.
S306: based on the comparison result, the operating torque is adjusted in a range from the rated torque to the peak torque such that the operating torque is limited to the rated torque, the peak torque, and a time between the rated torque and the peak torque by the adjustment of the operating torque.
In the present embodiment, steps S305 to S306: this embodiment is not described again, as in steps S103 to S104.
The points to be explained here are: if the preset reset value is 1, the first preset value is 1, and the value of the preset comparison parameter is 0, the preset reset value is determined as the value of the weighting coefficient, and a first difference value of the first preset value minus the value of the weighting coefficient belongs to a range where the first difference value of the first preset value minus the value of the weighting coefficient is less than or equal to the comparison parameter, so that the working torque is equal to the peak torque. Since the temperature of the motor is lower than the preset temperature value, which indicates that the motor is within the bearable temperature range, the maximum torque of the working torque of the motor can be allowed to be the peak torque to improve the power, in this embodiment, the value of the preset reset value can be determined by referring to the first preset value and the value of the preset comparison parameter, so that the working torque can be adjusted to the peak torque when the preset reset value is determined as the value of the weighting coefficient. The value of the preset reset value may also be determined according to actual requirements, and the value is not limited in this embodiment.
According to the technical scheme, the temperature of the motor in the current working process is obtained, whether the current temperature is smaller than a preset temperature value or not is judged, if the temperature is larger than or equal to the preset temperature value, the value of the weighting coefficient is obtained based on the working torque, the rated torque and the peak torque, if the temperature is smaller than the preset temperature value, the preset reset value is determined as the value of the weighting coefficient, the adjustment of the value of the weighting coefficient based on the temperature of the motor in the current working process is achieved, meanwhile, the adjustment of the working torque can be achieved, and the adjustment of the working torque between the rated torque, the peak torque and the time between the rated torque and the peak torque is achieved.
In addition, for the motor torque control method, it can be known from the derivation process of the weighting coefficients that the values of the weighting coefficients may be greater than 1 and less than 0, and in practical applications, the values of the weighting coefficients may be limited, for example, the value range of the weighting coefficients is [0,1], that is, the maximum value of the weighting coefficients is 1, and the minimum value is 0. When the first preset value is 1 and the value of the preset comparison parameter is 0, if the value of the weighting coefficient is 0, the working torque is at the peak torque, and if the value of the weighting coefficient is 1, the working torque is at the rated torque, so that the working torque can be prevented from being below the rated torque or exceeding the peak torque. Certainly, in practical application, if the value of the first preset value and the preset comparison parameter changes, the value range of the weighting coefficient may also be adjusted, and if the working torque is allowed to be below the rated torque or exceed the peak torque, the value range of the weighting coefficient may be set according to actual requirements, which is not described in detail herein.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a motor torque control device, whose structure is shown in fig. 4, and may include: an obtaining unit 11, a weighting coefficient obtaining unit 12, a comparing unit 13 and an adjusting unit 14.
And the obtaining unit 11 is used for obtaining the working torque, the rated torque and the peak torque in the current working process of the motor. For the description of the operating torque, the rated torque and the peak torque and the obtaining process, reference is made to the related description in the method embodiment, and the description of this embodiment is not repeated.
The weighting coefficient obtaining unit 12 is configured to obtain a value of a weighting coefficient, which is used for adjusting the operating torque and is related to time, based on the operating torque, the rated torque, and the peak torque.
In the present embodiment, one way for the weighting coefficient obtaining unit 12 to obtain the value of the time-dependent weighting coefficient for adjusting the operating torque is as follows: obtaining an overload coefficient of the motor based on the working torque, the rated torque and the peak torque, wherein the overload coefficient of the motor is used for indicating the magnitude relation between the working torque and the peak torque; determining a start time and an end time corresponding to the overload coefficient, wherein the start time and the end time are related to a preset sampling time; and integrating the overload coefficient based on the starting time and the ending time, and comparing an integration result obtained by integration with the preset maximum time allowed to work at the peak torque to obtain a value of the weighting coefficient.
For example, the overload factor of the motor can be obtained by the mathematical transformation of the working torque, the rated torque and the peak torque, and one way is as follows: the overload factor is the ratio of the peak torque minus the operating torque to the peak torque minus the rated torque, as in the above equation for MTMag _ facOvrLd _ mp.
And the start time and the end time are the start time and the end time when the working torque is in any one state of the rated torque, the peak torque and the torque between the rated torque and the peak torque, when sampling is carried out through the preset sampling time, the working torque is found to be changed, if the working torque is changed from the rated torque to the peak torque, the time corresponding to the preset sampling time when the working torque is changed is determined as the start time of one state, and the time is determined as the end time of the other state. The value process of the weighting coefficient obtained by integration is as follows: integrating the overload coefficient based on the start time and the end time, and comparing an integration result obtained by the integration with a preset maximum time length allowed to work at the peak torque to obtain a value of the weighting coefficient, which is specifically referred to the relevant description in the method embodiment.
The comparison unit 13 is configured to compare the value of the weighting coefficient with a value of a preset comparison parameter to obtain a comparison result, where the value of the preset comparison parameter may be determined according to an actual requirement, for example, in order to expand a working range of a working torque, for example, a change from a rated torque to a peak torque, the value of the preset comparison parameter may be 0, and the value of the preset comparison parameter is not limited in this embodiment.
In this example, the alignment results include, but are not limited to, the following:
a first difference value obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to the value of the preset comparison parameter;
the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value;
the first difference is greater than the value of the preset comparison parameter and is less than the second difference.
For the derivation of the above comparison results, please refer to the related description in the method embodiment, which is not further described in this embodiment.
An adjusting unit 14, configured to adjust the working torque from the rated torque to the peak torque based on the comparison result, so that the working torque is limited to the rated torque, the peak torque, and a time between the rated torque and the peak torque by the adjustment of the working torque.
For example, if the comparison result shows that a first difference obtained by subtracting the value of the weighting coefficient from the first preset value is less than or equal to the value of the preset comparison parameter, the working torque is adjusted to be the peak torque; if the comparison result shows that the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value, the working torque is adjusted to be the rated torque; and if the comparison result shows that the first difference is larger than the value of the preset comparison parameter and the first difference is smaller than the second difference, adjusting the working torque between the rated torque and the peak torque.
One possible way in which the operating torque is adjusted between the nominal torque and the peak torque is: based on the formula:
trqMTMax is the operating torque, trqNom is the rated torque, trqPeak is the peak torque, and MTMag _ facMTTemp _ mp is the value of the weighting factor, so that the operating torque can be adjusted between the rated torque and the peak torque based on the value of the weighting factor.
According to the technical scheme, after the working torque, the rated torque and the peak torque in the current working process of the motor are obtained, the value of the weighting coefficient which is used for adjusting the working torque and related to time can be obtained on the basis of the working torque, the rated torque and the peak torque; comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result; based on the comparison result, the working torque is adjusted from the rated torque to the peak torque, so that the working torque is reasonably adjusted based on the value of the weighting coefficient and the value of the preset comparison parameter, and because the working torque can be adjusted from the rated torque to the peak torque, the working torque can be changed among the rated torque, the peak torque, the rated torque and the peak torque, the time of the working torque among the rated torque, the peak torque and the time between the rated torque and the peak torque can be respectively determined through the change, so that the working torque can be limited to the rated torque, the peak torque and the time between the rated torque and the peak torque through the adjustment of the working torque, namely, the adjustment of the working torque among the rated torque, the peak torque and the time between the rated torque and the peak torque is realized.
In addition, the obtaining unit 11 is also used to obtain the temperature of the motor during the current operation process in the present embodiment. The weighting coefficient obtaining unit 12 is configured to obtain a value of a weighting coefficient, which is used for adjusting the working torque and is related to time, based on the working torque, the rated torque, and the peak torque if the temperature is greater than or equal to a preset temperature value, and determine a preset reset value as the value of the weighting coefficient if the temperature is less than the preset temperature value.
That is to say, the weighting coefficient obtaining unit 12 may determine how to obtain the value of the weighting coefficient based on the temperature of the motor in the current working process, and if the temperature is greater than or equal to the preset temperature value, obtain the value of the weighting coefficient, which is used for adjusting the working torque and is related to time, based on the working torque, the rated torque and the peak torque, and the process may refer to the relevant description in the above method embodiment; and if the temperature is less than the preset temperature value, determining the preset reset value as the value of the weighting coefficient. For the descriptions of the preset temperature value and the preset reset value, please refer to the method embodiment, which is not further described in this embodiment.
According to the technical scheme, the temperature of the motor in the current working process is obtained, whether the current temperature is smaller than a preset temperature value or not is judged, if the temperature is larger than or equal to the preset temperature value, the value of the weighting coefficient is obtained based on the working torque, the rated torque and the peak torque, if the temperature is smaller than the preset temperature value, the preset reset value is determined as the value of the weighting coefficient, the adjustment of the value of the weighting coefficient based on the temperature of the motor in the current working process is achieved, meanwhile, the adjustment of the working torque can be achieved, and the adjustment of the working torque between the rated torque, the peak torque and the time between the rated torque and the peak torque is achieved.
In addition, the embodiment of the invention also provides a controller, which comprises a processor and a memory, wherein the processor is used for obtaining the working torque, the rated torque and the peak torque in the current working process of the motor, obtaining the value of a weighting coefficient which is used for adjusting the working torque and is relevant to time based on the working torque, the rated torque and the peak torque, comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result, and adjusting the working torque from the rated torque to the peak torque based on the comparison result so as to limit the working torque to the rated torque, the peak torque and the time between the rated torque and the peak torque through the adjustment of the working torque; the memory is used for storing the working torque, the rated torque and the peak torque.
For the working process of the processor, reference is made to the related description in the above method embodiment, which is not described again in this embodiment.
The embodiment of the invention also provides a storage medium, wherein the storage medium is stored with computer program codes, and the motor torque control method is realized when the computer program codes run.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be 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.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of controlling torque of an electric machine, the method comprising:
obtaining the working torque, the rated torque and the peak torque of the motor in the current working process;
obtaining a value of a weighting coefficient which is used for adjusting the working torque and is related to time based on the working torque, the rated torque and the peak torque;
comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result;
and adjusting the working torque in a closed interval between two end point values including the rated torque and the peak torque based on the comparison result, so that the working torque is limited to the rated torque, the peak torque and the time between the rated torque and the peak torque through the adjustment of the working torque.
2. The method of claim 1, further comprising: obtaining the temperature of the motor in the current working process;
if the temperature is greater than or equal to a preset temperature value, triggering a step of obtaining a value of a time-dependent weighting coefficient for adjusting the working torque based on the working torque, the rated torque and the peak torque;
and if the temperature is less than the preset temperature value, determining a preset reset value as the value of the weighting coefficient.
3. The method of claim 1 or 2, wherein deriving a value for a time-dependent weighting coefficient for adjusting the operating torque based on the operating torque, a nominal torque, and a peak torque comprises:
obtaining an overload coefficient of the motor based on the working torque, the rated torque and the peak torque, wherein the overload coefficient of the motor is used for indicating the magnitude relation between the working torque and the peak torque;
determining a start time and an end time corresponding to the overload coefficient, wherein the start time and the end time are related to a preset sampling time;
and integrating the overload coefficient based on the starting time and the ending time, and comparing an integration result obtained by integration with the maximum time length of the preset allowable work at the peak torque to obtain a value of the weighting coefficient.
4. The method according to claim 1 or 2, wherein the adjusting the operating torque from the rated torque to the peak torque based on the comparison result comprises:
if the comparison result shows that a first difference value obtained by subtracting the value of the weighting coefficient from a first preset value is less than or equal to the value of the preset comparison parameter, the working torque is adjusted to the peak torque;
if the comparison result shows that the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value, the working torque is adjusted to the rated torque;
and if the comparison result shows that the first difference is larger than the value of the preset comparison parameter and the first difference is smaller than the second difference, adjusting the working torque between the rated torque and the peak torque.
5. The method of claim 4, wherein adjusting the operating torque between the rated torque and the peak torque comprises:
based on the formula:
trqMTMax ═ trqNom + (trqPeak-trqNom) (-MTMag _ facMTTemp _ mp), where trqMTMax is the operating torque, trqNom is the rated torque, trqPeak is the peak torque, and MTMag _ facMTTemp _ mp is the value of the weighting factor.
6. An electric motor torque control apparatus, characterized in that the apparatus comprises:
the obtaining unit is used for obtaining the working torque, the rated torque and the peak torque of the motor in the current working process;
a weighting coefficient obtaining unit, configured to obtain a value of a weighting coefficient, which is used for adjusting the working torque and is related to time, based on the working torque, the rated torque, and the peak torque;
the comparison unit is used for comparing the value of the weighting coefficient with the value of a preset comparison parameter to obtain a comparison result;
and the adjusting unit is used for limiting the working torque to be the rated torque, the peak torque and the time between the rated torque and the peak torque through the adjustment of the working torque in a closed interval between two endpoint values including the rated torque and the peak torque based on the comparison result.
7. The device of claim 6, wherein the obtaining unit is further configured to obtain a temperature of the motor during a current operation process;
the weighting coefficient obtaining unit is configured to obtain a value of a weighting coefficient, which is used for adjusting the working torque and is related to time, based on the working torque, the rated torque and the peak torque if the temperature is greater than or equal to a preset temperature value, and determine a preset reset value as the value of the weighting coefficient if the temperature is less than the preset temperature value.
8. The device according to claim 6 or 7, wherein the weighting coefficient obtaining unit is configured to obtain an overload coefficient of the motor based on the working torque, the rated torque, and the peak torque, determine a start time and an end time corresponding to the overload coefficient, integrate the overload coefficient based on the start time and the end time, and compare an integration result obtained by integration with a preset maximum time period allowed to work at the peak torque to obtain a value of the weighting coefficient;
wherein the start time and the end time are related to a preset sampling time, and the overload coefficient of the motor is used for indicating the magnitude relation between the working torque and the peak torque.
9. The device according to claim 6 or 7, wherein the adjusting unit is configured to adjust the working torque to the peak torque if the comparison result indicates that a first difference obtained by subtracting the value of the weighting coefficient from a first preset value is less than or equal to the value of the preset comparison parameter;
and the controller is used for adjusting the working torque to the rated torque if the comparison result shows that the first difference is larger than or equal to a second difference obtained by subtracting the value of the preset comparison parameter from the first preset value;
and the controller is used for adjusting the working torque between the rated torque and the peak torque if the comparison result shows that the first difference is larger than the value of the preset comparison parameter and the first difference is smaller than the second difference.
10. The apparatus of claim 9, wherein the adjusting unit is configured to, based on a formula:
trqMTMax ═ trqNom + (trqPeak-trqNom) (-1-MTMag _ facMTTemp _ mp) adjusts the operating torque between the rated torque and the peak torque, where trqMTMax is the operating torque, trqNom is the rated torque, trqPeak is the peak torque, and MTMag _ facMTTemp _ mp is the value of the weighting factor.
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| CN113561794B (en) * | 2021-08-05 | 2022-07-12 | 天津工程机械研究院有限公司 | Drive control method and device of dual-motor pure electric loader |
| CN114604105B (en) * | 2022-04-11 | 2023-12-15 | 潍柴动力股份有限公司 | Control method and related device for carrier frequency switching of motor |
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