CN113708700A - Self-learning method and calibration method for initial angle of motor rotation of pure electric vehicle - Google Patents
Self-learning method and calibration method for initial angle of motor rotation of pure electric vehicle Download PDFInfo
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- CN113708700A CN113708700A CN202110985289.7A CN202110985289A CN113708700A CN 113708700 A CN113708700 A CN 113708700A CN 202110985289 A CN202110985289 A CN 202110985289A CN 113708700 A CN113708700 A CN 113708700A
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- H—ELECTRICITY
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a self-learning method and a calibration method for an initial angle of a motor rotation transformer of a pure electric vehicle, wherein the self-learning method and the calibration method are used for the self-learning of the initial angle of the motor rotation transformer by a motor controller, and the calibration of the initial angle of the motor rotation transformer is realized by matching with a diagnostic instrument, so that the problem that the initial angle of the motor rotation transformer needs to be re-calibrated after the motor controller of the pure electric vehicle is replaced is solved, the pure electric vehicle can be directly carried out on the pure electric vehicle without being dragged by an engine, a dynamometer and the like and depending on an experimental bench, and the self-learning method and the calibration method are suitable for the whole scene of the pure electric vehicle, are particularly suitable for the inconvenient scene that the motor needs to be disassembled and installed on the bench when the motor controller is maintained and updated after sale, and are more convenient and simple to operate.
Description
Technical Field
The invention belongs to the technical field of pure electric vehicles, and particularly relates to a self-learning method and a calibration method of an initial angle of a motor rotating transformer of a pure electric vehicle.
Background
For a pure electric vehicle, the stability of torque output and the torque precision of the permanent magnet synchronous motor are inseparable from the comfort of the whole vehicle. The torque accuracy of the motor is directly influenced by the installation position of the permanent magnet synchronous motor rotary transformer (namely, the rotary transformer of the permanent magnet synchronous motor) and the correction degree of the angle deviation (corresponding to the initial angle of the motor rotary transformer). At present, the determining mode of the initial rotation angle of the (permanent magnet synchronous) motor of the pure electric vehicle is as follows: when the motor system is off line, the motor is dragged to a certain rotating speed on the rack through the dynamometer, but the rack dynamometer is dragged and is not suitable for the whole vehicle scene of the pure electric vehicle. When a motor controller in a motor system of the pure electric vehicle breaks down and needs to be maintained and replaced, the motor system is disassembled and installed on the rack, and the initial angle calibration of the motor rotation transformer is carried out again, so that great inconvenience is caused.
Disclosure of Invention
The invention aims to provide a self-learning method and a calibration method for an initial angle of a motor rotation transformer of a pure electric vehicle, which are suitable for a whole vehicle scene of the pure electric vehicle and are more convenient to operate.
The invention discloses a self-learning method of an initial angle of a motor rotation transformer of a pure electric vehicle, which comprises the following steps:
s1, the motor controller judges whether the motor rotation self-learning state is the first state, if so, S2 is executed, otherwise, S7 is executed.
S2, the motor controller limits the available torque value of the motor to be within the preset torque range (so as to protect the personal safety of the driver), the vehicle enters a self-learning state of waiting for the initial angle of the motor rotation, and then S3 is executed.
And S3, judging whether the self-learning condition of the initial angle of the rotary transformer of the motor is met or not by the motor controller, if so, executing S4, and otherwise, continuing executing S3.
And S4, setting the motor rotation self-learning state as a third state by the motor controller, carrying out motor rotation initial angle self-learning to obtain a motor rotation initial angle, and then executing S5.
And S5, judging whether the self-learning frequency of the initial angle of the rotary transformer of the motor reaches the preset frequency n by the motor controller, if so, executing S6, and otherwise, returning to execute S4.
And S6, setting the motor rotation self-learning state to be a second state by the motor controller, writing the initial angle of the motor rotation obtained after the nth self-learning into the nonvolatile memory chip, and then executing S7.
And S7, the motor controller judges whether the initial angle of the motor rotation change stored in the nonvolatile memory chip is in a preset angle range, if so, the operation is ended, otherwise, the operation is executed to S8.
S8, the motor controller erases the initial angle of the motor rotation change from the nonvolatile memory chip, sets the self-learning state of the motor rotation change to a first state, and then returns to the step S1.
Preferably, if the rotation speed of the motor is within a preset rotation speed range, the opening degree of the accelerator pedal is zero, and the vehicle is in a neutral sliding state, the self-learning condition of the initial angle of the rotation of the motor is satisfied.
Preferably, the diagnostic instrument is connected with the vehicle through an OBD interface and is communicated with the motor controller; the diagnostic instrument performs the following process: after the vehicle is powered on, if the motor rotation self-learning state is the first state, the diagnostic instrument displays that the motor rotation self-learning state is the first state, and if the motor rotation self-learning state is the second state, the diagnostic instrument displays that the motor rotation self-learning state is the second state; in the motor rotation change initial angle self-learning process, if the motor rotation change self-learning state is changed from the first state to the third state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the first state to the third state, and if the motor rotation change self-learning state is changed from the third state to the second state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the third state to the second state and keeps the second state until the vehicle is powered off. The motor rotation self-learning state displayed by the diagnostic instrument is still in the second state even if the motor rotation self-learning state is changed from the second state to the first state.
The invention relates to a motor rotation initial angle calibration method of a pure electric vehicle.A calibration system adopted by the method comprises a motor controller and a diagnostic instrument, wherein the diagnostic instrument is connected with the vehicle through an OBD interface and is communicated with the motor controller; the diagnostic instrument performs the following process: after the vehicle is powered on, if the motor rotation self-learning state is the first state, the diagnostic instrument displays that the motor rotation self-learning state is the first state, and if the motor rotation self-learning state is the second state, the diagnostic instrument displays that the motor rotation self-learning state is the second state; in the motor rotation change initial angle self-learning process, if the motor rotation change self-learning state is changed from the first state to the third state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the first state to the third state, and if the motor rotation change self-learning state is changed from the third state to the second state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the third state to the second state and keeps the second state until the vehicle is powered off.
The calibration method comprises the following steps:
firstly, electrifying the vehicle, if the motor rotation self-learning state displayed by the diagnostic instrument is a second state, indicating that the motor rotation initial angle calibration is finished, and the motor rotation initial angle calibration is not needed to be carried out again, and then finishing; and electrifying the vehicle, if the motor rotation self-learning state displayed by the diagnostic instrument is the first state, indicating that the initial angle calibration of the motor rotation is required, and then executing the second step.
And secondly, stepping on an accelerator pedal on a road to enable the rotating speed of the motor to be within a preset rotating speed range, then loosening the accelerator pedal, switching the vehicle gear to a neutral sliding state, and then executing a third step.
Thirdly, the motor controller executes the self-learning method of the initial angle of the motor rotation change; in the self-learning process of the initial angle of the motor rotation transformer, if the self-learning state of the motor rotation transformer displayed by the diagnostic instrument is changed from the third state to the second state, the vehicle is powered off after the preset time is delayed, and then the first step is executed.
The method solves the problem that the initial angle of the motor rotation change of the pure electric vehicle needs to be calibrated again after the motor controller of the pure electric vehicle is replaced, the pure electric vehicle can be directly operated on the pure electric vehicle without being dragged by an engine, a dynamometer and the like and depending on an experiment bench, and the method is suitable for the whole scene of the pure electric vehicle, is particularly suitable for the inconvenient scene that the motor needs to be detached and installed on the bench when the motor controller is maintained and updated after sale, and is more convenient and simple to operate.
Drawings
Fig. 1 is a flowchart of a motor rotation initial angle self-learning method of the pure electric vehicle in the embodiment.
Fig. 2 is a flowchart of an initial angle calibration method for the motor of the pure electric vehicle in this embodiment.
Detailed Description
As shown in fig. 1, the self-learning method for the initial angle of the motor rotation of the pure electric vehicle in the embodiment includes:
s1, the motor controller judges whether the motor rotation self-learning state is the first state, if so, S2 is executed, otherwise (namely when the motor rotation self-learning state is the second state) S7 is executed.
S2, the motor controller limits the available torque value of the motor to be within the preset torque range (so as to protect the personal safety of the driver), the vehicle enters a self-learning state of waiting for the initial angle of the motor rotation, and then S3 is executed.
And S3, judging whether the self-learning condition of the initial angle of the rotary transformer of the motor is met or not by the motor controller, if so, executing S4, and otherwise, continuing executing S3. If the rotating speed of the motor is within a preset rotating speed range, the opening degree of an accelerator pedal is zero (corresponding to the fact that the accelerator pedal is released), and the vehicle is in a neutral sliding state, the self-learning condition of the initial rotating angle of the motor is met, otherwise, the self-learning condition of the initial rotating angle of the motor is not met.
And S4, setting the motor rotation self-learning state as a third state by the motor controller, carrying out motor rotation initial angle self-learning to obtain a motor rotation initial angle, and then executing S5.
And S5, judging whether the self-learning frequency of the initial angle of the rotary transformer of the motor reaches the preset frequency n by the motor controller, if so, executing S6, and otherwise, returning to execute S4.
And S6, setting the motor rotation self-learning state to be a second state by the motor controller, writing the initial angle of the motor rotation obtained after the nth self-learning into the nonvolatile memory chip, and then executing S7.
And S7, the motor controller judges whether the initial angle of the motor rotation change stored in the nonvolatile memory chip is in a preset angle range, if so, the operation is ended, otherwise, the operation is executed to S8.
S8, the motor controller erases the initial angle of the motor rotation change from the nonvolatile memory chip, sets the self-learning state of the motor rotation change to a first state, and then returns to the step S1.
In the method for calibrating the initial angle of the motor rotation of the pure electric vehicle in the embodiment, the adopted calibration system comprises a motor controller and a diagnostic instrument, and the diagnostic instrument is connected with the vehicle through an OBD interface and is communicated with the motor controller; the diagnostic instrument performs the following process: after the vehicle is powered on, if the motor rotation self-learning state is the first state, the diagnostic instrument displays that the motor rotation self-learning state is the first state, and if the motor rotation self-learning state is the second state, the diagnostic instrument displays that the motor rotation self-learning state is the second state; in the motor rotation change initial angle self-learning process, if the motor rotation change self-learning state is changed from the first state to the third state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the first state to the third state, and if the motor rotation change self-learning state is changed from the third state to the second state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the third state to the second state and keeps the second state until the vehicle is powered off, and even if the motor rotation change self-learning state is changed from the second state to the first state, the motor rotation change self-learning state displayed by the diagnostic instrument is still in the second state.
As shown in fig. 2, the method for calibrating the initial angle of the motor rotation of the pure electric vehicle in this embodiment includes:
the method comprises the steps of firstly, electrifying a vehicle, judging whether a motor rotation self-learning state displayed by a diagnostic instrument is a second state, if so, indicating that the motor rotation initial angle calibration is finished (indicating that an accurate motor rotation initial angle is stored in a nonvolatile storage chip), not needing to carry out the motor rotation initial angle calibration, and then finishing, otherwise (namely when the motor rotation self-learning state displayed by the diagnostic instrument is the first state), indicating that the motor rotation initial angle calibration is needed, and then executing the second step.
And secondly, accelerating on the road by stepping on an accelerator pedal to enable the rotating speed of the motor to be within a preset rotating speed range, then releasing the accelerator pedal, switching the vehicle gear to a neutral sliding state (the motor controller works in a torque mode and a torque command is 0), and then executing a third step.
Thirdly, the motor controller executes the self-learning method of the initial angle of the motor rotation change; in the self-learning process of the initial angle of the motor rotation transformer, if the self-learning state of the motor rotation transformer displayed by the diagnostic instrument is changed from the third state to the second state, the vehicle is powered off after the preset time is delayed, and then the first step is executed.
The vehicle of the pure electric vehicle is provided with the motor and the motor controller, so that the motor driving can be realized, the motor controller is in a torque mode, and an accurate initial motor rotation angle is obtained by utilizing the conventional initial motor rotation angle self-learning algorithm, so that the self-learning process of the initial motor rotation angle is completed, an experimental bench is not required to be relied on, and the self-learning method is particularly suitable for the inconvenient scene that the motor needs to be disassembled and installed on the bench when the motor controller is maintained and updated after sale.
Claims (4)
1. The self-learning method of the initial angle of the motor rotation of the pure electric vehicle is characterized by comprising the following steps of:
s1, judging whether the motor rotation self-learning state is the first state or not by the motor controller, if so, executing S2, and otherwise, executing S7;
s2, limiting the available torque value of the motor to be within a preset torque range by the motor controller, enabling the vehicle to enter a self-learning state of waiting for the initial angle of the rotary transformer of the motor, and then executing S3;
s3, the motor controller judges whether the self-learning condition of the initial angle of the rotary transformer of the motor is met, if so, S4 is executed, otherwise, S3 is continuously executed;
s4, setting the motor rotation self-learning state as a third state by the motor controller, carrying out motor rotation initial angle self-learning to obtain a motor rotation initial angle, and then executing S5;
s5, judging whether the self-learning frequency of the initial angle of the rotary transformer of the motor reaches a preset frequency n by the motor controller, if so, executing S6, otherwise, returning to execute S4;
s6, setting the motor rotation self-learning state as a second state by the motor controller, writing the initial angle of the motor rotation obtained after the nth self-learning into a nonvolatile memory chip, and then executing S7;
s7, the motor controller judges whether the initial angle of the motor rotation change stored in the nonvolatile memory chip is in the preset angle range, if so, the operation is finished, otherwise, the operation is executed to S8;
s8, the motor controller erases the initial angle of the motor rotation change from the nonvolatile memory chip, sets the self-learning state of the motor rotation change to a first state, and then returns to the step S1.
2. The self-learning method for the rotation angle of the motor of the pure electric vehicle as claimed in claim 1, wherein: if the rotating speed of the motor is in a preset rotating speed range, the opening degree of an accelerator pedal is zero, and the vehicle is in a neutral gear sliding state, the self-learning condition of the initial angle of the rotary transformer of the motor is met.
3. The self-learning method of the initial angle of motor rotation of the pure electric vehicle as claimed in claim 1 or 2, wherein:
the diagnostic instrument is connected with the vehicle through an OBD interface and is communicated with the motor controller; the diagnostic instrument performs the following process: after the vehicle is powered on, if the motor rotation self-learning state is the first state, the diagnostic instrument displays that the motor rotation self-learning state is the first state, and if the motor rotation self-learning state is the second state, the diagnostic instrument displays that the motor rotation self-learning state is the second state; in the motor rotation change initial angle self-learning process, if the motor rotation change self-learning state is changed from the first state to the third state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the first state to the third state, and if the motor rotation change self-learning state is changed from the third state to the second state, the diagnostic instrument displays that the motor rotation change self-learning state is changed from the third state to the second state and keeps the second state until the vehicle is powered off.
4. A method for calibrating an initial angle of a motor rotation transformer of a pure electric vehicle is characterized by comprising the following steps:
the adopted calibration system comprises a motor controller and a diagnostic instrument, wherein the diagnostic instrument is connected with a vehicle through an OBD interface and is communicated with the motor controller; the diagnostic instrument performs the following process: after the vehicle is powered on, if the motor rotation self-learning state is the first state, the diagnostic instrument displays that the motor rotation self-learning state is the first state, and if the motor rotation self-learning state is the second state, the diagnostic instrument displays that the motor rotation self-learning state is the second state; in the self-learning process of the initial angle of the motor rotation transformer, if the self-learning state of the motor rotation transformer is changed from the first state to the third state, the diagnostic instrument displays that the self-learning state of the motor rotation transformer is changed from the first state to the third state, and if the self-learning state of the motor rotation transformer is changed from the third state to the second state, the diagnostic instrument displays that the self-learning state of the motor rotation transformer is changed from the third state to the second state and keeps the second state until the vehicle is powered off;
the calibration method comprises the following steps:
firstly, electrifying the vehicle, if the motor rotation self-learning state displayed by the diagnostic instrument is a second state, indicating that the motor rotation initial angle calibration is finished, and the motor rotation initial angle calibration is not needed to be carried out again, and then finishing; electrifying the vehicle, if the motor rotation self-learning state displayed by the diagnostic instrument is the first state, indicating that the initial angle calibration of the motor rotation is needed, and then executing the second step;
secondly, stepping on an accelerator pedal on a road to enable the rotating speed of a motor to be within a preset rotating speed range, then loosening the accelerator pedal, switching the vehicle gear to a neutral gear sliding state, and then executing a third step;
third step, the motor controller performs the self-learning method as claimed in claim 1 or 2; in the self-learning process of the initial angle of the motor rotation transformer, if the self-learning state of the motor rotation transformer displayed by the diagnostic instrument is changed from the third state to the second state, the vehicle is powered off after the preset time is delayed, and then the first step is executed.
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