Real-time determination of demagnetization torque capability of electric motor in propulsion system
阅读说明：本技术 推进系统中的电动马达的退磁转矩能力的实时确定 (Real-time determination of demagnetization torque capability of electric motor in propulsion system ) 是由 D.V.思米利 S.巴拉尔 于 2020-02-21 设计创作，主要内容包括：本发明涉及推进系统中的电动马达的退磁转矩能力的实时确定。一种用于装置的推进系统,该推进系统具有被配置成选择性地提供第一转矩贡献以推进装置的电动马达。至少一个传感器被配置成获得与电动马达相关的相应信号。控制器与传感器通信,并且被配置成部分地基于相应信号来确定磁通链(λ<Sub>M</Sub>)。控制器具有处理器和有形的非暂时性存储器,在该存储器上记录有指令以用于实时确定电动马达的退磁转矩能力(T<Sub>D</Sub>)的方法。在电动马达的退磁的阈值水平的情况下,该方法考虑到退磁水平来实时估计电动马达的转矩能力。至少部分地基于退磁转矩能力(T<Sub>D</Sub>)来控制装置的至少一个操作参数。(The invention relates to a real-time determination of a demagnetization torque capability of an electric motor in a propulsion system. A propulsion system for a device has an electric motor configured to selectively provide a first torque contribution to propel the device. At least one sensor is configured to obtain a corresponding signal related to the electric motor. The controller is in communication with the sensor and is configured to determine a flux linkage (λ) based in part on the respective signal M ). The controller has a processor and tangible non-transitory memory having instructions recorded thereon for determining in real time a demagnetization torque capability (T) of the electric motor D ) The method of (1). Demagnetization in electric motorsIn the case of a threshold level of (d), the method estimates the torque capacity of the electric motor in real time taking into account the demagnetization level. Based at least in part on demagnetization torque capacity (T) D ) To control at least one operating parameter of the device.)
1. A propulsion system for a device, the propulsion system comprising:
an electric motor configured to selectively provide a first torque contribution to propel the device, the electric motor including a stator and a rotor;
at least one sensor configured to obtain a respective signal related to the electric motor;
a controller in communication with the at least one sensor and configured to determine a flux linkage (λ) of the rotor based in part on the respective signalM）；
Wherein the controller has a processor and tangible non-transitory memory on which instructions are recorded for determining in real time a demagnetization torque capability (Tmax) of the electric motorD) The execution of the instructions by the processor causes the controller to:
determining the flux linkage (λ)M) Whether or not less than a predefined threshold magnetic flux (lambda)T）；
When the flux linkage (λ)M) SmallAt the predefined threshold magnetic flux (λ)T) Based in part on the flux linkage (λ)M) And the maximum available voltage (V)m) To determine the demagnetization base speed (omega)b）；
Based in part on said demagnetization base speed (ω)b) Determining a blending factor (K) and based in part on the blending factor (K), a high speed available torque (T)HS) And low speed available torque (T)LS) To determine said demagnetization torque capacity (T)D) (ii) a And
based in part on the demagnetization torque capacity (T)D) To control at least one operating parameter of the device.
2. The propulsion system of claim 1, further comprising:
a secondary source configured to selectively provide a second torque contribution to propel the device; and is
Wherein said controlling at least one operating parameter of said device comprises a control based on said demagnetization torque capacity (Tmax)D) To increase the second torque contribution relative to the first torque contribution.
3. A propulsion system according to claim 1, wherein the rotor defines a rotor electrical speed (ω)e) And the controller is configured to:
applying said demagnetization torque capacity (T)D) The method comprises the following steps: t isD= (K* THS+ (1-K)*TLS)；
When the rotor electric speed (ω)e) Less than or equal to the demagnetization base speed (ω)b) Difference (ω) from a predefined calibration range (Δ ω)bMax), the mixing factor is set to zero (K = 0);
when the rotor electric speed (ω)e) Greater than said demagnetization base speed (ω)b) Sum (ω) with the predefined calibration range (Δ ω)bWhen Δ ω) is equal to the mixing factorSet to one (K = 1); and is
When the rotor electric speed (ω)e) Less than or equal to the sum (ω)bΔ ω and is greater than the difference (ω)bWhen Δ ω), the mixing factor (K) is obtained as:
4. the propulsion system of claim 1, wherein:
the at least one sensor is a rotor temperature sensor and the corresponding signal is a rotor temperature; and is
The controller is configured to obtain the flux linkage (λ) from a lookup table based in part on the rotor temperatureM）。
5. The propulsion system of claim 1, wherein the controller is configured to:
based in part on the flux linkage (λ)M) The maximum available voltage (V)m) D-axis stator current command () Q-axis stator current command (
6. a propulsion system according to claim 5, wherein said demagnetization base speed (ω) is determinedb) Previously, the controller is configured to:
based in part on predefined nominal d-axis stator current commands: () And a predefined nominal q-axis stator current command: () To determine the nominal d-axis static inductance () And nominal q-axis static inductance: (）；
Based at least in part on the nominal d-axis static inductance (
based in part on the initial d-axis stator current command () And stationThe initial q-axis stator current command (
7. The propulsion system of claim 6, wherein the controller is configured to:
based in part on the flux linkage (λ)M) The maximum rated stator current (I R) The d-axis static inductor () And the q-axis static inductance: (
8. the propulsion system of claim 7, wherein the controller is configured to:
based in part on the maximum rated stator current (I R ) And the d-axis stator current command (
9. the propulsion system of claim 1, further comprising:
a Direct Current (DC) power source configured to convert a DC link voltage (VV dc ) Provided to the electric motor, the controller is configured to:
based in part on the DC link voltage (V dc ) And rotor mechanical frequency (ω)m) To determine a d-axis maximum stator current command (
based in part on the d-axis maximum stator current command(s) ((
10. The propulsion system of claim 9, wherein the controller is configured to:
based in part on the number of pole pairs (P), the flux linkage (λ)M) The d-axis maximum stator inductance () The q-axis maximum stator inductance (
Technical Field
The present disclosure generally relates to a propulsion system for an apparatus having an electric motor and a corresponding method. More specifically, the present disclosure relates to determination of torque capability of an electric motor under demagnetization.
Background
In the past few years, the use of electric-only vehicles and hybrid vehicles, such as battery electric vehicles, extended window electric vehicles, hybrid electric vehicles, plug-in hybrid electric vehicles, and fuel cell hybrid electric vehicles, has increased dramatically. Propulsion may be provided for hybrid electric vehicles and other electric power transportation devices by electric motors. Many electric motors include permanent magnets that can demagnetize over time for various reasons (such as temperature, age, specific events), thereby affecting the performance of the electric motor.
Disclosure of Invention
Disclosed herein is a propulsion system for an apparatus having an electric motor. The electric motor is configured to selectively provide a first torque contribution to propel the device, and includes a stator and a rotor. At least one sensor is configured to obtain a corresponding signal related to the electric motor. The controller is in communication with the sensor and is configured to determine a flux linkage (λ) of the rotor based in part on the respective signalM). The controller has a processor and tangible non-transitory memory having instructions recorded thereon for determining in real time a demagnetization torque capability (T) of the electric motorD) The method of (1). In the case of a threshold level of demagnetization of the electric motor, the method estimates the torque capacity of the electric motor in real time, taking into account the demagnetization level, which can be communicated across the workspace to multiple controllers.
Execution of the instructions by the processor causes the controller to determine a flux linkage (λ)M) Whether or not less than a predefined threshold flux (λ)T). The controller is configured to: when flux linkage (lambda)M) Less than a predefined threshold magnetic flux (lambda)T) Based in part on flux linkage (λ)M) And the maximum available voltage (V)m) To determine the demagnetization base speed (omega)b). Based in part on the demagnetizing base speed (ω)b) Hybrid factor (K), high speed available torque (T)HS) And low speed available torque (T)LS) To obtain the demagnetization torque capacity (T)D). The controller is configured to be based at least in part on a demagnetization torque capacity (T)D) To control at least one operating parameter of the device.
The propulsion system may include a secondary source configured to selectively provide a second torque contribution to propel the device. The at least one operating parameter of the control device may include a torque capacity based on demagnetization (T)D) To increase the second torque contribution relative to the first torque contribution.
High speed available torque (T) based on the blend factor (K)HS) And low speed available torque (T)LS) To obtain the demagnetization torque capacity (T)D) So that: t isD= (K* THS+ (1-K)*TLS). When rotor electric speed (ω)e) Less than or equal to the demagnetization base speed (omega)b) Difference (ω) from a predefined calibration range (Δ ω)bWhen Δ ω), the mixing factor is set to zero (K = 0). When rotor electric speed (ω)e) Greater than the demagnetization base speed (omega)b) Sum (ω) with a predefined calibration range (Δ ω)bWhen Δ ω), the mixing factor is set to one (K = 1). When rotor electric speed (ω)e) Less than or equal to sum (ω)bΔ ω and greater thanbWhen Δ ω), the mixing factor (K) is obtained as:
in one example, flux linkages (λ) are obtained from a lookup table based in part on a temperature of a rotorM). After obtaining the demagnetization basic speed (omega)b) Previously, the controller was configured to be based in part on a predefined nominal d-axis stator current command(s) (ii)) And a predefined nominal q-axis stator current command: (
The controller may be configured to be based in part on flux linkage (λ)M) Maximum available voltage (V)m) D-axis stator current command（
the controller may be configured to be based in part on flux linkage (λ)M) Maximum rated stator current: (I R ) D-axis static inductor (
the propulsion system may include a Direct Current (DC) power supply configured to supply a DC link voltage (vV dc ) To the electric motor. The controller may be configured to be based in part on the DC link voltage(s) ((s))V dc ) And rotor mechanical speed (ω)m) To determine a d-axis maximum stator current command (
The controller may be configured to determine flux linkage (λ) based in part on the number of pole pairs (P)M) D axis maximum stator inductance: () Q-axis maximum stator inductance: (
the controller may be configured to determine the stator resistance (R) based in part on the number of pole pairs (P), the stator resistance (R)s) Rotor electrical speed (ω)e) Maximum available voltage (V)m) D-axis maximum stator current command (d)) Q-axis maximum stator current command (c)) Flux linkage (lambda)M) D axis maximum stator inductance: () And q-axis maximum stator inductance (q-axis)) To obtain high speed available torque (T)HS) So that:。
the invention also provides the following scheme:
scheme 1. a propulsion system for a device, the propulsion system comprising:
an electric motor configured to selectively provide a first torque contribution to propel the device, the electric motor including a stator and a rotor;
at least one sensor configured to obtain a respective signal related to the electric motor;
a controller in communication with the at least one sensor andand configured to determine flux linkages (λ) of the rotor based in part on the respective signalsM）；
Wherein the controller has a processor and tangible non-transitory memory on which instructions are recorded for determining in real time a demagnetization torque capability (Tmax) of the electric motorD) The execution of the instructions by the processor causes the controller to:
determining the flux linkage (λ)M) Whether or not less than a predefined threshold magnetic flux (lambda)T）；
When the flux linkage (λ)M) Less than the predefined threshold magnetic flux (λ)T) Based in part on the flux linkage (λ)M) And the maximum available voltage (V)m) To determine the demagnetization base speed (omega)b）；
Based in part on said demagnetization base speed (ω)b) Determining a blending factor (K) and based in part on the blending factor (K), a high speed available torque (T)HS) And low speed available torque (T)LS) To determine said demagnetization torque capacity (T)D) (ii) a And
based in part on the demagnetization torque capacity (T)D) To control at least one operating parameter of the device.
Scheme 2. the propulsion system of scheme 1, further comprising:
a secondary source configured to selectively provide a second torque contribution to propel the device; and is
Wherein said controlling at least one operating parameter of said device comprises a control based on said demagnetization torque capacity (Tmax)D) To increase the second torque contribution relative to the first torque contribution.
Scheme 3. the propulsion system of scheme 1, wherein the rotor defines a rotor electrical speed (ω)e) And the controller is configured to:
applying said demagnetization torque capacity (T)D) The method comprises the following steps: t isD= (K* THS+ (1-K)*TLS)；
When the rotor electric speed (ω)e) Less than or equal to the demagnetization base speed (ω)b) Difference (ω) from a predefined calibration range (Δ ω)bMax), the mixing factor is set to zero (K = 0);
when the rotor electric speed (ω)e) Greater than said demagnetization base speed (ω)b) Sum (ω) with the predefined calibration range (Δ ω)bWhen Δ ω), the mixing factor is set to one (K = 1); and is
When the rotor electric speed (ω)e) Less than or equal to the sum (ω)bΔ ω and is greater than the difference (ω)bWhen Δ ω), the mixing factor (K) is obtained as:。
the at least one sensor is a rotor temperature sensor and the corresponding signal is a rotor temperature; and is
The controller is configured to obtain the flux linkage (λ) from a lookup table based in part on the rotor temperatureM）。
Scheme 5. the propulsion system of scheme 1, wherein the controller is configured to:
based in part on the flux linkage (λ)M) The maximum available voltage (V)m) D-axis stator current command (
scheme 6. the propulsion system of scheme 5, wherein the demagnetization base speed (ω) is determinedb) Previously, the controller is configured to:
based in part on predefined nominal d-axis stator current commands: () And a predefined nominal q-axis stator current command: () To determine the nominal d-axis static inductance () And nominal q-axis static inductance: (
Based at least in part on the nominal d-axis static inductance () The nominal q-axis static inductance () Maximum rated stator current: (I R) And said flux linkage (λ)M) To determine an initial d-axis stator current command () And initial q-axis stator current command: () (ii) a And
based in part on the initial d-axis stator current command () And the initial q-axis stator current command () To determine d-axis static inductance () And q-axis static inductance: (）。
The propulsion system of scheme 7, wherein the controller is configured to:
based in part on the flux linkage (λ)M) The maximum rated stator current (I R) The d-axis static inductor (
the propulsion system of scheme 8, wherein the controller is configured to:
based in part on the maximum rated stator current (I R ) And the d-axis stator current command (
scheme 9. the propulsion system of scheme 1, further comprising:
a Direct Current (DC) power source configured to convert a DC link voltage (VV dc ) Provided to the electric motor, the controller is configured to:
based in part on the DC link voltage (V dc ) And rotor mechanical frequency (ω)m) To determine a d-axis maximum stator current command (
based in part on the d-axis maximum stator current command(s) ((
The propulsion system of claim 9, wherein the controller is configured to:
based in part on the number of pole pairs (P), the flux linkage (λ)M) The d-axis maximum stator inductance () The q-axis maximum stator inductance () The d-axis maximum stator current command (a)
the propulsion system of claim 9, wherein the controller is configured to:
based in part on the number of pole pairs (P), stator resistance (R)s) Rotor electrical speed (ω)e) The maximum available voltage (V)m) The d-axis maximum stator current command (a)
a method of operating a propulsion system in a device, the propulsion system having an electric motor with a stator and a rotor, at least one sensor, and a controller having a processor and tangible, non-transitory memory, the method comprising:
configuring the electric motor to selectively provide a first torque contribution to propel the device and configuring the at least one sensor to obtain a respective signal related to the electric motor;
programming the controller to determine flux linkages (λ) of the rotor based in part on the respective signalsM) And determining said flux linkage (λ)M) Whether or not less than a predefined threshold magnetic flux (lambda)T）；
When the flux linkage (λ)M) Less than the predefined threshold magnetic flux (λ)T) Based in part on the flux linkage (λ)M) And the maximum available voltage (V)m) To determine the demagnetization base speed (omega)b）；
Based in part on said demagnetization base speed (ω)b) Determining a blending factor (K) and based in part on the blending factor (K), a high speed available torque (T)HS) And low speed available torque (T)LS) To determine the demagnetization torque capability (T)D) (ii) a And
based in part on the demagnetization torque capacity (T)D) To control at least one operating parameter of the device.
Scheme 13. the method of
configuring the secondary source to selectively provide a second torque contribution to propel the device; and is
Wherein controlling at least one operating parameter of the device comprises a control based on the demagnetization torque capacity (Tmax)D) To increase the second torque contribution relative to the first torque contribution.
applying said demagnetization torque capacity (T)D) The method comprises the following steps: t isD= (K* THS+ (1-K)*TLS)；
When the rotor electric speed (ω)e) Less than or equal to the demagnetization base speed (ω)b) Difference (ω) from a predefined calibration range (Δ ω)bMax), the mixing factor is set to zero (K = 0);
when the rotor electric speed (ω)e) Greater than said demagnetization base speed (ω)b) Sum (ω) with the predefined calibration range (Δ ω)bWhen Δ ω), the mixing factor is set to one (K = 1); and
when the rotor electric speed (ω)e) Less than or equal to the sum (ω)bΔ ω and is greater than the difference (ω)bWhen Δ ω), the mixing factor (K) is obtained as:
scheme 15. the method of
based in part on the flux linkage (λ)M) The maximum available voltage (V)m) D-axis stator current command (
based in part on the DC link voltage (V dc ) And rotor mechanical frequency (ω)m) To determine a d-axis maximum stator current command () And q-axis maximum stator current command) (ii) a And
based in part on the d-axis maximum stator current command(s) ((
Scheme 17. the method of
based in part on the number of pole pairs (P), the flux linkage (λ)M) The d-axis maximum stator inductance (
based in part on the number of pole pairs (P), stator resistance (R)s) Rotor electrical speed (ω)e) The maximum available voltage (V)m) The d-axis maximum stator current command (a)) The q-axis maximum stator current command (a)) The flux linkage (lambda)M) The d-axis maximum stator inductance () And said q-axis maximum stator inductance: (
。
scheme 19. the method of
based in part on predefined nominal d-axis stator current commands: () And a predefined nominal q-axis stator current command: () To determine the nominal d-axis static inductance () And nominal q-axis static inductance: (）；
Based at least in part on the nominal d-axis static inductance () The nominal q-axis static inductance (
based in part on the initial d-axis stator current command () And the initial q-axis stator current command () To determine d-axis static inductance (
based in part on the flux linkage (λ)M) The maximum rated stator current (I R ) The d-axis static inductor () And the q-axis static inductance: (
based in part on the maximum rated stator current (I R ) And the d-axis stator current command (
the above features and advantages and other features and advantages of the present disclosure are readily apparent from the following detailed description of the best modes for carrying out the disclosure when taken in connection with the accompanying drawings.
Drawings
FIG. 1 is a schematic fragmentary partial cross-sectional view of a propulsion system for an apparatus having an electric motor and a controller;
FIG. 2 is an exemplary graph showing Motor Torque (MT) on the vertical axis and speed (S) of the electric motor on the horizontal axis; and
FIG. 3 is a flow chart for a method that may be performed by the controller of FIG. 1.
Detailed Description
Referring to the drawings, wherein like reference numbers refer to like components, FIG. 1 schematically illustrates a
Referring to fig. 1, the
Referring to fig. 1, the
The
Referring to fig. 1, the
The
In particular, the
Referring to fig. 1, a Direct Current (DC)
Referring now to fig. 2, a plurality of traces show motor torque ("MT" in fig. 2) generated according to the electric motor speed ("S" in fig. 2).
Referring now to FIG. 3, a
When flux linkage (lambda)M) Greater than a predefined threshold magnetic flux (lambda)T) The
In
For example, the
fourth, the
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In summary, the
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The lookup tables, databases, data repositories, or other data stores described herein may include various mechanisms for storing, accessing, and retrieving various data, including hierarchical databases, filesets in file systems, application databases in proprietary formats, relational database management systems (RDBMS), and the like. Each such data store may be included within a computing device employing a computer operating system (such as one of those mentioned above), and may be accessed over a network in one or more of a variety of ways. The file system may be accessible from a computer operating system and may include files stored in various formats. RDBMS employs a Structured Query Language (SQL) such as the PL/SQL language mentioned above in addition to the language used to create, store, edit, and execute stored programs.
The detailed description and the drawings or figures support and describe the present disclosure, but the scope of the present disclosure is limited only by the claims. While the best modes and other embodiments for carrying out the claimed disclosure have been described in detail, various alternative designs and embodiments exist for practicing the disclosure defined in the appended claims. Furthermore, the features of the embodiments shown in the drawings or of the various embodiments mentioned in the description are not necessarily to be understood as embodiments independent of each other. Rather, each of the features described in one of the examples of an embodiment may possibly be combined with one or more of the other desired features from the other embodiments, resulting in other embodiments not described in text or by reference to the drawings. Accordingly, such other embodiments are within the scope of the following claims.
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