阅读说明：本技术 电机控制器及其直流母线电流检测方法、检测系统和车辆 (Motor controller, direct current bus current detection method and system thereof, and vehicle ) 是由 徐鲁辉 徐琪 李楠 杜智勇 于 2019-02-27 设计创作，主要内容包括：本发明公开了一种电机控制器及其直流母线电流检测方法、检测系统和车辆,所述方法包括以下步骤：获取电机控制器的交流功率值；获取电机控制器的功率总损耗,其中,功率总损耗包括电机控制器的三相桥臂的功率损耗之和；根据交流功率值和功率总损耗确定电机控制器的直流侧功率；获取电机控制器的母线电压采样值,并根据母线电压采样值和直流侧功率得到直流母线电流。该方法利用电机控制器的软件控制数据即可获取直流侧母线电流,无需在直流侧安装直流霍尔传感器,不仅可以降低电机控制器的设计难度和成本,还可以避免硬件失效带来的风险,提高行车的安全性。(The invention discloses a motor controller, a direct current bus current detection method and system thereof and a vehicle, wherein the method comprises the following steps: acquiring an alternating current power value of a motor controller; acquiring the total power loss of the motor controller, wherein the total power loss comprises the sum of the power losses of a three-phase bridge arm of the motor controller; determining the direct-current side power of the motor controller according to the alternating-current power value and the total power loss; and acquiring a bus voltage sampling value of the motor controller, and obtaining the direct current bus current according to the bus voltage sampling value and the direct current side power. According to the method, the direct-current side bus current can be obtained by utilizing software control data of the motor controller, a direct-current Hall sensor does not need to be installed on the direct-current side, the design difficulty and the cost of the motor controller can be reduced, risks caused by hardware failure can be avoided, and the driving safety is improved.)

1. A direct current bus current detection method of a motor controller is characterized by comprising the following steps:

acquiring an alternating current power value of the motor controller;

acquiring the total power loss of the motor controller, wherein the total power loss comprises the sum of the power losses of a three-phase bridge arm of the motor controller;

determining the direct-current side power of the motor controller according to the alternating-current power value and the total power loss;

and acquiring a bus voltage sampling value of the motor controller, and obtaining the direct current bus current according to the bus voltage sampling value and the direct current side power.

2. The method for detecting the direct current bus current of the motor controller according to claim 1, wherein obtaining the alternating current power value of the motor controller comprises:

acquiring quadrature axis voltage, direct axis voltage, quadrature axis current and direct axis current of the motor controller;

and obtaining the alternating current power value according to the quadrature axis voltage, the direct axis voltage, the quadrature axis current and the direct axis current.

3. The method for detecting the direct current bus current of the motor controller according to claim 1 or 2, wherein the step of obtaining the total power loss of the motor controller comprises the steps of:

respectively acquiring the power loss of a power loss piece of each phase of bridge arm in three phase bridge arms in the motor controller;

and obtaining the total power loss of the motor controller according to the power loss of each phase of bridge arm.

4. The method of claim 3, wherein the power loss element comprises a diode and a power switch tube,

the respectively obtaining the power loss of the power loss part of each phase of the three-phase bridge arms in the motor controller comprises the following steps:

respectively acquiring the switching loss and the conduction loss of a power switching tube of each phase of bridge arm in three-phase bridge arms in the motor controller to obtain the average power loss of the power switching tube of each phase of bridge arm;

respectively acquiring the switching loss and the conduction loss of a diode of each phase of bridge arm in three-phase bridge arms in the motor controller to obtain the average power loss of the diode of each phase of bridge arm;

and obtaining the power loss of each phase of bridge arm according to the average power loss of the power switch tube of each phase of bridge arm and the average power loss of the diode of each phase of bridge arm.

5. The method for detecting the direct current bus current of the motor controller according to claim 4, wherein the conduction loss of the power switching tube is as follows:

wherein, P_{Con_IGBT_aver}Is the conduction loss, U, of the power switching tube_ce0Is the voltage drop of the power switch tube, I_pIs the current peak value flowing through the power switch tube in real time, m is the modulation degree when the motor controller operates, r_ceIs the on-resistance of the power switching tube,is the power factor at which the motor operates.

6. The method for detecting the direct current bus current of the motor controller according to claim 4 or 5, wherein the switching loss of the power switching tube is as follows:

wherein, P_{Sw_IGBT_aver}Is the switching loss of the power switching tube, E_on(T) is the turn-on loss of the power switching tube at temperature T, E_off(T) is the powerTurn-off loss, f, of the switching tube at temperature T_sIs the power switching tube switching frequency, Udc is the bus voltage of the motor controller, Uref is the reference voltage, Iref is the reference current, K_vIs the voltage coefficient, K_iIs the current coefficient, T_cIs the temperature coefficient, T_jIs junction temperature, T_refIs the reference temperature.

7. The method of claim 4, wherein the conduction loss of the diode is:

wherein, P_{Con_Diode_aver}Is the conduction loss, U, of the diode_F0Is the voltage drop of said diode, I_pIs the peak value of the current flowing through the diode in real time, m is the modulation degree when the motor controller operates, r_FIs the on-resistance of the diode,is the power factor at which the motor operates.

8. The method for detecting the direct current bus current of the motor controller according to claim 4 or 5, wherein the switching loss of the diode is as follows:

wherein, P_{SW_Diode_aver}Is the switching loss of the diode, E_rr(T) is the turn-on loss of the diode at temperature T, f_sIs the switching frequency, U, of said diode_dcIs the bus voltage, U, of the motor controller_refIs a reference voltage, I_refIs a reference current, K_vIs the voltage coefficient, K_iIs the current coefficient, T_crrIs a temperature systemNumber, T_jIs junction temperature, T_refIs the reference temperature.

9. A direct current bus current detection system of a motor controller, comprising:

the alternating current power value acquisition module is used for acquiring the alternating current power value of the motor controller;

the power total loss acquisition module is used for acquiring the power total loss of the motor controller, wherein the power total loss comprises the sum of the power losses of a three-phase bridge arm of the motor controller;

the direct-current side power calculation module is used for determining the direct-current side power of the motor controller according to the alternating-current power value and the total power loss;

and the direct current bus current calculating module is used for acquiring a bus voltage sampling value of the motor controller and obtaining the direct current bus current according to the bus voltage sampling value and the direct current side power.

10. A motor controller characterized by a dc bus current detection system comprising a motor controller according to claim 9.

11. A vehicle characterized by comprising a motor controller according to claim 10.

12. A storage medium having stored thereon a computer program which, when executed by a processor, implements the direct current bus current detection method of a motor controller according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of motor controllers, in particular to a direct current bus current detection method of a motor controller, a direct current bus current detection system of the motor controller, a vehicle and a storage medium.

Background

The motor controller is a key part in an electric vehicle, the running power of the vehicle is derived from a load motor of the motor controller, and the direct-current side bus current of the motor controller represents the output power and the feed power of a power battery during the running of the vehicle and is a very key variable for controlling the vehicle.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, a first objective of the present invention is to provide a dc bus current detection method for a motor controller, which can obtain a dc side bus current by using software control data of the motor controller, and does not need to install a dc hall sensor on the dc side, thereby not only reducing design difficulty and cost of the motor controller, but also avoiding risk caused by hardware failure, and improving driving safety.

The second purpose of the invention is to provide a direct current bus current detection system of the motor controller.

A third object of the present invention is to provide a motor controller.

A fourth object of the invention is to propose a vehicle.

A fifth object of the invention is to propose a storage medium.

In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for detecting a dc bus current of a motor controller, including: acquiring an alternating current power value of the motor controller; acquiring the total power loss of the motor controller, wherein the total power loss comprises the sum of the power losses of a three-phase bridge arm of the motor controller; determining the direct-current side power of the motor controller according to the alternating-current power value and the total power loss; and acquiring a bus voltage sampling value of the motor controller, and obtaining the direct current bus current according to the bus voltage sampling value and the direct current side power.

According to the direct current bus current detection method of the motor controller, firstly, the alternating current power value of the motor controller is obtained, the total power loss of the motor controller is obtained, then, the direct current side power of the motor controller is determined according to the alternating current power value and the total power loss, then, the bus voltage sampling value of the motor controller is obtained, and the direct current bus current is obtained according to the bus voltage sampling value and the direct current side power. Therefore, the method can obtain the direct current side bus current by using software control data of the motor controller, and does not need to install a direct current Hall sensor on the direct current side, so that the design difficulty and cost of the motor controller can be reduced, the risk caused by hardware failure can be avoided, and the driving safety is improved.

In addition, the method for detecting the direct current bus current of the motor controller according to the above embodiment of the present invention may further have the following additional technical features:

according to one embodiment of the invention, obtaining the ac power value of the motor controller comprises: acquiring quadrature axis voltage, direct axis voltage, quadrature axis current and direct axis current of the motor controller; and obtaining the alternating current power value according to the quadrature axis voltage, the direct axis voltage, the quadrature axis current and the direct axis current.

According to one embodiment of the invention, obtaining the total power loss of the motor controller comprises: respectively acquiring the power loss of a power loss piece of each phase of bridge arm in three phase bridge arms in the motor controller; and obtaining the total power loss of the motor controller according to the power loss of each phase of bridge arm.

According to one embodiment of the invention, the power loss element comprises a diode and a power switch tube,

the respectively obtaining the power loss of the power loss part of each phase of the three-phase bridge arms in the motor controller comprises the following steps: respectively acquiring the switching loss and the conduction loss of a power switching tube of each phase of bridge arm in three-phase bridge arms in the motor controller to obtain the average power loss of the power switching tube of each phase of bridge arm; respectively acquiring the switching loss and the conduction loss of a diode of each phase of bridge arm in three-phase bridge arms in the motor controller to obtain the average power loss of the diode of each phase of bridge arm; and obtaining the power loss of each phase of bridge arm according to the average power loss of the power switch tube of each phase of bridge arm and the average power loss of the diode of each phase of bridge arm.

According to an embodiment of the present invention, the conduction loss of the power switch tube is:wherein, P_{Con_IGBT_aver}Is the conduction loss, U, of the power switching tube_ce0Is the voltage drop of the power switch tube, I_pIs the current peak value flowing through the power switch tube in real time, m is the modulation degree when the motor controller operates, r_ceIs the on-resistance of the power switching tube,

is the power factor at which the motor operates.

According to one embodiment of the present invention, the switching loss of the power switch tube is:

wherein, P_{Sw_IGBT_aver}Is the switching loss of the power switching tube, E_on(T) is the turn-on loss of the power switching tube at temperature T, E_off(T) is the turn-off loss of the power switching tube at temperature T, f_sIs the power switching tube switching frequency, Udc is the bus voltage of the motor controller, Uref is the reference voltage, Iref is the reference current, K_vIs the voltage coefficient, K_iIs the current coefficient, T_cIs the temperature coefficient, T_jIs junction temperature, T_refIs the reference temperature.

According to one embodiment of the invention, the conduction of the diodeThe loss is:wherein, P_{Con_Diode_aver}Is the conduction loss, U, of the diode_F0Is the voltage drop of said diode, I_pIs the peak value of the current flowing through the diode in real time, m is the modulation degree when the motor controller operates, r_FIs the on-resistance of the diode,

is the power factor at which the motor operates.

According to one embodiment of the invention, the switching losses of the diode are:wherein, P_{Sw_Diode_aver}Is the switching loss of the diode, E_rr(T) is the turn-on loss of the diode at temperature T, f_sIs the switching frequency, U, of said diode_dcIs the bus voltage, U, of the motor controller_refIs a reference voltage, I_refIs a reference current, K_vIs the voltage coefficient, K_iIs the current coefficient, T_crrIs the temperature coefficient, T_jIs junction temperature, T_refIs the reference temperature.

In order to achieve the above object, a second embodiment of the present invention provides a dc bus current detection system for a motor controller, including: the alternating current power value acquisition module is used for acquiring the alternating current power value of the motor controller; the power total loss acquisition module is used for acquiring the power total loss of the motor controller, wherein the power total loss comprises the sum of the power losses of a three-phase bridge arm of the motor controller; the direct-current side power calculation module is used for determining the direct-current side power of the motor controller according to the alternating-current power value and the total power loss; and the direct current bus current calculating module is used for acquiring a bus voltage sampling value of the motor controller and obtaining the direct current bus current according to the bus voltage sampling value and the direct current side power.

According to the direct current bus current detection system of the motor controller, the alternating current power value of the motor controller is obtained through the alternating current power value obtaining module, the total power loss obtaining module obtains the total power loss of the motor controller, the direct current side power calculating module determines the direct current side power of the motor controller according to the alternating current power value and the total power loss, the direct current bus current calculating module obtains the bus voltage sampling value of the motor controller, and the direct current bus current is obtained according to the bus voltage sampling value and the direct current side power. Therefore, the system can acquire the direct current side bus current by using the software control data of the motor controller, a direct current Hall sensor is not required to be installed on the direct current side, the design difficulty and the cost of the motor controller can be reduced, the risk caused by hardware failure can be avoided, and the driving safety is improved.

In order to achieve the above object, a motor controller according to a third embodiment of the present invention includes a dc bus current detection system of the motor controller according to the second embodiment of the present invention.

According to the motor controller provided by the embodiment of the invention, through the direct current bus current detection system of the motor controller, the direct current side bus current can be obtained by using software control data of the motor controller, and a direct current Hall sensor is not required to be installed on the direct current side, so that the design difficulty and the cost can be reduced, the risk caused by hardware failure can be avoided, and the driving safety is improved.

In order to achieve the above object, a fourth aspect of the present invention provides a vehicle including the motor controller according to the third aspect of the present invention.

According to the vehicle provided by the embodiment of the invention, the direct-current side bus current can be obtained by the motor controller through software control data of the motor controller, and a direct-current Hall sensor is not required to be installed on the direct-current side, so that the design difficulty and the cost of the motor controller can be reduced, the risk caused by hardware failure can be avoided, and the driving safety is improved.

In order to achieve the above object, a fifth embodiment of the present invention provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for detecting dc bus current of a motor controller according to the first embodiment of the present invention.

When the computer program stored on the storage medium is executed by the processor, firstly, the alternating current power value of the motor controller is obtained, the total power loss of the motor controller is obtained, then, the direct current side power of the motor controller is determined according to the alternating current power value and the total power loss, then, the bus voltage sampling value of the motor controller is obtained, and the direct current bus current is obtained according to the bus voltage sampling value and the direct current side power.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which,

FIG. 1 is a flow diagram of a method of DC bus current detection for a motor controller according to one embodiment of the present invention;

FIG. 2 is a circuit topology diagram of a motor controller according to one embodiment of the present invention;

FIG. 3 is a flow chart of a method of DC bus current detection by a motor controller according to another embodiment of the present invention;

fig. 4 is a block schematic diagram of a dc bus current detection system of a motor controller according to one embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A direct current bus current detection method of a motor controller, a direct current bus current detection system of a motor controller, a vehicle, and a storage medium according to embodiments of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a dc bus current detection method of a motor controller according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:

and S1, acquiring the alternating current power value Pac of the motor controller.

Further, obtaining the ac power value Pac of the motor controller may include: acquiring quadrature axis voltage Uq, direct axis voltage Ud, quadrature axis current Iq and direct axis current Id of a motor controller; and obtaining an alternating current power value Pac according to the quadrature axis voltage Uq, the direct axis voltage Ud, the quadrature axis current Iq and the direct axis current Id.

Specifically, the circuit topology of the motor controller can be shown with reference to fig. 2, and the motor controller 1 can include a three-phase rectifier bridge circuit 101 and a capacitor C. In addition, Battery is a power Battery, 3 is a driving motor, K is a controllable switch, and A, B, C are three-phase power supply access ends of the driving motor respectively. Obtaining an alternating current power value Pac according to a quadrature axis voltage Uq, a direct axis voltage Ud, a quadrature axis current Iq and a direct axis current Id of the motor controller, wherein the alternating current power value Pac can be obtained by using the following formula (1):

Pac＝Ud*Id+Uq*Iq (1)

wherein, Pac is an alternating current power value, Uq is a quadrature axis voltage, Ud is a direct axis voltage, Iq is a quadrature axis current, and Id is a direct axis current.

S2, obtaining the total power loss P of the motor controller_LOSS. Wherein, the total power loss P_LOSSIncluding the sum of the power losses of the three-phase legs of the motor controller.

In one embodiment of the invention, the total power loss P of the motor controller is obtained_LOSSThe method comprises the following steps: respectively acquiring the power loss of a power loss piece of each phase of bridge arm in three phase bridge arms in a motor controller; obtaining the total power loss P of the motor controller according to the power loss of each phase of bridge arm_LOSS. Wherein, the three-phase bridge arm in the motor controller can be connectedThe bridge arms are named as an A-phase bridge arm, a B-phase bridge arm and a C-phase bridge arm respectively, and the power loss of each phase of bridge arm can be named as: p_{total_A}、P_{total_B}、P_{total_C}Then, P_LOSS＝P_{total_A}+P_{total_B}+P_{total_C}。

S3, according to the AC power value Pac and the total power loss P_LOSSAnd determining the direct current side power Pdc of the motor controller.

Specifically, the dc side power Pdc of the motor controller may be determined according to the following equation (2):

Pdc＝P_LOSS+Pac (2)

where Pdc is the DC side power of the motor controller, P_{LOSS is}The total power loss of the motor controller, Pac is the ac power value of the motor controller.

And S4, acquiring a bus voltage sampling value Udc of the motor controller, and acquiring direct current bus current Idc according to the bus voltage sampling value Udc and the direct current side power Pdc.

The dc bus current Idc may be obtained according to the following equation (3):

Idc＝Pdc/Udc (3)

and Idc is the current of the direct current bus, Pdc is the power of the direct current side, and Idc is the current of the direct current bus.

Specifically, the alternating current power value Pac can be obtained by obtaining the quadrature axis voltage Uq, the direct axis voltage Ud, the quadrature axis current Iq and the direct axis current Id of the motor controller according to Pac ═ Ud × Id + Uq × Iq, and then obtaining the power loss P of each phase bridge arm in the motor controller_{total_A}、P_{total_B}、P_{total_C}According to P_LOSS＝P_{total_A}+P_{total_B}+P_{total_C}Obtaining the total power loss P of the motor controller_LOSS. Then according to Pdc ═ P_LOSSAnd+ Pac determines the direct-current side power Pdc of the motor controller, then obtains a bus voltage sampling value Udc of the motor controller, and obtains a direct-current bus current Idc according to Idc ═ Pdc/Udc. Thereby, the detection of the dc bus current Idc of the motor controller is completed.

It can be understood that the quadrature axis voltage Uq, the direct axis voltage Ud, and the voltage of the motor controller,Quadrature axis current Iq, direct axis current Id, total power loss P_LOSSThe direct current bus current detection method of the motor controller does not need to install a direct current Hall sensor on a direct current side, can reduce the design difficulty and cost of the motor controller, can avoid the risk caused by hardware failure, and improves the driving safety.

How to obtain the power loss of each phase leg is described below in connection with specific embodiments.

As shown in fig. 2, the motor controller includes a three-phase rectifier bridge including three-phase bridge arms, each of which includes a power loss element including a diode and a power switching tube.

According to an embodiment of the present invention, as shown in fig. 3, separately obtaining the power loss of the power loss element of each phase bridge arm in the three phase bridge arms in the motor controller may include:

s201, respectively obtaining the switching loss P of the power switching tube of each phase of three-phase bridge arm in the motor controller_{Sw_IGBT_aver}And conduction loss P_{Con_IGBT_aver}To obtain the average power loss P of the power switch tube of each phase bridge arm_{total_IGBT_aver}。

In one embodiment of the present invention, the conduction loss P of the switching tube may be obtained according to the following formula (4)_{Con_IGBT_aver}：

Wherein, P_{Con_IGBT_aver}Is the conduction loss, U, of the power switch tube_ce0Is the voltage drop of the power switch tube, I_pIs the current peak value flowing through the power switch tube in real time, m is the modulation degree of the motor controller during operation, r_ceIs the on-resistance of the power switching tube,is the power factor at which the motor operates.

The switching loss P of the power switch tube can be obtained according to the following formula (5)_{Sw_IGBT_aver}：

Wherein, P_{Sw_IGBT_aver}Is the switching loss of the power switching tube, E_on(T) is the turn-on loss of the power switching tube at temperature T, E_off(T) is the turn-off loss of the power switching tube at temperature T, f_sIs the switching frequency of the power switching tube, Udc is the bus voltage of the motor controller, Uref is the reference voltage, Iref is the reference current, K_vIs the voltage coefficient, K_iIs the current coefficient, T_cIs the temperature coefficient, T_jIs junction temperature, T_refIs the reference temperature.

Average power loss P of power switch tube of each phase bridge arm_{total_IGBT_aver}I.e. the switching loss P of the power switch tube of each phase bridge arm_{Sw_IGBT_aver}And conduction loss P_{Con_IGBT_aver}Sum, i.e. P_{total_IGBT_aver}＝P_{Sw_IGBT_aver}+P_{Con_IGBT_aver}。

S202, respectively obtaining the switching loss P of the diode of each phase of the three-phase bridge arm in the motor controller_{SW_Diode_aver}And conduction loss P_{Con_Diode_aver}To obtain the average power loss P of the diode of each phase bridge arm_{total_Diode_aver}。

In one embodiment of the present invention, the conduction loss P of the diode can be obtained according to the following formula (6)_{Con_Diode_aver}：

Wherein, P_{Con_Diode_aver}Is the conduction loss of the diode, U_F0Is the voltage drop of a diode, I_pIs the current peak value flowing through the diode in real time, m is the modulation degree when the motor controller operates, r_FIs the on-resistance of the diode and,is the power factor at which the motor operates.

The switching loss P of the diode can be obtained according to the following formula (7)_{SW_Diode_aver}：

Wherein, P_{SW_Diode_aver}Is the switching loss of the diode, E_rr(T) is the on-loss of the diode at temperature T, f_sIs the switching frequency of the diode, U_dcIs the bus voltage of the motor controller, U_refIs a reference voltage, I_refIs a reference current, K_vIs the voltage coefficient, K_iIs the current coefficient, T_crrIs the temperature coefficient, T_jIs junction temperature, T_refIs the reference temperature.

Average power loss P of diodes per phase leg_{total_Diode_aver}I.e. the switching loss P of the diode of each phase leg_{SW_Diode_aver}And conduction loss P_{Con_Diode_averr}Sum, i.e. P_{total_Diode_aver}＝P_{SW_Diode_aver}+P_{Con_Diode_averr}。

S203, according to the average power loss P of the power switch tube of each phase bridge arm_{total_IGBT_ave}And average power loss P of diodes of each phase leg_{total_Diode_aver}And obtaining the power loss of each phase of bridge arm.

Specifically, the motor controller mainly comprises a power switch tube and a diode, and the total power loss P of the motor controller_LOSSMainly comprising switching losses and conduction losses, i.e. the total power loss P of the motor controller_LOSSThe method mainly comprises the following steps: the average power loss of the power switch tube and the average power loss of the diode.

Obtaining the conduction loss P of the switching tube of each phase of bridge arm according to the formula (4)_{Con_IGBT_aver}And obtaining the switching loss P of the power switching tube of each phase of bridge arm according to the formula (5)_{Sw_IGBT_aver}According to P_{total_IGBT_aver}＝P_{Sw_IGBT_aver}+P_{Con_IGBT_aver}Namely, the average power loss P of the power switch tube of each phase bridge arm can be obtained_{total_IGBT_aver}。

Obtaining the conduction loss P of the diode of each phase of bridge arm according to the formula (6)_{Con_Diode_aver}Obtaining the switching loss P of the diode of each phase of the bridge arm according to the formula (7)_{SW_Diode_aver}According to P_{total_Diode_aver}＝P_{SW_Diode_aver}+P_{Con_Diode_averr}The average power loss P of the diode of each phase of bridge arm can be obtained_{total_Diode_aver}。

Average power loss P of power switch tube of each phase bridge arm_{total_IGBT_aver}Average power loss P of sum diode_{total_Diode_aver}And adding to obtain the power loss of each phase of bridge arm.

Adding the obtained power losses of the three-phase bridge arm to obtain the total power loss of the motor controller, namely P_LOSS＝P_{total_A}+P_{total_B}+P_{total_C}Wherein P is_{total_A}Is the power loss, P, of the A-phase bridge arm_{total_B}Is the power loss, P, of the B-phase bridge arm_{total_C}Is the power loss of the C-phase bridge arm.

It is understood that in the present invention, equations (4) - (7) can be modified to improve the switching loss calculation based on the actual data curve.

According to the direct current bus current detection system of the motor controller, the alternating current power value of the motor controller is obtained through the alternating current power value obtaining module, the total power loss obtaining module obtains the total power loss of the motor controller, the direct current side power calculating module determines the direct current side power of the motor controller according to the alternating current power value and the total power loss, the direct current bus current calculating module obtains the bus voltage sampling value of the motor controller, and the direct current bus current is obtained according to the bus voltage sampling value and the direct current side power. Therefore, the system can acquire the direct current side bus current by using the software control data of the motor controller, a direct current Hall sensor is not required to be installed on the direct current side, the design difficulty and the cost of the motor controller can be reduced, the risk caused by hardware failure can be avoided, and the driving safety is improved.

Corresponding to the direct current bus current detection method of the motor controller, the application also provides a direct current bus current detection system of the motor controller. For details that are not disclosed in the system embodiment, reference may be made to the above-mentioned method embodiment, and details in the system embodiment are not described again.

Fig. 4 is a block schematic diagram of a dc bus current detection system of a motor controller according to one embodiment of the present invention. As shown in fig. 4, the system includes: the system comprises an alternating current power value acquisition module 10, a total power loss acquisition module 20, a direct current side power calculation module 30 and a direct current bus current calculation module 40.

The alternating current power value obtaining module 10 is configured to obtain an alternating current power value Pac of the motor controller; the total power loss obtaining module 20 is used for obtaining the total power loss P of the motor controller_LOSSWherein the total power loss P_LOSSThe sum of power losses of a three-phase bridge arm comprising a motor controller; the dc-side power calculating module 30 is used for calculating the total power loss P according to the ac power value Pac and the total power loss Pac_LOSSDetermining the direct current side power Pdc of a motor controller; the direct current bus current calculating module 40 is configured to obtain a bus voltage sampling value Udc of the motor controller, and obtain a direct current bus current Idc according to the bus voltage sampling value Udc and the direct current side power Pdc.

Specifically, the ac power value obtaining module 10 may obtain the ac power value Pac by obtaining the quadrature axis voltage Uq, the direct axis voltage Ud, the quadrature axis current Iq, and the direct axis current Id of the motor controller, according to Pac ═ Ud × Id + Uq × Iq, and then the total power loss obtaining module 20 obtains the power loss P of each phase of the bridge arm in the motor controller_{total_A}、P_{total_B}、P_{total_C}According to P_LOSS＝P_{total_A}+P_{total_B}+P_{total_C}Obtaining the total power loss P of the motor controller_LOSS. The dc-side power calculation module 30 calculates the dc-side power according to Pdc ═ P_LOSSThe + Pac determines the dc side power Pdc of the motor controller, and the dc bus current calculating module 40 obtains a bus voltage sampling value Udc of the motor controller, and obtains the dc bus current Idc according to Idc ═ Pdc/Udc. Thereby the device is provided withAnd finishing the detection of the direct current bus current Idc of the motor controller.

It can be understood that the quadrature axis voltage Uq, the direct axis voltage Ud, the quadrature axis current Iq, the direct axis current Id, the total power loss P of the motor controller_LOSSThe direct current bus current detection system of the motor controller does not need to install a direct current Hall sensor on a direct current side, can reduce the design difficulty and cost of the motor controller, can avoid the risk caused by hardware failure, and improves the driving safety.

In addition, the invention also provides a motor controller, which comprises the direct current bus current detection system of the motor controller.

According to the motor controller provided by the embodiment of the invention, through the direct current bus current detection system of the motor controller, the direct current side bus current can be obtained by using software control data of the motor controller, and a direct current Hall sensor is not required to be installed on the direct current side, so that the design difficulty and the cost can be reduced, the risk caused by hardware failure can be avoided, and the driving safety is improved.

The embodiment of the invention also provides a vehicle which comprises the motor controller.

According to the vehicle provided by the embodiment of the invention, the direct-current side bus current can be obtained by the motor controller through software control data of the motor controller, and a direct-current Hall sensor is not required to be installed on the direct-current side, so that the design difficulty and the cost of the motor controller can be reduced, the risk caused by hardware failure can be avoided, and the driving safety is improved.

The present invention also provides various storage media, which store computer programs, and when the programs are executed by a processor, the dc bus current detection method of the motor controller is realized.

When the computer program stored on the storage medium is executed by the processor, firstly, the alternating current power value of the motor controller is obtained, the total power loss of the motor controller is obtained, then, the direct current side power of the motor controller is determined according to the alternating current power value and the total power loss, then, the bus voltage sampling value of the motor controller is obtained, and the direct current bus current is obtained according to the bus voltage sampling value and the direct current side power.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.