阅读说明：本技术 一种电动汽车永磁轮毂电机能量复合控制器的构造方法 (Construction method of energy composite controller of permanent magnet hub motor of electric automobile ) 是由 孙晓东 蔡峰 陈龙 田翔 周卫琪 于 2020-12-23 设计创作，主要内容包括：本发明公开一种电动汽车永磁轮毂电机能量复合控制器的构造方法,由永磁轮毂电机、温度测量模块和转速与电角度计算模块构成复合被控对象,将PARK变换模块、CLARK变换模块以及PWM逆变器模块依次串联构成复合逆变器控制模块,由温度给定模块、热量计算模块以及依次串联的热量调控模块、热量PI调节模块和电流变换模块构成智能热量控制模块,由磁链观测模块、坐标变换模块、转矩误差计算模块、参考转矩计算模块、转矩估计模块、目标转矩给定模块、PI调节模块、相位角更新模块以及电流变换模块共同构成复合温控转矩模块,对轮毂电机本身温度测量来反馈调整电机运行状态,复合温控转矩模块与热量控制模块联合调控,实现温度和转矩控制。(The invention discloses a construction method of an energy composite controller of a permanent magnet hub motor of an electric vehicle, a composite controlled object is formed by the permanent magnet hub motor, a temperature measuring module and a rotating speed and electric angle calculating module, a PARK conversion module, a CLARK conversion module and a PWM inverter module are sequentially connected in series to form a composite inverter control module, an intelligent heat control module is formed by a temperature setting module, a heat calculating module, a heat regulating module, a heat PI regulating module and a current converting module which are sequentially connected in series, a composite temperature control torque module is formed by a magnetic linkage observation module, a coordinate conversion module, a torque error calculating module, a reference torque calculating module, a torque estimating module, a target torque setting module, a PI regulating module, a phase angle updating module and a current converting module, the running state of the motor is fed back and adjusted by measuring the temperature of the hub motor, the composite temperature control torque module and the heat control module are jointly regulated and controlled to realize temperature and torque control.)

1. A construction method of an energy composite controller of a permanent magnet hub motor of an electric automobile is characterized by comprising the following steps:

step A: the permanent magnet hub motor (11), the temperature measuring module (12) and the rotating speed and electrical angle calculating module (2) jointly form an input of three-phase control current i_a、i_b、i_cTemperature T of motor winding₁And motor casing temperature T₂The outputs being electrical angle theta and rotational speed omega_rThe temperature measuring module (12) detects the temperature T of the motor winding of the permanent magnet hub motor (11)₁And motor casing temperature T₂The rotation speed and electric angle calculation module (2) detects and calculates an electric angle theta and a rotation speed omega_r；

And B: the PARK conversion module (31), the CLARK conversion module (32) and the PWM inverter module (33) are sequentially connected in series to form a current i under the dq coordinate system as input_d、i_qAnd an electrical angle theta, the output being said three-phase control current i_a、i_b、i_cThe composite inverter control module (3);

and C: the intelligent heat control module (4) is composed of a temperature setting module (41), a heat calculating module (42), a heat regulating and controlling module (43), a heat PI regulating module (44) and a current conversion module (45) which are sequentially connected in series, the temperature setting module (41) and the heat calculating module (42) are respectively connected with the input end of the heat regulating and controlling module (43) in series, and the input of the intelligent heat control module (4) is the temperature T of a motor winding₁And motor casing temperature T₂The output is the current component i in dq coordinate system_d1、i_q1；

Step D: the three-phase control current i is input into a magnetic linkage observation module (51), a coordinate transformation module (52), a torque error calculation module (53), a reference torque calculation module (54), a torque estimation module (55), a target torque setting module (56), a PI regulation module (57), a phase angle updating module (58) and a current transformation module (59) which are jointly formed by a magnetic linkage observation module (51), a coordinate transformation module (52), a torque error calculation module (53)_a、i_b、i_cElectrical angle theta and motor winding temperature T₁The output is the current component i in dq coordinate system_d3、i_q3The composite temperature control torque module (5); the input of the flux linkage observation module (51) is the motor winding temperature T₁The output is a flux linkage change value phi_mt: the coordinate transformation module (52) inputs a phase control current i_a、i_b、i_cThe sum electrical angle theta is output as the current i under the dq coordinate system_d0、i_q0(ii) a The input of the reference torque calculation module (54) is the current i in the dq coordinate system_d0、i_q0And flux linkage variation value phi_mtOutput as reference torque T_m(ii) a Error in torqueThe input of the calculation module (53) is a flux linkage change value phi_mtAnd the current i in the dq coordinate system_q0The output is an error torque Δ T: the inputs to the torque estimation module (55) are an error torque Δ T and a reference torque T_mOutput as estimated torqueThe input of the PI regulation module (57) is an estimated torqueThe target torque T given by the target torque given module (56)^*Output as a new current valueThe phase angle update module (58) inputs the flux linkage change value phi_mtAnd current i_d0、i_q0The output is the updated phase angle β: the input of the current conversion module (59) is the updated phase angle beta and the new current valueThe output is the current component i under the dq coordinate system_d3、i_q3；

Step E: the rotating speed setting module (6) sets a reference rotating speedSpeed of rotation omega_rAnd a reference rotational speedComparing to obtain the rotation speed error omega_errorThe error of the rotational speed omega_errorThe signal is adjusted to obtain a current component i under dq coordinate system_d2、i_q2；

Step F: summing to obtain the current i under the dq coordinate system_d、i_qIs composed of

2. The construction method of the energy composite controller of the permanent magnet hub motor of the electric automobile according to claim 1, characterized in that: in the step A, a rotating speed and electric angle calculating module (2) is formed by a mechanical rotating angular speed measuring module (21), an electric angle calculating module (22) and a rotating speed calculating module (23), and the mechanical rotating angular speed measuring module (21) measures a motor angular speed omega of the permanent magnet hub motor (11)_mAnd output to an electrical angle calculation module (22) and a rotating speed calculation module (23), wherein the electrical angle calculation module (22) and the rotating speed calculation module (23) are respectively based on the formulaCalculating the electrical angle theta and the motor rotation speed omega_r，p_nThe number of pole pairs of the motor is shown.

3. The construction method of the energy composite controller of the permanent magnet hub motor of the electric automobile according to claim 1, characterized in that: in the step B, the input of the PARK conversion module (31) is the current i under the dq coordinate system_d、i_qAnd an electrical angle theta, output as a reference current in an alpha beta coordinate systemReference currentThe output of the CLARK conversion module (32) is three-phase reference currentThree-phase reference currentThe output of the PWM inverter module (33) is three-phase control current i_a、i_b、i_c。

4. The construction method of the energy composite controller of the permanent magnet hub motor of the electric automobile according to claim 1, characterized in that: in step C, the input of the heat quantity calculating module (42) is the motor winding temperature T₁And motor casing temperature T₂Output is running heat Q_r＝(T₁-T₂)/R_rsEquivalent thermal resistance R of motor housing and ambient air_rs1/(h.A), wherein A is the heat transfer area of the outer surface of the motor, and h is a conversion coefficient and is 1-10; the output of the temperature setting module (41) is a motor winding reference temperature T₁ ^*And motor housing reference temperatureThe input of the heat regulating and controlling module (43) is the reference temperature T of the motor winding₁ ^*Motor casing reference temperatureAnd heat of operation Q_rOutput isThe input of the heat PI regulation module (44) is a heat error e, and the output is a currentk_p、k_iProportional and integral coefficients, respectively; the input of the current conversion module (45) is currentThe output is the current component i under the dq coordinate system_d1、i_q1。

5. The construction method of the energy composite controller of the permanent magnet hub motor of the electric automobile according to claim 1, characterized in that: in step D, the flux linkage change valueφ_m0Is the flux linkage value, alpha, of the permanent magnet at a temperature of 20 DEG C_BrIs the reversible temperature coefficient; said reference torqueL_d、L_qRespectively, the motor dq axis inductance, phase angle β ═ tan^-1(-i_d0/i_q0) (ii) a Said reference torque error torqueSaid estimated torque

6. The construction method of the energy composite controller of the permanent magnet hub motor of the electric automobile according to claim 5, characterized in that: the new current valueK_p、K_iRespectively is a proportionality coefficient and an integral coefficient; said updated phase angle

Technical Field

The invention relates to a permanent magnet hub motor for an electric automobile, in particular to a construction method of a controller of the permanent magnet hub motor, which is suitable for the composite control of heat feedback and torque fluctuation of a permanent magnet hub motor system of the electric automobile and belongs to the technical field of permanent magnet hub motor control.

Background

The transformation from the traditional automobile to the pure electric automobile can effectively solve the energy and environmental problems in the automobile industry, and the pure electric automobile is clean and environment-friendly and can realize zero emission. The hub motor is arranged in the wheels, has the advantages of high transmission efficiency, flexible control and the like, saves complex mechanical rotation compared with the traditional driving mode, not only reduces the weight of a vehicle, but also increases the use space in the vehicle, simultaneously realizes independent control of each wheel, can optimize the distribution of driving force, reduces the loss of the vehicle in the power transmission process, and improves the efficiency of the whole vehicle in the use process. The hub motor not only meets the requirement of the automobile on multi-working-condition running, but also is limited by installation space and working environment, so that the hub motor generally has higher torque and power density and can bear severe working conditions such as high temperature, vibration and the like. On the other hand, the hub motor pursues high power density, so that the motor volume is reduced under the condition that the power is not changed, the power density is improved, but the heat generated by the unit volume of the motor is increased, and the integral temperature rise of the motor is increased. In addition, due to the fact that the installation space is narrow and closed, air circulation is not smooth, heat dissipation conditions are poor, heat is difficult to dissipate in time, magnetic properties of the insulating layer and the permanent magnet are affected, fluctuation of output torque of the motor is caused by change of the permanent magnet, and the safe operation of the hub motor and the vehicle is threatened.

The energy controller disclosed in the document with the Chinese patent application number of 201910680030.4 and the name of 'an intelligent composite controller for an electric automobile hub motor' adopts various mechanical parameters output by a hub motor system as a regulation and control target, but does not regulate and control the temperature parameters of the hub motor, lacks feedback control on the heat of the motor and reduces the control precision.

Disclosure of Invention

The invention aims to provide a construction method of an energy composite controller of a permanent magnet hub motor of an electric vehicle, aiming at the problems of demagnetization of a permanent magnet and output torque pulsation caused by the overheating of the running environment of the existing hub motor, and the constructed controller can effectively solve the problems of heat rise, torque fluctuation and the like of the motor caused by temperature, so that the aim of realizing high-performance control of the permanent magnet hub motor of the electric vehicle is fulfilled.

The invention discloses a construction method of an energy composite controller of a permanent magnet hub motor of an electric automobile, which adopts the technical scheme that the construction method comprises the following steps:

step A: the permanent magnet hub motor, the temperature measuring module and the rotating speed and electric angle calculating module jointly form an input of three-phase control current i_a、i_b、i_cTemperature T of motor winding₁And motor casing temperature T₂The outputs being electrical angle theta and rotational speed omega_rThe temperature measuring module detects the temperature T of the motor winding of the permanent magnet hub motor₁And motor casing temperature T₂The rotation speed and electric angle calculation module detects and calculates an electric angle theta and a rotation speed omega_r；

And B: sequentially connecting the PARK conversion module, the CLARK conversion module and the PWM inverter module in series to form a current i with the input being dq coordinate system_d、i_qAnd electrical angle theta, the output being three-phase control current i_a、i_b、i_cThe composite inverter control module of (1);

and C: the intelligent heat control module consists of a temperature setting module, a heat calculating module, a heat regulating and controlling module, a heat PI regulating module and a current converting module which are sequentially connected in series, wherein the temperature setting module and the heat calculating module are respectively connected with the input end of the heat regulating and controlling module in series, and the input of the intelligent heat control module is the temperature T of a motor winding₁And motor casing temperature T₂The output is the current component i in dq coordinate system_d1、i_q1；

Step D: the three-phase control current i is input by a flux linkage observation module, a coordinate transformation module, a torque error calculation module, a reference torque calculation module, a torque estimation module, a target torque setting module, a PI (proportion integration) adjustment module, a phase angle updating module and a current transformation module which are jointly formed_a、i_b、i_cElectrical angle theta and motor winding temperature T₁The output is the current component i in dq coordinate system_d3、i_q3The composite temperature control torque module; the input of the flux linkage observation module is the temperature T of the motor winding₁The output is a flux linkage change value phi_mt: the input of the coordinate transformation module is a phase control current i_a、i_b、i_cThe sum electrical angle theta is output as the current i under the dq coordinate system_d0、i_q0(ii) a The input of the reference torque calculation module is a current i under a dq coordinate system_d0、i_q0And flux linkage variation value phi_mtOutput as reference torque T_m(ii) a The input of the torque error calculation module is a flux linkage change value phi_mtAnd the current i in the dq coordinate system_q0The output is an error torque Δ T: the inputs to the torque estimation module are an error torque Δ T and a reference torque T_mOutput as estimated torqueInput to the PI regulation module is estimated torqueThe target torque T given by the target torque setting module^*Output as a new current valueThe input of the phase angle updating module is a flux linkage change value phi_mtAnd current i_d0、i_q0The output is the updated phase angle β: the input of the current transformation module is updated phase angle beta and new current valueThe output is the current component i under the dq coordinate system_d3、i_q3；

Step E: the rotation speed setting module sets a reference rotation speedSpeed of rotation omega_rAnd a reference rotational speedComparing to obtain the rotation speed error omega_errorThe error of the rotational speed omega_errorAdjusted to obtain a current component i under dq coordinate system_d2、i_q2；

Step F: summing to obtain the current i under the dq coordinate system_d、i_qIs composed of

The effective gain of the invention after adopting the technical scheme is as follows:

1. the intelligent heat control module can effectively improve the condition that the hub motor runs too hot, and feeds back and adjusts the running state of the motor by measuring the temperature of the hub motor, so that the motor runs under a healthy temperature condition; the intelligent temperature control torque module realizes the online observation of the permanent magnet flux linkage, ensures the real-time adjustment of the motor torque and improves the control precision of the motor.

2. The running conditions of the hub motor are complex, so that the composite controller constructed by the invention can realize multi-module composite feedback control, and the combined regulation and control of the composite temperature control torque module and the heat control module realizes better temperature control and torque control, effectively improves the running safety and robustness of the hub motor, and enables the permanent magnet hub motor system of the electric automobile to have better dynamic characteristics and better vehicle control performance.

3. Signals of the permanent magnet hub motor module are easy to measure in actual engineering, signals of other modules in the constructed composite controller can be obtained only by software programming, extra measuring hardware equipment is not needed, cost is reduced, and control quality is improved.

Drawings

Fig. 1 is an equivalent schematic diagram of a composite controlled object 1 composed of a permanent magnet hub motor 11, a temperature measuring module 12 and a rotating speed and electrical angle calculating module 2;

fig. 2 is a schematic diagram of the composition of the compound inverter control module 3;

fig. 3 is a schematic diagram of the configuration of the intelligent heat control module 4;

FIG. 4 is a schematic diagram of the structure of the intelligent temperature-controlled torque module 5;

FIG. 5 is a schematic diagram of a composite energy controller of a permanent magnet hub motor of an electric vehicle;

in the figure: 1. compounding the controlled object; 2. a rotation speed and electrical angle calculation module; 3. a compound inverter control module; 4. an intelligent heat control module; 5. an intelligent temperature control torque module; 6. a rotation speed setting module; a PI regulation module; 11. a permanent magnet hub motor; 12. a temperature measurement module; 21. a mechanical rotational angular velocity measurement module; 22. an electrical angle calculation module; 23. a rotation speed calculation module; a PARK transform module; a CLARK transformation module; a PWM inverter module; 41. a temperature setting module; 42. a heat quantity calculation module; 43. a heat regulation module; 44. a heat PI regulation module; 45. a current conversion module; 51. a flux linkage observation module; 52. a coordinate transformation module; 53. a torque error calculation module; 54. a reference torque calculation module; 55. a torque estimation module; 56. a target torque setting module; a PI regulation module; 58. a phase angle updating module; 59. and a current conversion module.

Detailed Description

As shown in FIG. 1, a composite controlled object 1 is constructed by a permanent magnet hub motor 11, a temperature measuring module 12 and a rotating speed and electrical angle calculating module 2, and the input of the composite controlled object 1 is a three-phase control current i for controlling the permanent magnet hub motor 11_a、i_b、i_cAnd motor winding temperature T₁And motor casing temperature T₂The output is the electrical angle theta and the motor speed omega_r. Wherein, the temperature measuring module 12 detects the motor winding temperature T of the permanent magnet hub motor 11₁And a motor casingTemperature T₂And outputting the electric angle theta and the motor rotating speed omega of the permanent magnet hub motor 11 obtained by the rotating speed and electric angle calculating module 2_rAnd output. The rotating speed and electrical angle calculating module 2 is composed of a mechanical rotating angular velocity measuring module 21, an electrical angle calculating module 22 and a rotating speed calculating module 23, wherein the mechanical rotating angular velocity measuring module 21 measures a motor angular velocity omega of the permanent magnet hub motor 11_mAnd the angular velocity omega of the motor_mThe electrical angle and the rotation speed are output to an electrical angle calculation module 22 and a rotation speed calculation module 23, the electrical angle calculation module 22 and the rotation speed calculation module 23 calculate an electrical angle theta and a motor rotation speed omega according to the following formulas respectively_r：

In the formula p_nThe number of pole pairs of the motor is shown.

As shown in fig. 2, the PARK conversion module 31, the CLARK conversion module 32 and the PWM inverter module 33 are sequentially connected in series to form the composite inverter control module 3, and the input of the composite inverter control module 3 is the current i in dq coordinate system_d、i_qAnd the electrical angle theta, the output is the three-phase control current i of the permanent magnet hub motor 11_a、i_b、i_c。

Wherein the input of the PARK conversion module 31 is the current i in the dq coordinate system_d、i_qAnd an electrical angle theta, the output of which is a reference current in an alpha beta coordinate systemReference currentThe output signal of the CLARK conversion module 32 is a three-phase reference current under a natural coordinate system Three-phase reference currentThe three-phase control current i is output to the PWM inverter module 33 by the PWM inverter module 33 as an input signal of the PWM inverter module 33_a、i_b、i_c。

As shown in fig. 3, the intelligent heat control module 4 is composed of a temperature setting module 41, a heat quantity calculating module 42, and a heat quantity regulating module 43, a heat quantity PI regulating module 44, and a current converting module 45 connected in series in sequence, wherein the temperature setting module 41 and the heat quantity calculating module 42 are respectively connected in series with an input end of the heat quantity regulating module 43. The input of the intelligent heat control module 4 is the motor winding temperature T output by the composite controlled object 1₁And motor casing temperature T₂The output is the current component i in dq coordinate system_d1、i_q1The signal is that the intelligent heat control module 4 is connected in series with the output end of the composite controlled object 1, two temperature signals output by the composite controlled object 1 are input into the intelligent heat control module 4, and the intelligent heat control module 4 processes the two temperature signals to obtain a current component i_d1、i_q1And performing feedback control.

Temperature T of motor winding₁And motor casing temperature T₂As an input of the heat calculating module 42, the heat calculating module 42 outputs a signal of the heat generated during the operation of the motor, i.e. the operation heat Q_r：

Q_r＝(T₁-T₂)/R_rs (1-2)

R_rs＝1/(h·A) (1-3)

In the formula R_rsThe equivalent thermal resistance of the motor shell and the surrounding air is provided, A is the heat transfer area of the outer surface of the motor, and h is a conversion coefficient which is generally 1-10.

The heat calculation module 42 will operate the heat Q_rTo the thermal conditioning module 43. The output of the temperature setting module 41 is the reference temperature T of the motor winding during the operation of the motor₁ ^*And withAnd motor casing reference temperature T₂ ^*Reference temperature T of given motor winding₁ ^*And motor housing reference temperature T₂ ^*To the thermal conditioning module 43. Reference temperature T of motor winding₁ ^*Motor casing reference temperature T₂ ^*And heat of operation Q_rAs an input to the thermal regulation module 43, its output is the thermal error e:

e＝(T₁ ^*-T₂ ^*)/R_rs-Q_r (1-4)

the heat error e output by the heat regulation and control module 43 is used as the input of the heat PI regulation module 44, and the output current is regulated by the PIFinal current ofOutputs the current component i under dq coordinate system after coordinate transformation of the current transformation module 45_d1、i_q1. In which the current isThe expression of (a) is:

in the formula k_p、k_iRespectively, a proportionality coefficient and an integral coefficient, and the values thereof are set to 0.5 and 2.5.

As shown in fig. 4, the flux linkage observation module 51, the coordinate transformation module 52, the torque error calculation module 53, the reference torque calculation module 54, the torque estimation module 55, the target torque setting module 56, the PI adjustment module 57, the phase angle update module 58, and the current transformation module 59 together constitute the composite temperature-controlled torque module 5. The composite temperature control torque module 5 is used as a part of current feedback control of the motor, and the input of the composite temperature control torque module is the three-phase control current i_a、i_b、i_cElectric hornDegree theta and motor winding temperature T₁The output is the current component i in dq coordinate system_d3、i_q3And performing feedback control.

Wherein the motor winding temperature T₁As the input of the flux linkage observation module 51, the output of the flux linkage observation module 51 is the flux linkage variation value phi of the permanent magnet flux linkage value varying with the temperature_mt：

In the formula_m0Is the flux linkage value, alpha, of the permanent magnet at a temperature of 20 ℃ (i.e., normal temperature)_BrIs a reversible temperature coefficient, and the permanent magnet is generally selected from-0.1 to-0.2 when the permanent magnet is made of Ru-Fe-B material.

Three-phase control current i input to composite controlled object 1_a、i_b、i_cAnd the electrical angle theta output by the composite controlled object 1 is used as the input of the coordinate transformation module 52, and the coordinate transformation module 52 outputs the current i under the dq coordinate system_d0、i_q0As subsequent torque and phase angle calculations. Current i in dq coordinate system_d0、i_q0And the flux linkage change value phi output by the flux linkage observation module 51_mtAs an input to the reference torque calculation module 54, the reference torque calculation module 54 outputs a reference torque T_m：

In the formula: i is_sIs a value of the current to be measured,L_d、L_qrespectively, the motor dq axis inductance, β' is a phase angle, β ═ tan^-1(-i_d0/i_q0)。

Since the flux linkage value of the permanent magnet is affected by the temperature, the flux linkage observation module 51 outputs the flux linkage change value phi_mtCurrent i output by signal and coordinate transformation module 52_q0As torque errorThe input signal to the calculation module 53, the torque error calculation module 53 outputs as an error torque Δ T:

the error torque Δ T and the reference torque T output by the reference torque calculation module 54_mAs an input signal to the torque estimation module 55, the reference torque calculation module 54 sums the input signals to obtain an output signal of the torque estimation module 55 as an estimated torque

Will estimate the torqueThe target torque T given by the target torque given module 56^*As the input of the PI adjusting module 57, a new current value is obtained after the PI adjustment of the PI adjusting module 57

In the formula K_p、K_iProportional coefficient and integral coefficient, respectively, with values of 0.5 and 0.01, target torque T^*The torque is generally set to 150Nm, based on the torque required in the actual operation of the in-wheel motor as a reference.

In addition, the phase angle of the current is updated by the change of the flux linkage value, and the flux linkage change value phi output by the flux linkage observation module 51 is changed_mtAnd the current i output by the coordinate transformation module 52_d0、i_q0As an input to the phase angle update module 58, the phase angleThe output of the update module 58 is the updated phase angle β:

the updated phase angle beta and the new current valueAs the input of the current transformation module 59, the current component i in dq coordinate system is output after being transformed by the current transformation module 59_d3、i_q3。

As shown in FIG. 5, the rotation speed setting module 6 sets a reference rotation speedMotor speed omega output by composite controlled object 1_rWith reference speed output by speed setting module 6Comparing to obtain the error omega_errorThe error of the rotational speed omega_errorThe signal is used as an input signal of the PI adjusting module 7, and is adjusted by the PI adjusting module 7 to obtain a current component i under dq coordinate system_d2、i_q2。

The current component i under the dq coordinate system output by the intelligent heat control module 4_d1、i_q1And a current component i in dq coordinate system output by the PI regulation module 7_d2、i_q2And a current component i in dq coordinate system output by the composite temperature control torque module 5_d3、i_q3Respectively carrying out summation calculation to obtain the current i input into the composite inverter control module 3_d、i_qThe calculation formula is:

the energy composite controller of the permanent magnet hub motor of the electric automobile is formed by a composite inverter control module 3, an intelligent heat control module 4, a composite temperature control torque module 5, a rotating speed setting module 6 and a PI adjusting module 7, and controls a composite controlled object 1 comprising a permanent magnet hub motor 11.

When the energy composite controller of the permanent magnet hub motor of the electric automobile constructed by the construction method works, the intelligent heat control module 4 and the composite temperature control torque module 5 jointly act, so that the control precision of the composite controlled object 1 is effectively improved; wherein the motor winding temperature T₁And motor casing temperature T₂As an input to the intelligent heat control module 4. Temperature T of motor winding₁As one of the inputs of the intelligent temperature control torque module 5, the intelligent heat control module 4 obtains the motor winding temperature T by₁And motor casing temperature T₂Performing heat calculation and PI module regulation to obtain a current signal i capable of participating in feedback control of the motor_d1、i_q1The precise control of the heat of the motor is realized, and the safe operation of the motor is ensured; the flux linkage observation module 51 in the composite temperature control torque module 5 outputs the real-time flux linkage change value phi of the permanent magnet according to the temperature change_mtSimultaneously improving torque output, and finally regulating output feedback current I through a PI module_d3、i_q3Therefore, the torque fluctuation of the motor is reduced, and the stability of the torque output of the motor is ensured.

In conclusion, the invention can realize high-performance control on the hub motor system of the electric automobile. Other variations and modifications which may occur to those skilled in the art without departing from the spirit and scope of the invention are intended to be included within the scope of the invention.