Method for controlling operating speed and torque of electric motor

• US 10,333,450 B2
• Filed: 12/04/2017
• Issued: 06/25/2019
• Est. Priority Date: 03/16/2015
• Status: Active Grant

• Current Assignee: Thunder Power New Energy Vehicle Development Company Limited
• Original Assignee: Thunder Power New Energy Vehicle Development Company Limited
• Inventors: Lai, Sheng-Fu
• Primary Examiner(s): Dinh, Thai T
• Application Number:
  US15/831,129
• Publication Number:
  US 20180091082A1
• Time in Patent Office: 568 Days
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2260/44 by parameter estimation
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 2710/081 Speed
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 30/188 Controlling power parameters of the driveline, e.g. determining the required power
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: H02P 23/0022 Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
• CPC Class Codes: H02P 31/00 Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
• CPC Class Codes: H02P 6/08 Arrangements for controlling the speed or torque of a single motor H02P6/10, H02P6/28 take precedence
• CPC Class Codes: H02P 7/285 controlling armature supply only
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

Systems and methods for controlling the operating speed and the torque of an electric motor using an operational model are described. An operational model for the electric motor, including a plot of engine performance parameters, is used for reference, and a most efficient output path, which may pass through an optimal operation region in the operational model, is selected. The most efficient output path may be determined, for example, according to locations of a current output state and a to-be-reached target state in the operational model, enabling the operating state of the motor to reach the target state from the current operating state. By selecting a more efficient output path, the operating efficiency of the motor may be optimized, the life of a battery improved and/or the operating mileage of the vehicle may be increased, without significantly reducing the driving experience.

Claims

1. A method for controlling the operating speed and torque of an electric motor, wherein the operational model comprises a plurality of operation positions of the electric motor, each operation position indicating at least a value for a speed parameter, a torque parameter and an operating efficiency parameter of the electric motor, the method being implemented by a central processing unit (CPU) configured to execute machine-readable instructions the method comprising:

receiving, from a sensor, by the CPU, a current speed of the electric vehicle corresponding to a current operation position of the electric motor in the operational model;

receiving, from a driving input system, by the CPU, a target speed parameter and a target torque parameter corresponding to a target operation position of the electric motor in the operational model;

determining, by the CPU, whether the current operation position is optimal according to the current speed parameter and the current torque parameter of the electric motor; and

if the current operation position is not optimal;

adjusting at least one of the current speed parameter and the current torque parameter by moving the current operation position to the target operation position along via an intermediate operation position; and

amending the operation model by revising an efficiency parameter on a selected position in the operational model according to a calculated efficiency parameter on the target operation position.

2. The method of claim 1, further comprising:

selecting, by the CPU, an optimal intermediate operation position in an optimal operation region as the intermediate operation position, wherein the optimal operation region includes one or more of the operation positions.

3. The method of claim 2, wherein:

the optimal intermediate operation position is selected as a position having a shortest linear distance from the optimal operation region to the current operation position in the operational model.

4. The method of claim 1, wherein:

at least one of the current operation position is moved to the intermediate operation position and the intermediate operation position is moved to the target operation position by changing a driving voltage and a driving current applied to the electric motor.

5. The method of claim 1, wherein:

amending the operational model comprises;

detecting, by the CPU, the input voltage and current of the motor at the target operation position;

calculating, by the CPU, an actual operating efficiency of the motor at the target operation position according to the torque and the speed of the motor at the target operation position and the detected input voltage and current at the target operation position;

calculating, by the CPU, a correction coefficient according to the operating efficiency corresponding to the target operation position in the operational model and the calculated actual operation efficiency of the motor at the target operation position;

selecting, by the CPU, at least one position to be corrected close to the target operation position;

calculating, by the CPU, the distance between the target operation position and the position to be corrected;

calculating, by the CPU, a correction quantity according to the calculated correction coefficient calculated and the calculated distance; and

correcting, by the CPU, the position of the position to be corrected in the operational model according to the correction quantity.

6. A method for controlling an operating speed and the torque of an electric motor in an operational model, wherein the operational model comprises a plurality of operation positions of the electric motor, each operation position indicating at least a value for a speed parameter, a torque parameter and an operating efficiency parameter of the electric motor, the method being implemented by a central processing unit (CPU) configured to execute machine-readable instructions the method comprising:

receiving, from a sensor, by the CPU, a current speed of the electric vehicle corresponding to a current operation position of the electric motor in the operational model;

receiving, from a driving input system, by the CPU, a target speed parameter and a target torque parameter corresponding to a target operation position of the electric motor in the operational model;

determining, by the CPU, whether the current operation position is optimal according to the current speed parameter and the current torque parameter of the electric motor;

if the current operation position is not optimal, determining, by the CPU, whether to select an intermediate operation position or directly move the current operation position to the target operation position without selecting an intermediate operation position in the optimal operation region; and

in response to determining the intermediate operation position in the optimal operation region is to be selected;

adjusting at least one of the current speed parameter and the current torque parameter by moving the current operation position to the target operation position along via an intermediate operation position; and

amending the operation model by revising an efficiency parameter on a selected position in the operational model according to a calculated efficiency parameter on the target operation position.

7. An electric vehicle comprising:

an electric drive motor;

a battery configured to power the electric drive motor; and

an electric vehicle motor controller including a processor and a memory with an operational model stored therein, the operational model including a predetermined optimal operation region of the electric drive motor, and the processor configured to;

detect, by a sensor, a current speed the electric vehicle;

determine a current operation position of the electric drive motor in the operational model based on the current speed of the electric vehicle;

determine, from a driving input system, by the processor, a target speed parameter and a target torque parameter corresponding to a target operation position of the electric motor in the operational model;

determine whether the current operation position is optimal to the current speed parameter and the current torque parameter of the electric motor;

if the current operation position is not optimal, determine whether to select an intermediate operation position or directly move the current operation position to the target operation position without selecting an intermediate operation position in the optimal operation region;

send control signals configured to transition the electric drive motor from the current operation position to the target operation position in the operational model; and

amend the operational model by adjusting at least one of the current speed parameter and the current torque parameter by moving the current operation position to the target operation position along via an intermediate operation position.

8. The vehicle of claim 7, wherein the processor is further configured to:

in response to determining the intermediate operation position is to be selected;

adjust at least one of the current speed parameter and the current torque parameter along a first path to move the current operation position to the intermediate operation position which corresponds to an intermediate speed parameter and an intermediate torque parameter and is located in an optimal operation region; and

in response to the current speed parameter and the current torque parameter having been adjusted to the intermediate speed parameter and an intermediate torque parameter, further adjust the current speed parameter and the current torque parameter to move the current operation position to the target operation position along a second path.

9. The vehicle of claim 8, wherein the processor is further configured to:

select an optimal intermediate operation position in the optimal operation region as the intermediate operation position, wherein the optimal intermediate operation position is selected as a position having a shortest linear distance from the optimal operation region to the current operation position.

10. The vehicle of claim 7, wherein the control signals are configured to transition the electric drive motor from the current operation position to the target operation position on the operational model by changing at least one of the driving voltage and the driving current applied to the electric motor such that the current operation position at any time during the transition to the target operation position is on a transition path in the operational model.

11. The vehicle of claim 7, wherein:

amending the operational model comprises;

detecting the input voltage and current of the motor at the target operation position;

calculating the actual operating efficiency of the motor at the target operation position according to the torque and the speed of the motor at the target operation position and the detected input voltage and current at the target operation position;

calculating a correction coefficient according to the operating efficiency corresponding to the target operation position in the operational model and the calculated actual operation efficiency of the motor at the target operation position;

selecting at least one position to be corrected close to the target operation position;

calculating the distance between the target operation position and the position to be corrected;

calculating a correction quantity according to the calculated correction coefficient calculated and the calculated distance; and

correcting the position of the position to be corrected in the operational model according to the correction quantity.