低成本车用无刷直流电机矢量控制系统的研究

发布时间：2018-06-30 18:32

本文选题：STM32F103 + 矢量控制　；参考：《江苏大学》2017年硕士论文

【摘要】：在中短短途代步工具中,电动自行车依靠价格低廉、环境友好、使用便捷等优势迅速占领市场,展现出了良好的经济前景以及迅猛的发展势头。无刷直流电机相对于其他电机产品具有高效率和宽调速范围的优势而被广泛应用于电动自行车市场。近年来,为了进一步从运行效率、静音效果、车身稳定性提高用户体验,市场对电动自行车电机驱动器的要求也在逐步提高,传统的六步换相控制方式显然已经无法满足需求,因此,研究新一代的性能优良的驱动器已经迫在眉睫。本文主要研究了磁场定向控制技术在电动车用无刷直流电机控制领域的应用。在无刷直流电机的本体结构方面,首先介绍了转子结构与位置传感器,在此基础上,以传统的方波控制方式为例,深入分析了无刷直流电机的基本工作原理,推导了无刷直流电机在dq旋转坐标系下的电压和转矩方程。紧接着,着重介绍了空间矢量脉宽调制技术的基本原理,并从参考电压矢量扇区的判定,非零基本电压矢量作用时间的计算以及过调制区限幅处理等方面详细介绍了其实现方法,为后续仿真模块搭建以及程序编写提供了理论基础。在Matlab的Simulink平台搭建了无刷电机矢量控制系统的仿真模型,详细介绍了各个子模块的构造。随后,重点介绍了本系统设计中的两个关键问题:非可观测区的相电流重构以及基于线性插值算法的电机转子位置估算。分析了非可观测区误差产生的原因,提出了基于PWM移相的解决方案,并在Simulink仿真平台搭建了标准相电流重构的仿真模块,验证了相电流重构方案的可行性。在电机转子位置估算方面,介绍了线性插值算法的基本原理,在此基础上进一步分析了其在电机转子位置估算中的实现方法。然后基于上述的理论分析和仿真模型,从软硬件两个方面着手设计了系统实验平台。硬件部分首先介绍整体框架,随后对电源电路、电流采样电路、过流保护电路、MOS管驱动电路等方面作了深入细致的分析。软件方面从系统主程序设计入手,介绍了MOS管上电自检、电机启动、霍尔中断服务程序、ADC中断服务程序的功能与实现,侧重分析了ADC中断服务程序中的SVPWM调制与相电流重构子程序。最后将该系统应用于轮毂式无刷直流电机,测试了电机启动和稳态运行时的相电流波形、霍尔信号、低调制区和中高调制区的三相PWM调制波形,对比了实际A相电流和重构A相电流,并用测功机测试了两种驱动方式下的电机负载特性曲线。测试结果表明,本文提出的相电流重构方法可以实现0-1.15调制比范围内的相电流重构。相对于传统的六步换相控制方法,本文设计的矢量控制系统有效地降低了电机运行噪声、母线电流和转矩脉动,提高了电机运行效率。
[Abstract]:In short and short distance tools, electric bicycles occupy the market rapidly by the advantages of low price, friendly environment, convenient use and so on, showing good economic prospects and rapid development momentum. The brushless DC motor has the advantages of high efficiency and wide speed regulating range compared with other motor products. Car market. In recent years, in order to further improve the efficiency, the stute effect, the body stability and the user experience, the demand of the electric bicycle motor driver is increasing gradually. The traditional six step phase change control mode is obviously unable to meet the demand. Therefore, it is imminent to study the new generation of good performance drivers. This paper mainly studies the application of the magnetic field oriented control technology in Brushless DC motor control in electric vehicle. In the aspect of the structure of the brushless DC motor, the rotor structure and position sensor are introduced first. On this basis, the basic principle of the brushless DC motor is deeply analyzed with the traditional square wave control method as an example. The voltage and torque equations of the brushless DC motor in the DQ rotating coordinate system are derived. Then, the basic principle of space vector pulse width modulation (SVPWM) is emphatically introduced, and the practical side is introduced in detail from the judgment of the reference voltage vector sector, the calculation of the action time of the non zero basic voltage vector and the limit amplitude processing in the over modulation region. The method provides a theoretical basis for the construction of the follow-up simulation module and the programming of the program. The simulation model of the brushless motor vector control system is built on the Simulink platform of Matlab, and the construction of each module is introduced in detail. Then, two key problems in the design of this system are introduced: the phase current reconstruction of the non observable area and the base of the system. The linear interpolation algorithm is used to estimate the rotor position of the motor. The cause of the error in the non observable area is analyzed. A solution based on PWM phase shift is proposed. The simulation module of the standard phase current reconfiguration is built on the Simulink simulation platform. The feasibility of the phase current reconstruction scheme is verified. The linear interpolation is introduced in the estimation of the rotor position of the motor. On the basis of the basic principle of value algorithm, the realization method of the rotor position estimation is further analyzed. Then based on the theoretical analysis and simulation model mentioned above, the system experiment platform is designed from two aspects of hardware and software. The hardware part first introduces the whole frame, then the power circuit, current sampling circuit, over current. The protection circuit and the MOS tube drive circuit are analyzed in detail. From the main program design of the system, the function and Realization of the MOS tube electric self checking, the motor start, the Holzer interrupt service program and the ADC interrupt service program are introduced, and the SVPWM modulation and the phase current reconfiguration subroutine in the ADC interrupt service program are emphatically analyzed. Finally, the system is applied to the hub type brushless DC motor. The phase current waveform, Holzer signal, low modulation area and middle high modulation region PWM modulation waveform are tested. The actual A phase current and the reconfiguration of A phase current are compared, and the load characteristic curves of the motor under two driving modes are tested by the dynamometer. The test results show that the phase current reconstruction method proposed in this paper can realize the phase current reconstruction in the range of 0-1.15 modulation ratio. Compared with the traditional six step phase commutation control method, the vector control system designed in this paper can effectively reduce the motor operation noise, the bus current and torque pulse, and improve the efficiency of the motor.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM33;U484

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