基于模型的电动汽车用永磁同步驱动电机控制器研究

发布时间：2018-07-05 02:12

本文选题：电动汽车 + 永磁同步电机　；参考：《清华大学》2014年硕士论文

【摘要】：在电动汽车电驱动系统中，永磁同步电机作为动力源，维持着车辆的运转。永磁同步电机的控制对于整车的安全性、可靠性、可驾驶性、动力性、经济性以及舒适性都有着决定性的影响。为了提高系统的可靠性，本文在电机控制中加入速度传感器的容错功能。本文首先建立了永磁同步电机的数学模型，并同步建立了传感器的模型，并根据矢量控制算法以及空间矢量调制方法搭建了永磁同步电机控制系统的模型，得到了电机控制系统的模型。为了得到更加精确的电机模型，分析了影响永磁同步电机参数变化的因素，讨论了参数的时变性对于控制算法以及无速度传感器控制的影响。引入带遗忘因子的递归最小二乘算法对永磁同步电机进行参数的辨识。基于参数修正后的永磁同步电机模型，对于永磁同步电机电角度估计算法进行了研究。针对直接计算法存在开环计算误差与参数的变化，采用状态观测器法对反电动势进行观测，以此计算位置与速度。其次采用波波夫超稳定性理论设计自适应律，将模型参考自适应法应用于电机的位置与速度的状态估计与重构。为了克服控制系统中的噪声干扰，引入扩展卡尔曼滤波法对位置与速度进行了状态的估计。采用以上几种方法对电机的位置与速度进行观测，可以实现速度传感器失效下的容错控制。然后基于MATLAB/Simulink搭建了软件系统开发平台，对永磁同步电机控制系统进行软件开发，主要包括基于模型的自动代码生成，模块化的图形编程以及分步的验证。基于模型的自动代码生成可以有效地避免代码的错误，模块化的图形编程可以改善程序的可读性，增加可扩展性与可移植性，，分布的验证可以及时发现程序错误并进行修改。最后介绍了永磁同步电机控制器的硬件系统设计方法。对于控制器的系统结构、电源分配与隔离进行了规划，并对控制电路以及驱动电路进行了原理图的设计。
[Abstract]:In electric vehicle electric drive system, permanent magnet synchronous motor (PMSM) is used as power source to keep the vehicle running. The control of permanent magnet synchronous motor (PMSM) has a decisive effect on the safety, reliability, drivability, power, economy and comfort of the whole vehicle. In order to improve the reliability of the system, the fault-tolerant function of the speed sensor is added to the motor control in this paper. In this paper, the mathematical model of permanent magnet synchronous motor (PMSM) is first established, and the sensor model is established synchronously, and the model of PMSM control system is built according to vector control algorithm and space vector modulation method. The model of motor control system is obtained. In order to obtain a more accurate motor model, the factors affecting the parameters of PMSM are analyzed, and the influence of time-varying parameters on the control algorithm and velocity-sensorless control is discussed. A recursive least square algorithm with forgetting factor is introduced to identify the parameters of permanent magnet synchronous motor (PMSM). Based on the modified permanent magnet synchronous motor (PMSM) model, the estimation algorithm of PMSM angle is studied. In view of the change of error and parameter of open-loop calculation in direct calculation method, the state observer method is used to observe the backEMF and calculate the position and velocity. Secondly, an adaptive law is designed by using Popov's hyperstability theory, and the model reference adaptive method is applied to the state estimation and reconstruction of the position and velocity of the motor. In order to overcome the noise disturbance in the control system, the extended Kalman filter is introduced to estimate the position and velocity. The fault tolerant control of the speed sensor can be realized by observing the position and speed of the motor. Then a software development platform based on MATLAB / Simulink is built to develop the PMSM control system, which includes automatic code generation based on the model, modular graphic programming and step by step verification. Automatic code generation based on model can effectively avoid code errors, modular graphic programming can improve the readability of programs, increase scalability and portability. Distributed verification can detect and modify program errors in time. Finally, the hardware system design method of PMSM controller is introduced. For the system structure of the controller, the power distribution and isolation are planned, and the control circuit and the driving circuit are designed.
【学位授予单位】：清华大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U469.72;TM341

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