EPS系统永磁同步电机转矩脉动抑制研究

发布时间：2018-03-05 22:34

本文选题：电动助力转向　切入点：永磁同步电机　出处：《合肥工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：电动助力转向系统(Electronic Power-assisted System,EPS)因具有低能耗、高效率以及提升汽车操纵稳定性等优点受到越来越广泛的关注,其中助力电机部分是电动助力转向系统的重要组成部件。永磁同步电机因其功率密度高、可控性好、结构简单等优点逐渐成为应用在电动助力转向系统中的主流电机,但随着对汽车驾驶舒适性的追求,永磁同步电机转矩脉动问题逐渐成为限制其在EPS系统上应用的主要不利因素。因而,对永磁同步电机控制及其转矩脉动抑制的研究十分必要且意义。本文主要研究永磁同步电机控制策略、转矩脉动抑制策略以及控制器硬件、软件的设计与实现。论文首先对永磁同步电机的工作原理及矢量控制原理的基本内容做了简单分析,在此研究分析基础之上,搭建了基于旋转坐标系的永磁同步电机仿真模型。接着详细分析了永磁同步电机转矩脉动产生的原因及其特性,进一步获取了电机转矩脉动的数学模型,为下面转矩脉动抑制方法的提出提供了理论基础。针对永磁同步电机转矩脉动为电机转子位置周期函数的特点,提出基于电机转子位置的迭代学习控制策略来抑制其转矩脉动。迭代学习控制策略以电机当前控制周期转矩差值为参考,同时利用算法累积的控制经验,补偿下一个控制周期中q轴电流参考值,达到对电机转矩脉动的抑制。进一步在Matlab/Simulink环境下搭建电动助力转向系统仿真模型,通过对比方向盘转矩传感器在有无迭代学习控制时其输出变化,验证了所设计的迭代学习控制算法的有效性。最后,为了实现EPS系统基本功能,验证所提出的控制策略的实际效果,本文以STM32F103型ARM芯片为基础,完成了EPS控制器的硬件及软件部分的设计。并结合现有的实验环境,对所设计的控制策略进行实验验证,结果表明所设计的控制策略可以对EPS系统中永磁同步电机的转矩脉动进行有效抑制。
[Abstract]:Electronic Power-assisted system (EPS), an electric power steering system, has attracted more and more attention due to its advantages of low energy consumption, high efficiency and improving vehicle handling and stability. PMSM is an important component of electric power steering system. Permanent magnet synchronous motor (PMSM) has become the mainstream motor in electric power steering system because of its high power density, good controllability, simple structure and so on. However, with the pursuit of driving comfort, torque ripple of permanent magnet synchronous motor (PMSM) has gradually become the main disadvantage factor restricting its application in EPS system. It is necessary and significant to study the control of PMSM and its torque ripple suppression. This paper mainly studies PMSM control strategy, torque ripple suppression strategy and controller hardware. The design and implementation of the software. Firstly, this paper makes a simple analysis of the working principle and vector control principle of PMSM, and on the basis of the research and analysis, The simulation model of permanent magnet synchronous motor (PMSM) based on rotating coordinate system is built. Then, the causes and characteristics of PMSM torque ripple are analyzed in detail, and the mathematical model of PMSM torque ripple is obtained. It provides a theoretical basis for the following methods of torque ripple suppression, aiming at the characteristic that the torque ripple of permanent magnet synchronous motor is the periodic function of rotor position. An iterative learning control strategy based on rotor position is proposed to suppress the torque ripple of the motor. The iterative learning control strategy is based on the torque difference of the motor's current control cycle, and the accumulated control experience of the algorithm is used at the same time. The reference value of Q axis current in the next control cycle is compensated to suppress the torque ripple of the motor. Furthermore, the simulation model of the electric power steering system is built under the environment of Matlab/Simulink. By comparing the output of steering wheel torque sensor with or without iterative learning control, the effectiveness of the proposed iterative learning control algorithm is verified. Finally, in order to realize the basic functions of EPS system, To verify the actual effect of the proposed control strategy, based on the STM32F103 ARM chip, the hardware and software design of the EPS controller is completed. The results show that the proposed control strategy can effectively suppress the torque ripple of permanent magnet synchronous motor (PMSM) in EPS system.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.4

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