电动汽车永磁同步电机电流分段优化控制策略研究

发布时间：2018-06-17 04:06

本文选题：永磁同步电机 + 最大转矩电流比　；参考：《哈尔滨理工大学》2016年博士论文

【摘要】：电动汽车用永磁同步电机须满足调速范围宽、转矩输出能力强、可靠性好、运行效率高等要求。对于已设计好的特定电机来说,高效的驱动控制是提高电机及系统运行性能的关键。永磁同步电机可看作一个多变量、非线性、强耦合的复杂系统,根据运行环境参数经常发生改变,对振动及外部干扰较为敏感;驱动控制器也是一个强弱电结合的复杂系统,不仅有大电压、大电流的开关功率器件,也包含小信号输入的处理器及对电磁辐射敏感的集成芯片,并且在汽车等复杂的环境中对密封、防水、防油污及抗震都有较高的要求。近年来大范围严重污染及能源短缺等问题的出现,迫使人们都在新能源汽车方面寻找突破口,因此对于永磁同步电机及其驱动控制系统的研究十分必要。对于内置式永磁转子结构的电机来说,最大转矩电流比控制可以有效地利用电机电感的不对称性所产生的磁阻转矩来提高电机的转矩输出能力。本文阐述了最大转矩电流比控制的核心思想以及实现方法,进而针对该方法在实际使用过程中容易出现的问题加以分析,并提出了相应的改进措施。首先,最大转矩电流比算法是基于电流的高阶、耦合方程,在应用时通常只能采取近似测得几个特定点的方法近似逼近理想方程;对于采用传统的线性调节器调节的控制系统来说,如果控制量不能准确解耦,则无法有效地单独控制,从而影响控制效果;最大转矩电流比轨迹是理想化的轨迹,是在不考虑任何干扰因素的条件下根据电机本体的设计而形成的曲线,实际运行时常常会由于各种干扰导致轨迹不准确,因此难以保证电机高效率的运行品质,造成浪费。本文提出了一种准线性解耦的方法,利用一个中间变量将电机电流部分解耦,对于改善调节器性能有很大帮助;在分析传统算法抗干扰能力的基础上提出了一种基于最小值寻找的动态实现方法,将干扰视为整体,实时寻找转矩比电流最小的点,有利于改善系统的动态性能;将调节器进行了简化设计,提高电流的调节品质。电动汽车用电机常常被要求能够长时间高速行驶,这就要求电机能在较宽的转速范围内稳定运行。弱磁控制是提高永磁同步电机转速的有效方法,采用控制可以保证电机在具有一定带负载能力的基础上使电机转速逐渐升高。本文在传统弱磁区的电流轨迹控制方法的基础上,提出了将最大转矩电流比控制扩展至部分弱磁区的算法,可以提高电机在弱磁区的功率密度;针对高速区经常出现的调节器饱和问题,加入了电压指令调节算法来实时调节电压指令避免超过矢量范围时处理器无法识别而导致的错误;在深度弱磁区加入了过调制算法来最大限度地利用直流电压,进一步提高电机转速;另外,文中还分析了电机饱和失控时电流轨迹的如何移动的问题,阐述了导致调节器饱和的原因并给出了相应的解决办法。本文针对永磁同步电机在全速范围内的电流控制策略进行了仿真研究,搭建了相关仿真模型,结果正确的前提下又搭建了系统实验平台,并进行了台架实验验证。结果表明所提出算法对于电机电流的控制效果可以达到预期目标,能够在负载持续变化时始终控制电机电流在最优轨迹运行,具有较好的稳态特性和动态跟踪性能,保证电压利用率最大的同时,可以有效地减少调节器饱和导致的失控现象,确保电机在整个转速范围内高效、稳定运行。所提出的方法可移植性强,且又经过实验验证,具有理论与工程实践意义。
[Abstract]:The permanent magnet synchronous motor for electric vehicles must meet the requirements of wide speed range, strong torque output, good reliability and high efficiency. For the designed specific motor, high efficiency drive control is the key to improve the performance of motor and system. Permanent magnet synchronous motor can be considered as a complex system of multi variable, nonlinear and strong coupling. The system is often changed according to the operating environment parameters and is more sensitive to vibration and external interference; the drive controller is also a complex system with strong and weak electricity combination, not only has large voltage, large current switching power devices, but also contains small signal input processors and integrated circuits sensitive to electromagnetic radiation, and complex rings such as cars. It has high requirements for sealing, waterproof, oil pollution and earthquake resistance. In recent years, serious pollution and energy shortage have caused people to find a breakthrough in the new energy vehicle. Therefore, it is necessary to study the permanent magnet synchronous motor and its driving control system. The maximum torque current ratio control can effectively use the magnetoresistance torque produced by the asymmetry of the motor inductor to improve the torque output capacity of the motor. This paper describes the core idea of the maximum torque current ratio control and the realization method, and then points out the problems which are easy to appear in the process of the actual use of the method. In the first place, the maximum torque current ratio algorithm is based on the high order of the current, the coupling equation. In the application, the approximate method of approximating the ideal equation can only be approximated by the approximate method of measuring a few specific points; for the control system which is adjusted by the traditional linear regulator, if the control quantity can not be accurately decoupled, The trajectory of the maximum torque current ratio is an idealized trajectory and a curve formed according to the design of the motor body without considering any interference factors, and the track is often inaccurate due to various interference, so it is difficult to ensure the high efficiency of the motor. A quasi linear decoupling method is proposed in this paper. It is helpful to improve the performance of the regulator by using an intermediate variable to decouple the current of the motor. On the basis of analyzing the anti-interference ability of the traditional algorithm, a dynamic realization method based on the minimum value search is proposed, which is considered as a whole and real time. It is beneficial to improve the dynamic performance of the system, to improve the dynamic performance of the system, to improve the dynamic performance of the system, to simplify the design of the regulator to improve the quality of the current. The motor used for electric vehicles is often required to run for a long time, which requires that the motor can operate steadily in a wider range of speed. The effective method of rotating speed can ensure that the motor speed increases gradually on the basis of a certain load capacity. On the basis of the current path control method of the traditional weak magnetic field, this paper proposes an algorithm that extends the maximum torque current ratio control to a partial magnetic field, which can improve the power of the motor in the weak magnetic zone. Density; in view of the regulator saturation frequently occurring in the high speed area, the voltage instruction regulation algorithm is added to adjust the voltage instruction to avoid the error caused by the recognition of the processor when the voltage instruction is avoided over the vector range; the over modulation algorithm is added in the depth weakening region to maximize the DC voltage, and the motor speed is further improved; in addition, the speed of the motor is further improved. In this paper, the problem of how the current trajectory is moved when the motor is out of control is analyzed. The reasons for the regulator saturation are expounded and the corresponding solutions are given. In this paper, the current control strategy of the permanent magnet synchronous motor in the full speed range is simulated and the related simulation model is built, and the result is correct. The experimental platform of the system is built, and the experimental verification is carried out. The results show that the control effect of the proposed algorithm can reach the expected target. It can control the motor current in the optimal trajectory when the load is constantly changing. It has good steady state characteristics and dynamic tracking performance, and the maximum voltage utilization ratio is guaranteed. It can effectively reduce the loss of control caused by the regulator saturation, and ensure that the motor is efficient and stable in the whole speed range. The proposed method is highly transplantable and is verified by experiments. It is of theoretical and practical significance.
【学位授予单位】：哈尔滨理工大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TM341;U469.72

【参考文献】