电动助力车电机调速控制系统设计

发布时间：2018-11-25 22:08

【摘要】：随着人们绿色出行、健康出行的观念逐步加深,国家相关规定的进一步完善和规范,电动助力自行车在中国具有巨大的潜力和广阔的市场,与电动助力车相关的研究将成为时下一段时间内的热点。然而现阶段市面上出现的一些助力车,有着各种各样明显的设计缺陷:整车质量超标,电机控制简单,速度开环控制等。本文立足于电动助力车的使用背景,专注于助力车电机的驱动和控制算法设计,主要完成了以下工作:首先介绍了无刷直流电机(BLDCM)的结构和工作原理,提出轮毂电机的选型方案;讨论助力车系统对电机控制提出的要求,提出以力矩作为控制对象实现闭环控制,同时在助力车动力学模型的基础上,提出电机力矩的最优输出值;针对所选无感无刷直流电机,引入反电动势法检测转子位置,提出以算法复杂性来代替硬件复杂性来降低成本,提高系统稳定性。其次研究了电机控制所需硬件电路的设计方案和芯片选型,对电机的控制和驱动电路设计方案做出了详细介绍;在力矩控制算法方面,引入矢量控制方法来对BLDCM的运动过程进行解耦,以简化计算;在驱动电压的调制方面,引入电压空间矢量(SVPWM)算法来提高控制精度,同时提高电源利用效率。在控制策略上提出将基于PI控制器的力矩闭环控制系统应用于助力车,详细介绍了PI控制器参数的整定方法和选取思路来提高助力车系统的控制精度和响应速度。最后基于前文阐述的研究目的和控制要求,建立了电动助力车项目的硬件和软件实验平台,并在该平台上完成了电路测试和算法验证。从实验结果中能够看出,本文所设计的力矩闭环电机控制系统能够初步满足电动助力车项目的动态和稳态控制要求,同时在助力车正常行驶(未超速且阻力正常)的情况下系统具有一定的稳定性。
[Abstract]:Along with people's green travel, the concept of healthy travel gradually deepened, and the relevant national regulations further improved and standardized, electric bicycle in China has a huge potential and broad market. The research related to electric booster will become a hot spot in the next period of time. However, there are a variety of obvious defects in the design of these vehicles: the quality of the whole vehicle exceeds the standard, the motor control is simple, the speed is open-loop control, and so on. Based on the application background of electric booster, this paper focuses on the design of driving and control algorithm of the motor. The main work is as follows: firstly, the structure and working principle of brushless DC motor (BLDCM) are introduced. The selection scheme of hub motor is put forward. This paper discusses the requirements for motor control in the booster system, and puts forward the closed-loop control based on the torque as the control object. At the same time, the optimal output value of the motor torque is put forward on the basis of the dynamic model of the vehicle. For the selected brushless DC motor, the backEMF method is introduced to detect the rotor position, and the complexity of the algorithm instead of the hardware complexity is proposed to reduce the cost and improve the stability of the system. Secondly, the design scheme of hardware circuit and chip selection for motor control are studied, and the design scheme of motor control and drive circuit is introduced in detail. In the aspect of torque control algorithm, vector control method is introduced to decouple the motion process of BLDCM to simplify the calculation. In the aspect of driving voltage modulation, voltage space vector (SVPWM) algorithm is introduced to improve control accuracy and power utilization efficiency. In the control strategy, the torque closed-loop control system based on PI controller is applied to the booster. The method of setting the parameters of the PI controller and the train of thought of selecting the parameters are introduced in detail to improve the control accuracy and response speed of the booster vehicle system. Finally, based on the research purpose and control requirements described above, the hardware and software experimental platform of the electric booster project is established, and the circuit test and algorithm verification are completed on the platform. From the experimental results, it can be seen that the torque closed-loop motor control system designed in this paper can meet the dynamic and steady control requirements of the electric booster project. At the same time, the system has a certain stability under the condition of normal driving (without speeding and resistance).
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U484;TP273

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