基于三步非线性方法的车用永磁电机运动控制研究

发布时间：2018-05-15 18:54

本文选题：汽车控制 + 三步非线性方法　；参考：《吉林大学》2017年博士论文

【摘要】：汽车的节能与高效对缓解我国能源短缺与环境污染等问题起着至关重要的作用。面对能源环境问题与汽车数量高速增长之间的矛盾,世界范围内,各国政府都在推行节能减排的政策。国务院于2015年5月提出《中国制造2025》的概念。《中国制造2025》中指出,我国应当大力推广节能汽车、新能源汽车和智能网联汽车,以推动汽车产业技术创新与转型升级,其中反复提到作为核心零部件的车用电机的生产与控制应当重点推进,以提升驱动电机的自主电机研发与商品化能力,满足我国汽车产业的发展需求。由于汽车新需求和新功能的不断引入,控制器中嵌入式代码量逐年指数型的增长,使得车用电机控制系统设计、标定与验证变得更加困难。如何在不用增加太多投入金额的前提下有效地升级更新现有的车用电机控制系统是汽车电控系统开发流程中亟待解决的关键问题。基于模型的汽车电控系统设计在控制算法理论研究和系统设计之间构建了一个桥梁,为实现先进控制算法应用到汽车系统中提供了一个通用的设计框架,在加深研究人员对汽车系统的理解的同时也为汽车工程师提供丰富的理论指导。车用电机作为汽车大多数执行机构的动力源,往往会频繁启停,电机的需求指令也复杂多变,这就要求车用电机始终能高精度地执行整车控制单元的命令、同时具有较快的响应,对于驱动电机而言,需要具有低速大转矩特性还要具有宽的调速范围。本文结合基于模型的非线性系统控制理论三步非线性方法,基于输入到状态稳定性理论围绕车用永磁电机运动控制实际应用问题展开了研究,其中包括离合器执行机构电机位移控制、轮边电机低速抗扰动控制和永磁同步电机力矩控制等问题。首先,针对以滚珠丝杆作为减速机构的电动离合器执行机构系统,建立了一个数据机理混合的三阶非线性系统模型,提出了电动离合器执行机构数据机理混合的三步非线性位移控制方法。针对系统模型图表获取带来的模型误差以及模型参数不确定性,从实际应用的角度进行了鲁棒性能分析,说明设计的控制器对系统的总和扰动具有鲁棒性。控制器设计分析手段可以有效降低控制器参数标定工作量,减小开发周期和开发成本。仿真和实验结果表明设计的控制器提高了自动离合器执行机构的位移跟踪动态性能和稳态性能。然后,为了提高轮边电机低速时速度控制精度,提出了基于齿槽转矩观测器的轮边永磁直流电机三步非线性转速跟踪控制方法。针对轮边电机齿槽转矩的快变特性,建立了非线性时变参数模型,基于建立的时变参数模型,设计了一个降阶的非线性观测器估计齿槽转矩,从实际应用的角度完成了观测器鲁棒性分析,将观测器对系统建模误差的鲁棒性条件归纳为一个双线性矩阵不等式(BMIs)可行解的问题。接着,设计了一个基于齿槽转矩观测器的三步非线性速度控制系统,考虑到齿槽转矩观测器的估计误差和系统引入的模型参数不确定扰动,完成了闭环控制系统的鲁棒性能分析。实验结果表明设计的基于扰动观测器的三步非线性的速度控制器具有较好的周期性扰动抑制效果。最后,为了满足车用永磁同步电机力矩响应快和调速范围宽等需求,基于车用永磁同步电机低速矢量控制和高速弱磁控制方案,提出了双输入双输出三步非线性力矩跟踪控制方法,将参考力矩信号的动态变化信息引入到控制律中,控制架构中显性地考虑了弱磁问题,设计的控制器可以同时应用于恒转矩区和恒功率区。针对永磁同步电机中的参数不确定性,基于输入到状态稳定性理论进行了控制器的鲁棒性能分析,给出了相应的鲁棒性能条件。仿真和实验表明设计的非线性三步力矩控制器具有良好的稳态和动态控制性能,同时可以满足实际应用时弱磁控制要求。
[Abstract]:The energy saving and high efficiency of automobiles play a vital role in alleviating China's energy shortage and environmental pollution. In the face of the contradiction between the energy and environmental problems and the rapid increase in the number of cars, all governments around the world are implementing the policy of energy saving and emission reduction. In May 2015, the State Council proposed the concept of "China made 2025>". < China system. In 2025>, it is pointed out that our country should energetically promote the energy saving cars, new energy vehicles and intelligent nets, in order to promote the technological innovation and transformation and upgrading of the automobile industry. The production and control of the motor used as the core parts should be pushed forward to improve the development and commercialization ability of the drive motor. The development demand of automobile industry in China. Due to the continuous introduction of new automobile demand and new function, the increase of embedded code in the controller is exponential year by year. It makes it more difficult to design, calibrate and verify the motor motor control system. How to upgrade and update the existing car power effectively without increasing too much input amount The computer control system is the key problem to be solved in the development process of automobile electronic control system. The design of automobile electronic control system based on model has built a bridge between the theoretical research and system design of control algorithm. It provides a general design framework for the application of advanced control algorithm to the automobile system, and deepens the researchers. The understanding of the automobile system also provides a rich theoretical guidance for the automotive engineers. As the power source of most of the actuators, the motor motor often frequently starts and stops, and the demand instruction of the motor is complex and changeable. This requires that the motor can always execute the command of the whole vehicle control unit with high precision and have a fast speed. In response, for driving motor, it needs low speed and large torque characteristic and wide speed range. In this paper, based on model based nonlinear system control theory, three steps nonlinear method, based on the state stability theory of input to state, the problem of the real application of motor control of permanent magnet motor is studied, including the clutch. The motor displacement control of the actuator and the torque control of the He Yongci synchronous motor are controlled by the low speed anti disturbance of the wheel edge motor. First, a three order nonlinear system model of the mixing of the data mechanism is established for the electric clutch actuator system with the ball screw as the deceleration mechanism, and the data machine of the actuator of the electric clutch is put forward. The three step nonlinear displacement control method of rational mixing is used to analyze the robust performance of the controller for the total disturbance of the system. The controller design analysis means can effectively reduce the controller. The simulation and experimental results show that the designed controller improves the dynamic performance and steady state performance of the displacement tracking of the automatic clutch actuator. Then, in order to improve the speed control accuracy of the wheel side motor at low speed, a permanent magnet direct current based on the cogging torque observer is proposed. For the three step nonlinear speed tracking control method, a nonlinear time-varying parameter model is established for the fast variable characteristics of the cogging torque of the wheel edge motor. Based on the established time-varying parameter model, a reduced nonlinear observer is designed to estimate the cogging torque. The observer robustness analysis is completed from the practical application point of view, and the observer is set to the system. The robust condition of the modeling error is summed up as a feasible solution of a bilinear matrix inequality (BMIs). Then, a three step nonlinear velocity control system based on the cogging torque observer is designed. The closed-loop control system is completed considering the estimation error of the cogging torque observer and the uncertain disturbance of the model parameters introduced by the system. The experimental results show that the three step nonlinear velocity controller based on the disturbance observer has a good periodic disturbance rejection effect. Finally, in order to meet the requirements of fast torque response and wide speed range of the permanent magnet synchronous motor for vehicle, the low speed vector control and high speed weakness based on the vehicle permanent magnet synchronous motor (PMSM) A two input and double output three step nonlinear torque tracking control method is proposed. The dynamic change information of the reference moment signal is introduced into the control law. The weak magnetic problem is considered explicitly in the control framework. The designed controller can simultaneously apply the Yu Heng torque zone and the constant power zone. The robust performance of the controller is analyzed based on the input to state stability theory and the corresponding robust performance conditions are given. The simulation and experiment show that the designed nonlinear three step torque controller has good steady state and dynamic control performance and can meet the requirement of weak magnetic control in the actual application.

【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：U463.6

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