电动汽车用永磁同步电动机及其驱动系统研究
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摘要
在国家863计划项目“钕铁硼电机应用产品开发”及辽宁省科学技术计划项目“高性能钕铁硼永磁电机的研制”的资助下,对电动汽车用永磁同步电动机及其驱动系统进行了系统、深入的研究,取得了一些具有重要理论意义和工程实用价值的成果。
概括起来,本文的内容可分为以下几个部分:
第一部分首次采用永磁同步电动机(PMSM)d、q坐标系下的相量分析方法,详细分析电机不同弱磁率、凸极率及不同定子电流控制策略对电机电压、电流相量变化轨迹的影响,及由此导致的电机功率特性及弱磁扩速能力的差异。推导出以弱磁率和凸极率为变量的PMSM弱磁扩速倍数表达式,由此得出提高PMSM弱磁扩速能力的根本方法,并比较不同磁路结构PMSM弱磁扩速能力的大小。
第二部分全面研究了电动汽车用PMSM的设计计算方法。首先给出电动汽车用PMSM性能参数指标的确定步骤;其次研究了电机转子外圆偏心对内置式PMSM空载气隙永磁磁密波形的影响,并采用模拟退火算法对该波形进行优化设计,总结出该种磁路结构PMSM获得良好空载气隙永磁磁密波形的电机设计准则,并由实测结果进行验证;最后深入研究电动汽车用PMSM的场路结合设计方法,并采用场路结合方法对电动汽车用PMSM的参数设计进行研究,分析了不同电机参数对电动汽车整体性能的影响,提出参数设计准则。在上述分析的基础上,设计制作了一台轻微型电动客车用7.5kW永磁同步电动机。
第三部分对电动汽车用PMSM的绕组换接进行了深入分析研究。提出用绕组换接的方法弥补PMSM弱磁扩速能力的不足,以在逆变器及蓄电池容量不变的前提下,改善电动汽车的起动加速及低速爬坡能力,同时提高系统低速大转矩运行时的整体效率。首先分析了绕组换接的原理及绕组换接前后电机参数的变化,提出了绕组换接方法;其次用计算机仿真方法研究了PMSM绕组换接的动态过程及有无绕组换接对电动汽车性能的影响,给出有绕组换接电机的设计步骤及应注意的问题;最后进行了试验验证。
第四部分首先研究了PMSM样机控制系统的各硬件组成部分,给出系统的硬件结构框图及软件设计流程图,并以80C196KC单片机为核心,以PL/M语言为编程语言,完成了控制系统;然后对电动汽车用PMSM整体系统进行了试验验证,试验证明系统具有很好的性能;最后,建立了PMSM驱动的电动汽车的计算机仿真数学模型,编制了计算机仿真软件,并对本样机系统驱动的电动汽车各运行工况进行了计算机仿真。
This dissertation is devoted to the study on the permanent magnet synchronous motor (PMSM) and its drive system in electric vehicle (EV) application. Four parts are included as follows:First of all, the phasor method is adopted to analyze the influence of the demagnetizing coefficient, saliency ratio and stator current control strategies of PMSM on the motor's voltage and current phasor loci and then the power capability and the flux-weakening level. The description of the PMSM's flux-weakening adjusting speed capability is worked out and expressed with the demagnetizing coefficient and saliency ratio, by which the radical method to enhance the PMSM's flux-weakening capability is concluded and the flux-weakening capability of PMSM with different magnet structures is compared.The design and calculation of PMSM used for EV are researched in the second part. Firstly, the calculating procedures are given to determinate the driven motor's performance parameters. Secondly, the influence of the rotor eccentric pole-arc is analyzed by finite element method (FEM) on no-load airgap permanent magnet flux density of PMSM with buried magnet. Simulated Annealing (SA) algorithm is employed to optimize the pole-arc in order to obtain sinusoidal no-load airgap permanent magnet flux-density distribution as well as possible, and the design rule to realize this target is presented which has been verified by calculation and experiment. Then, the parameter design and field-circuit coupled method of PMSM are studied deeply considering the EV drive demands. Finally, a 7.5kW PMSM prototype to drive mini electric bus is designed and manufactured.The third part concerns the winding switch of PMSM to compensate the shortage of flux-weakening capability of PMSM. The principle, method of winding switch in PMSM is given and the parameter change before and after the winding switch is analyzed. The transient process of winding switch and its effectiveness on the EV's climbing and initial acceleration are studied through simulation, and the efficiency improvement of the PMSM is verified by experiment when its winding connection is changed from parallel to series. The key points to the design of PMSM with winding switch are presented and the whole design method is given.In the forth part of this dissertation, the components of the control system of PMSM are introduced and studied, the hardware structure and the software procedure are given. The whole control system is completed, in which, the hardware system is realized with the single chip microcomputer (80C196KC) and other hardware circuits, and the control software is programmed
with the PL/M language. The whole system including the PMSM and the control unit is verified to be of well performances by experiment. At last, the digital simulation model of the EV driven by PMSM is given and the simulation software is programmed. Then simulation of the EV driven by the prototype PMSM is done considering the every operating condition.
概括起来,本文的内容可分为以下几个部分:
第一部分首次采用永磁同步电动机(PMSM)d、q坐标系下的相量分析方法,详细分析电机不同弱磁率、凸极率及不同定子电流控制策略对电机电压、电流相量变化轨迹的影响,及由此导致的电机功率特性及弱磁扩速能力的差异。推导出以弱磁率和凸极率为变量的PMSM弱磁扩速倍数表达式,由此得出提高PMSM弱磁扩速能力的根本方法,并比较不同磁路结构PMSM弱磁扩速能力的大小。
第二部分全面研究了电动汽车用PMSM的设计计算方法。首先给出电动汽车用PMSM性能参数指标的确定步骤;其次研究了电机转子外圆偏心对内置式PMSM空载气隙永磁磁密波形的影响,并采用模拟退火算法对该波形进行优化设计,总结出该种磁路结构PMSM获得良好空载气隙永磁磁密波形的电机设计准则,并由实测结果进行验证;最后深入研究电动汽车用PMSM的场路结合设计方法,并采用场路结合方法对电动汽车用PMSM的参数设计进行研究,分析了不同电机参数对电动汽车整体性能的影响,提出参数设计准则。在上述分析的基础上,设计制作了一台轻微型电动客车用7.5kW永磁同步电动机。
第三部分对电动汽车用PMSM的绕组换接进行了深入分析研究。提出用绕组换接的方法弥补PMSM弱磁扩速能力的不足,以在逆变器及蓄电池容量不变的前提下,改善电动汽车的起动加速及低速爬坡能力,同时提高系统低速大转矩运行时的整体效率。首先分析了绕组换接的原理及绕组换接前后电机参数的变化,提出了绕组换接方法;其次用计算机仿真方法研究了PMSM绕组换接的动态过程及有无绕组换接对电动汽车性能的影响,给出有绕组换接电机的设计步骤及应注意的问题;最后进行了试验验证。
第四部分首先研究了PMSM样机控制系统的各硬件组成部分,给出系统的硬件结构框图及软件设计流程图,并以80C196KC单片机为核心,以PL/M语言为编程语言,完成了控制系统;然后对电动汽车用PMSM整体系统进行了试验验证,试验证明系统具有很好的性能;最后,建立了PMSM驱动的电动汽车的计算机仿真数学模型,编制了计算机仿真软件,并对本样机系统驱动的电动汽车各运行工况进行了计算机仿真。
This dissertation is devoted to the study on the permanent magnet synchronous motor (PMSM) and its drive system in electric vehicle (EV) application. Four parts are included as follows:First of all, the phasor method is adopted to analyze the influence of the demagnetizing coefficient, saliency ratio and stator current control strategies of PMSM on the motor's voltage and current phasor loci and then the power capability and the flux-weakening level. The description of the PMSM's flux-weakening adjusting speed capability is worked out and expressed with the demagnetizing coefficient and saliency ratio, by which the radical method to enhance the PMSM's flux-weakening capability is concluded and the flux-weakening capability of PMSM with different magnet structures is compared.The design and calculation of PMSM used for EV are researched in the second part. Firstly, the calculating procedures are given to determinate the driven motor's performance parameters. Secondly, the influence of the rotor eccentric pole-arc is analyzed by finite element method (FEM) on no-load airgap permanent magnet flux density of PMSM with buried magnet. Simulated Annealing (SA) algorithm is employed to optimize the pole-arc in order to obtain sinusoidal no-load airgap permanent magnet flux-density distribution as well as possible, and the design rule to realize this target is presented which has been verified by calculation and experiment. Then, the parameter design and field-circuit coupled method of PMSM are studied deeply considering the EV drive demands. Finally, a 7.5kW PMSM prototype to drive mini electric bus is designed and manufactured.The third part concerns the winding switch of PMSM to compensate the shortage of flux-weakening capability of PMSM. The principle, method of winding switch in PMSM is given and the parameter change before and after the winding switch is analyzed. The transient process of winding switch and its effectiveness on the EV's climbing and initial acceleration are studied through simulation, and the efficiency improvement of the PMSM is verified by experiment when its winding connection is changed from parallel to series. The key points to the design of PMSM with winding switch are presented and the whole design method is given.In the forth part of this dissertation, the components of the control system of PMSM are introduced and studied, the hardware structure and the software procedure are given. The whole control system is completed, in which, the hardware system is realized with the single chip microcomputer (80C196KC) and other hardware circuits, and the control software is programmed
with the PL/M language. The whole system including the PMSM and the control unit is verified to be of well performances by experiment. At last, the digital simulation model of the EV driven by PMSM is given and the simulation software is programmed. Then simulation of the EV driven by the prototype PMSM is done considering the every operating condition.
引文
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