混合动力汽车用无刷电无级变速器及其控制系统研究
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摘要
现如今,高度发展的汽车工业和持续增长的汽车使用量在全球已经引发了严重的环境和碳氢资源问题。为了缓解石油紧张带来的问题和减少空气污染物的排放量,新能源汽车已得到越来越多的关注。目前最有发展前途的技术是混合动力汽车和纯电动汽车。纯电动汽车完全依靠电能驱动,实现零排放和零油耗,但大规模储能的蓄电池成为目前的瓶颈,限制了其大规模商业化的发展。而混合动力汽车则是纯电动汽车到来前的过渡产品,可以有效的降低油耗和减少尾气的排放。这两种汽车目前已成为各国各大汽车公司的发展热点,并将在10年内实现大规模应用。
本文的研究对象是混合动力汽车用动力系统,总共分为两个部分,前一部分是电无级变速器混合动力系统,后一部分是无刷电无级变速器混合动力系统。前一部分为基础,后一部分为拓展和创新。分别对两个系统进行了结构及原理分析,数学建模,等效电路分析,能量流动情况分析,控制策略提出,控制器软硬件设计和仿真实验等工作。
首先从电无级变速器入手,分析了其工作原理和结构特点。对电无级变速器中的核心部件——双机械端口电机进行了数学建模,模型采用双同步速坐标系,分别给出了考虑和忽略定子和内转子绕组之间耦合情况下的数学模型。提出了交流电机等效电路统一建立方法,采用该方法可以方便地建立各种复杂交流电机的等效电路,并且能够对其电端口和机械端口进行清晰的定义,同时能够分析和计算电机中的能量流动情况。按照该方法,建立了双机械端口电机的等效电路,并分析了不同工况下的电机运行状态和能量流动情况。
文中提出了双机械端口电机的两种控制方式：转速-转速控制和转矩-转速控制。基于两种控制方式提出了电无级变速器的总成控制策略,根据内燃机开启条件和最优效率曲线,在不同工况下需要采用不同的双机械端口电机控制策略。永磁同步电机的弱磁方法可以运用在双机械端口电机上,但是弱磁范围受到电机结构的影响。设计了一台双机械端口电机样机,并搭建了一个电无级变速器模拟实验平台,在该平台上进行了一系列的实验。
在前一部分的基础上,提出了一种新型混合动力汽车用动力系统——无刷电无级变速器系统,其主要部件为无刷双机械端口电机。提出了其几种可能的结构,以一种结构为研究对象,详细分析了其工作原理,给出了需要特别注意的电机绕组的连接方式。说明了在不同工况下,无刷电无级变速器系统各部件中的能量流动情况。建立了无刷双机械端口电机数学模型和等效电路。
文中提出了无刷双机械端口电机的两种控制策略：功率-转速控制和转速-转速控制。其中,功率-转速控制采用一种新型的三相桥控制方式,能够在不需要知道内、外转子位置和电机参数的情况下对电机回馈直流母线的能量进行控制,该方法简单易行,完全不受电机参数的影响。基于上述两种电机控制策略,提出了无刷电无级变速器总成控制策略,根据不同的工况采用不同的电机控制方法。提出了一种异步电机全转速范围内最大转矩输出控制策略,该策略能够最大限度地使用电机和控制器的电压电流极限,提高输出转矩,该策略也可以运用在无刷双机械端口电机上。制作了一台无刷双机械端口电机样机,搭建了无刷电无级变速器实验平台,在该平台上进行了一系列的实验,并且运用仿真和实验方法验证了所述控制策略的正确性。
Nowadays, the highly developed vehicle industry and the huge amount of cars aroused serious problems of envirment and resources. For releasing these issues, renewable power vehicle draws more and more attentions. The most promising technology is Hybrid Electric Vehicle (HEV) and Electric Vehicle (EV). EV uses pure electrical power to drive cars which ensure zero emission and free from gasoline, but the battery capacity is the key problem which hinders its commecializtion. HEV is the transition product before EV's maturation which can effectively reduce oil consumption and exaust emission. These two kind of clear vehicles became the hot point in lots of car companies all over the world, and it is forseed that the commercialization will be realized in ten years.
In this thesis, the research target is the dynamic system of HEV. All of the contents can be separated into two parts, the former one is about Electrical Variable Transmission (EVT) system; the latter one is Brushless Electrical Variable Transmission (BLEVT) system. It can be treated that the former one as the foundation, the latter one as expention and innovation. For both systems, the structures and operation principles are analized, the mathematic models and equivalent circuits are established, the control strategies are brought out, simulation and experiment works are done to prove the valitaty of these strategies.
For EVT, the operation principles and structure are analized. The mathematic model of the key part of EVT—Dual-Mechanical-Port Electrical Machine (DMPEM)—has been established. The model is based on Dual-Synchronous-Coordinate (DSC), the conditions that with and without the coupling of inner rotor and stator windings are considered separately. The universal method of establishing AC machine equivalent circuit is proposed, by using it all of the equivalent circuits of complex AC machines can be get easely, and the operation modes and power flow conditions can be analized. Based on this method, the equivalent circuit of DMPEM is given.
Two kinds of DMPEM control strategies are brought out:Speed-Speed Control (SSC) and Torque-Speed Control (TSC) strategies. Based on the two strategies, the EVT control strategy is given. Considering the Internal Conbustion Engine (ICE) on/off conditions and optimal efficiency curve, different DMPEM control strategies will be used in different operation modes. The field weakening algorithm of Permanent Magnet Electrical Machine (PMEM) can also be used in DMPEM, but the speed range is restricted by machine structure. A protype machine is built, and an EVT simulation platform is established, on which a series of experiments are done.
Based on the foundation of EVT, a brand new system for HEV—BLEVT—and its key component Brushless Dual-Mechanical-Port Electrical Machine (BLDMPEM) are proposed. BLDMPEM may have several possible structures; the research work is carried out on one of them. The working principle of the system is discussed. For special attention, the machine windings conection method is highlighted. In different operation modes, the power flows in all of the componets of BLEVT are ploted. Finally, the mathematic model and equivalent circuit of BLDMPEM are established.
The control strategies of BLDMPEM are proposed, they are Power-Speed Control (PSC) and Speed-Speed Control (SSC) separately. For PSC, a new kind of three-phase-bridge control method is put forward, by using which the feedback power to DC bus can be controlled without speed of both rotors' and it is immune to machine parameters variation. Based on the two methods, the BLEVT control strategy is given. Later, a kind of asynchronous machine maximum output torque in full speed range control strategy is proposed. This algorithm ensures the furthest using of voltage and current abilities of the controller for the largest output torque. This method can also be applied to BLDMPEM. A protype machine of BLDMPEM and a BLEVT experimental platform are built, based on which, the experiments are done. The experimental and simulation results show the validaty of proposed algorithm.
本文的研究对象是混合动力汽车用动力系统,总共分为两个部分,前一部分是电无级变速器混合动力系统,后一部分是无刷电无级变速器混合动力系统。前一部分为基础,后一部分为拓展和创新。分别对两个系统进行了结构及原理分析,数学建模,等效电路分析,能量流动情况分析,控制策略提出,控制器软硬件设计和仿真实验等工作。
首先从电无级变速器入手,分析了其工作原理和结构特点。对电无级变速器中的核心部件——双机械端口电机进行了数学建模,模型采用双同步速坐标系,分别给出了考虑和忽略定子和内转子绕组之间耦合情况下的数学模型。提出了交流电机等效电路统一建立方法,采用该方法可以方便地建立各种复杂交流电机的等效电路,并且能够对其电端口和机械端口进行清晰的定义,同时能够分析和计算电机中的能量流动情况。按照该方法,建立了双机械端口电机的等效电路,并分析了不同工况下的电机运行状态和能量流动情况。
文中提出了双机械端口电机的两种控制方式：转速-转速控制和转矩-转速控制。基于两种控制方式提出了电无级变速器的总成控制策略,根据内燃机开启条件和最优效率曲线,在不同工况下需要采用不同的双机械端口电机控制策略。永磁同步电机的弱磁方法可以运用在双机械端口电机上,但是弱磁范围受到电机结构的影响。设计了一台双机械端口电机样机,并搭建了一个电无级变速器模拟实验平台,在该平台上进行了一系列的实验。
在前一部分的基础上,提出了一种新型混合动力汽车用动力系统——无刷电无级变速器系统,其主要部件为无刷双机械端口电机。提出了其几种可能的结构,以一种结构为研究对象,详细分析了其工作原理,给出了需要特别注意的电机绕组的连接方式。说明了在不同工况下,无刷电无级变速器系统各部件中的能量流动情况。建立了无刷双机械端口电机数学模型和等效电路。
文中提出了无刷双机械端口电机的两种控制策略：功率-转速控制和转速-转速控制。其中,功率-转速控制采用一种新型的三相桥控制方式,能够在不需要知道内、外转子位置和电机参数的情况下对电机回馈直流母线的能量进行控制,该方法简单易行,完全不受电机参数的影响。基于上述两种电机控制策略,提出了无刷电无级变速器总成控制策略,根据不同的工况采用不同的电机控制方法。提出了一种异步电机全转速范围内最大转矩输出控制策略,该策略能够最大限度地使用电机和控制器的电压电流极限,提高输出转矩,该策略也可以运用在无刷双机械端口电机上。制作了一台无刷双机械端口电机样机,搭建了无刷电无级变速器实验平台,在该平台上进行了一系列的实验,并且运用仿真和实验方法验证了所述控制策略的正确性。
Nowadays, the highly developed vehicle industry and the huge amount of cars aroused serious problems of envirment and resources. For releasing these issues, renewable power vehicle draws more and more attentions. The most promising technology is Hybrid Electric Vehicle (HEV) and Electric Vehicle (EV). EV uses pure electrical power to drive cars which ensure zero emission and free from gasoline, but the battery capacity is the key problem which hinders its commecializtion. HEV is the transition product before EV's maturation which can effectively reduce oil consumption and exaust emission. These two kind of clear vehicles became the hot point in lots of car companies all over the world, and it is forseed that the commercialization will be realized in ten years.
In this thesis, the research target is the dynamic system of HEV. All of the contents can be separated into two parts, the former one is about Electrical Variable Transmission (EVT) system; the latter one is Brushless Electrical Variable Transmission (BLEVT) system. It can be treated that the former one as the foundation, the latter one as expention and innovation. For both systems, the structures and operation principles are analized, the mathematic models and equivalent circuits are established, the control strategies are brought out, simulation and experiment works are done to prove the valitaty of these strategies.
For EVT, the operation principles and structure are analized. The mathematic model of the key part of EVT—Dual-Mechanical-Port Electrical Machine (DMPEM)—has been established. The model is based on Dual-Synchronous-Coordinate (DSC), the conditions that with and without the coupling of inner rotor and stator windings are considered separately. The universal method of establishing AC machine equivalent circuit is proposed, by using it all of the equivalent circuits of complex AC machines can be get easely, and the operation modes and power flow conditions can be analized. Based on this method, the equivalent circuit of DMPEM is given.
Two kinds of DMPEM control strategies are brought out:Speed-Speed Control (SSC) and Torque-Speed Control (TSC) strategies. Based on the two strategies, the EVT control strategy is given. Considering the Internal Conbustion Engine (ICE) on/off conditions and optimal efficiency curve, different DMPEM control strategies will be used in different operation modes. The field weakening algorithm of Permanent Magnet Electrical Machine (PMEM) can also be used in DMPEM, but the speed range is restricted by machine structure. A protype machine is built, and an EVT simulation platform is established, on which a series of experiments are done.
Based on the foundation of EVT, a brand new system for HEV—BLEVT—and its key component Brushless Dual-Mechanical-Port Electrical Machine (BLDMPEM) are proposed. BLDMPEM may have several possible structures; the research work is carried out on one of them. The working principle of the system is discussed. For special attention, the machine windings conection method is highlighted. In different operation modes, the power flows in all of the componets of BLEVT are ploted. Finally, the mathematic model and equivalent circuit of BLDMPEM are established.
The control strategies of BLDMPEM are proposed, they are Power-Speed Control (PSC) and Speed-Speed Control (SSC) separately. For PSC, a new kind of three-phase-bridge control method is put forward, by using which the feedback power to DC bus can be controlled without speed of both rotors' and it is immune to machine parameters variation. Based on the two methods, the BLEVT control strategy is given. Later, a kind of asynchronous machine maximum output torque in full speed range control strategy is proposed. This algorithm ensures the furthest using of voltage and current abilities of the controller for the largest output torque. This method can also be applied to BLDMPEM. A protype machine of BLDMPEM and a BLEVT experimental platform are built, based on which, the experiments are done. The experimental and simulation results show the validaty of proposed algorithm.
引文
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