纯电动汽车交流电机控制器的仿真与设计
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摘要
在传统汽车行业飞速发展的时代,为了应对燃油汽车带来的环境污染和资源危机问题,新能源汽车技术受到了各国的关注。现阶段的新能源车主要指运用电力作为驱动能源的一类车辆,包括电动车和混合动力车。由于电动车是实现零排放的最佳选择,因此,近几十年来得到了快速的发展。目前,电动车技术的主要难点和重点依然停留在能源系统中电池性能和驱动系统中电机控制这两方面。本文以电动汽车的驱动系统中的电机控制系统为研究对象,在众多可选用的电机种类中挑选了适合大功率驱动、结构坚固、功率密度相对小的三相异步交流电机为驱动对象,并设计了相关的驱动方案和实现方法。
作者的研究工作主要包括：
1.通过阅读大量的相关报告、文献,在了解本课题的研究背景和选题意义的基础上,采用网络调研和去相关厂家实地调研两种方式,调研了电动车的发展史和国内外发展现状、电动车驱动系统的发展史、国内电动车电机控制器的发展和存在的一些问题。
2.将普通燃油汽车和电动车多种传动方式相结合,提出了一种适合于大功率电动客车的传动方案,并规定了驱动指标,这些指标均经过实际调研合理选取。根据这些指标完成了电机选择和参数配置。以上都是在设计电动车电机驱动器的必要准备工作。
3.在研究了交流异步电机的控制方法的基础上,选择了控制方案并深入分析了按转子磁链定向的矢量控制方法。根据这种方法的缺陷,重点分析了各种转子磁链观测的特点。
4.根据上一部分的理论分析,构建了电动机双闭环的控制系统。为了验证它的正确性,在MATLAB/SIMULINK中完成了仿真实验。依据矢量控制算法中的电流解耦依赖于不稳定电机的参数特点,运用模糊自适应控制器代替传统的PI控制器,实时在线调整控制参数。并通过仿真对比证实了它具有调量小、响应快的特点。
5.选取了一款在电机控制中性能优越的芯片TMS320F2812 DSP,以它为控制核心,完成了包括主电路、驱动电路、控制电路等硬件电路设计和选型工作,设计了电机制动时的能量回馈方案并编写了双闭环控制策略的软件程序。又主要以合众达DSP实验箱为硬件平台,在CCS2.0的环境下对程序进行调试和相关实验。
In the era of rapid development of traditional auto industry, in response to the resource crisis and environmental pollution problems brought by fuel vehicles, New energy vehicles technology has been the concern of all countries. At the present stage, new energy vehicles refer to the use of electricity as driven energy. It includes electric cars and hybrid cars. Electric car is the best choice to achieve Zero-emission. Therefore, in recent decades,it has been the rapid development. Currently, the main difficulty and key problem of electric vehicle technology still stuck both battery performances in the energy system and motor control in the drive system. To the heart of electric vehicles-motor control system as the research object, Among the many types of optional motors, the author selects three-phase asynchronous AC motors as driver object which is suitable for high-power drives and which has solid structure and relatively small power density, in this paper, Then designs the related driver Control scheme and method·
The main research works completed by the author include:
1.By reading a large number of relevant reports, documents, based on the understanding of the background and significance of the topic for this research projects, the author studied the history of development of electric vehicles; the development status at home and abroad;the history of development of electric vehicles drive system; the development and some problems of domestic electric vehicles motor controller by Network research and field research methods.
2. A transmission scheme, which was suitable for high-power system, was proposed by combining ordinary fuel vehicles with electric cars, then driving indicators were set, which was based on real research, so choice was appropriate.then the author completed the selection and configuration parameters of the motor according to driving indicators.These were the necessary preparatory work in the design of electric vehicle motor drives.
3. Based on the study of the AC induction motor control method, the author selected control scheme and in-depth studied by the rotor flux oriented vector control. In addition, according to defects in this approach, the author analyzed various characteristics of the rotor flux observer.
4.Based on theoretical study of the previous section, the double loop was established in the motor control system. In order to verify its correctness, simulation was carried out in the MATLAB/SIMULINK. At the same time, in the vector control algorithm,due to the current decoupling depends on the instable motor Parameters, We used fuzzy adaptive controller instead of the traditional PI controller to adjust the control parameters in real time online and confirmed by simulation that the controller had comparing small overshoot, fast response.
5. Had Selected a superior performance chip TMS320F2812 DSP in motor control as control core, the author completed hardware circuits designs including the main circuit, driver circuit, control circuit and designed braking energy feedback scheme for the motor and wrote a two-loop control strategy of the software program. Most important was that the algorithm was debugged after using HEZHONGDA DSP experimental box as the hardware platform in the environment of CCS2.0 Software.
作者的研究工作主要包括：
1.通过阅读大量的相关报告、文献,在了解本课题的研究背景和选题意义的基础上,采用网络调研和去相关厂家实地调研两种方式,调研了电动车的发展史和国内外发展现状、电动车驱动系统的发展史、国内电动车电机控制器的发展和存在的一些问题。
2.将普通燃油汽车和电动车多种传动方式相结合,提出了一种适合于大功率电动客车的传动方案,并规定了驱动指标,这些指标均经过实际调研合理选取。根据这些指标完成了电机选择和参数配置。以上都是在设计电动车电机驱动器的必要准备工作。
3.在研究了交流异步电机的控制方法的基础上,选择了控制方案并深入分析了按转子磁链定向的矢量控制方法。根据这种方法的缺陷,重点分析了各种转子磁链观测的特点。
4.根据上一部分的理论分析,构建了电动机双闭环的控制系统。为了验证它的正确性,在MATLAB/SIMULINK中完成了仿真实验。依据矢量控制算法中的电流解耦依赖于不稳定电机的参数特点,运用模糊自适应控制器代替传统的PI控制器,实时在线调整控制参数。并通过仿真对比证实了它具有调量小、响应快的特点。
5.选取了一款在电机控制中性能优越的芯片TMS320F2812 DSP,以它为控制核心,完成了包括主电路、驱动电路、控制电路等硬件电路设计和选型工作,设计了电机制动时的能量回馈方案并编写了双闭环控制策略的软件程序。又主要以合众达DSP实验箱为硬件平台,在CCS2.0的环境下对程序进行调试和相关实验。
In the era of rapid development of traditional auto industry, in response to the resource crisis and environmental pollution problems brought by fuel vehicles, New energy vehicles technology has been the concern of all countries. At the present stage, new energy vehicles refer to the use of electricity as driven energy. It includes electric cars and hybrid cars. Electric car is the best choice to achieve Zero-emission. Therefore, in recent decades,it has been the rapid development. Currently, the main difficulty and key problem of electric vehicle technology still stuck both battery performances in the energy system and motor control in the drive system. To the heart of electric vehicles-motor control system as the research object, Among the many types of optional motors, the author selects three-phase asynchronous AC motors as driver object which is suitable for high-power drives and which has solid structure and relatively small power density, in this paper, Then designs the related driver Control scheme and method·
The main research works completed by the author include:
1.By reading a large number of relevant reports, documents, based on the understanding of the background and significance of the topic for this research projects, the author studied the history of development of electric vehicles; the development status at home and abroad;the history of development of electric vehicles drive system; the development and some problems of domestic electric vehicles motor controller by Network research and field research methods.
2. A transmission scheme, which was suitable for high-power system, was proposed by combining ordinary fuel vehicles with electric cars, then driving indicators were set, which was based on real research, so choice was appropriate.then the author completed the selection and configuration parameters of the motor according to driving indicators.These were the necessary preparatory work in the design of electric vehicle motor drives.
3. Based on the study of the AC induction motor control method, the author selected control scheme and in-depth studied by the rotor flux oriented vector control. In addition, according to defects in this approach, the author analyzed various characteristics of the rotor flux observer.
4.Based on theoretical study of the previous section, the double loop was established in the motor control system. In order to verify its correctness, simulation was carried out in the MATLAB/SIMULINK. At the same time, in the vector control algorithm,due to the current decoupling depends on the instable motor Parameters, We used fuzzy adaptive controller instead of the traditional PI controller to adjust the control parameters in real time online and confirmed by simulation that the controller had comparing small overshoot, fast response.
5. Had Selected a superior performance chip TMS320F2812 DSP in motor control as control core, the author completed hardware circuits designs including the main circuit, driver circuit, control circuit and designed braking energy feedback scheme for the motor and wrote a two-loop control strategy of the software program. Most important was that the algorithm was debugged after using HEZHONGDA DSP experimental box as the hardware platform in the environment of CCS2.0 Software.
引文
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[2]高义军,“现代汽车电子技术”[M],人民交通出版社,北京,2005.
[3]温旭辉,“电动汽车电机驱动技术及其发展”[J],电气时代,vol.9,58-61,2010.
[4]刘川,“电动汽车四轮独立驱动控制系统的研究”[D],武汉理工大学硕士论文,2009.
[5]曾虎,“纯电动汽车的电机与变速器匹配”[J], Equipment Manufactring Technology, Vol.2,40-42,2010.
[6]张珍,“纯电动汽车驱动系统的参数设计及匹配”[J],新能源汽车,Vol.8,7-9，2010.
[7]陈伯时,“电力拖动自动控制系统”[M],机械工业出版社,北京,2009.
[8]戴先中,刘国海,张兴华,“交流传动神经网络逆控制”[M],机械工业出版社,北京,2007.
[9]高志光,“基于TMS320F240的全数字化异步电机直接转矩控制系统的研究”[D],太原理工大学硕士论文,2003.
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[18]H. Jin, Y.l. Zhao, D. Z. Wang, "Simulation Study of AC Motor Speed Sensorless Vector Control System Based on SVPWM" [C],9th Int. Conf. on Hybrid Intelligent Systems, Vol.1,524-529,2009.
[19]H. W. Breck, "Analysis and realization of a pulse width modulator based on voltage space vector" [J], IEEE Trans. on Industrial Electronics,24(1),142-150, 1998.
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[21]林负发,游林儒,“异步电机矢量控制系统仿真与应用”[J],微机电,43(4),30-33，2010.
[22]J. Fonseca, "Fuzzy logic speed control of an induction motor" [J], Microprocessors and Microsystems,22(9),523-534,1999.
[23]R. K. Mudi, N. R. Pal, "A self-tunning fuzzy PI controller" [J], Fuzzy Sets and systems, Vol.115,327-338,2000.
[24]黄友锐,曲立国,“PID控制器参数整定与实现”[M],科学出版社,北京,2010.
[25]杨溢兴,“模糊自适应PID控制器及SIMULINK仿真实现”[J],舰船电子工程,27-130,2010,(4).
[26]罗豪,“异步电机矢量控制系统设计及其PI控制器参数优化研究”[D],湖南大学硕士论文,2009.
[27]陈爽,“基于DSP的模糊自适应PI交流调速系统”[D],西南交通大学硕士论 文,2009.
[28]苏奎峰,"TMS320F2812原理与开发”[M],电子工业出版社,北京,2005.
[29]"TMS320C28x系列DSP的CPU与外设(上、下)”[M], Texas Instruments Incorporated,清华大学出版社,北京,2005.
[30]智泽英,杨晋岭,“DSP控制技术实践”[M],中国电力出版社,北京,2009.
[31]"TM320X2812 Digital Signal Processors Date Manual" [DB/OL], Texas Instruments Incorporated,2007, at http://focus.ti.com.cn/docs/prod/folders/ print/tms320f2812.html.
[32]"TM320X281x Digital Signal Processors Event Manager reference guide" [DB/OL], Texas Instruments Incorporated,2003, at http://focus.ti.com.cn/do cs/prod/folders/print/tms320f2812.html.
[33]周扬,葛英辉,倪光正,“DSP在电动车运用中的几个关键问题”[J],电机与控制学报,10(6),80-584,2006.
[34]"TM320X281X DSP Analog-to-Digital Converter" [DB/OL], Texas Instrum ents Incorporated,2005, at http://focus.ti.com.cn/docs/prod/folders/print/tms3 20f2812.html.
[35]曹梦婷,“基于TMS320F2812的ADC数据采样的软件实现”[J],机械工程与自动化,82-84,2008,(3).
[36]J. F. Guang, C. Xue, "Design of vector control speed modulated system on AC motors based on DSP" [C], Proc.8th IEEE Int. Conf. on Machine Learning and Cybernetics,3663-3666,2009.
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[2]高义军,“现代汽车电子技术”[M],人民交通出版社,北京,2005.
[3]温旭辉,“电动汽车电机驱动技术及其发展”[J],电气时代,vol.9,58-61,2010.
[4]刘川,“电动汽车四轮独立驱动控制系统的研究”[D],武汉理工大学硕士论文,2009.
[5]曾虎,“纯电动汽车的电机与变速器匹配”[J], Equipment Manufactring Technology, Vol.2,40-42,2010.
[6]张珍,“纯电动汽车驱动系统的参数设计及匹配”[J],新能源汽车,Vol.8,7-9，2010.
[7]陈伯时,“电力拖动自动控制系统”[M],机械工业出版社,北京,2009.
[8]戴先中,刘国海,张兴华,“交流传动神经网络逆控制”[M],机械工业出版社,北京,2007.
[9]高志光,“基于TMS320F240的全数字化异步电机直接转矩控制系统的研究”[D],太原理工大学硕士论文,2003.
[10]潘峰,“异步电动机转子磁链观测方法的比较与研究”[J],变频器世界,33-36,2006,(12).
[11]P. Vranka, G. Griva, F. Profumo, "Practical improvement of a simple V-I flux estimator for sensorless FO controllers operating in the low speed region" [C], Proc.24th IEEE Annual Conf. on Industrial Electronics Society, Vol.3, 1615-1620,1998.
[12]赵宇坤,“三相异步电动机转子磁链在线观测方法的研究”[D],大连交通大学硕士论文,2008.
[13]L. H. Hoang, "Modeling and Simulation of electrical using Matlab/Simulink and Power System Blocket" [C], IEEE Conf. on Industrial Electrics Society, 1603-1610,2001.
[14]李颖,朱伯立,张威,"Simulink动态系统建模与仿真基础”[M],西安电子科技大学出版社,西安,2000.
[15]洪乃刚,“电力电子和电力拖动控制系统的MATLAB仿真”[M],机械工业出版社,北京,2006.
[16]L. Harnefors, "Design and analysis of general rotor-flux-oriented vector control systems" [J], IEEE Trans.on Industrial Electronics,48(1),383-390,2008.
[17]聂德志,尹华杰,“异步电机SVPWM矢量控制系统仿真”[J],防爆电机,23-26,2009,(5).
[18]H. Jin, Y.l. Zhao, D. Z. Wang, "Simulation Study of AC Motor Speed Sensorless Vector Control System Based on SVPWM" [C],9th Int. Conf. on Hybrid Intelligent Systems, Vol.1,524-529,2009.
[19]H. W. Breck, "Analysis and realization of a pulse width modulator based on voltage space vector" [J], IEEE Trans. on Industrial Electronics,24(1),142-150, 1998.
[20]王海峰,任辛,“异步电机矢量控制的MATLAB/SIMULINK仿真”[J],电气传动自动化,25(4),23-25,2003.
[21]林负发,游林儒,“异步电机矢量控制系统仿真与应用”[J],微机电,43(4),30-33，2010.
[22]J. Fonseca, "Fuzzy logic speed control of an induction motor" [J], Microprocessors and Microsystems,22(9),523-534,1999.
[23]R. K. Mudi, N. R. Pal, "A self-tunning fuzzy PI controller" [J], Fuzzy Sets and systems, Vol.115,327-338,2000.
[24]黄友锐,曲立国,“PID控制器参数整定与实现”[M],科学出版社,北京,2010.
[25]杨溢兴,“模糊自适应PID控制器及SIMULINK仿真实现”[J],舰船电子工程,27-130,2010,(4).
[26]罗豪,“异步电机矢量控制系统设计及其PI控制器参数优化研究”[D],湖南大学硕士论文,2009.
[27]陈爽,“基于DSP的模糊自适应PI交流调速系统”[D],西南交通大学硕士论 文,2009.
[28]苏奎峰,"TMS320F2812原理与开发”[M],电子工业出版社,北京,2005.
[29]"TMS320C28x系列DSP的CPU与外设(上、下)”[M], Texas Instruments Incorporated,清华大学出版社,北京,2005.
[30]智泽英,杨晋岭,“DSP控制技术实践”[M],中国电力出版社,北京,2009.
[31]"TM320X2812 Digital Signal Processors Date Manual" [DB/OL], Texas Instruments Incorporated,2007, at http://focus.ti.com.cn/docs/prod/folders/ print/tms320f2812.html.
[32]"TM320X281x Digital Signal Processors Event Manager reference guide" [DB/OL], Texas Instruments Incorporated,2003, at http://focus.ti.com.cn/do cs/prod/folders/print/tms320f2812.html.
[33]周扬,葛英辉,倪光正,“DSP在电动车运用中的几个关键问题”[J],电机与控制学报,10(6),80-584,2006.
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