HEV用永磁同步电机优化设计与系统性能分析
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摘要
本文围绕混联式混合动力电动汽车(HEV)用永磁同步电机优化设计与系统性能分析展开。
首先,阐述了HEV的研究背景和研究意义,讨论了国内外HEV发展现状与趋势,介绍了目前电动汽车的主要类型,选择研究混联式结构HEV,分析了HEV的几个方面的主要技术的发展现状,包括电池及电池管理系统、双向大功率DC/DC变换器拓扑技术与控制、电机及其驱动控制、多能源控制策略与整车管理以及HEV的仿真技术。详细介绍了HEV用永磁同步电动机转子结构、弱磁控制以及无位置传感器控制三方面的发展现状。通过分析各种电机性能以及永磁同步电机的发展现状,为混联式HEV选择了两台内置式永磁同步电机MG1和MG2。
接着,在Prius混联结构HEV发电机单向功率流动基础上提出了复合式混联结构HEV,特点是两台永磁同步电机均参与电动发电能量功率双向流动,工作模式更多,效率进一步提高。通过分析复合式混联式结构HEV能量双向流动的各种运行工况对两台内置式混合结构永磁同步电动机MG1和MG2的要求,借助ANSOFT软件对所选用的两台内置式混合结构永磁同步电动机MG1和MG2进行初始参数计算和重要参数的优化分析,并对起动、助动、发电和纯电动运行等10多种运行工况进行瞬态仿真分析,仿真结果满足了各种运行工况要求,其中制动能量回收效率达到了39%。
其次,分析内置式永磁同步电机输入输出量与电机转子位置量之间关系,在快速、准确和容易测量的选择原则基础上选择了包括电机转子静止状态下的电瞬态在内的瞬态反电势数据来确定电机转子位置。通过分析不同状态反电势与发电电动时转速和位置关系,首次提出了三个反电势之间的归一化方法,归一化后数据与反电势大小无关,从而突破了低速反电势小误差大的难题,根据反电势数据周期性创造性地提出了数据的复合可逆条件,很好地实现了静止、机械运动、电动和发电状态下位置的精确判断,实现了简单方便和快速的无位置以及速度传感器控制。同时为了克服永磁同步电机高速弱磁效率低的问题,借助于ANSOFT软件电机设计和瞬态分析工具,从结构设计以及性能分析方面提出了电动时升压和低速强磁控制相结合的控制思想,基本实现了永磁同步电机高速不需弱磁的大范围高效率的运行。
再次,详细介绍了DC/DC变换器的拓扑结构,分析了Boost模式和Buck模式下电感L和电容C电气参数以及占空比D和开关频率f控制参数对非隔离式DC/DC变换器输出特性影响,分析了电压SPWM控制、空间电压矢量PWM(SVPWM)控制以及电流跟踪PWM控制三种常见的逆变器PWM控制方法的特点,分析了电流跟踪控制开关频率特性与电压和滞环宽度的关系,为电机的控制器设计包括元器件的选择和软件控制算法提供了理论依据,并对所设计的高性能电流跟踪逆变器进行了测试实验研究,跟踪效果良好。
最后,主要介绍了Advisor电动汽车仿真软件参数的设置,仿真模块模型的数学描述和模块的建立以及对仿真软件的介绍,最后在Advisor的Prius混联式的基础上进行适合本文设计的复合式混联结构的二次开发,给出了整车模型、发电机、电动机以及复合电源模块。仿真工况很好地验证了控制策略的可行性。分析结果显示百公里油耗和排放满足了整车开发的性能要求目标,与相应结构的传统汽车相比大大提高了节能与环保性能。
This paper has paid more attention to the optimization design of permanent magnet synchronous machine (PMSM) and system performance analysis of serial and parallel hybrid electric vehicle (SPHEV).
Firstly, the research background and significance are expounded. The status quo and development trend of inside and outside national EV have been analyzed. The main types of EV have been summarized at present and SPHEV has been selected. The main technologies' development status quo of HEV has been analyzed, including battery and its management system, high power bi-directional DC/DC converter's topology technology and control, the motor and its driving and control technique, multi-power-source control strategies and vehicle management, simulation technology of HEV. The development status quo of rotor structure, flux-weakening control and sensor-less control of PMSM for HEV has been introduced in detail. The two interior PMSM (IPMSM) MG1 and MG2 have been selected as the motors in SPHEV by analyzing various existing motor performance and development status quo of PMSM.
Subsequently, based on the Prius SPHEV generator's working on unidirectional way, the composite SPHEV has been proposed, whose two motors can work on motor-generator bidirectional power flow. The composite SPHEV has more working modes with high working efficiency. The initial parameter calculating and important parameters optimization analysis of two IPMSM MG1 and MG2 have been done according to the various operation modes' requirements. The transient simulation analysis of more than 10 working modes including starting, power assisted, power generation and electric operation have been carried out. The simulation results have fulfilled the requirements of various working modes, such as that the efficiency 39% of energy-recover of vehicle's Braking has been attained.
Then, the back EMF of transient including electric transient under stationary status of rotor has been selected to determine the position of rotor based on the rules of quick, accurate and easy to be measured after the relationship between inputs-outputs and rotor's position has been analyzed. The normalization method among the three phases back EMF has been first put forward, by using which the normalized data has no relationship with the amplitudes of back EMF and the problem of low-speed small back EMF amplitude with big error has been solved after the relationship between the back EMF and speed and position based on motor and generation modes has been analyzed.The composite invertible conditions have been proposed with creativity according to the periodic data. The accurate judgment of the rotor's position has been very well realized under stationary, mechanical movement, motor and generator status. The simple, easy and quick sensor-less control of position and speed has been attainted. At the same time, in order to overcome the shortcomings of low efficiency under high speed with flux-weakening, the control idea of boost under motor status and flux-strengthening under low speed status has been proposed from structure design and performance analysis by using the motor design and transient analysis software of ANSOFT. The wide range running of IPMSM with high efficiency has been basically realized with no flux-weakening under high speed status.
Subsequently, the paper has introduced the topological structure of DC/DC converter in detailed. The relationships between the output characteristics of non-isolated DC/DC converter and the electric parameters of L and C and control parameters D and f have been analyzed. The PWM control characteristics of three kinds of familiar converters of voltage controlled SPWM, space voltage vector PWM (SVPWM) and current regulated PWM (CRPWM) have been discussed. The relationships between switching frequency of CRPWM and voltage and hysteresis band have been analyzed, which provides theoretical basis for the design of motor controller including the components' selection and control algorithm of software. The tracking effect is good according to the tested result of the designed high performance CRPWM converter.
At last, simulation software Advisor parameters setting, simulation modules' mathematical description, modules' building have been mainly discussed. The secondary developments for the designed composite SPHEV have been done based on the Prius SPHEV in Advisor. The vehicle, generator, motor and composite power module have been shown. The simulation results have proved the feasibility of the control strategy. The analyzed results show that One-Hundred-Kilometer Fuel Consumption and emission of the vehicle can meet the needs of vehicle development and greatly improve the energy saving and environmental protection.
首先,阐述了HEV的研究背景和研究意义,讨论了国内外HEV发展现状与趋势,介绍了目前电动汽车的主要类型,选择研究混联式结构HEV,分析了HEV的几个方面的主要技术的发展现状,包括电池及电池管理系统、双向大功率DC/DC变换器拓扑技术与控制、电机及其驱动控制、多能源控制策略与整车管理以及HEV的仿真技术。详细介绍了HEV用永磁同步电动机转子结构、弱磁控制以及无位置传感器控制三方面的发展现状。通过分析各种电机性能以及永磁同步电机的发展现状,为混联式HEV选择了两台内置式永磁同步电机MG1和MG2。
接着,在Prius混联结构HEV发电机单向功率流动基础上提出了复合式混联结构HEV,特点是两台永磁同步电机均参与电动发电能量功率双向流动,工作模式更多,效率进一步提高。通过分析复合式混联式结构HEV能量双向流动的各种运行工况对两台内置式混合结构永磁同步电动机MG1和MG2的要求,借助ANSOFT软件对所选用的两台内置式混合结构永磁同步电动机MG1和MG2进行初始参数计算和重要参数的优化分析,并对起动、助动、发电和纯电动运行等10多种运行工况进行瞬态仿真分析,仿真结果满足了各种运行工况要求,其中制动能量回收效率达到了39%。
其次,分析内置式永磁同步电机输入输出量与电机转子位置量之间关系,在快速、准确和容易测量的选择原则基础上选择了包括电机转子静止状态下的电瞬态在内的瞬态反电势数据来确定电机转子位置。通过分析不同状态反电势与发电电动时转速和位置关系,首次提出了三个反电势之间的归一化方法,归一化后数据与反电势大小无关,从而突破了低速反电势小误差大的难题,根据反电势数据周期性创造性地提出了数据的复合可逆条件,很好地实现了静止、机械运动、电动和发电状态下位置的精确判断,实现了简单方便和快速的无位置以及速度传感器控制。同时为了克服永磁同步电机高速弱磁效率低的问题,借助于ANSOFT软件电机设计和瞬态分析工具,从结构设计以及性能分析方面提出了电动时升压和低速强磁控制相结合的控制思想,基本实现了永磁同步电机高速不需弱磁的大范围高效率的运行。
再次,详细介绍了DC/DC变换器的拓扑结构,分析了Boost模式和Buck模式下电感L和电容C电气参数以及占空比D和开关频率f控制参数对非隔离式DC/DC变换器输出特性影响,分析了电压SPWM控制、空间电压矢量PWM(SVPWM)控制以及电流跟踪PWM控制三种常见的逆变器PWM控制方法的特点,分析了电流跟踪控制开关频率特性与电压和滞环宽度的关系,为电机的控制器设计包括元器件的选择和软件控制算法提供了理论依据,并对所设计的高性能电流跟踪逆变器进行了测试实验研究,跟踪效果良好。
最后,主要介绍了Advisor电动汽车仿真软件参数的设置,仿真模块模型的数学描述和模块的建立以及对仿真软件的介绍,最后在Advisor的Prius混联式的基础上进行适合本文设计的复合式混联结构的二次开发,给出了整车模型、发电机、电动机以及复合电源模块。仿真工况很好地验证了控制策略的可行性。分析结果显示百公里油耗和排放满足了整车开发的性能要求目标,与相应结构的传统汽车相比大大提高了节能与环保性能。
This paper has paid more attention to the optimization design of permanent magnet synchronous machine (PMSM) and system performance analysis of serial and parallel hybrid electric vehicle (SPHEV).
Firstly, the research background and significance are expounded. The status quo and development trend of inside and outside national EV have been analyzed. The main types of EV have been summarized at present and SPHEV has been selected. The main technologies' development status quo of HEV has been analyzed, including battery and its management system, high power bi-directional DC/DC converter's topology technology and control, the motor and its driving and control technique, multi-power-source control strategies and vehicle management, simulation technology of HEV. The development status quo of rotor structure, flux-weakening control and sensor-less control of PMSM for HEV has been introduced in detail. The two interior PMSM (IPMSM) MG1 and MG2 have been selected as the motors in SPHEV by analyzing various existing motor performance and development status quo of PMSM.
Subsequently, based on the Prius SPHEV generator's working on unidirectional way, the composite SPHEV has been proposed, whose two motors can work on motor-generator bidirectional power flow. The composite SPHEV has more working modes with high working efficiency. The initial parameter calculating and important parameters optimization analysis of two IPMSM MG1 and MG2 have been done according to the various operation modes' requirements. The transient simulation analysis of more than 10 working modes including starting, power assisted, power generation and electric operation have been carried out. The simulation results have fulfilled the requirements of various working modes, such as that the efficiency 39% of energy-recover of vehicle's Braking has been attained.
Then, the back EMF of transient including electric transient under stationary status of rotor has been selected to determine the position of rotor based on the rules of quick, accurate and easy to be measured after the relationship between inputs-outputs and rotor's position has been analyzed. The normalization method among the three phases back EMF has been first put forward, by using which the normalized data has no relationship with the amplitudes of back EMF and the problem of low-speed small back EMF amplitude with big error has been solved after the relationship between the back EMF and speed and position based on motor and generation modes has been analyzed.The composite invertible conditions have been proposed with creativity according to the periodic data. The accurate judgment of the rotor's position has been very well realized under stationary, mechanical movement, motor and generator status. The simple, easy and quick sensor-less control of position and speed has been attainted. At the same time, in order to overcome the shortcomings of low efficiency under high speed with flux-weakening, the control idea of boost under motor status and flux-strengthening under low speed status has been proposed from structure design and performance analysis by using the motor design and transient analysis software of ANSOFT. The wide range running of IPMSM with high efficiency has been basically realized with no flux-weakening under high speed status.
Subsequently, the paper has introduced the topological structure of DC/DC converter in detailed. The relationships between the output characteristics of non-isolated DC/DC converter and the electric parameters of L and C and control parameters D and f have been analyzed. The PWM control characteristics of three kinds of familiar converters of voltage controlled SPWM, space voltage vector PWM (SVPWM) and current regulated PWM (CRPWM) have been discussed. The relationships between switching frequency of CRPWM and voltage and hysteresis band have been analyzed, which provides theoretical basis for the design of motor controller including the components' selection and control algorithm of software. The tracking effect is good according to the tested result of the designed high performance CRPWM converter.
At last, simulation software Advisor parameters setting, simulation modules' mathematical description, modules' building have been mainly discussed. The secondary developments for the designed composite SPHEV have been done based on the Prius SPHEV in Advisor. The vehicle, generator, motor and composite power module have been shown. The simulation results have proved the feasibility of the control strategy. The analyzed results show that One-Hundred-Kilometer Fuel Consumption and emission of the vehicle can meet the needs of vehicle development and greatly improve the energy saving and environmental protection.
引文
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