电动汽车用异步电动机混合控制系统的研究
摘要
伴随社会的进步,汽车的使用和人们生活越来越密不可分,但是在在给人们的生活带来方便和快捷的同时,也带来了能源危机和环境污染等一些严重的负面影响。为了解决燃油汽车所带来的负面影响,电动汽车将成为日后交通工具发展的趋势,而电动汽车的核心技术就是对电动机的控制,现在关于对异步电动机的控制方法,比较流行采用的是矢量控制(FOC)和直接转矩控制(DTC),而且这两种方法也是比较先进的。通过阅读文献、仿真和做实验发现这两种方法各自有优缺点,对异步电动机的控制并不是十分的完美,国内外的一些学者也提出过一些改善这两种方法的方案,但是结果不是增加系统的复杂性就是改变了系统本身的一些优点,而且一些改变在实际的工程应用中不能得以实现。
本文通过对异步电动机数学模型和控制理论的研究提出一个比较新的观点,就是把FOC和DTC这两种控制方法结合在一起,取长补短优势互补,形成一种对异步电动机的混合控制方法。
为了使这两种控制方法能够有机的结合在一起,而且可以在线的灵活切换,满足电动汽车在不同的工况下转矩和速度的要求,首先就要解决这两种控制方法因为原理和控制目标等的不同,使系统在切换的过程中引起的状态突变和振荡。论文为这两种控制方法的平滑切换提出了可重置PI控制器这一概念,通过仿真和实验表明,可重置PI控制器能够很好的解决两种方法在切换的过程中所产生的振荡和突变,同时结合这两种控制方法的特点,提出对电机的不同运行的工况下,自动的进行控制方法的切换,使电机能够运行在最佳的状态下,最终使电动汽车快速、平稳的来反应人们发出的指令。
本文将先通过搭建Matlab仿真模型进行混合控制方法可行性的研究,接着搭建基于DSP2812的硬件电路,然后通过Matlab和DSP之间的连接工具Real Time Workshop(RTW)设计生成混合控制的C语言程序,并编译、下载和调试最终控制一台小功率鼠笼式异步电动机。
With the development of science technology and the improvement of standard living, the vehicle has played the more and more important role in the people's lives. The sharp increase of vehicle quantity brings great convenience to people's lives, but at the same time, it also brings energy crisis and environmental pollution and other serious negative effect to the social. In order to solve the negative effects of fuel vehicles, electric vehicles (EV) will be the future development tendency of automobile. The core technology of the EV is the motor control, what's more in recently, the main control technology includes field orientation control (FOC) and direct torque control (DTC), and these two kinds of method is more advanced. By reading a lot of literature and doing a series of experiments, then people found that the two methods have their own advantages and disadvantages, and these two kinds of theory is not very perfect for controlling induction motor. Some scholars at home and abroad have been made some work to improve these two methods, but it may increase the complexity of the control system or changed the system itself with some advantages. What's the worse Some of the changes in the actual project application can not be achieved.
An innovative control strategy, which is an organic combination of the two schemes, is presented in this paper to adopt the other's strong points to offset one's weakness based on the researching of the asynchronous motor mathematical models and control theory.
In order to meet the requirements for EV in the different conditions of torque and speed. So make these two kinds of control method can combine together organicly and can reallize high performance motion control. The system in switching process induce status mutation and oscillation beacause of the theory and control objectives is different between these two konds of method should be solved firstly. For smooth switching between DTC and FOC, a new"resetable"PI controller is designed to replace the conventional PI controller in the paper. Simulation and experiments show that the new"resetable"PI controller can remarkably reduce the fluctuation of mixed control system, and the smooth transition is guaranteed no matter in steady state or transient state, while maintaining the control performance of DTC and FOC. At the same time, according to the conditions of the motor the control system can automatic switch to the control method, so that the motor can run in the best condition. Then the EV can execute the people's command fastly and smoothly.
The Matlab simulition will be designed to study the feasibility of the hybrid control method firstly. Then DSP2812hardware circuit is designed. Next, the tool of the connection between the Matlab and DSP is used to design and generation the hybrid control C language program,which is compiled, downloaded and debuaged to control a small power ansynchronous squirrel cage motor.
本文通过对异步电动机数学模型和控制理论的研究提出一个比较新的观点,就是把FOC和DTC这两种控制方法结合在一起,取长补短优势互补,形成一种对异步电动机的混合控制方法。
为了使这两种控制方法能够有机的结合在一起,而且可以在线的灵活切换,满足电动汽车在不同的工况下转矩和速度的要求,首先就要解决这两种控制方法因为原理和控制目标等的不同,使系统在切换的过程中引起的状态突变和振荡。论文为这两种控制方法的平滑切换提出了可重置PI控制器这一概念,通过仿真和实验表明,可重置PI控制器能够很好的解决两种方法在切换的过程中所产生的振荡和突变,同时结合这两种控制方法的特点,提出对电机的不同运行的工况下,自动的进行控制方法的切换,使电机能够运行在最佳的状态下,最终使电动汽车快速、平稳的来反应人们发出的指令。
本文将先通过搭建Matlab仿真模型进行混合控制方法可行性的研究,接着搭建基于DSP2812的硬件电路,然后通过Matlab和DSP之间的连接工具Real Time Workshop(RTW)设计生成混合控制的C语言程序,并编译、下载和调试最终控制一台小功率鼠笼式异步电动机。
With the development of science technology and the improvement of standard living, the vehicle has played the more and more important role in the people's lives. The sharp increase of vehicle quantity brings great convenience to people's lives, but at the same time, it also brings energy crisis and environmental pollution and other serious negative effect to the social. In order to solve the negative effects of fuel vehicles, electric vehicles (EV) will be the future development tendency of automobile. The core technology of the EV is the motor control, what's more in recently, the main control technology includes field orientation control (FOC) and direct torque control (DTC), and these two kinds of method is more advanced. By reading a lot of literature and doing a series of experiments, then people found that the two methods have their own advantages and disadvantages, and these two kinds of theory is not very perfect for controlling induction motor. Some scholars at home and abroad have been made some work to improve these two methods, but it may increase the complexity of the control system or changed the system itself with some advantages. What's the worse Some of the changes in the actual project application can not be achieved.
An innovative control strategy, which is an organic combination of the two schemes, is presented in this paper to adopt the other's strong points to offset one's weakness based on the researching of the asynchronous motor mathematical models and control theory.
In order to meet the requirements for EV in the different conditions of torque and speed. So make these two kinds of control method can combine together organicly and can reallize high performance motion control. The system in switching process induce status mutation and oscillation beacause of the theory and control objectives is different between these two konds of method should be solved firstly. For smooth switching between DTC and FOC, a new"resetable"PI controller is designed to replace the conventional PI controller in the paper. Simulation and experiments show that the new"resetable"PI controller can remarkably reduce the fluctuation of mixed control system, and the smooth transition is guaranteed no matter in steady state or transient state, while maintaining the control performance of DTC and FOC. At the same time, according to the conditions of the motor the control system can automatic switch to the control method, so that the motor can run in the best condition. Then the EV can execute the people's command fastly and smoothly.
The Matlab simulition will be designed to study the feasibility of the hybrid control method firstly. Then DSP2812hardware circuit is designed. Next, the tool of the connection between the Matlab and DSP is used to design and generation the hybrid control C language program,which is compiled, downloaded and debuaged to control a small power ansynchronous squirrel cage motor.
引文
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[3]高景德,王祥珩,李发海.交流电动机及其系统的分析[M].北京：清华大学出版社,2005.
[4]王成元,夏加宽,孙宜标。现代电机控制技术[M].北京：机械工业出版社,2010.
[5]陈伯时.电力拖动自动控制系统[M].北京：机械工业出版社,1992.
[6]许大中.交流电动机调速理论[M].浙江：浙江大学出版社,1991.
[7]Thomas G.Hubetler,Francesco Profumo,Midele Pastorelli,et al.Direct torque control of induction machines using space vector modulation.IEEE Trans.on IA,1992,28(5):1045-1053
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[14]T.Orlowska-Kowalska.Application of extended Luenberger observer for flux and rotor time-constant estimation in induction motor drives.IEE Proc.of Control Theory and App.,1989,136(6):324-330.
[15]T.Du,P.Vas,F.Stronach.Design and application of extended observers for joint state and parameter estimation in high-performance AC drives.IEE Proc.of Electric Power App.,1995,142(2):71-78.
[16]Hidehiko Sugimoto,Shinzo Tamai.Secondary resistance identification of an induction motor applied model reference adaptive system and its characteristics.IEEE Tran.on IA,1987,23(2).
[17]蒋金星.基于自适应磁链观测器的异步电动机FOC与DTC切换控制研究[D]：[硕士学位论文].青岛科技大学,2008.
[18]朱晓荣.电动车交流异步电机无速度传感器矢量控制系统[D].[硕士学位论文].天津大学,2009.
[19]王晶晶.异步电机的矢量控制技术研究[D]：[硕士学位论文].同济大学,2003.
[20]Vanja Ambrozic, GiuseppeS, Bujia,etal. Band-constrained technique for direct torque control of induction motor.IEEE Transactions on industrial electronics,2004,51(4):776-784.
[21]D.Li.Direct torque control of induction motors for low speed drives considering Y discrete effects of control and dead-time of inverters.In Conf.Rec.on Industry Applications 1997:781-788.
[22]杨根胜.基于DSP的异步电动机直接转矩控制[D]：[硕士学位论文].华中科技大学,2006
[23]T.G.Habetler.Direct torque control of induction machines using space vector modulation. IEEE Trans.on Industry Applications 1992,28(5).1045-1053.
[24]常慧娟.异步电机直接转矩控制系统研究[D].[硕士学位论文].大连交通大学,2010.
[25]何新军.基于DSP的三相异步电动机直接转矩控制系统研究[D]：[硕士学位论文].湖南大学,2002.
[26]徐进.感应电机直接转矩控制系统的研究和实践[D].[硕士学位论文].东南大学,2006.
[27]汤蕴璆,张奕黄,范瑜.交流电机动态分析[M].北京：机械工业出版社,2004.
[28]吕华林.异步电机久量控制变频调速系统的研究[D].[硕士学位论文].武汉理工大学,2010
[29]肖咸盛.基于DSP的三相感应电动机矢量控制系统研究[D].[硕士学位论文].哈尔滨工程大学,2008
[30]R.DeDoncker and D.W.Novotny.The universal field oriented controller.Conf.Rec. IEEE-IAS,1988,pp.450-456.
[31]X.Xu,R.DeDoncker,and D.W.Novotny.A stator flux oriented induction machine drive. Conf.Rec.PESC,1988,pp.870-876.
[32]J.Holtz and E.Bube.Field oriented asynchronous PWM for high performance A.C. machine drives operating at low switching frequency. IEEE Trans.Indust.Applicat.,vol. 27,pp.574-581,May/June 1991.
[33]Oshihiko Noguchi.Enlarging switching frequency in direct torque controlled inverter by means of dithering. IEEE Trans.on Industry Applications 1999,35(6).1358-1366.
[34]李泽民.异步电机直接转矩控制中降低转矩脉动的研究[D].[硕士学位论文].南京航空航天大学,2008
[35]邓云飞.基于磁场定向控制的交流变频调速实验平台研究[D].[硕士学位论文].哈尔滨工业大学,2011.
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