HEV用四端口机电能量变换器耦合问题的研究
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摘要
随着混合动力电动汽车的发展,一种新型结构的电气式无级变速装置四端口机电能量变换器被提出,该装置具有两个机械端口和两个电气端口,机电能量耦合模式灵活多变,用在汽车传动系统中不仅可取代传统车的机械式变速装置实现高效率的无级变速动力耦合,同时能取代起动/发电机、驱动电机实现复合式混合动力的全部功能,使得整车燃油经济性大大提高,而且动力传动系统结构更为简化,控制也更易实现。不仅如此,该装置也可用于风力发电、水下推进、矿山机械等需要变速和换能的领域,显示出巨大的应用潜力,然而此类装置内部复杂的磁场耦合也为样机的电磁设计和控制提出了挑战。
本文主要研究面向混合动力电动汽车应用的基于感应电机原理的四端口机电能量变换器的耦合问题,包括对机电能量耦合模式,电磁耦合关系及解耦控制,机械耦合问题及解耦方法进行了研究。
为分析四端口机电能量变换器取代机械式变速装置并实现混合动力电动汽车功能的可行性,首先分析了面向混合动力电动汽车应用系统时的机电能量耦合模式,提出结合不同功率流的混合动力系统控制方案,针对不同的策略给出确定构成四端口机电能量变换器的两台电机外特性参数的方法,并用CVT功率跟随型轿车和Plug-in城市客车的实例进行仿真分析,根据所得指标设计不同结构和类型的样机,进行比较和优化设计,给出可行的方案。
四端口机电能量变换器内部具有两个不同的耦合场,为分析两个耦合场之间的耦合关系及其造成的影响,分别用有限元仿真和实验研究了内外耦合场在不同状态下对系统输出特性的影响以及主要参数的变化特点,推导了基于电机定子的T形等效电路及d、q轴的解耦模型;分别建立基于磁路计算的恒定参数的仿真模型和基于有限元分析结果的变化参数模型,通过仿真说明四端口机电能量变换器的电感参数随内外电机的励磁电流及其相角变化明显,基于变参数的模型可获得与实验相对应的正确结果。
为实现对内电机的矢量控制,需要快速准确地获得转速差值,本文基于磁阻式旋转变压器设计了直接测量转速差的转速解耦方案,该方案减少旋变使用数量,可使用通用的轴角变换电路直接测得双转子电机的转速差,实时性好,困难在于信号的引入引出必须依靠环形变压器或电刷-滑环组,可靠性差;为此提出了间接式双轴转速差的测量方法,可利用坐标变换和锁相环解码技术直接内部解耦,没有外部求差的滞后问题。
最后,搭建了基于四端口机电能量变换器的混合动力系统测试台架,系统中分别用两台40kW的感应电机模拟发动机和道路负载,而构成四端口机电能量变换器的EM1电机采用转速控制,EM2电机采用转矩控制,整个系统采用MATLAB/Simulink编制上层控制程序,使用dSPACE实时控制软硬件平台实现。使用该台架测算了一体式四端口机电能量变换器的主要参数和外特性,并用分体式样机对比验证了不同控制方案对同一模式的实现,分析了系统功率流及效率。制定多模式切换的自定义循环工况,用分体式四端口机电能量变换器进行测试,验证了利用四端口机电能量变换器实现混合动力功能的可行性和优越性。
With the development of Hybrid Electric Vehicles (HEV), a new structure of the electrical Continuously Variable Transmission (CVT) device - Four Ports Electromechanical Converter which owns two mechanical ports and two electrical ports, thus result in flexible electromechanical energy coupling modes was proposed. When utilized in vehicle's transmission system, it can not only replace traditional mechanical power transmission equipment to achieve efficient power coupling as a continuously variable transmission, but also can substitute for starter/generator and driving motor to achieve all functions of compound hybrid electric vehicle system, the vehicle's fuel efficiency will be improved significantly, while the transmission structure is more simplified and the control system is easier to achieve. Additionally, the device can also be used in other fields need variable speed transmission and energy transformation, such as wind power generation, underwater propulsion and mining equipment, which revealing great application potential. However, the complex coupling within this device has challenged in electromagnetic design and system control.
This paper researched the coupling problems of induction machine based four ports electromechanical converter for HEV applications, including the mode of energy coupling, relations of electromagnetic coupling and decoupling control, mechanical coupling and decoupling methods..
To analyze the feasibility of four ports electromechanical converter as a substitution of mechanical transmission device to achieve HEV functions, energy coupling modes was studied for HEV application system firstly, and hybrid power control system with different power flows was proposed. For different control strategies, the method of external characteristic parameters for the two motors which composing four ports electromechanical converter was confirmed, and simulated the instances of passenger car with CVT mode power tracking control strategies and city bus with Plug-in control strategies. Various structures and types of prototypes were designed according to obtained indexes, comparison and optimization design was proceeded to achieve feasible projects.
Because there are two different coupling fields in the internal four ports electromechanical converter, to analyze the coupling relationships between two fields and its influence, the Finite Element Method (FEM) simulation and experimental methods were employed respectively to study the influence of the system output characteristics in different states of the inner and outer coupling fields as well as the varying characteristics of the main parameters. The stator side based "T"-shaped equivalent circuit and d, q-axis decoupling model was deduced. Constant parameters simulation model based on magnetic circuit calculation and variable parameters model based on finite FEM were established respectively. Simulation results indicated that the inductance parameters of the four ports electromechanical converter changed significantly with excitation currents and phase angle difference between inner and outer motor. The exact results corresponding to experiment were obtained with the model based on variable parameters.
To achieve vector control of inner motor, the speed difference must be obtained quickly and accurately. This paper designed the speed decoupling method which can directly measuring the speed difference based on variable reluctance resolver, the number of resolvers was reduced with this project, another advantage is it can directly measure the dual rotor's speed difference with a conventional Resolve-to-Digital Converter (RDC) board with excellent real-time property. However, the difficulty is that its lead-in and output signals were depend on annular resolver or brush-slip ring group so was with poor reliability. Therefore, indirect measurement of two shafts' speed difference was proposed, which can directly decouple using coordinate transformation and Phase Lock Loop (PLL) decoding technology, there is no of external difference lag.
Finally, an HEV system test bench based on four ports electromechanical converter was built. In the system, two 40kW induction motors were used to simulated the engine and road load respectively, Speed control of EM1 and torque control of EM2 were applied on the two motors constitute four ports electromechanical converter. The upper control program was based on MATLAB/ Simulink procedure, and implemented through dSPACE real-time control software and hardware platform. The main parameters and external characteristic of an integrated four ports electromechanical converter was measured on the test bench. Compared with split prototype, different control methods were validated in the same mode, the power flows and efficiencies were analyzed. Multi-mode dynamic switching custom cycle was made, the experiment was proceeded based on split type bench, which validates the feasibility and superiority of using four ports electromechanical converter to achieve HEV's functions.
本文主要研究面向混合动力电动汽车应用的基于感应电机原理的四端口机电能量变换器的耦合问题,包括对机电能量耦合模式,电磁耦合关系及解耦控制,机械耦合问题及解耦方法进行了研究。
为分析四端口机电能量变换器取代机械式变速装置并实现混合动力电动汽车功能的可行性,首先分析了面向混合动力电动汽车应用系统时的机电能量耦合模式,提出结合不同功率流的混合动力系统控制方案,针对不同的策略给出确定构成四端口机电能量变换器的两台电机外特性参数的方法,并用CVT功率跟随型轿车和Plug-in城市客车的实例进行仿真分析,根据所得指标设计不同结构和类型的样机,进行比较和优化设计,给出可行的方案。
四端口机电能量变换器内部具有两个不同的耦合场,为分析两个耦合场之间的耦合关系及其造成的影响,分别用有限元仿真和实验研究了内外耦合场在不同状态下对系统输出特性的影响以及主要参数的变化特点,推导了基于电机定子的T形等效电路及d、q轴的解耦模型;分别建立基于磁路计算的恒定参数的仿真模型和基于有限元分析结果的变化参数模型,通过仿真说明四端口机电能量变换器的电感参数随内外电机的励磁电流及其相角变化明显,基于变参数的模型可获得与实验相对应的正确结果。
为实现对内电机的矢量控制,需要快速准确地获得转速差值,本文基于磁阻式旋转变压器设计了直接测量转速差的转速解耦方案,该方案减少旋变使用数量,可使用通用的轴角变换电路直接测得双转子电机的转速差,实时性好,困难在于信号的引入引出必须依靠环形变压器或电刷-滑环组,可靠性差;为此提出了间接式双轴转速差的测量方法,可利用坐标变换和锁相环解码技术直接内部解耦,没有外部求差的滞后问题。
最后,搭建了基于四端口机电能量变换器的混合动力系统测试台架,系统中分别用两台40kW的感应电机模拟发动机和道路负载,而构成四端口机电能量变换器的EM1电机采用转速控制,EM2电机采用转矩控制,整个系统采用MATLAB/Simulink编制上层控制程序,使用dSPACE实时控制软硬件平台实现。使用该台架测算了一体式四端口机电能量变换器的主要参数和外特性,并用分体式样机对比验证了不同控制方案对同一模式的实现,分析了系统功率流及效率。制定多模式切换的自定义循环工况,用分体式四端口机电能量变换器进行测试,验证了利用四端口机电能量变换器实现混合动力功能的可行性和优越性。
With the development of Hybrid Electric Vehicles (HEV), a new structure of the electrical Continuously Variable Transmission (CVT) device - Four Ports Electromechanical Converter which owns two mechanical ports and two electrical ports, thus result in flexible electromechanical energy coupling modes was proposed. When utilized in vehicle's transmission system, it can not only replace traditional mechanical power transmission equipment to achieve efficient power coupling as a continuously variable transmission, but also can substitute for starter/generator and driving motor to achieve all functions of compound hybrid electric vehicle system, the vehicle's fuel efficiency will be improved significantly, while the transmission structure is more simplified and the control system is easier to achieve. Additionally, the device can also be used in other fields need variable speed transmission and energy transformation, such as wind power generation, underwater propulsion and mining equipment, which revealing great application potential. However, the complex coupling within this device has challenged in electromagnetic design and system control.
This paper researched the coupling problems of induction machine based four ports electromechanical converter for HEV applications, including the mode of energy coupling, relations of electromagnetic coupling and decoupling control, mechanical coupling and decoupling methods..
To analyze the feasibility of four ports electromechanical converter as a substitution of mechanical transmission device to achieve HEV functions, energy coupling modes was studied for HEV application system firstly, and hybrid power control system with different power flows was proposed. For different control strategies, the method of external characteristic parameters for the two motors which composing four ports electromechanical converter was confirmed, and simulated the instances of passenger car with CVT mode power tracking control strategies and city bus with Plug-in control strategies. Various structures and types of prototypes were designed according to obtained indexes, comparison and optimization design was proceeded to achieve feasible projects.
Because there are two different coupling fields in the internal four ports electromechanical converter, to analyze the coupling relationships between two fields and its influence, the Finite Element Method (FEM) simulation and experimental methods were employed respectively to study the influence of the system output characteristics in different states of the inner and outer coupling fields as well as the varying characteristics of the main parameters. The stator side based "T"-shaped equivalent circuit and d, q-axis decoupling model was deduced. Constant parameters simulation model based on magnetic circuit calculation and variable parameters model based on finite FEM were established respectively. Simulation results indicated that the inductance parameters of the four ports electromechanical converter changed significantly with excitation currents and phase angle difference between inner and outer motor. The exact results corresponding to experiment were obtained with the model based on variable parameters.
To achieve vector control of inner motor, the speed difference must be obtained quickly and accurately. This paper designed the speed decoupling method which can directly measuring the speed difference based on variable reluctance resolver, the number of resolvers was reduced with this project, another advantage is it can directly measure the dual rotor's speed difference with a conventional Resolve-to-Digital Converter (RDC) board with excellent real-time property. However, the difficulty is that its lead-in and output signals were depend on annular resolver or brush-slip ring group so was with poor reliability. Therefore, indirect measurement of two shafts' speed difference was proposed, which can directly decouple using coordinate transformation and Phase Lock Loop (PLL) decoding technology, there is no of external difference lag.
Finally, an HEV system test bench based on four ports electromechanical converter was built. In the system, two 40kW induction motors were used to simulated the engine and road load respectively, Speed control of EM1 and torque control of EM2 were applied on the two motors constitute four ports electromechanical converter. The upper control program was based on MATLAB/ Simulink procedure, and implemented through dSPACE real-time control software and hardware platform. The main parameters and external characteristic of an integrated four ports electromechanical converter was measured on the test bench. Compared with split prototype, different control methods were validated in the same mode, the power flows and efficiencies were analyzed. Multi-mode dynamic switching custom cycle was made, the experiment was proceeded based on split type bench, which validates the feasibility and superiority of using four ports electromechanical converter to achieve HEV's functions.
引文
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