车用交流异步电机直接转矩控制系统研究与仿真
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摘要
异步电机直接转矩控制技术是继矢量控制技术之后，迅速发展起来的一种新型的高性能的交流调速传动的控制技术。该控制技术思想新颖，控制结构简单，控制手段直接，是一种具有良好的静态与动态性能的交流调速方法，已成为交流调速传动中的研究热点。
本文在考虑电动汽车驱动系统运行特点的前提下，对交流异步电机控制系统进行研究，设计了电动汽车用交流异步电机直接转矩控制系统。主要研究和工作包括以下几个方面：
(1)介绍了直接转矩控制理论的基本原理，分析了电动汽车用交流异步电机的数学模型。针对电动汽车实际控制条件，提出了电动汽车直接转矩控制系统的实现方案。
(2)分析了直接转矩控制系统在低速阶段存在的问题，并提出了一种基于u-i模型的磁链观测和补偿的新方法，以改善低速性能。该方法用截止频率自适应低通滤波器代替传统u-i模型的纯积分环节，有效的抑制了直流分量和积分初值问题。
(3)采用MATLAB／SIMULINK搭建了直接转矩控制系统的仿真模型，并对仿真结果进行了分析。通过在低速范围内对传统直接转矩控制系统和采用截止频率自适应低通滤波器的比较，低速条件下改善了的系统性能明显优于传统的直接转矩控制系统。
(4)根据车用交流异步电机直接转矩控制系统的要求，选取TI公司TMS320LF2407A为控制芯片，完成了控制系统硬件设计。采用C语言与汇编语言混合编程完成了电动汽车直接转矩控制算法的实现。
本论文通过对电动汽车交流电机控制系统的研究，将直接转矩控制方案与DSP控制技术有机的结合，具有较大的实际应用价值。
Direct Torque Control(DTC) technique of asynchronous motor, which is a new high-powered AC driving control technique after the Vector Control(VC) technique, has been developed rapidly in the recent decades. It is an excellent AC driving control technique which has high static and dynamic performance for its novel control method, simple structure and direct control mean.
In the consideration of the characteristic of electric vehicle, asynchronous motor control system has been researched and DTC system of asynchronous motor on electric vehicle has been designed in this paper. Main research and work are described as follow.
First, basic principle of DTC theory has been introduced briefly, and mathematic model has been analyzed. Driving system of electric vehicle based on DTC is researched according to the actual control condition of the electric vehicle.
Second, problems of DTC system at low speed are analyzed in this paper. Anew method of observing and compensating stator flux based on U-I model has been puts forward to improve the performance at low speed. Integration of traditional U-I model is replaced by low-pass filter and problems about bias and DC initial can be restrained by using this method.
Third, model of DTC system has been designed in MATLAB/SIMULINK environment, and the result of simulation has been analyzed. It shows that the improved DTC is better than the traditional DTC through comparison of the two control system at low speed.
Last, According to the requirement, hardware system of DTC system has been designed. TMS320LF2407A DSP which is specialized in motor control system is used in the system. The software design of DTC system of electric vehicle is developed through embedding Assemble Language in C program.
Through the research on AC motor driving system of electric vehicle, method on DTC and DSP control technique are combined perfectly. This method has practical value of application.
本文在考虑电动汽车驱动系统运行特点的前提下，对交流异步电机控制系统进行研究，设计了电动汽车用交流异步电机直接转矩控制系统。主要研究和工作包括以下几个方面：
(1)介绍了直接转矩控制理论的基本原理，分析了电动汽车用交流异步电机的数学模型。针对电动汽车实际控制条件，提出了电动汽车直接转矩控制系统的实现方案。
(2)分析了直接转矩控制系统在低速阶段存在的问题，并提出了一种基于u-i模型的磁链观测和补偿的新方法，以改善低速性能。该方法用截止频率自适应低通滤波器代替传统u-i模型的纯积分环节，有效的抑制了直流分量和积分初值问题。
(3)采用MATLAB／SIMULINK搭建了直接转矩控制系统的仿真模型，并对仿真结果进行了分析。通过在低速范围内对传统直接转矩控制系统和采用截止频率自适应低通滤波器的比较，低速条件下改善了的系统性能明显优于传统的直接转矩控制系统。
(4)根据车用交流异步电机直接转矩控制系统的要求，选取TI公司TMS320LF2407A为控制芯片，完成了控制系统硬件设计。采用C语言与汇编语言混合编程完成了电动汽车直接转矩控制算法的实现。
本论文通过对电动汽车交流电机控制系统的研究，将直接转矩控制方案与DSP控制技术有机的结合，具有较大的实际应用价值。
Direct Torque Control(DTC) technique of asynchronous motor, which is a new high-powered AC driving control technique after the Vector Control(VC) technique, has been developed rapidly in the recent decades. It is an excellent AC driving control technique which has high static and dynamic performance for its novel control method, simple structure and direct control mean.
In the consideration of the characteristic of electric vehicle, asynchronous motor control system has been researched and DTC system of asynchronous motor on electric vehicle has been designed in this paper. Main research and work are described as follow.
First, basic principle of DTC theory has been introduced briefly, and mathematic model has been analyzed. Driving system of electric vehicle based on DTC is researched according to the actual control condition of the electric vehicle.
Second, problems of DTC system at low speed are analyzed in this paper. Anew method of observing and compensating stator flux based on U-I model has been puts forward to improve the performance at low speed. Integration of traditional U-I model is replaced by low-pass filter and problems about bias and DC initial can be restrained by using this method.
Third, model of DTC system has been designed in MATLAB/SIMULINK environment, and the result of simulation has been analyzed. It shows that the improved DTC is better than the traditional DTC through comparison of the two control system at low speed.
Last, According to the requirement, hardware system of DTC system has been designed. TMS320LF2407A DSP which is specialized in motor control system is used in the system. The software design of DTC system of electric vehicle is developed through embedding Assemble Language in C program.
Through the research on AC motor driving system of electric vehicle, method on DTC and DSP control technique are combined perfectly. This method has practical value of application.
引文
[1] 马宪民．电动汽车的电气驱动系统[J]．西安公路交通大学学报．2001，21(3)：83-86
[2] 孙仁云，付百学．汽车电器与电子技术[M]．北京：机械工业出版社，2006
[3] 杨淑霞．电动汽车异步电机直接转矩控制的研究[D]．[硕士学位论文]．成都：西南交通大学电力电子与电力传动，2003
[4] 李永东．交流电机数字控制系统[M]．北京：机械工业出版社，2002
[5] 赵伟峰，朱承高．直接转矩控制的发展现状及前景[J]．电气传动，1999(3)：3-6
[6] Habtler TG. Direct Torque Control of Induction Machines Using Space Vector Modulation, IEEE Trans. 1992(5): 182-191
[7] 马德中，金阳．采用滞环宽度优化控制的感应电机直接转矩控制[J]．微特电机，2003(2)：19-21
[8] Cabrera L A, Elbuluk M E, Zinger D S. Learning Techniques to Train Neural Networks as A State Selector for Inverter-fed Induction Machines Using Direct Torque Control. IEEE Transactions on Power Electronics, 1997, 12(5): 788-799
[9] 李艳，邵曰祥，邵世煌．带有神经网络估计器的模糊直接转矩控制．电气传动，1997(1)：11-16
[10] Mir Sayced A, Zinger Donald S, Elbuluk Malik E. Fuzzy controller for inverter fed induction machines. IEEE Trans. 1994, 30(1): 98-106
[11] Jehudi Maes, Jan A. Melkebeek. Speed-sensodess Direct Torque Control of Induction Motors Using an Adaptive Flux Observer[J]. IEEE. Trans. on Industry Applications, 2000, 36(3): 778-785
[12] 阮杰，李永东．异步电动机控制策略及无速度传感器系统综述．中国EACS第9届学术年会论文集，1998
[13] 姬志艳，李永东，司保军等．无速度传感器异步电动机直接转矩控制系统的研究[J]．电工技术学报，1997(8)：46-50
[14] 邓智泉，严仰光．异步电机直接力矩控制中定子磁链自适应观测器的研究[J]．航空学报，1999(3)：26-29
[15] Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede. Direct torque control of sensorless induction motor drives: A sliding-mode approach. IEEE Transactions on Industry Applications, 2004, 40(2): 582-590
[16] Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede. A Modified Direct Torque Control for Induction Mortor Sensorless Drive. IEEE Trans, Ind. Applications, 2000, 36(1): 122-130
[17] 陈其工．直接转矩控制系统中感应电机定子电阻模糊观察[J]．电子科技大学学报，1999(3)：34-37
[18] Toshihiko Noguchi, Masaki Yamamoto, Isao Takahashi. Enlarging Switching Frequency in Direct Torque Controlled Inverter by Means of Dithering. IEEE Trans, Ind. Applications, 1999, 35(6): 1358-1365
[19] 巫启辉，邵诚，徐占国．直接转矩控制技术的研究现状与发展趋势[J]．信息与控制，2005(8)：2-4
[20] 吴峻．交流电机的转矩控制及电动车驱动技术的研究[D]．[博士学位论文]．长沙：国防科技大学，2000
[21] 陈坚．交流电机数学模型及调速系统[M]．北京：国防工业出版社，1989
[22] 苏彦民，李宏．交流调速系统的控制策略[M]．北京：机械工业出版社，1998
[23] 夏超英．交直流传动系统的自适应控制[M]．北京：机械工业出版社，1998
[24] 王君艳．交流调速[M]．北京：高等教育出版社，2003
[25] 李夙．异步电动机直接转矩控制[M]．北京：机械工业出版社，1999
[26] 尔桂花，窦日轩．运动控制系统[M]．北京：清华大学出版社，2002
[27] 王成元，夏加宽，杨俊友等．电机现代控制技术[M]．北京：机械工业出版社，2006
[28] Holtz J, Quan J. Sensorless vector control of induction motors at very low speed using a nonlinear inverter model and parameter identification. IEEE Trans. Ind. App. 2002, 38(4): 1087-1095
[29] Barut M, Bogosyan S, Gokasan M. EKF Based Sensodess Direct Torque Control of IMs in the Low Speed Range. Industrial Electronics, 2005(6): 969-974
[30] Papafotiou, Georgios; Geyer, Tobias. Optimal direct torque control of three-phase symmetric induction motors. Proceedings of the IEEE Conference on Decision and Control, 2004(12): 1860-1865
[31] Romero, M; Valla, M. I. Direct torque and flux control of an induction motor with sliding mode control approach. IEEE International Symposium on Industrial Electronics, 2000(12): 265-270
[32] 张少军，杜金城．交流调速原理及应用[M]．北京：中国电力出版社，2003
[33] 黄忠霖．控制系统MATLAB计算及仿真[M]．北京：国防工业出版社，2003
[34] 云舟工作室．MATLAB数学建模基础教程[M]．北京：人民邮电出版社，2001
[35] 王忠礼，段慧达，高玉峰．MATLAB应用技术[M]．北京：清华大学出版社，2007
[36] Digital Signal Processing Solution for AC Induction Motor, Texas Instruments Incorporated, 2001
[37] 刘和平，严利平，张学峰．TMS320LF240x DSP结构原理及应用[M]．北京：北京航空航天大学出版社，2004
[38] 陈江辉，谢运祥，陈兵．逆变电路的控制技术与策略[J]．电气应用，2006，25(9)：89-92
[39] Software Development Systems Customer Support Guide, Texas Instruments Incorporated, 2001
[40] 清源科技编著．TMS320LF240x DSP应用程序设计教程[M]．北京：机械工业出版社，2003
[2] 孙仁云，付百学．汽车电器与电子技术[M]．北京：机械工业出版社，2006
[3] 杨淑霞．电动汽车异步电机直接转矩控制的研究[D]．[硕士学位论文]．成都：西南交通大学电力电子与电力传动，2003
[4] 李永东．交流电机数字控制系统[M]．北京：机械工业出版社，2002
[5] 赵伟峰，朱承高．直接转矩控制的发展现状及前景[J]．电气传动，1999(3)：3-6
[6] Habtler TG. Direct Torque Control of Induction Machines Using Space Vector Modulation, IEEE Trans. 1992(5): 182-191
[7] 马德中，金阳．采用滞环宽度优化控制的感应电机直接转矩控制[J]．微特电机，2003(2)：19-21
[8] Cabrera L A, Elbuluk M E, Zinger D S. Learning Techniques to Train Neural Networks as A State Selector for Inverter-fed Induction Machines Using Direct Torque Control. IEEE Transactions on Power Electronics, 1997, 12(5): 788-799
[9] 李艳，邵曰祥，邵世煌．带有神经网络估计器的模糊直接转矩控制．电气传动，1997(1)：11-16
[10] Mir Sayced A, Zinger Donald S, Elbuluk Malik E. Fuzzy controller for inverter fed induction machines. IEEE Trans. 1994, 30(1): 98-106
[11] Jehudi Maes, Jan A. Melkebeek. Speed-sensodess Direct Torque Control of Induction Motors Using an Adaptive Flux Observer[J]. IEEE. Trans. on Industry Applications, 2000, 36(3): 778-785
[12] 阮杰，李永东．异步电动机控制策略及无速度传感器系统综述．中国EACS第9届学术年会论文集，1998
[13] 姬志艳，李永东，司保军等．无速度传感器异步电动机直接转矩控制系统的研究[J]．电工技术学报，1997(8)：46-50
[14] 邓智泉，严仰光．异步电机直接力矩控制中定子磁链自适应观测器的研究[J]．航空学报，1999(3)：26-29
[15] Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede. Direct torque control of sensorless induction motor drives: A sliding-mode approach. IEEE Transactions on Industry Applications, 2004, 40(2): 582-590
[16] Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede. A Modified Direct Torque Control for Induction Mortor Sensorless Drive. IEEE Trans, Ind. Applications, 2000, 36(1): 122-130
[17] 陈其工．直接转矩控制系统中感应电机定子电阻模糊观察[J]．电子科技大学学报，1999(3)：34-37
[18] Toshihiko Noguchi, Masaki Yamamoto, Isao Takahashi. Enlarging Switching Frequency in Direct Torque Controlled Inverter by Means of Dithering. IEEE Trans, Ind. Applications, 1999, 35(6): 1358-1365
[19] 巫启辉，邵诚，徐占国．直接转矩控制技术的研究现状与发展趋势[J]．信息与控制，2005(8)：2-4
[20] 吴峻．交流电机的转矩控制及电动车驱动技术的研究[D]．[博士学位论文]．长沙：国防科技大学，2000
[21] 陈坚．交流电机数学模型及调速系统[M]．北京：国防工业出版社，1989
[22] 苏彦民，李宏．交流调速系统的控制策略[M]．北京：机械工业出版社，1998
[23] 夏超英．交直流传动系统的自适应控制[M]．北京：机械工业出版社，1998
[24] 王君艳．交流调速[M]．北京：高等教育出版社，2003
[25] 李夙．异步电动机直接转矩控制[M]．北京：机械工业出版社，1999
[26] 尔桂花，窦日轩．运动控制系统[M]．北京：清华大学出版社，2002
[27] 王成元，夏加宽，杨俊友等．电机现代控制技术[M]．北京：机械工业出版社，2006
[28] Holtz J, Quan J. Sensorless vector control of induction motors at very low speed using a nonlinear inverter model and parameter identification. IEEE Trans. Ind. App. 2002, 38(4): 1087-1095
[29] Barut M, Bogosyan S, Gokasan M. EKF Based Sensodess Direct Torque Control of IMs in the Low Speed Range. Industrial Electronics, 2005(6): 969-974
[30] Papafotiou, Georgios; Geyer, Tobias. Optimal direct torque control of three-phase symmetric induction motors. Proceedings of the IEEE Conference on Decision and Control, 2004(12): 1860-1865
[31] Romero, M; Valla, M. I. Direct torque and flux control of an induction motor with sliding mode control approach. IEEE International Symposium on Industrial Electronics, 2000(12): 265-270
[32] 张少军，杜金城．交流调速原理及应用[M]．北京：中国电力出版社，2003
[33] 黄忠霖．控制系统MATLAB计算及仿真[M]．北京：国防工业出版社，2003
[34] 云舟工作室．MATLAB数学建模基础教程[M]．北京：人民邮电出版社，2001
[35] 王忠礼，段慧达，高玉峰．MATLAB应用技术[M]．北京：清华大学出版社，2007
[36] Digital Signal Processing Solution for AC Induction Motor, Texas Instruments Incorporated, 2001
[37] 刘和平，严利平，张学峰．TMS320LF240x DSP结构原理及应用[M]．北京：北京航空航天大学出版社，2004
[38] 陈江辉，谢运祥，陈兵．逆变电路的控制技术与策略[J]．电气应用，2006，25(9)：89-92
[39] Software Development Systems Customer Support Guide, Texas Instruments Incorporated, 2001
[40] 清源科技编著．TMS320LF240x DSP应用程序设计教程[M]．北京：机械工业出版社，2003