一种电力驱动装置的研究
摘要
本文研究了一种以蓄电池为电源的电力驱动装置的原理和结构。该驱动装置具有大电流，大力矩短时工作的特点。针对普通蓄电池作能源的驱动装置在大电流工作条件下损害电池寿命和不能实现电池的安全充电的问题，提出了采用DC-DC变换器作驱动装置中间级的方案。该方案在保持驱动装置工作特性的前提下能有效保护蓄电池并实现能量的安全回馈。为完成该驱动装置的设计，分别对三相无刷直流电机的控制，DC-DC变换的拓扑分析和选择，蓄电池充放电管理等二个方面进行了研究。
在三相无刷直流电机的控制原理中，分析了三相无刷直流电机的等效电路，详细研究了无刷直流电机的电子换相原理，并以此延伸分析了无位置传感器情况下的无刷直流电机的换相方法。
文中还对适用于该装置的DC-DC拓扑进行了分析，经过充分比较选择了Buck电路和Boost电路两种拓扑作为该DC-DC变换器的工作拓扑。然后重点对同步整流的Buck电路进行了分析，提出该电路的三种工作模式，即Buck电流连续工作模式、Boost电流连续工作模式和混合工作模式，为在该装置中将放电和充电两个回路的整合找到了一种可行的方案。
蓄电池的充放电管理和保护是该驱动装置的主要功能之一。通过对密封铅酸蓄电池(VRLAB)的电化学原理和影响蓄电池充放电寿命的主要因素的研究。提出在该装置中对蓄电池的充放电进行限幅放电、即时充电，长期保养的管理方式。并根据该装置的具体运行状态特点提出了装置中蓄电池的工作模式。
在上述研究的基础上，本论文设计了整套驱动装置和控制系统。并成功制作出工程样品。实验数据和实际使用情况表明，该装置达到了设计的目的，在实现了大电流、大力矩驱动的同时实现了蓄电池的限幅工作和恒压限流充电。该装置的设计的思路和控制策略对进一步实现数字化和智能化控制也奠定了基础。
This work presents research results on an electrical drive installation powered by battery. In usual installation, high current output do great harm to battery and shorter it's service life. Safely charging is also important to prolong battery. To solve these problems, this dissertation bring out a new scheme that a DC-DC converter is added in the middle of battery and motor. By this method, the battery can work with low current output, however large torque also can be acquired by motor. Moreover, redundant energy can be charged to battery safely and in time. For this purpose, the research consist of three sections: Control methodology of the 3-phase brushless DC motor, Analysis and selection of DC-DC topology and Charge and discharge control for battery.
With the research on the control methodology of the BLDCM, the equivalent formula of BLDCM was acquired. Then the principle of electrical commutator in BLDCM was detailed discussed. The commutation method of sensorless BLDCM was also discussed.
In the dissertation, the DC-DC topology was analyzed. Buck and Boost topology were brought forward as the converter topology. Then the synchronous Buck topology was discussed in detail. Three operating mode of this topology was brought out. They were Buck current continuous mode, Boost current continuous mode and hybrid mode. It is found that the Synchronous Buck topology was a suitable topology for unifying the charge and discharge circuits.
Management of charging and discharging of valve regulated lead acid battery (VRLA) is one of the most important functions of the equipment. With the research on the VRLA battery's electrical chemistry theory and the main factor influencing the VRLA battery service life, the scheme of charging and discharging was proposed. In detail, the scheme involves discharging with limiting voltage fluctuation, charging battery in time, maintaining good service state to increasing lifetime. Then, the variety kinds of working mode were detailed proposed based on the scheme.
Based the studies aforesaid, an electrical drive installation was developed and a prototype was acquired. The installation realizes a high current and large torque outputs, and satisfied battery management which is in a constant voltage-limit current mode. Proved by circuit and vehicle application experiments, the prototype was well fulfilled the purpose. The design method and control strategy was valued for future work.
在三相无刷直流电机的控制原理中，分析了三相无刷直流电机的等效电路，详细研究了无刷直流电机的电子换相原理，并以此延伸分析了无位置传感器情况下的无刷直流电机的换相方法。
文中还对适用于该装置的DC-DC拓扑进行了分析，经过充分比较选择了Buck电路和Boost电路两种拓扑作为该DC-DC变换器的工作拓扑。然后重点对同步整流的Buck电路进行了分析，提出该电路的三种工作模式，即Buck电流连续工作模式、Boost电流连续工作模式和混合工作模式，为在该装置中将放电和充电两个回路的整合找到了一种可行的方案。
蓄电池的充放电管理和保护是该驱动装置的主要功能之一。通过对密封铅酸蓄电池(VRLAB)的电化学原理和影响蓄电池充放电寿命的主要因素的研究。提出在该装置中对蓄电池的充放电进行限幅放电、即时充电，长期保养的管理方式。并根据该装置的具体运行状态特点提出了装置中蓄电池的工作模式。
在上述研究的基础上，本论文设计了整套驱动装置和控制系统。并成功制作出工程样品。实验数据和实际使用情况表明，该装置达到了设计的目的，在实现了大电流、大力矩驱动的同时实现了蓄电池的限幅工作和恒压限流充电。该装置的设计的思路和控制策略对进一步实现数字化和智能化控制也奠定了基础。
This work presents research results on an electrical drive installation powered by battery. In usual installation, high current output do great harm to battery and shorter it's service life. Safely charging is also important to prolong battery. To solve these problems, this dissertation bring out a new scheme that a DC-DC converter is added in the middle of battery and motor. By this method, the battery can work with low current output, however large torque also can be acquired by motor. Moreover, redundant energy can be charged to battery safely and in time. For this purpose, the research consist of three sections: Control methodology of the 3-phase brushless DC motor, Analysis and selection of DC-DC topology and Charge and discharge control for battery.
With the research on the control methodology of the BLDCM, the equivalent formula of BLDCM was acquired. Then the principle of electrical commutator in BLDCM was detailed discussed. The commutation method of sensorless BLDCM was also discussed.
In the dissertation, the DC-DC topology was analyzed. Buck and Boost topology were brought forward as the converter topology. Then the synchronous Buck topology was discussed in detail. Three operating mode of this topology was brought out. They were Buck current continuous mode, Boost current continuous mode and hybrid mode. It is found that the Synchronous Buck topology was a suitable topology for unifying the charge and discharge circuits.
Management of charging and discharging of valve regulated lead acid battery (VRLA) is one of the most important functions of the equipment. With the research on the VRLA battery's electrical chemistry theory and the main factor influencing the VRLA battery service life, the scheme of charging and discharging was proposed. In detail, the scheme involves discharging with limiting voltage fluctuation, charging battery in time, maintaining good service state to increasing lifetime. Then, the variety kinds of working mode were detailed proposed based on the scheme.
Based the studies aforesaid, an electrical drive installation was developed and a prototype was acquired. The installation realizes a high current and large torque outputs, and satisfied battery management which is in a constant voltage-limit current mode. Proved by circuit and vehicle application experiments, the prototype was well fulfilled the purpose. The design method and control strategy was valued for future work.
引文
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[2] 陈胜洋等电动车用铅酸蓄电池的现状与前景，电池Vol．33，No．3 Jun．2003
[3] 梁小波电动汽车研究，电气牵引 2003年第1期
[4] Gillespie T D. Fundamentals of vehicle dynamics[M].Detroit,Society of Automotive Engineers, 1999,2-22
[5] Rizoulia D.Control strategies for a series-parallel hybrid electric vehicle[D].Ann Aibor,Michigan Technological University,2000.
[6] YANG Yi-Fu(杨毅夫)．从EVS—17看国际电动车及电池发展趋势[J]．Bakery Bimonthly(电池)，2001，31(4)：192-194
[7] Garicchi F, Crescimbini F, Noia G, et al. Experimental Study of a Bi-directional DC-DC Converter for the DC link Voltage Control and the Regenerative Braking in PM Motor Drives devoted to Electrical Vehicles[A]. APEC'94 conference Proceeding[C], 1994:381～386
[8] Garicchi F, Crescimbini F, Capponi F G and Slero L. Study of Bi-directional Buck-Boost Converter Toplogies for Application in Electrical Vehicle Motor Drives[A]. APEC'98 conference Proceeding[C], 1998:287～293
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[11] 郝晓弘等 永磁无刷直流方波电机控制特性及其伺服系统控制策略，电气传动自动化，Vol．21，No．3 Aug．1999
[12] MC33035,NCV33035 Brushless DC Motor Controller.On semiconductor Corp.
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[17] 谭徽，应用于两轮电动车辆的永磁无刷直流电机的研究 2000，7
[18] 金小俊 基于DSP实现无位置传感器无刷直流电机的控制 2002．2．8
[19] 张琛 直流无刷电动机原理及应用，机械工业出版社，1999
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[22] K.lizuka、H. Uzuhashi、M.kano、T. Endo and K. Mohri, Microcomputer Control for Sensorless Brushless Motror. IEEE Trans.on Ind. Appli.May/June 1985, 21(4):595～601
[23] 田淳、周波，无位置传感器稀土永磁无刷直流方波电机调速系统．第五届中国交流电机调速传动学术会议论文集．1997，202～206
[24] 王勇，光伏水泵用BLDC电动机的单片机控制研究，2002．3
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[27] 方宇等，一种新颖的Buck-Boost变换器，电力电子技术 Vol 37，No2 April，2003
[28] Scott Deuty, Optimizing Transistor Performance in Synchronous Rectifier, Buck Converters, APEC'2000 conference Proceeding [C], 2000:675～678
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[30] 刘军，詹晓尔，严仰光，适应低压大电流应用的DC／DC变换器的研究，电力电子技术 第36卷第3期，2002．6
[31] Kaiwei Yao and Fred C. Lee,A Novel Resonant Gate Driver for High Frequency Synchronous Buck Converter APEC'2000 conference Proceeding [C], 2001:280～288
[32] 秦海鸿 基于同步整流技术的低压／大电流输出直直变换器的研究 2002．2
[33] Xunwei Zhou, Mauro Donati, Luca Arnoroso and Fred C. Leelmprove Light Load Efficiency for Synchronous Rectifier Buck Converter APEC' 2000 conference Proceeding [C], 2001:295～304
[34] 罗光毅蓄电池智能管理系统 2003．3
[35] Value-Regulated Lead-Acid Batteries Characteristics, Features, Parameters Affecting Service Life, Charge State Algorithms, Bill Hazen,APEC' 96 Professional education seminars work book
[36] A study of charging control of lead-acid battery for electric vehicles, Chih-Chiang Hua; Meng-Yu Lin, Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on, Volume: 1, 2000, Page(s): 135-140 vol.1
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[38] 柯峰PWM蓄电池充放电系统的设计 2002．4．21
[39] A novel method to ensure full recharge of a VRLA battery string, Sunito,T,; Telecommunications Energy Conference, 2000. INTELEC. Twenty-second International, 2000, Page(s): 755-760
[40] 胡居琦 电动车蓄电池电量监测技术研究 2002．6．10
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[42] 贺乃宝 电动交通工具中的铅酸蓄电池容量检测的方法与应用 2000．4．1
[43] 潘尚智 阀控式铅酸蓄电池管理系统 2001．3．1
[44] Yuchi Okada. Katsuhiro. Takahashi. Masabaru Tsubota. New Valve-regulated lead-acid batteries with gramulated silica as electrolyte retainer for EV applications G S News 1993 1(13-18)
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[2] 陈胜洋等电动车用铅酸蓄电池的现状与前景，电池Vol．33，No．3 Jun．2003
[3] 梁小波电动汽车研究，电气牵引 2003年第1期
[4] Gillespie T D. Fundamentals of vehicle dynamics[M].Detroit,Society of Automotive Engineers, 1999,2-22
[5] Rizoulia D.Control strategies for a series-parallel hybrid electric vehicle[D].Ann Aibor,Michigan Technological University,2000.
[6] YANG Yi-Fu(杨毅夫)．从EVS—17看国际电动车及电池发展趋势[J]．Bakery Bimonthly(电池)，2001，31(4)：192-194
[7] Garicchi F, Crescimbini F, Noia G, et al. Experimental Study of a Bi-directional DC-DC Converter for the DC link Voltage Control and the Regenerative Braking in PM Motor Drives devoted to Electrical Vehicles[A]. APEC'94 conference Proceeding[C], 1994:381～386
[8] Garicchi F, Crescimbini F, Capponi F G and Slero L. Study of Bi-directional Buck-Boost Converter Toplogies for Application in Electrical Vehicle Motor Drives[A]. APEC'98 conference Proceeding[C], 1998:287～293
[9] 正毓东，电机学，浙江大学出版社 1989
[10] 刘文，曾捷，永磁无刷直流电机转矩波动及其抑制的探讨，西安交通大学学报，Vol．31 No．10 Oct．1997
[11] 郝晓弘等 永磁无刷直流方波电机控制特性及其伺服系统控制策略，电气传动自动化，Vol．21，No．3 Aug．1999
[12] MC33035,NCV33035 Brushless DC Motor Controller.On semiconductor Corp.
[13] MC33039,NCV33039 Closed Loop Bmshless Motor Adapter. On semicon-ductor Corp
[14] 谭建成电机控制专用集成电路，机械工业出版社，1997
[15] 林渭勋 现代电力电子电路，浙江大学出版社，2002
[16] Tomonobu Senjyu, Takeshi Shingaki, and Katsumi Uezato. Sensorless Vector Control of Synchronous Reluctance Motors with Disturbance Torque Observer [A], APEC'2000 conference Proceeding[C],2000:381～386
[17] 谭徽，应用于两轮电动车辆的永磁无刷直流电机的研究 2000，7
[18] 金小俊 基于DSP实现无位置传感器无刷直流电机的控制 2002．2．8
[19] 张琛 直流无刷电动机原理及应用，机械工业出版社，1999
[20] Deng Zhonghua, Qin Yi, Tao Xunan.High-performance Intelligent positioning Servo
System for Permanent Mganet Synchronouse Motor. Proceedings of CICEM. Wuhan: HUST Press, 1991
[21] 闵庆云等，电动汽车用永磁无刷直流电机的控制与驱动，中小型电机，1998 25(4)．p29-31
[22] K.lizuka、H. Uzuhashi、M.kano、T. Endo and K. Mohri, Microcomputer Control for Sensorless Brushless Motror. IEEE Trans.on Ind. Appli.May/June 1985, 21(4):595～601
[23] 田淳、周波，无位置传感器稀土永磁无刷直流方波电机调速系统．第五届中国交流电机调速传动学术会议论文集．1997，202～206
[24] 王勇，光伏水泵用BLDC电动机的单片机控制研究，2002．3
[25] 张占松，蔡宣三 开关电源的原理与设计[M] 电子工业出版社 1998
[26] 张洁萍等，燃料电池电动汽车用DC／DC变换器方案，低压电器 No5．2002 p51-53
[27] 方宇等，一种新颖的Buck-Boost变换器，电力电子技术 Vol 37，No2 April，2003
[28] Scott Deuty, Optimizing Transistor Performance in Synchronous Rectifier, Buck Converters, APEC'2000 conference Proceeding [C], 2000:675～678
[29] 庞永强，梁冠安，低压大电流DC／DC变换器拓扑分析，电力电子技术，第36卷第4期，2002．8
[30] 刘军，詹晓尔，严仰光，适应低压大电流应用的DC／DC变换器的研究，电力电子技术 第36卷第3期，2002．6
[31] Kaiwei Yao and Fred C. Lee,A Novel Resonant Gate Driver for High Frequency Synchronous Buck Converter APEC'2000 conference Proceeding [C], 2001:280～288
[32] 秦海鸿 基于同步整流技术的低压／大电流输出直直变换器的研究 2002．2
[33] Xunwei Zhou, Mauro Donati, Luca Arnoroso and Fred C. Leelmprove Light Load Efficiency for Synchronous Rectifier Buck Converter APEC' 2000 conference Proceeding [C], 2001:295～304
[34] 罗光毅蓄电池智能管理系统 2003．3
[35] Value-Regulated Lead-Acid Batteries Characteristics, Features, Parameters Affecting Service Life, Charge State Algorithms, Bill Hazen,APEC' 96 Professional education seminars work book
[36] A study of charging control of lead-acid battery for electric vehicles, Chih-Chiang Hua; Meng-Yu Lin, Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on, Volume: 1, 2000, Page(s): 135-140 vol.1
[37] Battery management considerations for multichemistrysystems, Bentley, W.F.; Heacock, D.K; Battery Conference on Applications and Advances, 1996., Eleventh Annual, 9-12 Jan 1996, Page(s): 223-228
[38] 柯峰PWM蓄电池充放电系统的设计 2002．4．21
[39] A novel method to ensure full recharge of a VRLA battery string, Sunito,T,; Telecommunications Energy Conference, 2000. INTELEC. Twenty-second International, 2000, Page(s): 755-760
[40] 胡居琦 电动车蓄电池电量监测技术研究 2002．6．10
[41] Shoji Tang. Feasibility Study of Supper Quick charging System. In Proceedings of 1992 International Congress on Transportation Electronics IEEE 1992, CH3231-8, 211-221
[42] 贺乃宝 电动交通工具中的铅酸蓄电池容量检测的方法与应用 2000．4．1
[43] 潘尚智 阀控式铅酸蓄电池管理系统 2001．3．1
[44] Yuchi Okada. Katsuhiro. Takahashi. Masabaru Tsubota. New Valve-regulated lead-acid batteries with gramulated silica as electrolyte retainer for EV applications G S News 1993 1(13-18)
[45] 智能快速充电器设计与制作，王鸿麟等，科学出版社，1998．5
[46] 柴树松，铅酸蓄电池早期容量衰减的研究．电源技术．1997．4
[47] 黄一民等，一种新颖的可逆式蓄电池充放电回路[A]，船电技术 2003年第一期
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