电动自行车驱动控制系统设计与实现
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摘要
作为一种绿色环保的交通工具,电动自行车以其轻便灵活、价格适中的特点而得到人们的广泛使用,但当前的电动自行车普遍存在启动、加速性能差、启动电流大、电池寿命低和控制器容易损坏的缺点,当前这些缺点已经成为了电动自行车技术的瓶颈,严重影响了电动车产业的发展,本文在这一背景下,展开对电动自行车驱动技术的研究。
本文分析了电动车行业的发展现状和遇到的瓶颈问题——动力性不足,效率低下,介绍了电动车的驱动方式,并对各种驱动方式的优缺点进行了深入分析,提出了同步换挡控制策略来提高整车的动力性和效率,并对该驱动方式下的效率进行了深入研究。为了实现同步换挡,本文对该系统的被控对象无刷直流电机及其数学模型进行了分析,给出了比较实用的抑制脉动转矩的方法,为实现换挡做好准备。然后,详细介绍了换挡电动车控制系统的机械结构,并结合电机的效率特性和换挡机械结构的减速增扭特性,以整车最大动力性和最高效率为目标,制定了换挡规律和换挡依据,然后结合本系统实际情况,确定了换挡参数的阈值。最后,本文以DSPIC33FJ32MC204为控制核心搭建了系统软硬件实验平台,
实现了上述换挡过程。其硬件部分由电源电路、逆变电路、驱动电路以及信号采集电路组成;软件部分主要由初始化模块、开机自检模块、主驱动模块、保护模块和附加模块等构成。最后本文通过实际应用测试,修改了换挡阈值并实现了最优化控制。
As an environmental protection vehicle, electric bicycle is widely used for its flexibility and moderate price. However, there always exist heavy starting current, poor accelerating ability, low battery life and controller damage in the electric bicycles. In order to resolve this problem, this article proposes the method of synchronous gear shifting to improve the vehicle’s performance aiming at improving dynamic property and efficiency of the vehicle.
The article introduces the electric bicycle’s present development situation and bottleneck-dynamic shortage and power efficiency, then introduces the drive mode of the electric bicycle, and take deep analysis on the advantages and disadvantages of the drive modes, proposes the method of synchronous gear shifting to improve the vehicle’s dynamic property and efficiency, and lucubrate on the efficiency of the synchronous gear shifting. To realize the function of synchronous gear shifting, the article lucubrate construction and operation principle of the BLDC, analyze mathematical model, and seek out the most suitable way of inhibiting torque ripples ,getting ready for the high quality of shifting gears.
Finally, the article builds the experiment platform and realizes the gear shifting actions with the DSPIC33JF32MC204.The hardware sections are comprised of power circuit, inverter circuit, drive circuit and detection circuit. The software sections are comprised of initialize module, self- detection module,main drive module, protection module and additional module. Then modifies the shifting parameters through the practical cycling test,and realize the optimum control.
本文分析了电动车行业的发展现状和遇到的瓶颈问题——动力性不足,效率低下,介绍了电动车的驱动方式,并对各种驱动方式的优缺点进行了深入分析,提出了同步换挡控制策略来提高整车的动力性和效率,并对该驱动方式下的效率进行了深入研究。为了实现同步换挡,本文对该系统的被控对象无刷直流电机及其数学模型进行了分析,给出了比较实用的抑制脉动转矩的方法,为实现换挡做好准备。然后,详细介绍了换挡电动车控制系统的机械结构,并结合电机的效率特性和换挡机械结构的减速增扭特性,以整车最大动力性和最高效率为目标,制定了换挡规律和换挡依据,然后结合本系统实际情况,确定了换挡参数的阈值。最后,本文以DSPIC33FJ32MC204为控制核心搭建了系统软硬件实验平台,
实现了上述换挡过程。其硬件部分由电源电路、逆变电路、驱动电路以及信号采集电路组成;软件部分主要由初始化模块、开机自检模块、主驱动模块、保护模块和附加模块等构成。最后本文通过实际应用测试,修改了换挡阈值并实现了最优化控制。
As an environmental protection vehicle, electric bicycle is widely used for its flexibility and moderate price. However, there always exist heavy starting current, poor accelerating ability, low battery life and controller damage in the electric bicycles. In order to resolve this problem, this article proposes the method of synchronous gear shifting to improve the vehicle’s performance aiming at improving dynamic property and efficiency of the vehicle.
The article introduces the electric bicycle’s present development situation and bottleneck-dynamic shortage and power efficiency, then introduces the drive mode of the electric bicycle, and take deep analysis on the advantages and disadvantages of the drive modes, proposes the method of synchronous gear shifting to improve the vehicle’s dynamic property and efficiency, and lucubrate on the efficiency of the synchronous gear shifting. To realize the function of synchronous gear shifting, the article lucubrate construction and operation principle of the BLDC, analyze mathematical model, and seek out the most suitable way of inhibiting torque ripples ,getting ready for the high quality of shifting gears.
Finally, the article builds the experiment platform and realizes the gear shifting actions with the DSPIC33JF32MC204.The hardware sections are comprised of power circuit, inverter circuit, drive circuit and detection circuit. The software sections are comprised of initialize module, self- detection module,main drive module, protection module and additional module. Then modifies the shifting parameters through the practical cycling test,and realize the optimum control.
引文
[1]任飞.电动汽车能量回馈制动系统的研制: [硕士学位论文].北京交通大学:北京交通大学图书馆,2009.
[2]骆骄.基于AVR单片机的电动自行车控制系统研究: [硕士学位论文].大连理工大学:大连理工大学图书馆,2006
[3]中国自行车轻工总会.电动自行车通用技术条,1999
[4]廖承喜.基于ATmega48单片机的电动自行车控制器设计: [硕士学位论文].湖南大学:湖南大学图书馆,2008
[5]Yilmaz Sozer, Daivd A . Adaptive torque ripple control of permanent Magnet Brushless DC motor . Proceeding of APEC,1998,38(1):86-92
[6]Yoshida M, Murai Y . Noise reduction by torque ripplr suppression in Brushless DC motor . Proceesings of PESC record .1998,23(3):1397-1401
[7]刘静.基于PSOC的电动自行车控制器: [硕士学位论文].天津大学:天津大学图书管,2006
[8]钟晓伟,宋蛰存.基于PIC16F73单片机的电动自行车控制器设计.自动化技术与应用,2010, 6(8):99-101
[9]吴俊卿,张浩然,范宇龙.基于PIC16F877的电动自行车控制器的设计.电子器件, 2010,13(5): 642-644
[10]吴洲三相直流无刷电机DSP控制系统的设计: [硕士学位论文].东南大学:东南大学图书管,2006
[11]陈君科,范蟠果.电动自行车控制器设计与实现.电力电子技术,2008,12(7): 300-305
[12]Cheng-Hu Chen, Ming-Yang Cheng.A New Sensorless Commutation Drive for Brushless DC Motors and Alternators. IEEE International Symposium on Industrial Electronic.2006, (3):2116– 2121
[13]Somchaiwong, N. Ponglangka, W. Regenerative Power Control for Electric Bicycle. SICE-ICASE.2006, (1):4362– 4365
[14]张维娜.无刷直流电机控制策略的研究: [硕士学位论文].西安理工大学:西安理工大学图书馆,2007
[15]邱建琪.永磁无刷直流电动机转矩脉动抑制的控制策略研究: [博士学位论文].浙江大学:浙江大学图书馆,2002
[16]韦鲲.永磁无刷直流电机电磁转矩脉动抑制技术的研究: [博士学位论文].浙江大学:浙江大学图书馆,2007
[17] Muetze, A.;Ying Chin Tan.Modeling and Analysis of the Technical Performance of DC-Motor Electric Bicycle Drives Based on Bicycle Road Test Data.IEMDC.2007,(3):1574– 1581
[18]陈炜.永磁无刷直流电机换相转矩脉动抑制技术研究: [硕士学位论文].天津大学:天津大学图书馆,2006
[19]黄建明.机械式自动变速箱的控制策略: [博士学位论文].重庆大学:重庆大学图书馆,2006
[20]Senjyu, T. Kinjo, K. Parameter measurement for PMSM using adaptive identification. ISIE, 2002, 3(3):711-716
[21]葛安林,沈波. AMT换挡品质的研究.汽车技术,2002,3(2):42-44
[22]陈超.汽车AMT换挡规律及其评价方法的研究: [硕士学位论文].西华大学:西华大学图书馆,2006
[23]石建军.电动自行车用无刷直流电机数字控制的研究与开发: [硕士论文].湖南师范大学:湖南师范大学图书管,2008
[24]张建浚. AMT车辆变速系统及控制过程的研究: [汽车技术]. 2005,05(10):8-10
[25]张彩萍,张承宁,宋强.电动汽车电机驱动系统驱动工作区效率测试研究: [微电机].2006,18(3):13-17
[26]STMicroelectronics.Controlling Voltage Transients in Full Bridge Driver Applications.AN280.2004
[27]Cheng-Hu Chen,Ming-Yang Cheng.A New Sensorless Commutation Drive for Brushless DC Motors and Alternators. IEEE International Symposium on Industrial Electronic.2006, (3):2116– 2121
[28]Muetze, A. Ying Chin Tan. Modeling and Analysis of the Technical Performance of DC-Motor Electric Bicycle Drives Based on Bicycle Road Test Data.IEMDC.2007,(3):1574– 1581
[29]Muetze, A. Tan, Y.C.Electric bicycles - A performance evaluation.Industry Applications Magazine, IEEE.2007, 13(4):12– 21
[30]王丽芳.电动汽车自动变速箱.机械传动. 1998, 19(4):86-89
[31]徐贵宝,王震坡,张承宁.电动汽车续航里程能量计算和影响因素分析.车辆与动力技术.2005, 4(5):13-15
[32]雷晓东.电控式机械自动变速系统换挡控制策略研究: [硕士学位论文].重庆大学:重庆大学图书馆,2007
[33]陈伯时.电力系统自动化控制系统——运动控制系统.北京:机械工业出版社.,2008 .
[34]夏长亮.无刷直流电机控制系统.北京:科学出版社,2009
[35]陈坚.电力电子学——电力变换和控制技术.第二版.北京:高等教育出版社,2004
[36]胡虔生,胡敏强.电机学.第二版.北京:中国电力出版社,2009
[37]刘刚,王志强,房建成.永磁无刷直流电机控制技术应用.北京:机械工业出版社,2010
[38] Tan Hui. Controllability analysis of torque ripple due to pahse commutation in brushless DC motor. IEEE Conference on Industrial Electronics and Applications, 2001, 1317~1322
[39]叶金虎.现代无刷直流电机永磁电动机的原理和设计.北京:科学出版社, 2006
[40]BosCH(魏春源译).汽车电气与电子.北京:北京理工大学出版社2002
[41]Jun Hu, Bin Wu. New integration algorithms for estimating motor flux over a wide speed range. IEEE Transactions on Power Electronics, 1998, 13(5): 969-977
[42]Lei Hao;Toliyat,H.A.BLDC motor full speed range operation including the flux-weakening region. Industry Applications Conference,2003, 38(1):618 - 624
[43]Microchip Technology Inc. Brushless DC (BLDC) Motor Fundamentals. 2003
[44]Hong-Seok Ko, Kwang-Joon Kim. Characterization of noise and vibration sources in interior permanent-magnet brushless DC motors, IEEE Transactions on Magnetics,2004 ,40(6):3482– 3489
[2]骆骄.基于AVR单片机的电动自行车控制系统研究: [硕士学位论文].大连理工大学:大连理工大学图书馆,2006
[3]中国自行车轻工总会.电动自行车通用技术条,1999
[4]廖承喜.基于ATmega48单片机的电动自行车控制器设计: [硕士学位论文].湖南大学:湖南大学图书馆,2008
[5]Yilmaz Sozer, Daivd A . Adaptive torque ripple control of permanent Magnet Brushless DC motor . Proceeding of APEC,1998,38(1):86-92
[6]Yoshida M, Murai Y . Noise reduction by torque ripplr suppression in Brushless DC motor . Proceesings of PESC record .1998,23(3):1397-1401
[7]刘静.基于PSOC的电动自行车控制器: [硕士学位论文].天津大学:天津大学图书管,2006
[8]钟晓伟,宋蛰存.基于PIC16F73单片机的电动自行车控制器设计.自动化技术与应用,2010, 6(8):99-101
[9]吴俊卿,张浩然,范宇龙.基于PIC16F877的电动自行车控制器的设计.电子器件, 2010,13(5): 642-644
[10]吴洲三相直流无刷电机DSP控制系统的设计: [硕士学位论文].东南大学:东南大学图书管,2006
[11]陈君科,范蟠果.电动自行车控制器设计与实现.电力电子技术,2008,12(7): 300-305
[12]Cheng-Hu Chen, Ming-Yang Cheng.A New Sensorless Commutation Drive for Brushless DC Motors and Alternators. IEEE International Symposium on Industrial Electronic.2006, (3):2116– 2121
[13]Somchaiwong, N. Ponglangka, W. Regenerative Power Control for Electric Bicycle. SICE-ICASE.2006, (1):4362– 4365
[14]张维娜.无刷直流电机控制策略的研究: [硕士学位论文].西安理工大学:西安理工大学图书馆,2007
[15]邱建琪.永磁无刷直流电动机转矩脉动抑制的控制策略研究: [博士学位论文].浙江大学:浙江大学图书馆,2002
[16]韦鲲.永磁无刷直流电机电磁转矩脉动抑制技术的研究: [博士学位论文].浙江大学:浙江大学图书馆,2007
[17] Muetze, A.;Ying Chin Tan.Modeling and Analysis of the Technical Performance of DC-Motor Electric Bicycle Drives Based on Bicycle Road Test Data.IEMDC.2007,(3):1574– 1581
[18]陈炜.永磁无刷直流电机换相转矩脉动抑制技术研究: [硕士学位论文].天津大学:天津大学图书馆,2006
[19]黄建明.机械式自动变速箱的控制策略: [博士学位论文].重庆大学:重庆大学图书馆,2006
[20]Senjyu, T. Kinjo, K. Parameter measurement for PMSM using adaptive identification. ISIE, 2002, 3(3):711-716
[21]葛安林,沈波. AMT换挡品质的研究.汽车技术,2002,3(2):42-44
[22]陈超.汽车AMT换挡规律及其评价方法的研究: [硕士学位论文].西华大学:西华大学图书馆,2006
[23]石建军.电动自行车用无刷直流电机数字控制的研究与开发: [硕士论文].湖南师范大学:湖南师范大学图书管,2008
[24]张建浚. AMT车辆变速系统及控制过程的研究: [汽车技术]. 2005,05(10):8-10
[25]张彩萍,张承宁,宋强.电动汽车电机驱动系统驱动工作区效率测试研究: [微电机].2006,18(3):13-17
[26]STMicroelectronics.Controlling Voltage Transients in Full Bridge Driver Applications.AN280.2004
[27]Cheng-Hu Chen,Ming-Yang Cheng.A New Sensorless Commutation Drive for Brushless DC Motors and Alternators. IEEE International Symposium on Industrial Electronic.2006, (3):2116– 2121
[28]Muetze, A. Ying Chin Tan. Modeling and Analysis of the Technical Performance of DC-Motor Electric Bicycle Drives Based on Bicycle Road Test Data.IEMDC.2007,(3):1574– 1581
[29]Muetze, A. Tan, Y.C.Electric bicycles - A performance evaluation.Industry Applications Magazine, IEEE.2007, 13(4):12– 21
[30]王丽芳.电动汽车自动变速箱.机械传动. 1998, 19(4):86-89
[31]徐贵宝,王震坡,张承宁.电动汽车续航里程能量计算和影响因素分析.车辆与动力技术.2005, 4(5):13-15
[32]雷晓东.电控式机械自动变速系统换挡控制策略研究: [硕士学位论文].重庆大学:重庆大学图书馆,2007
[33]陈伯时.电力系统自动化控制系统——运动控制系统.北京:机械工业出版社.,2008 .
[34]夏长亮.无刷直流电机控制系统.北京:科学出版社,2009
[35]陈坚.电力电子学——电力变换和控制技术.第二版.北京:高等教育出版社,2004
[36]胡虔生,胡敏强.电机学.第二版.北京:中国电力出版社,2009
[37]刘刚,王志强,房建成.永磁无刷直流电机控制技术应用.北京:机械工业出版社,2010
[38] Tan Hui. Controllability analysis of torque ripple due to pahse commutation in brushless DC motor. IEEE Conference on Industrial Electronics and Applications, 2001, 1317~1322
[39]叶金虎.现代无刷直流电机永磁电动机的原理和设计.北京:科学出版社, 2006
[40]BosCH(魏春源译).汽车电气与电子.北京:北京理工大学出版社2002
[41]Jun Hu, Bin Wu. New integration algorithms for estimating motor flux over a wide speed range. IEEE Transactions on Power Electronics, 1998, 13(5): 969-977
[42]Lei Hao;Toliyat,H.A.BLDC motor full speed range operation including the flux-weakening region. Industry Applications Conference,2003, 38(1):618 - 624
[43]Microchip Technology Inc. Brushless DC (BLDC) Motor Fundamentals. 2003
[44]Hong-Seok Ko, Kwang-Joon Kim. Characterization of noise and vibration sources in interior permanent-magnet brushless DC motors, IEEE Transactions on Magnetics,2004 ,40(6):3482– 3489