电动车用开关磁阻电机低转矩脉动控制系统研究及实现
|
摘要
开关磁阻电机调速系统是一种新型的变速拖动系统,也是极具发展潜力的电动车驱动系统之一。由于它仍然存在一些问题,如:电机转矩脉动大、噪音大以及位置传感器的使用增加了电机的结构复杂性等,所以阻碍了它在电动车上的应用。但这些问题均可以采用控制的方法解决。本文则是以降低开关磁阻电机转矩脉动为主要控制目标兼考虑减小其噪声,研究和设计开关磁阻电机的控制系统。
首先本文在对前人研究成果以及大量资料文献的了解下,介绍了当前电动车车用电机的情况和发展趋势,通过对比其他调速系统,分析说明了开关磁阻电动机调速系统的优缺点。全面总结了开关磁阻电动机的发展方向及应用前景,描述了开关磁阻电动机调速系统的四个组成部分和运行情况。
其次从分析开关磁阻电机的性能入手,基于BP神经网络建立了开关磁阻电机非线性磁链特性反演模型以及转矩特性模型。并且研究和改进了BP神经网络的快速自构形算法。最后在Matlab/Simulink下建立了开关磁阻电机的非线性仿真模型。该模型可用于进一步的控制研究。
再者研究了基于转矩观测的瞬时转矩控制与三步换相控制相结合的综合控制方法,并进行了仿真分析,其结果表明该方法能有效降低开关磁阻电机转矩脉动,提高其驱动系统性能。
论文最后设计了四相电机控制器,选择专用的DSP电机控制芯片作为主控制器,选择IPM智能功率模块作为功率变换器主开关器件,并对位置检测、电流检测等外围电路进行了设计,对系统进行了软件的分析和编程实现。所设计的控制器为进一步的实验研究奠定了坚实的基础。
Switched Reluctance Motor Drive system(SRD) is a new type of speed regulating system.As an electric vehicle drive system,it has great development potential. However,SRM has many questions such as high electrical torque ripple, high noise,the position sensors which increase the complexity of structures and reduce the reliability.These questions are obstacles of the SRM’s application in electric vehicle.But,the problems of SRM can be resolved by the control.In order to reduce the vibration noise and torque ripple in SRD,this article researched and designed the SRM control system.
Firstly,based on the results of the predecessors and all kinds of reference, this paper introduced the current application and development of electrical driven motor in EV. Comparing with other driven systems, the advantage and disadvantage of SRD was analyzed, which demonstrated that it is suited for use as driving system in EV.The developmental direction and the pop issue of SRD were put forward in this paper,and the four compositions were introduced and the performance characteristics of SRD was analyzed.
Secondly, The nonlinear flux-linkage inversion and torque models of SRM were developed, which made use of measured accurate data and nonlinear mapping ability of BP neural netwok based on fast self-configuring arithmetic.And the fast self-configuring arithmetic has been researched and improved.Then SRM model was built based on Matlab/Simulink.This model can be used to research the control of SRM.
Thirdly,the torque ripple minimization algorithm based on torque observation and instant torque control and three-step commutation method have been researched.Then the integration of this two methods was designed and used to control SRM.The simulation results indicate that this integration control method is useful to minimize torque ripple and reduce the vibration noise in SRD.
At last a controller of a 4-phase 8/6-pole SRM was developed based on TMS320LF2407 DSP, which made full use of the abundant resources of DSP, adopted IPM as the power switch.The current feedback circuit, position sensor interface circuit and fault protection etc. were provided. The program was carried out by the modularized programming method. All of these will be realized in EV and establishes a good foundation for further research.
首先本文在对前人研究成果以及大量资料文献的了解下,介绍了当前电动车车用电机的情况和发展趋势,通过对比其他调速系统,分析说明了开关磁阻电动机调速系统的优缺点。全面总结了开关磁阻电动机的发展方向及应用前景,描述了开关磁阻电动机调速系统的四个组成部分和运行情况。
其次从分析开关磁阻电机的性能入手,基于BP神经网络建立了开关磁阻电机非线性磁链特性反演模型以及转矩特性模型。并且研究和改进了BP神经网络的快速自构形算法。最后在Matlab/Simulink下建立了开关磁阻电机的非线性仿真模型。该模型可用于进一步的控制研究。
再者研究了基于转矩观测的瞬时转矩控制与三步换相控制相结合的综合控制方法,并进行了仿真分析,其结果表明该方法能有效降低开关磁阻电机转矩脉动,提高其驱动系统性能。
论文最后设计了四相电机控制器,选择专用的DSP电机控制芯片作为主控制器,选择IPM智能功率模块作为功率变换器主开关器件,并对位置检测、电流检测等外围电路进行了设计,对系统进行了软件的分析和编程实现。所设计的控制器为进一步的实验研究奠定了坚实的基础。
Switched Reluctance Motor Drive system(SRD) is a new type of speed regulating system.As an electric vehicle drive system,it has great development potential. However,SRM has many questions such as high electrical torque ripple, high noise,the position sensors which increase the complexity of structures and reduce the reliability.These questions are obstacles of the SRM’s application in electric vehicle.But,the problems of SRM can be resolved by the control.In order to reduce the vibration noise and torque ripple in SRD,this article researched and designed the SRM control system.
Firstly,based on the results of the predecessors and all kinds of reference, this paper introduced the current application and development of electrical driven motor in EV. Comparing with other driven systems, the advantage and disadvantage of SRD was analyzed, which demonstrated that it is suited for use as driving system in EV.The developmental direction and the pop issue of SRD were put forward in this paper,and the four compositions were introduced and the performance characteristics of SRD was analyzed.
Secondly, The nonlinear flux-linkage inversion and torque models of SRM were developed, which made use of measured accurate data and nonlinear mapping ability of BP neural netwok based on fast self-configuring arithmetic.And the fast self-configuring arithmetic has been researched and improved.Then SRM model was built based on Matlab/Simulink.This model can be used to research the control of SRM.
Thirdly,the torque ripple minimization algorithm based on torque observation and instant torque control and three-step commutation method have been researched.Then the integration of this two methods was designed and used to control SRM.The simulation results indicate that this integration control method is useful to minimize torque ripple and reduce the vibration noise in SRD.
At last a controller of a 4-phase 8/6-pole SRM was developed based on TMS320LF2407 DSP, which made full use of the abundant resources of DSP, adopted IPM as the power switch.The current feedback circuit, position sensor interface circuit and fault protection etc. were provided. The program was carried out by the modularized programming method. All of these will be realized in EV and establishes a good foundation for further research.
引文
[1] 段岩波,张武高,黄震.混合动力电动汽车技术分析.柴油机,2002,12(6):43-46
[2] 广瀬,久士,丹下等.电动车及混合动力车的现状与研究.汽车工程,2003,12(6): 204-209
[3] 宋凌峰.电动车电驱动技术概述.电气自动化,1999, (6):10-12
[4] 闵庆云,周杏生,谈俊良.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):29-31
[5] 杨竟衡.电动汽车的电气传动系统.电气传动,1999, (4):3-10
[6] 孙慎言,闫智.采用开关磁阻电动机驱动电动汽车的可行性分析.长春工业大学学报,2002,(23):67-69
[7] 张亮.电机新技术在汽车中的应用研究:[武汉理工大学硕士学位论文].武汉:武汉理工大学,2006,62-63
[8] Yoichi Hori. Future Vehicle Driven by Electricity and Control—Research on Four-Wheel-Motored “UOT Electric March II”. IEEE Transactions on Industrial Electronics, 2004,51(5):954-963
[9] 靳立强,王庆年,宋传学.四轮独立驱动电动汽车动力学控制系统仿真.吉林大学学报,2004,34(4):547-554
[10] 吴 建 华 . 开 关 磁 阻 电 机 设 计 与 应 用 . 第 1 版 . 北 京 : 机 械 工 业 出 版社,2000,1-10,53-60,145-170
[11] 葛保明.开关磁阻电机控制策略综述.电气传动,2001,(2):8-12
[12] 王 宏 华 . 开 关 型 磁 阻 电 动 机 调 速 控 制 技 术 . 第 1 版 . 北 京 : 机 械 工 业 出 版社,1998,3-5
[13] 刘迪吉.开关磁阻调速电动机.第 1 版.北京:机械工业出版社,1994,7-9
[14] 杨岳峰 ,张奕黄 .SRM 常见的几种功率变换器主电路及原理 .电机电器技术,2003,(2):19-20
[15] 孙剑波.开关磁阻电机的减振降噪和低转矩脉动研究:[华中科技大学博士学位论文].武汉:华中科技大学,2005,4-8
[16] Tom Perl, Iqbal Husain, Malik Elbuluk. Design Trends and Trade-offs for Sensorless Operation of Switched Reluctance Motor Drives. In: IEEE Proc.of IAS Annual Meeting. London,1995
[17] Gabriel Gallegos-Lopez, Philip C.Kjaer, T.J.E.Miller. High-grade Position Estimation for SRM Drives Using Flux Linkage/Current Correction Mode. IEEETrans.on Industry Applications,1999,35(4):859-869
[18] Lyons J.P., S.R.Macminn, M.A.Preston. Flux/Current Methods for SRM Rotor Position Estimation. In: IEEE IAS Annual Meeting. London,1991,482-487
[19] Syed A.Hossain, Iqbal Husain, Harald Klode etal. Four-quadrant and Zero-speed Sensorless Control of a Switched Reluctance Motor. IEEE Trans.on Industry Applications, 2003, 39(5):1343-1349
[20] Andrew Lumsdaine, Jeffrey H.Lang. State Observers for Variable-Reluctance Motors. IEEE Transaction on Industrial Electronics,1990,37(2):133-142
[21] 王旭东,张奕黄,王喜莲等.无位置传感器开关磁阻电动机位置的检测与预报.中国电机工程学报,2000,20(7):5-8
[22] G.Suresh, B.Fahimi, K.M.Rahman etal. Inductance Based Position Encoding for Sensorless SRM Drives. In: IEEE Proc.Annual Meeting. London,1999,832-837
[23] 邱亦慧,詹琼华,马志源等.基于简化磁链法的开关磁阻电机间接位置检测.中国电机工程学报,2001,20(10):59-62
[24] 詹琼华,王双红,肖楚成.开关磁阻电动机电容式位置检测技术.电工技术学报,1999,(6):1-5
[25] 袁 晓 玲 , 王 宏 华 , 沈 祖 治 .SR 电 机 电 压 斩 波 方 式 电 磁 力 分 析 . 中 小 型 电机,2003,(5):1-3
[26] 赵永刚.低转矩脉动开关磁阻调速电动机控制策略研究及控制器设计:[河海大学硕士学位论文].南京:河海大学,2004,2-3
[27] 袁晓玲.开关磁阻电动机振动分析及控制研究:[河海大学博士学位论文].南京:河海大学,2004,12-15
[28] Buja G S, Valla M I. Control characteristics of the SRM drives-Part Ⅰ: Operation in the linear region. IEEE Transactions on Industrial Electronics, 1991,38(5):313-321
[29] Buja G S, Valla M I. Control characteristics of the SRM drives-Part Ⅱ: Operation in the saturated region. IEEE Transactions on Industrial Electronics,1994,41(3):316-325
[30] Stiebler M, Liu Ke. An analytical model of switched reluctance machines. IEEE Transaction on Energy Conversion,1999,14(4):1100-1107
[31] 蔡燕,许镇琳,高超.基于 BP 神经网络的开关磁阻电动机非线性建模.天津大学学报,2005,38(10):869-873
[32] 李士勇.模糊控制·神经控制和智能控制论.第 2 版.哈尔滨:哈尔滨工业大学出版社,1998,74-76,91-100
[33] 飞思科技产品研发中心.Matlab6.5 辅助神经网络分析与设计.第 1 版.北京:电子工业出版社,2003,135-155
[34] 王 学 光 , 韩 安 荣 , 边 春 元 等 . 开 关 磁 阻 电 动 机 转 矩 控 制 的 研 究 . 电 气 传动,2001,(5):522-24
[35] K.Russia, I.Husain, M. Elbuluk. Torque Ripple Minimization in Switched Reluctance Machines over a Wide Speed Range. In: IEEE Industry Application Society Annual Meeting. London,1997,668-675
[36] W u.C.Y, Polloc.C. Time Domain Analysis of Vibration and Acoustic Noise in the Switch Reluctance Drive. In: Proc.Inst.Elect.Eng.6th Int.Conf.Electrical Machines and Drives. London,1993,558-563
[37] 王宏华.对降低SR电机振动和噪声的两步换相法的实验分析.电机与控制学报,2001,5(1):32-35
[38] Charles Pollock, C.Y Wu. Acoustic Noise Cancellation Techniques for Switched Reluctance Drives. IEEE Trans.on Industry Applications, March/April 1997,33(2):477-484
[39] 刘和平,严利,张学锋等.TMS320LF240x DSP 结构、原理及应用.第 1 版.北京:北京航空航天大学出版社,2002,15-46
[40] 张金平,张奕黄.电动汽车用开关磁阻电机的 DSP 控制系统.电机电器技术,2002,(4):2-4
[41] 杨岳峰,孙即明,张奕黄.开关磁阻电机控制系统在电动汽车中的应用.机电工程,2004,21(3):17-20
[42] 陈新.基于DSP的开关磁阻电机控制系统研究:[浙江大学硕士学位论文].浙江:浙江大学,2003,18-19
[43] 许爱德,王鑫鑫,信毓昌.智能功率模块在开关磁阻电动机中的应用.中小型电机,2005,32(6):53-55
[44] 张争争 , 任永德 , 谢宝昌 . 基于 DSP 的无刷直流电动机控制系统 .微特电机,2001,(2):34-36
[45] 张红娟,陈燕,贾国英等.基于 DSP 的开关磁阻电机调速的研究.煤炭科学技术,2003,31(3):39-42
[46] 张涛,李璐,吴峻等.高速 DSP 系统调试中的干扰问题及其解决办法.驱动控制,2002,(4):29-36
[2] 广瀬,久士,丹下等.电动车及混合动力车的现状与研究.汽车工程,2003,12(6): 204-209
[3] 宋凌峰.电动车电驱动技术概述.电气自动化,1999, (6):10-12
[4] 闵庆云,周杏生,谈俊良.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):29-31
[5] 杨竟衡.电动汽车的电气传动系统.电气传动,1999, (4):3-10
[6] 孙慎言,闫智.采用开关磁阻电动机驱动电动汽车的可行性分析.长春工业大学学报,2002,(23):67-69
[7] 张亮.电机新技术在汽车中的应用研究:[武汉理工大学硕士学位论文].武汉:武汉理工大学,2006,62-63
[8] Yoichi Hori. Future Vehicle Driven by Electricity and Control—Research on Four-Wheel-Motored “UOT Electric March II”. IEEE Transactions on Industrial Electronics, 2004,51(5):954-963
[9] 靳立强,王庆年,宋传学.四轮独立驱动电动汽车动力学控制系统仿真.吉林大学学报,2004,34(4):547-554
[10] 吴 建 华 . 开 关 磁 阻 电 机 设 计 与 应 用 . 第 1 版 . 北 京 : 机 械 工 业 出 版社,2000,1-10,53-60,145-170
[11] 葛保明.开关磁阻电机控制策略综述.电气传动,2001,(2):8-12
[12] 王 宏 华 . 开 关 型 磁 阻 电 动 机 调 速 控 制 技 术 . 第 1 版 . 北 京 : 机 械 工 业 出 版社,1998,3-5
[13] 刘迪吉.开关磁阻调速电动机.第 1 版.北京:机械工业出版社,1994,7-9
[14] 杨岳峰 ,张奕黄 .SRM 常见的几种功率变换器主电路及原理 .电机电器技术,2003,(2):19-20
[15] 孙剑波.开关磁阻电机的减振降噪和低转矩脉动研究:[华中科技大学博士学位论文].武汉:华中科技大学,2005,4-8
[16] Tom Perl, Iqbal Husain, Malik Elbuluk. Design Trends and Trade-offs for Sensorless Operation of Switched Reluctance Motor Drives. In: IEEE Proc.of IAS Annual Meeting. London,1995
[17] Gabriel Gallegos-Lopez, Philip C.Kjaer, T.J.E.Miller. High-grade Position Estimation for SRM Drives Using Flux Linkage/Current Correction Mode. IEEETrans.on Industry Applications,1999,35(4):859-869
[18] Lyons J.P., S.R.Macminn, M.A.Preston. Flux/Current Methods for SRM Rotor Position Estimation. In: IEEE IAS Annual Meeting. London,1991,482-487
[19] Syed A.Hossain, Iqbal Husain, Harald Klode etal. Four-quadrant and Zero-speed Sensorless Control of a Switched Reluctance Motor. IEEE Trans.on Industry Applications, 2003, 39(5):1343-1349
[20] Andrew Lumsdaine, Jeffrey H.Lang. State Observers for Variable-Reluctance Motors. IEEE Transaction on Industrial Electronics,1990,37(2):133-142
[21] 王旭东,张奕黄,王喜莲等.无位置传感器开关磁阻电动机位置的检测与预报.中国电机工程学报,2000,20(7):5-8
[22] G.Suresh, B.Fahimi, K.M.Rahman etal. Inductance Based Position Encoding for Sensorless SRM Drives. In: IEEE Proc.Annual Meeting. London,1999,832-837
[23] 邱亦慧,詹琼华,马志源等.基于简化磁链法的开关磁阻电机间接位置检测.中国电机工程学报,2001,20(10):59-62
[24] 詹琼华,王双红,肖楚成.开关磁阻电动机电容式位置检测技术.电工技术学报,1999,(6):1-5
[25] 袁 晓 玲 , 王 宏 华 , 沈 祖 治 .SR 电 机 电 压 斩 波 方 式 电 磁 力 分 析 . 中 小 型 电机,2003,(5):1-3
[26] 赵永刚.低转矩脉动开关磁阻调速电动机控制策略研究及控制器设计:[河海大学硕士学位论文].南京:河海大学,2004,2-3
[27] 袁晓玲.开关磁阻电动机振动分析及控制研究:[河海大学博士学位论文].南京:河海大学,2004,12-15
[28] Buja G S, Valla M I. Control characteristics of the SRM drives-Part Ⅰ: Operation in the linear region. IEEE Transactions on Industrial Electronics, 1991,38(5):313-321
[29] Buja G S, Valla M I. Control characteristics of the SRM drives-Part Ⅱ: Operation in the saturated region. IEEE Transactions on Industrial Electronics,1994,41(3):316-325
[30] Stiebler M, Liu Ke. An analytical model of switched reluctance machines. IEEE Transaction on Energy Conversion,1999,14(4):1100-1107
[31] 蔡燕,许镇琳,高超.基于 BP 神经网络的开关磁阻电动机非线性建模.天津大学学报,2005,38(10):869-873
[32] 李士勇.模糊控制·神经控制和智能控制论.第 2 版.哈尔滨:哈尔滨工业大学出版社,1998,74-76,91-100
[33] 飞思科技产品研发中心.Matlab6.5 辅助神经网络分析与设计.第 1 版.北京:电子工业出版社,2003,135-155
[34] 王 学 光 , 韩 安 荣 , 边 春 元 等 . 开 关 磁 阻 电 动 机 转 矩 控 制 的 研 究 . 电 气 传动,2001,(5):522-24
[35] K.Russia, I.Husain, M. Elbuluk. Torque Ripple Minimization in Switched Reluctance Machines over a Wide Speed Range. In: IEEE Industry Application Society Annual Meeting. London,1997,668-675
[36] W u.C.Y, Polloc.C. Time Domain Analysis of Vibration and Acoustic Noise in the Switch Reluctance Drive. In: Proc.Inst.Elect.Eng.6th Int.Conf.Electrical Machines and Drives. London,1993,558-563
[37] 王宏华.对降低SR电机振动和噪声的两步换相法的实验分析.电机与控制学报,2001,5(1):32-35
[38] Charles Pollock, C.Y Wu. Acoustic Noise Cancellation Techniques for Switched Reluctance Drives. IEEE Trans.on Industry Applications, March/April 1997,33(2):477-484
[39] 刘和平,严利,张学锋等.TMS320LF240x DSP 结构、原理及应用.第 1 版.北京:北京航空航天大学出版社,2002,15-46
[40] 张金平,张奕黄.电动汽车用开关磁阻电机的 DSP 控制系统.电机电器技术,2002,(4):2-4
[41] 杨岳峰,孙即明,张奕黄.开关磁阻电机控制系统在电动汽车中的应用.机电工程,2004,21(3):17-20
[42] 陈新.基于DSP的开关磁阻电机控制系统研究:[浙江大学硕士学位论文].浙江:浙江大学,2003,18-19
[43] 许爱德,王鑫鑫,信毓昌.智能功率模块在开关磁阻电动机中的应用.中小型电机,2005,32(6):53-55
[44] 张争争 , 任永德 , 谢宝昌 . 基于 DSP 的无刷直流电动机控制系统 .微特电机,2001,(2):34-36
[45] 张红娟,陈燕,贾国英等.基于 DSP 的开关磁阻电机调速的研究.煤炭科学技术,2003,31(3):39-42
[46] 张涛,李璐,吴峻等.高速 DSP 系统调试中的干扰问题及其解决办法.驱动控制,2002,(4):29-36