电动汽车电驱动系统高性能控制技术研究
|
摘要
电动汽车具有无排放污染、噪声低等优点,在环保和节能方面具有巨大的优势,具有很好的发展前景。由于是有限能源供给,电动汽车对能量的利用效率有着很高的要求,电驱动系统消耗了绝大部分的电能,因此提高电动汽车电驱动系统的运行效率对于延长电动汽车一次充电的续驶里程具有十分重要的意义。
目前电动汽车中应用最广泛的是异步电机驱动系统,其具有体积小、维护简单、可靠性高等优点。但是传统的矢量控制中维持磁通恒定的特点使得异步电机在轻载时效率大大降低,本文以此为背景展开研究。
本文首先介绍了电动汽车对其电驱动系统的要求和电驱动系统的控制技术,探讨电动汽车电驱动系统控制技术的研究热点和发展趋势,指出本课题的主要研究内容及章节安排。
然后研究了电动汽车电驱动系统的损耗模型,导出损耗最小时的最优磁链算法,设计并编写了异步电机的在线效率优化控制程序,提高异步电机在轻载运行时的效率。
最后针对效率优化控制带来的动态响应变慢的不利影响,研究了异步电机的快速动态响应策略,采用基于电压空间矢量合成的快速响应策略,并与最大转矩每安培算法进行了对比,仿真和实验表明,前者具有更好的响应速度。
以一台鼠笼式异步电机作为控制对象,采用转子磁场定向的矢量控制。系统的主控芯片是TMS320LF2407A DSP芯片,运用DSP汇编语言和C语言编写了控制程序,包含有空间矢量PWM调制子程序、磁链辨识子程序、效率优化控制子程序和电压矢量合成快速响应子程序等,实现了数字化的高性能电驱动控制系统。
With the advantages of no pollution emissions and low noise, electric vehicles (EV), which integrate in lots of high-tech, are creating a revolution in the world auto industry. Because of the limited energy, EV has a high demand for energy conservation. A majority of the energy is consumed by electric drive system of EV, therefore the improvement of electric drive system's efficiency has a great value to increasing driving range.
Induction motor(IM) with advantages of small size, light weight, low cost, maintenance-free, is widely used in the EV's electric drive systems. But in the conventional vector-controlled method, the flux is generally set to rated value, which greatly decreases the efficiency of IM especially in light-load condition.
This paper first discusses the composition of the EV's electric drive system and the control technologies of electric drive system, and then indicates main topic of the research and the arrangement of chapters.
On the basis of detailed analysis of the electric drive system's loss model, a kind of loss model control strategy is deduced and the variety law of the optimal flux linkage is illustrated. Then, the on-line efficiency optimization for IM is designed to improve the efficiency of IM in light-load condition.
The improvement of the efficiency is at the cost of deterioration of the dynamic response. Aimed at the problem above, a fast response control strategy is studied based on the current dynamic assignment. Inspired by the ideas of direct torque control, a new strategy which directly composes the voltage vector is proposed. Compared with the current dynamic assignment, this scheme has excellent dynamic performance showed by simulation and experiment results.
A squirrel-cage IM is used to verify our method. The conventional rotor-flux oriented vector control theory is implemented. TMS320LF2407A produced by TI is chosen to be the main control unit. The control system is accomplished, including SVPWM, FOC, efficiency optimization control, fast dynamic response control and ADRC, etc. The full digital high performance control system is realized.
目前电动汽车中应用最广泛的是异步电机驱动系统,其具有体积小、维护简单、可靠性高等优点。但是传统的矢量控制中维持磁通恒定的特点使得异步电机在轻载时效率大大降低,本文以此为背景展开研究。
本文首先介绍了电动汽车对其电驱动系统的要求和电驱动系统的控制技术,探讨电动汽车电驱动系统控制技术的研究热点和发展趋势,指出本课题的主要研究内容及章节安排。
然后研究了电动汽车电驱动系统的损耗模型,导出损耗最小时的最优磁链算法,设计并编写了异步电机的在线效率优化控制程序,提高异步电机在轻载运行时的效率。
最后针对效率优化控制带来的动态响应变慢的不利影响,研究了异步电机的快速动态响应策略,采用基于电压空间矢量合成的快速响应策略,并与最大转矩每安培算法进行了对比,仿真和实验表明,前者具有更好的响应速度。
以一台鼠笼式异步电机作为控制对象,采用转子磁场定向的矢量控制。系统的主控芯片是TMS320LF2407A DSP芯片,运用DSP汇编语言和C语言编写了控制程序,包含有空间矢量PWM调制子程序、磁链辨识子程序、效率优化控制子程序和电压矢量合成快速响应子程序等,实现了数字化的高性能电驱动控制系统。
With the advantages of no pollution emissions and low noise, electric vehicles (EV), which integrate in lots of high-tech, are creating a revolution in the world auto industry. Because of the limited energy, EV has a high demand for energy conservation. A majority of the energy is consumed by electric drive system of EV, therefore the improvement of electric drive system's efficiency has a great value to increasing driving range.
Induction motor(IM) with advantages of small size, light weight, low cost, maintenance-free, is widely used in the EV's electric drive systems. But in the conventional vector-controlled method, the flux is generally set to rated value, which greatly decreases the efficiency of IM especially in light-load condition.
This paper first discusses the composition of the EV's electric drive system and the control technologies of electric drive system, and then indicates main topic of the research and the arrangement of chapters.
On the basis of detailed analysis of the electric drive system's loss model, a kind of loss model control strategy is deduced and the variety law of the optimal flux linkage is illustrated. Then, the on-line efficiency optimization for IM is designed to improve the efficiency of IM in light-load condition.
The improvement of the efficiency is at the cost of deterioration of the dynamic response. Aimed at the problem above, a fast response control strategy is studied based on the current dynamic assignment. Inspired by the ideas of direct torque control, a new strategy which directly composes the voltage vector is proposed. Compared with the current dynamic assignment, this scheme has excellent dynamic performance showed by simulation and experiment results.
A squirrel-cage IM is used to verify our method. The conventional rotor-flux oriented vector control theory is implemented. TMS320LF2407A produced by TI is chosen to be the main control unit. The control system is accomplished, including SVPWM, FOC, efficiency optimization control, fast dynamic response control and ADRC, etc. The full digital high performance control system is realized.
引文
[1]孙逢春。电动汽车发展现状及趋势[J].科学中国人,2006,(8):44-47。
[2]宋慧,胡骅.电动汽车的现状及发展[J].汽车电器,2000,(4):51-55.
[3]王成,甄子健。探索我国汽车工业自主研发之路--记电动汽车重大科技专项的实施[J].汽车工程,2006,28(5):415-417.
[4]程夕明,孙逢春。电动汽车能量存储技术概况[J].电源技术,2001,(1):47-52.
[5]李槟,陈全世。混和动力电动汽车中电池特性的研究[J]。汽车技术,1999,(10):11-14.
[6]商国华。 日本对EV和HEV用高性能电池的研究[J].世界汽车,2000,(9):7-9.
[7]万钢.中国电动汽车的现状和发展[J]。 中国环保产业,2003,(2):30-32。
[8]阮毅,陈伯时.电力传动系统的转矩控制规律[J]。 电气传动,1999,29(5):3-5.
[9]毛宗源,苏开才.电力电子技术在电动汽车中的应用[J].电力电子技术,1996,11(4):100-104.
[10]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.
[11]王书贤,邓楚南.电动汽车用电机技术研究[J].微电机,2006,39(8):83-85.
[12]陈清泉.陈清泉院士论文选集--现代电动车、电机驱动及电力电子技术[M].北京:机械工业出版社,2005.
[13]陈清泉,孙逢春,祝嘉光.现代电动汽车技术[M].北京:北京理工大学出版社,2002.
[14]崔纳新,张承慧.变频调速异步电机效率优化控制的研究进展[J].电工技术学报,2004,19(5):36-42。
[15]Maia C A,Resende P,Silvino J L.A Neural Vector Control for Induction Machine[C]Proceedings of the IEEE International Symposium on Industrial Electronics,1997,3:1265-1269.
[16]张文志,吕恬生.基于改进的遗传算法和模糊逻辑控制的移动机器人导航[J].机器人,2003,25(1):1-6.
[17]Adams D J,Hsu J S,Young R W,Peng F Z.Power Electronics and Electric Machinery Challenges and Opportunities in Electric and Hybrid Vehicles[C] Proceedings of the International Symposium on Automotive Technology and Automation,1997,16-19.
[18]Adnanes A K,Nilsen R,Loken R,Norum L.Efficiency Analysis of Electric Vehicles,with Emphasis on Efficiency Optimized Excitation[C].IEEE Industry Applications Society Annual Meeting,1993,1:455-462.
[19]范健文.电动汽车电气驱动系统[J].广西工学院学报,2003,14(2):51-55.
[20]夏云.电动汽车动力驱动系统的研究现状和应用前景(2)[J].微电机,2003,36(4):47-50.
[21]范健文,马小强,吴彤峰。电动汽车电驱动系统控制技术[J].广西工学院学报,2003,14(3):25-28。
[22]Kinnares V,Jaruwanchai P,Suksawat D,Pothivejkul S.Eeffct of motor parameter changes on harmonic power loss in PWM fed induction machines[C].Proceedings of the IEEE International Conference on PEDS,1999,(2):1061-1066.
[23]冬雷,李永东,王文森,李明才.矢量控制中感应电动机转子电阻的自适应辨识[J].电工技术学报,2002,17(4):13-27.
[24]Kirschen D S,Novotny D W,Lipo T A.On-line Efficiency Optimization of a Variable Frequency Induction Motor Drive[J]IEEE Transactions on Industry Applications,1985,21(3):610-616.
[25]Matsuse K,Katsuta.Fast rotor flux control of vector controlled induction motor operating at maximum efficiency for electric vehicles[C].Proc.EVS-13,1996:67-71.
[26]Bose B K,Patel N R,Rajashekara K.A Neuro-Fuzzy-based on-Line Efficiency Optimization Control of a Stator Flux-Oriented Direct Vector-Controlled Induction Motor Drive[J].IEEE Transactions on Vehicular Technology,1997,44(2):270-273.
[27]Spiegel R J,Turner M W,MeCormrick V E.Fnzzy-logic-based controllers for efficiency optimization of inverter-fed induction motor drives[J].Fuzzy Sets and Systems,2003,(137):387-401.
[28]Pryymak B,Moreno E J,Peracaula J.Neural network based efficiency optimization of an induction motor drive with vector control[C].IECON 02,2002,281:146-151.
[29]陈伯时等.电力拖动自动控制系统(第三版)[M].北京:机械工业出版社,2003.
[30]张志涌等.精通MATLAB6.5版[M]。北京:北京航空航天大学出版社,2003.3.
[31]黎英,时维国.变频调速电机的运行效率及节能控制研究[J].电气传动自动化,1999,21(1):21-25.
[32]张承慧。变频调速系统效率优化控制、理论与应用[D].济南:山东大学,2001.
[33]崔纳新,张承慧.变频调速异步电机效率优化控制的研究进展[J]。电工技术学报,2004,19(5):36-42.
[34]Vukosavic S N,Levi E.Robust DSP-based Efficiency Optimization of a Variable Speed Induction Motor Drive[J].IEEE Transactions on Industrial Electronics,2003,50(3):560-570.
[35]Rowan T M,Lipo T A.A Quantitative Analysis of Induction Motor Performance Improvement by SCR Voltage Control[J]IEEE Transactions on Industry Applications,1983,19(3):543-553.
[36]Wasynczuk O,Sudhoff S D,Hansen I G.A Maximum Torque per Ampere Control Strategy for Induction Motor Drives[J].IEEE Transactions on Power Conversion,1998,13(2):163-169.
[37]杨耕,耿华,王焕钢.一种考虑感应电机动态效率的转矩控制策略[J].电工技术学报,2005,20(7):93-95。
[38]崔纳新,张承慧,孙丰涛.矢量控制异步电机的效率优化快速响应控制研究[J].中国电机工程学报,2005,25(11):118-123.
[39]Jae Ho Chang,Byung Kook Kim.Minimum-Time Minimum-Loss Speed Control of Induction Motors under Field-Oriented Control[J]IEEE Transactions on Industrial Electronics,1997,44(6):809-815.
[40]崔纳新.变频驱动异步电机最小损耗快速响应控制研究[D].济南:山东大学,2005.
[41]李珂.电动汽车高效快响应电驱动系统控制策略研究[D]。济南:山东大学,2007.
[42]Bimal K.Bose.Modern Power Electronics and AC drives[M]。北京:机械工业出版社,2003.
[43]熊健,康勇,张凯,陈坚。 电压空间矢量调制与常规SPWM的比较研究[J].电力电子技术,1999,(1):25-28.
[44]王晓明,王玲。电动机的DSP控制[M].北京:北京航空航天大兴出版社,2004.
[2]宋慧,胡骅.电动汽车的现状及发展[J].汽车电器,2000,(4):51-55.
[3]王成,甄子健。探索我国汽车工业自主研发之路--记电动汽车重大科技专项的实施[J].汽车工程,2006,28(5):415-417.
[4]程夕明,孙逢春。电动汽车能量存储技术概况[J].电源技术,2001,(1):47-52.
[5]李槟,陈全世。混和动力电动汽车中电池特性的研究[J]。汽车技术,1999,(10):11-14.
[6]商国华。 日本对EV和HEV用高性能电池的研究[J].世界汽车,2000,(9):7-9.
[7]万钢.中国电动汽车的现状和发展[J]。 中国环保产业,2003,(2):30-32。
[8]阮毅,陈伯时.电力传动系统的转矩控制规律[J]。 电气传动,1999,29(5):3-5.
[9]毛宗源,苏开才.电力电子技术在电动汽车中的应用[J].电力电子技术,1996,11(4):100-104.
[10]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.
[11]王书贤,邓楚南.电动汽车用电机技术研究[J].微电机,2006,39(8):83-85.
[12]陈清泉.陈清泉院士论文选集--现代电动车、电机驱动及电力电子技术[M].北京:机械工业出版社,2005.
[13]陈清泉,孙逢春,祝嘉光.现代电动汽车技术[M].北京:北京理工大学出版社,2002.
[14]崔纳新,张承慧.变频调速异步电机效率优化控制的研究进展[J].电工技术学报,2004,19(5):36-42。
[15]Maia C A,Resende P,Silvino J L.A Neural Vector Control for Induction Machine[C]Proceedings of the IEEE International Symposium on Industrial Electronics,1997,3:1265-1269.
[16]张文志,吕恬生.基于改进的遗传算法和模糊逻辑控制的移动机器人导航[J].机器人,2003,25(1):1-6.
[17]Adams D J,Hsu J S,Young R W,Peng F Z.Power Electronics and Electric Machinery Challenges and Opportunities in Electric and Hybrid Vehicles[C] Proceedings of the International Symposium on Automotive Technology and Automation,1997,16-19.
[18]Adnanes A K,Nilsen R,Loken R,Norum L.Efficiency Analysis of Electric Vehicles,with Emphasis on Efficiency Optimized Excitation[C].IEEE Industry Applications Society Annual Meeting,1993,1:455-462.
[19]范健文.电动汽车电气驱动系统[J].广西工学院学报,2003,14(2):51-55.
[20]夏云.电动汽车动力驱动系统的研究现状和应用前景(2)[J].微电机,2003,36(4):47-50.
[21]范健文,马小强,吴彤峰。电动汽车电驱动系统控制技术[J].广西工学院学报,2003,14(3):25-28。
[22]Kinnares V,Jaruwanchai P,Suksawat D,Pothivejkul S.Eeffct of motor parameter changes on harmonic power loss in PWM fed induction machines[C].Proceedings of the IEEE International Conference on PEDS,1999,(2):1061-1066.
[23]冬雷,李永东,王文森,李明才.矢量控制中感应电动机转子电阻的自适应辨识[J].电工技术学报,2002,17(4):13-27.
[24]Kirschen D S,Novotny D W,Lipo T A.On-line Efficiency Optimization of a Variable Frequency Induction Motor Drive[J]IEEE Transactions on Industry Applications,1985,21(3):610-616.
[25]Matsuse K,Katsuta.Fast rotor flux control of vector controlled induction motor operating at maximum efficiency for electric vehicles[C].Proc.EVS-13,1996:67-71.
[26]Bose B K,Patel N R,Rajashekara K.A Neuro-Fuzzy-based on-Line Efficiency Optimization Control of a Stator Flux-Oriented Direct Vector-Controlled Induction Motor Drive[J].IEEE Transactions on Vehicular Technology,1997,44(2):270-273.
[27]Spiegel R J,Turner M W,MeCormrick V E.Fnzzy-logic-based controllers for efficiency optimization of inverter-fed induction motor drives[J].Fuzzy Sets and Systems,2003,(137):387-401.
[28]Pryymak B,Moreno E J,Peracaula J.Neural network based efficiency optimization of an induction motor drive with vector control[C].IECON 02,2002,281:146-151.
[29]陈伯时等.电力拖动自动控制系统(第三版)[M].北京:机械工业出版社,2003.
[30]张志涌等.精通MATLAB6.5版[M]。北京:北京航空航天大学出版社,2003.3.
[31]黎英,时维国.变频调速电机的运行效率及节能控制研究[J].电气传动自动化,1999,21(1):21-25.
[32]张承慧。变频调速系统效率优化控制、理论与应用[D].济南:山东大学,2001.
[33]崔纳新,张承慧.变频调速异步电机效率优化控制的研究进展[J]。电工技术学报,2004,19(5):36-42.
[34]Vukosavic S N,Levi E.Robust DSP-based Efficiency Optimization of a Variable Speed Induction Motor Drive[J].IEEE Transactions on Industrial Electronics,2003,50(3):560-570.
[35]Rowan T M,Lipo T A.A Quantitative Analysis of Induction Motor Performance Improvement by SCR Voltage Control[J]IEEE Transactions on Industry Applications,1983,19(3):543-553.
[36]Wasynczuk O,Sudhoff S D,Hansen I G.A Maximum Torque per Ampere Control Strategy for Induction Motor Drives[J].IEEE Transactions on Power Conversion,1998,13(2):163-169.
[37]杨耕,耿华,王焕钢.一种考虑感应电机动态效率的转矩控制策略[J].电工技术学报,2005,20(7):93-95。
[38]崔纳新,张承慧,孙丰涛.矢量控制异步电机的效率优化快速响应控制研究[J].中国电机工程学报,2005,25(11):118-123.
[39]Jae Ho Chang,Byung Kook Kim.Minimum-Time Minimum-Loss Speed Control of Induction Motors under Field-Oriented Control[J]IEEE Transactions on Industrial Electronics,1997,44(6):809-815.
[40]崔纳新.变频驱动异步电机最小损耗快速响应控制研究[D].济南:山东大学,2005.
[41]李珂.电动汽车高效快响应电驱动系统控制策略研究[D]。济南:山东大学,2007.
[42]Bimal K.Bose.Modern Power Electronics and AC drives[M]。北京:机械工业出版社,2003.
[43]熊健,康勇,张凯,陈坚。 电压空间矢量调制与常规SPWM的比较研究[J].电力电子技术,1999,(1):25-28.
[44]王晓明,王玲。电动机的DSP控制[M].北京:北京航空航天大兴出版社,2004.