基于弱磁控制的EPS模式切换中转矩波动的抑制
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摘要
针对电动助力转向系统(EPS)用永磁同步电机在i_d=0控制与弱磁控制相互切换的过程中转矩波动对系统性能的影响,设计了负载转矩观测器,对速度环中的弱磁控制模式输出的转矩进行补偿;并在两种模式切换时加入了转矩平滑切换模块,解决了切换过程中由于转矩突变带来的操纵转矩波动问题。仿真与试验结果表明,通过负载转矩观测器进行负载前馈补偿,使系统对负载扰动有很强的鲁棒性;转矩平滑切换模块对工作模式切换过程中产生的操纵转矩波动有很好的抑制作用,改善了驾驶员操纵沉重和转矩波动等不良手感。
In view of the effects of the torque fluctuation on the performance of electric power steering system in the process of switching between i_d=0 control and flux-weakening control in permanent magnet synchronous motor, a load torque observer is designed to compensate the output torque of flux-weakening control in speed loop, and a torque smooth switching module is added during mode switching, so the problem of manipulation torque fluctuation caused by the abrupt change of torque in mode switching process is solved. The results of both simulation and test show that through the load feed-forward compensation by load torque observer, the robustness of system to load disturbances is enhanced, and the torque smooth switching module added well suppress the fluctuation of manipulation torque in mode switching process, so the hand feeling of driver on the heavy turning of steering wheel and torque fluctuation is improved.
In view of the effects of the torque fluctuation on the performance of electric power steering system in the process of switching between i_d=0 control and flux-weakening control in permanent magnet synchronous motor, a load torque observer is designed to compensate the output torque of flux-weakening control in speed loop, and a torque smooth switching module is added during mode switching, so the problem of manipulation torque fluctuation caused by the abrupt change of torque in mode switching process is solved. The results of both simulation and test show that through the load feed-forward compensation by load torque observer, the robustness of system to load disturbances is enhanced, and the torque smooth switching module added well suppress the fluctuation of manipulation torque in mode switching process, so the hand feeling of driver on the heavy turning of steering wheel and torque fluctuation is improved.
引文
[1] 吕英超,季学武,孙宁,等.EPS用PMSM弱磁控制策略的仿真与试验研究[J].汽车工程,2013,35(6):500-504.
[2] AHN J, LIM S B, KIM K C, et al. Field weakening control of synchronous reluctance motor for electric power steering [J]. Iet Electric Power Applications,2007,1(4):565-570.
[3] 王博.弱磁扩速下电动汽车驱动系统转矩控制研究[D].成都:电子科技大学,2013.
[4] 金宁治,王旭东,李文娟.混合动力汽车永磁同步电机的电流滑模控制与负载扰动补偿[J].汽车工程,2013,35(6):553- 558.
[5] 关欣,李叶松.基于实时负载转矩反馈补偿的永磁同步电机变增益PI控制[J].电工技术学报,2016,31(23):38- 45.
[6] 郑泽东,李永东,肖曦,等.永磁同步电机负载转矩观测器[J].电工技术学报,2010,25(2):30-36.
[7] 崔茂振,张昌凡,朱剑.永磁同步电机滑模调速控制及其实现[J].电子测量与仪器学报,2012,26(1):84- 92.
[8] 朱晓虹,张广明,梅磊,等.基于滑模速度控制器的PMSM无速度传感器控制研究[J].电机与控制应用,2016,43(1):1- 6.
[9] 张晓光,赵克,孙力,等.永磁同步电动机滑模变结构调速系统新型趋近律控制[J].中国电机工程学报,2011,31(24):77-82.
[10] LEU V Q, HAN H C, JUNG J W. Fuzzy sliding mode speed controller for PM synchronous motors with a load torque observer[J]. IEEE Transactions on Power Electronics,2012,27(3):1530-1539.
[11] 王庆龙,张兴,张崇巍.永磁同步电机矢量控制双滑模模型参考自适应系统转速辨识[J].中国电机工程学报,2014,34(6):897- 902.
[12] 丁硕,崔总泽,巫庆辉,等.基于SVPWM的永磁同步电机矢量控制仿真研究[J].国外电子测量技术,2014,33(6):81-85.
[13] 张海林,罗禹贡,江青云,等.基于电动助力转向的车道保持系统[J].汽车工程,2013,35(6):526- 531.
[14] SHIMIZU Y, KAWAI T. Development of electric power steering[C]. Autotechnologies Conference,1991:105-119.
[2] AHN J, LIM S B, KIM K C, et al. Field weakening control of synchronous reluctance motor for electric power steering [J]. Iet Electric Power Applications,2007,1(4):565-570.
[3] 王博.弱磁扩速下电动汽车驱动系统转矩控制研究[D].成都:电子科技大学,2013.
[4] 金宁治,王旭东,李文娟.混合动力汽车永磁同步电机的电流滑模控制与负载扰动补偿[J].汽车工程,2013,35(6):553- 558.
[5] 关欣,李叶松.基于实时负载转矩反馈补偿的永磁同步电机变增益PI控制[J].电工技术学报,2016,31(23):38- 45.
[6] 郑泽东,李永东,肖曦,等.永磁同步电机负载转矩观测器[J].电工技术学报,2010,25(2):30-36.
[7] 崔茂振,张昌凡,朱剑.永磁同步电机滑模调速控制及其实现[J].电子测量与仪器学报,2012,26(1):84- 92.
[8] 朱晓虹,张广明,梅磊,等.基于滑模速度控制器的PMSM无速度传感器控制研究[J].电机与控制应用,2016,43(1):1- 6.
[9] 张晓光,赵克,孙力,等.永磁同步电动机滑模变结构调速系统新型趋近律控制[J].中国电机工程学报,2011,31(24):77-82.
[10] LEU V Q, HAN H C, JUNG J W. Fuzzy sliding mode speed controller for PM synchronous motors with a load torque observer[J]. IEEE Transactions on Power Electronics,2012,27(3):1530-1539.
[11] 王庆龙,张兴,张崇巍.永磁同步电机矢量控制双滑模模型参考自适应系统转速辨识[J].中国电机工程学报,2014,34(6):897- 902.
[12] 丁硕,崔总泽,巫庆辉,等.基于SVPWM的永磁同步电机矢量控制仿真研究[J].国外电子测量技术,2014,33(6):81-85.
[13] 张海林,罗禹贡,江青云,等.基于电动助力转向的车道保持系统[J].汽车工程,2013,35(6):526- 531.
[14] SHIMIZU Y, KAWAI T. Development of electric power steering[C]. Autotechnologies Conference,1991:105-119.