基于低分辨率位置传感器的永磁同步电动机转矩脉动控制
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摘要
电动助力转向系统由于其良好的燃油效率和转向性能,被广泛用于汽车中,但存在材料成本高和转矩脉动大的问题.采用低分辨率位置传感器能够降低电动助力转向系统材料成本,但编码器信号引起的电流谐波会增加转矩脉动.基于此,分析了转矩脉动的影响因素,采用测量编码器信号频率估算转子位置和转速,获得q轴补偿电流并施加到电流指令中,从而使6阶转矩谐波逐渐衰减.实验结果表明:通过应用估算的转子位置和转矩脉动补偿,转矩脉动波峰的峰值占平均转矩的百分比从6.25%降至1.60%,证明了所提出的控制方法有效地减小了转矩脉动,降低材料成本.
Electric power steering system is widely used in automobile because of its good fuel efficiency and steering performance,but it has high material cost and high torque ripple.The low resolution position sensor can reduce the material cost of the electric power steering system,but the current harmonic caused by the encoder signal will increase the torque ripple.Based on this,the influence factors of torque ripple are analyzed.The position and speed of the rotor are estimated by measuring the frequency of the encoder signal,and the compensation current of the q axis is obtained and added to the current instruction,so that the 6 order torque harmonics are gradually attenuated.The experimental results show that by using the estimated rotor position and torque ripple,the percentage of the peak of the torque ripple to the average torque is reduced from 6.25% to 1.60%.It is proved that the control method proposed in this paper reduces the torque ripple and the effectiveness of reducing the material cost.
Electric power steering system is widely used in automobile because of its good fuel efficiency and steering performance,but it has high material cost and high torque ripple.The low resolution position sensor can reduce the material cost of the electric power steering system,but the current harmonic caused by the encoder signal will increase the torque ripple.Based on this,the influence factors of torque ripple are analyzed.The position and speed of the rotor are estimated by measuring the frequency of the encoder signal,and the compensation current of the q axis is obtained and added to the current instruction,so that the 6 order torque harmonics are gradually attenuated.The experimental results show that by using the estimated rotor position and torque ripple,the percentage of the peak of the torque ripple to the average torque is reduced from 6.25% to 1.60%.It is proved that the control method proposed in this paper reduces the torque ripple and the effectiveness of reducing the material cost.
引文
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[2]王倩,任佳伟,黄梦阳,等.并联式液压混合动力车辆制动能量回收与再利用研究[J].机床与液压,2017(22):66-70.WANG Q,REN J W,HUANG M Y.et al.Research on recycling and reuse of braking energy for parallel hydraulic hybrid vehicle[J].Machine Tool&Hydraulics,2017(22):66-70.
[3]林逸,施国标.汽车电动助力转向技术的发展现状与趋势[J].公路交通科技,2001,18(3):79-82.LIN Y,SHI G B.Development status and tendency of electric power steering[J].Journal of Highway and Transportation Research and Development,2001,18(3):79-82.
[4]莫旭辉,罗照湘,杨辉,等.调节方向盘转速的电动助力转向系统回正控制[J].机械科学与技术,2017,36(6):848-854.MO X H,LUO Z X,YANG H,et al.A return-to-center control strategy for electric power steering system by controlling the angular velocity of steering wheel[J].Mechanical Science and Technology for Aerospace Engineering,2017,36(6):848-854.
[5]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.
[6]CHO Y,JEONG Y,YUN S.Development of motor driven power steering control system using surface mounted permanent magnet synchronous motor[C]//Power Electronics Conference.2006:36-40.
[7]刘俊,黄智.电动助力转向系统回正补偿控制研究[J].机械科学与技术,2017,36(5):761-766.LIU J,HUANG Z.A study on return-to-center compensation control for electric power steering system[J].Mechanical Science and Technology for Aerospace Engineering,2017,36(5):761-766.
[8]沈勇环,陈益广,赵维友.削弱反磁通电机齿槽转矩的两种新方法[J].电工技术学报,2007,22(7):141-144.SHEN Y H,CHEN Y G,ZHAO W Y.Two new methods to reduce cogging torque in flux reversal machine[J].Transactions of China Electrotechnical Society,2007,22(7):141-144.
[9]罗宏浩,吴峻,常文森.动磁式永磁无刷直流直线电机的齿槽力最小化[J].中国电机工程学报,2007,27(6):12-16.LUO H H,WU J,CHANG W S.Minimization of cogging force in moving magnet type PMBLDCLM[J].Proceedings of the CSEE,2007,27(6):12-16.
[10]王秀和,杨玉波,丁婷婷,等.基于极弧系数选择的实心转子永磁同步电动机齿槽转矩削弱方法研究[J].中国电机工程学报,2005,25(15):146-149.WANG X H,YANG Y B,DING T T,et al.The method for reducing cogging torque by suitable selection of POLE-ARCcoefficient in solid-rotor PM synchronous motors[J].Proceedings of the CSEE,2005,25(15):146-149.
[11]LEE G H.Active cancellation of PMSM torque ripple caused by magnetic saturation for EPS applications[J].Journal of Power Electronics,2010,10(2):176-180.
[12]廖勇,甄帅,刘刃,等.用谐波注入抑制永磁同步电机转矩脉动[J].中国电机工程学报,2011,31(21):119-127.LIAO Y,ZHEN S,LIU R,et al.Torque ripple suppression of permanent magnet synchronous motor by the harmonic injection[J].Proceedings of the CSEE,2011,31(21):119-127.