交流异步电机无速度传感器矢量控制方法及其在电动汽车中的应用研究
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摘要
对于电动汽车中交流异步电机驱动系统来说,无速度传感器矢量控制方法的关键技术是准确的磁场定向。磁链观测是关系到能否实现准确的磁场定向的关键,这将决定着电动汽车能否在低速范围实现稳定的大转矩输出,实现在带载情况下的稳定起动及稳定运行。本文的研究工作主要是围绕着针对异步电机的全阶状态观测器磁链观测展开的。主要内容有以下几个方面:
1.通过对全阶状态观测器与电压模型、电流模型磁链观测器之间的关系的分析,得出结论:极点配置使全阶状态观测器磁链观测值在低速范围更接近电流模型观测值,在高速范围更接近电压模型观测值。
2.通过分析电压误差和电流误差与全阶状态观测器磁链观测误差之间的关系,在转速已知的条件下,提出了降低电压误差和电流误差影响的极点配置方法,并通过仿真验证。这对提高磁链观测精度是十分重要的。通过分析参数偏差对全阶状态观测器磁链观测稳态误差的影响,并通过仿真得出:上述的极点配置方法,同样可以降低定子电阻偏差和漏感偏差在极低速范围对磁链观测稳态误差的影响。
3.在转速未知的条件下,通过对MRAS 磁链观测器的动态性能以及磁链观测稳态误差的分析,并通过仿真得出:磁链观测和转速控制动态性能的改善与磁链观测稳态误差和转速误差的降低是互相矛盾的。对于电动汽车中异步电机控制来说,精确的磁链观测更为重要,当对动态性能要求不高时,可以不进行极点配置。
4.针对实际控制中的电压型逆变器,提出利用电流测量值与电流观测值之差进行定子电压误差补偿的方法,对定子电压重构误差的直流分量和基波分量进行了补偿。通过仿真验证了提出的方法可以提高在电压型逆变器供电情况下的无速度传感器矢量控制系统的起动和低速运行性能。
通过对电压模型磁链观测误差与定子电阻偏差的关系的分析,提出了一种定子电阻在线辨识方法,通过仿真验证了其有效性。
5.在基于TMS320F2407A 的感应电机实验平台上,实现了无速度传感器矢量控制方法。验证了本文提出的定子电压误差补偿方法能够有效地提高控制系统的起动性能和带载能力。提出的定子电阻在线辨识方法能够和定子电压误差补偿方法相协调,使系统能够在宽转速范围内稳定运行。
As a rule, the accurate flux orientation that decide whether or not the electric vehicle can realize steady output of high torque in lower speed range and steady start and run with load, is the core of the sensorless vector control for electric vehicle induction machine drive system. However, out of question, the exact flux observation is the key to the realization of the accurate flux orientation.
Based on the full order observer, this paper presents a new flux observation method applied to the induction motor, which mainly includes the following parts:
1. Based on the analyses of the relationship between the flux observation of the full order observer and that of the voltage model / the current model, a new conclusion can be made. That is, the pole point setting of the full order observer can makes the observation value closer to that of current model in the motor’s low speed range, as well as closer to that of voltage model in the motor’s high speed range.
2. Based on the analyses of the relationship between the voltage error / the current error and the flux observation error of the full order observer, this paper presents a novel pole point setting method with the condition of the definite motor speed. The mathematic analyses and the computer simulations both verify that such method can reduce the influence of voltage error / current error, which is very important to the precision improvement of the flux observation.
Otherwise, the analyses of the influence of parameter error to the flux observation of the full order observer, as well as computer simulation, both show that such method also can reduce the influence of stator resistance error and leak inductance error to the steady error of flux observation in the motor’s very low speed range.
3. When the motor speed is unknown, based on the analysis of the dynamic performance of MRAS flux observer and steady error of flux observation, this paper make a such conclusion, which also validated by simulations. That is, the improvements in the dynamic performance of flux observation and speed control are inconsistent with the reducing of speed error and steady error of flux observation. As a matter of fact, the precise flux observation, preferable to the unnecessary pole point setting, is more important to the induction motor control applied in electric vehicle.
1.通过对全阶状态观测器与电压模型、电流模型磁链观测器之间的关系的分析,得出结论:极点配置使全阶状态观测器磁链观测值在低速范围更接近电流模型观测值,在高速范围更接近电压模型观测值。
2.通过分析电压误差和电流误差与全阶状态观测器磁链观测误差之间的关系,在转速已知的条件下,提出了降低电压误差和电流误差影响的极点配置方法,并通过仿真验证。这对提高磁链观测精度是十分重要的。通过分析参数偏差对全阶状态观测器磁链观测稳态误差的影响,并通过仿真得出:上述的极点配置方法,同样可以降低定子电阻偏差和漏感偏差在极低速范围对磁链观测稳态误差的影响。
3.在转速未知的条件下,通过对MRAS 磁链观测器的动态性能以及磁链观测稳态误差的分析,并通过仿真得出:磁链观测和转速控制动态性能的改善与磁链观测稳态误差和转速误差的降低是互相矛盾的。对于电动汽车中异步电机控制来说,精确的磁链观测更为重要,当对动态性能要求不高时,可以不进行极点配置。
4.针对实际控制中的电压型逆变器,提出利用电流测量值与电流观测值之差进行定子电压误差补偿的方法,对定子电压重构误差的直流分量和基波分量进行了补偿。通过仿真验证了提出的方法可以提高在电压型逆变器供电情况下的无速度传感器矢量控制系统的起动和低速运行性能。
通过对电压模型磁链观测误差与定子电阻偏差的关系的分析,提出了一种定子电阻在线辨识方法,通过仿真验证了其有效性。
5.在基于TMS320F2407A 的感应电机实验平台上,实现了无速度传感器矢量控制方法。验证了本文提出的定子电压误差补偿方法能够有效地提高控制系统的起动性能和带载能力。提出的定子电阻在线辨识方法能够和定子电压误差补偿方法相协调,使系统能够在宽转速范围内稳定运行。
As a rule, the accurate flux orientation that decide whether or not the electric vehicle can realize steady output of high torque in lower speed range and steady start and run with load, is the core of the sensorless vector control for electric vehicle induction machine drive system. However, out of question, the exact flux observation is the key to the realization of the accurate flux orientation.
Based on the full order observer, this paper presents a new flux observation method applied to the induction motor, which mainly includes the following parts:
1. Based on the analyses of the relationship between the flux observation of the full order observer and that of the voltage model / the current model, a new conclusion can be made. That is, the pole point setting of the full order observer can makes the observation value closer to that of current model in the motor’s low speed range, as well as closer to that of voltage model in the motor’s high speed range.
2. Based on the analyses of the relationship between the voltage error / the current error and the flux observation error of the full order observer, this paper presents a novel pole point setting method with the condition of the definite motor speed. The mathematic analyses and the computer simulations both verify that such method can reduce the influence of voltage error / current error, which is very important to the precision improvement of the flux observation.
Otherwise, the analyses of the influence of parameter error to the flux observation of the full order observer, as well as computer simulation, both show that such method also can reduce the influence of stator resistance error and leak inductance error to the steady error of flux observation in the motor’s very low speed range.
3. When the motor speed is unknown, based on the analysis of the dynamic performance of MRAS flux observer and steady error of flux observation, this paper make a such conclusion, which also validated by simulations. That is, the improvements in the dynamic performance of flux observation and speed control are inconsistent with the reducing of speed error and steady error of flux observation. As a matter of fact, the precise flux observation, preferable to the unnecessary pole point setting, is more important to the induction motor control applied in electric vehicle.
引文
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