微型电动车三重化直流驱动系统的研究
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摘要
随着环境污染和能源危机日益加剧,电动车的发展逐渐受到各国的重视。纯电动汽车具有零污染、低噪音的优点,有广阔的发展前景。驱动系统是电动汽车的关键组成部分,它的输出特性决定了电动汽车的动力特性。目前国内外电动车直流驱动功率变换器使储能电源输出电流从零到电机电枢电流高频脉动,不利于延长动力电池的使用寿命。
本文针对微型电动汽车,在比较多种常用的直流斩波电路基础上,选择三重化桥式斩波电路作为功率变换器主电路并研究了其工作原理。相比普通桥式电路,三重化桥式电路在整个占空比范围内,可以大大平抑电机电枢电流纹波,并使电源输出电流的脉动幅度减少到电枢电流的1/3。为了降低开关管应力,提高变换器的效率,设计了变形RCD缓冲电路,详细分析了其工作原理并计算了主要元件参数。
实际电路中由于三路滤波电感参数的差异,三路电感电流存在不均衡现象,这会导致一路的过载。为此,本文建立了主电路的数学模型,据此模型设计了电流独立闭环的均流方法。
结合主电路的工作模式以及驱动系统的功能要求,确定了控制、驱动电路的设计方案。采用PIC单片机作为控制系统的核心,用来完成电机运行象限切换、电枢电流给定功能。另外设计了保护电路实现对电源欠压、过电流的保护,保证了整个系统安全可靠的运行。
搭建了小型试验平台并进行了相关实验研究,验证了三重化直流斩波电路优点和本文设计的均流方法。上述工作为进一步研究多重化结构直流驱动系统及其在电动公交客车上的应用提供了技术储备。
Along with the atmospheric pollution and energy crisis which is more and more serious, the development of Electric Vehicles(EVS) attracts more and more attention from many countries. Because pure electric vehicle has the advantages of zero pollution and low noise, it has a vast prospect. The drive system is very imported to EVS, because its output characteristic determines the dynamic characteristic of EVS. At present power converters of DC driving system make power supply outputs a high-frequency pulsating current, which is from zero to the armature current. This large ripple damages batteries.
Compared with a variety of relatively common DC chopping circuit, this paper selects the triple H-bridge chopping circuit to drive DC motors and introduces its working principles. The triple H-bridge chopping circuit has a significant advantage in reducing the armature current ripple over the whole duty cycle scope, and the battery output current ripple is decreased to one third of the armature current. In order to decrease the switching loss and increase the efficiency of the converter, a improved RCD snubber is presented. Then its working modes are analyzed. The parameters of the snubber are also designed.
However, three filter inductors are different in a practical circuit. Thus, filter inductors have current-unbalance problem. In order to realize the current sharing of three filter inductors, the mathematical model of the circuit is established. A current sharing technique is provided. Both simulation result and experimental result demonstrate that a good current-sharing performance is obtained.
In terms of the working modes of the main circuit and the driving system functionality, a control and drive circuit is introduced. As the core of control system, PIC microcontroller is used to switch the operating quadrant, and output given signal in this paper. Meanwhile, under-voltage and over-current protection circuits are designed to ensure security and reliability of the system.
Experiments are carried through and a small test platform is constructed in this paper. The above work makes way for researching the triple DC drive system more deeply and its application in public traffic electric buses.
本文针对微型电动汽车,在比较多种常用的直流斩波电路基础上,选择三重化桥式斩波电路作为功率变换器主电路并研究了其工作原理。相比普通桥式电路,三重化桥式电路在整个占空比范围内,可以大大平抑电机电枢电流纹波,并使电源输出电流的脉动幅度减少到电枢电流的1/3。为了降低开关管应力,提高变换器的效率,设计了变形RCD缓冲电路,详细分析了其工作原理并计算了主要元件参数。
实际电路中由于三路滤波电感参数的差异,三路电感电流存在不均衡现象,这会导致一路的过载。为此,本文建立了主电路的数学模型,据此模型设计了电流独立闭环的均流方法。
结合主电路的工作模式以及驱动系统的功能要求,确定了控制、驱动电路的设计方案。采用PIC单片机作为控制系统的核心,用来完成电机运行象限切换、电枢电流给定功能。另外设计了保护电路实现对电源欠压、过电流的保护,保证了整个系统安全可靠的运行。
搭建了小型试验平台并进行了相关实验研究,验证了三重化直流斩波电路优点和本文设计的均流方法。上述工作为进一步研究多重化结构直流驱动系统及其在电动公交客车上的应用提供了技术储备。
Along with the atmospheric pollution and energy crisis which is more and more serious, the development of Electric Vehicles(EVS) attracts more and more attention from many countries. Because pure electric vehicle has the advantages of zero pollution and low noise, it has a vast prospect. The drive system is very imported to EVS, because its output characteristic determines the dynamic characteristic of EVS. At present power converters of DC driving system make power supply outputs a high-frequency pulsating current, which is from zero to the armature current. This large ripple damages batteries.
Compared with a variety of relatively common DC chopping circuit, this paper selects the triple H-bridge chopping circuit to drive DC motors and introduces its working principles. The triple H-bridge chopping circuit has a significant advantage in reducing the armature current ripple over the whole duty cycle scope, and the battery output current ripple is decreased to one third of the armature current. In order to decrease the switching loss and increase the efficiency of the converter, a improved RCD snubber is presented. Then its working modes are analyzed. The parameters of the snubber are also designed.
However, three filter inductors are different in a practical circuit. Thus, filter inductors have current-unbalance problem. In order to realize the current sharing of three filter inductors, the mathematical model of the circuit is established. A current sharing technique is provided. Both simulation result and experimental result demonstrate that a good current-sharing performance is obtained.
In terms of the working modes of the main circuit and the driving system functionality, a control and drive circuit is introduced. As the core of control system, PIC microcontroller is used to switch the operating quadrant, and output given signal in this paper. Meanwhile, under-voltage and over-current protection circuits are designed to ensure security and reliability of the system.
Experiments are carried through and a small test platform is constructed in this paper. The above work makes way for researching the triple DC drive system more deeply and its application in public traffic electric buses.
引文
1陈清泉,孙逢春.现代电动汽车技术.北京理工大学出版社, 2002:1~8
2陈清泉.环境保护与电动车的开发.江苏机械制造与自动化. 2000, (1):3~7
3陈清泉.电动车-清洁有效的城市交通工具.电工技术杂志. 1999, (2): 5~8
4李斌花,王地川.纯电动车电机驱动控制系统现状与发展趋势.客车技术与研究. 2005,(1):5~6
5 Chan C C, Lo E W C, Shen W X. An Overview of Battery Technology in Electric Vehicles
6肖立新,郭炳焜,李新海.聚合物锂离子电池.电池. 2003, 33(2):110~113
7邓隐北,娄彦珍.电动汽车的电机驱动系统.河南交通科技. 1999, (2):59~63
8孙立清.电动车用电机电控系统技术现状.技术. 2002,(5):39~40
9张承宁,孙逢春.电动汽车的几种驱动系统分析比较.兵工学报. 1995,(4):36~39
10 K.T.Chau, C.C.Chan, Y.S Wong. Advanced Power Electronic Drives for Electric Vehicles. Electromotion. 1998: 98
11程飞,过学迅.电动汽车用电机及其控制技术的研究, 2006:(5)
12 Xinxiang Yan, Dean Patterson and Byron Kennedy. A Multifunctional DC-DC Converter for an EV Driving System”. EVS-16. Beijing, 1999: CD-ROM
13 Capponi. F, Di Napoli. A, Crescimbini. F. Multiple-input dc-dc power converter for power-flow management in hybrid vehicles. 37th IEEE Industry Applications Society, Pittsburgh, PA, United States. 2002:1578~1585
14秦继荣.现代直流伺服控制技术.北京:机械工业出版社, 1992:30~55
15 Robert W. Erickson,Dragan Masksimovic. Fundamental of power electronics. University of Colorado in America:39~298
16 F. Caricchi, F. Crescimbini, F. Giulii Capponi, L. Solero. Study of Bidirectional Buck-Boost Converter Topologies for Application in Electrical Vehicle Motor drivers. IEEE APEC Proceeding 1998:287~293
17 Schupbach, R.M, Balda, J.C. Comparing DC-DC converters for power management in hybrid electric vehicles. Electric Machines and Drives Conference, 2003. IEMDC'03. IEEE International. Volume 3, 1-4 June 2003 Page(s):1369~1374
18孙逢春,杨为琛,张承宁. BJD6100-EV电动公交车直流驱动系统研究.北京理工大学学报. 2002, (1):45~48
19张承宁,孙逢春.电动大客车牵引电机控制系统的研究.车辆与动力技术. 2001, (2):10~14
20黄军,刘晓芳,盖晓东.超级电容电动公交客车高效直流驱动系统. 2007,(22):135~139
21高春燕,电动高尔夫车他励直流电机驱动系统的研究.重庆大学硕士学位论文.2007:18~19
22 Kamal Al-Haddad, Venkatachari Rajagopalan. Analysis and Simulation of Multiple Converter Operation to Reduce Losses and EMI. Proceedings of the 2004 IEEE Workshop on Computers in Power Electronics. 2004:183~188
23 Duan Shan-xu, Kang Yong, Guo Wei-Nong, Chen Jian. Analysis of Multiphase and Multiple PWM DC-DC Converter. Power Electronics. 1999,4(2):8~10
24王兆安,黄俊.电力电子技术(第4版).机械工业出版社, 2003:100~109
25陈伯时.电力拖动自动控制系统.北京:机械工业出版社, 2000:56~152
26王萍,周文俊,宋良瑜,李斌.变流电路中电解电容的硅解研究.电力电子技术, 2003, 37(2):41~43
27徐晓峰,连级三,李凤秀. IGBT逆变器吸收电路的研究.电力电子技术, 1998, (3):42~47
28孙强,余娟,郑湘渝. MOSFET逆变缓冲电路仿真分析.电气应用, 2005, 24(5):42~47
29陈益广,薛向党,郭晖.三相桥式逆变器缓冲电路的研究.电气传动, 1998, (5):13~16
30刘凤君.正弦波逆变器.北京:科学出版社,2002:330~331
31宋受俊,刘景林,张智慧. BUCK变换器建模及其先进控制方法仿真.计算机仿真, 2006, 23(3):294~300
32刘学超,张波,丘东元,余健生. PWM开关变换器的建模方法综述.通信电源技术, 2006, 23(1) :22~24
33徐德鸿.电力电子系统建模及控制.北京:机械工业出版社, 2005:33~35
34刘学超,张波,丘东元,余健生.直流变换器并联系统动态均流的非线性控制.中国电机工程学报, 2005, 25(24) :67~72
35张胜发,向龙,姚国顺.模块化直流电源并联均流控制方法.模块电源, 2007, 8(12) :12~15
36陈少屏,梁冠安.基于单周期控制均流技术的交错运行变换器.电力电子技术, 2002, 36(5) :32~34
37郭国勇,石秉学.多相DC-DC主电路电源控制器的设计.半导体学报, 2004, 25(12:1701~1705
38何存富,周龙,宋国荣,何守印,吴斌.基于DSP的直流电机驱动控制电路设计.测控技术, 2007, 26(1) :64~67
39张晓青.直流电动机数字PWM调速系统的设计.北京机械工业学院学报. 2000, 15(4) :44~47
40 F.Goodenough. Driving Power MOSFETs Demands Diverse Ics. Electronic Design. 1992. 23 (7):36~48
2陈清泉.环境保护与电动车的开发.江苏机械制造与自动化. 2000, (1):3~7
3陈清泉.电动车-清洁有效的城市交通工具.电工技术杂志. 1999, (2): 5~8
4李斌花,王地川.纯电动车电机驱动控制系统现状与发展趋势.客车技术与研究. 2005,(1):5~6
5 Chan C C, Lo E W C, Shen W X. An Overview of Battery Technology in Electric Vehicles
6肖立新,郭炳焜,李新海.聚合物锂离子电池.电池. 2003, 33(2):110~113
7邓隐北,娄彦珍.电动汽车的电机驱动系统.河南交通科技. 1999, (2):59~63
8孙立清.电动车用电机电控系统技术现状.技术. 2002,(5):39~40
9张承宁,孙逢春.电动汽车的几种驱动系统分析比较.兵工学报. 1995,(4):36~39
10 K.T.Chau, C.C.Chan, Y.S Wong. Advanced Power Electronic Drives for Electric Vehicles. Electromotion. 1998: 98
11程飞,过学迅.电动汽车用电机及其控制技术的研究, 2006:(5)
12 Xinxiang Yan, Dean Patterson and Byron Kennedy. A Multifunctional DC-DC Converter for an EV Driving System”. EVS-16. Beijing, 1999: CD-ROM
13 Capponi. F, Di Napoli. A, Crescimbini. F. Multiple-input dc-dc power converter for power-flow management in hybrid vehicles. 37th IEEE Industry Applications Society, Pittsburgh, PA, United States. 2002:1578~1585
14秦继荣.现代直流伺服控制技术.北京:机械工业出版社, 1992:30~55
15 Robert W. Erickson,Dragan Masksimovic. Fundamental of power electronics. University of Colorado in America:39~298
16 F. Caricchi, F. Crescimbini, F. Giulii Capponi, L. Solero. Study of Bidirectional Buck-Boost Converter Topologies for Application in Electrical Vehicle Motor drivers. IEEE APEC Proceeding 1998:287~293
17 Schupbach, R.M, Balda, J.C. Comparing DC-DC converters for power management in hybrid electric vehicles. Electric Machines and Drives Conference, 2003. IEMDC'03. IEEE International. Volume 3, 1-4 June 2003 Page(s):1369~1374
18孙逢春,杨为琛,张承宁. BJD6100-EV电动公交车直流驱动系统研究.北京理工大学学报. 2002, (1):45~48
19张承宁,孙逢春.电动大客车牵引电机控制系统的研究.车辆与动力技术. 2001, (2):10~14
20黄军,刘晓芳,盖晓东.超级电容电动公交客车高效直流驱动系统. 2007,(22):135~139
21高春燕,电动高尔夫车他励直流电机驱动系统的研究.重庆大学硕士学位论文.2007:18~19
22 Kamal Al-Haddad, Venkatachari Rajagopalan. Analysis and Simulation of Multiple Converter Operation to Reduce Losses and EMI. Proceedings of the 2004 IEEE Workshop on Computers in Power Electronics. 2004:183~188
23 Duan Shan-xu, Kang Yong, Guo Wei-Nong, Chen Jian. Analysis of Multiphase and Multiple PWM DC-DC Converter. Power Electronics. 1999,4(2):8~10
24王兆安,黄俊.电力电子技术(第4版).机械工业出版社, 2003:100~109
25陈伯时.电力拖动自动控制系统.北京:机械工业出版社, 2000:56~152
26王萍,周文俊,宋良瑜,李斌.变流电路中电解电容的硅解研究.电力电子技术, 2003, 37(2):41~43
27徐晓峰,连级三,李凤秀. IGBT逆变器吸收电路的研究.电力电子技术, 1998, (3):42~47
28孙强,余娟,郑湘渝. MOSFET逆变缓冲电路仿真分析.电气应用, 2005, 24(5):42~47
29陈益广,薛向党,郭晖.三相桥式逆变器缓冲电路的研究.电气传动, 1998, (5):13~16
30刘凤君.正弦波逆变器.北京:科学出版社,2002:330~331
31宋受俊,刘景林,张智慧. BUCK变换器建模及其先进控制方法仿真.计算机仿真, 2006, 23(3):294~300
32刘学超,张波,丘东元,余健生. PWM开关变换器的建模方法综述.通信电源技术, 2006, 23(1) :22~24
33徐德鸿.电力电子系统建模及控制.北京:机械工业出版社, 2005:33~35
34刘学超,张波,丘东元,余健生.直流变换器并联系统动态均流的非线性控制.中国电机工程学报, 2005, 25(24) :67~72
35张胜发,向龙,姚国顺.模块化直流电源并联均流控制方法.模块电源, 2007, 8(12) :12~15
36陈少屏,梁冠安.基于单周期控制均流技术的交错运行变换器.电力电子技术, 2002, 36(5) :32~34
37郭国勇,石秉学.多相DC-DC主电路电源控制器的设计.半导体学报, 2004, 25(12:1701~1705
38何存富,周龙,宋国荣,何守印,吴斌.基于DSP的直流电机驱动控制电路设计.测控技术, 2007, 26(1) :64~67
39张晓青.直流电动机数字PWM调速系统的设计.北京机械工业学院学报. 2000, 15(4) :44~47
40 F.Goodenough. Driving Power MOSFETs Demands Diverse Ics. Electronic Design. 1992. 23 (7):36~48