混合动力车载电机直接转矩控制算法试验研究
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摘要
从能源危机和环境保护的角度出发，混合动力汽车的发展得到了越来越多的重视。由于混合动力客车的运行工况复杂多变，因此对其电机驱动系统就提出了高可靠性、高性能、高效率、低成本的要求。针对这一问题，电机驱动系统控制策略的选择和优化以及搭建电机控制算法验证台架是本文的一个重要研究课题。本文针对混合动力客车电机驱动系统，搭建了车载电机直接转矩控制算法硬件在环仿真台架，主要做了以下研究工作：
本文首先介绍了课题研究的背景意义，混合动力技术在国内外的发展概况，结合目前大多数车载电机的控制策略，探讨了三相异步电机直接转矩控制算法的原理，并对基于圆形磁链的直接转矩控制进行Simulink离线仿真，验证了直接转矩控制算法的仿真试验效果。
通过对电机数学模型的理解和直接转矩控制算法的学习，提出了针对直接转矩控制算法中电机部分的硬件在环仿真试验台的总体设计方案，并基于xPC Target实时仿真系统,在真实电机上对直接转矩控制算法进行了试验验证，确认了试验台的实用性。
在最后的验证环节，通过主机与目标机间的数据传输以及对各传感器获取的硬件系统信号进行检验，可以看到xPC Target实时仿真系统良好的实时性，直接转矩控制算法的控制效果也很好，验证了硬件在环仿真试验的实用性，为电机算法的进一步优化打下了试验基础。
From the energy crisis and the environmental protection point of view, thedevelopment of the hybrid cars gets more and more attention. Because of the runningcondition of the hybrid cars is complicated, so the high reliability, high performance, highefficiency, low cost requirements of the motor drive system has been put forward. To solvethis problem, the selection and optimization of drive motor control strategies, as well as tobuild a motor test bench to verify control algorithm, are the important research topic in thisthesis. The major research work is as follows:
This thesis firstly introduces the significance of the research background and thedevelopment of hybrid technology at home and abroad. Combined with the presentmotor-vehicle control strategies, the three-phase asynchronous motor direct torque controlalgorithm of the principle is discussed in detail. The offline simulation is made for the directtorque control based on the circular magnetic chain, and the simulation test results verify theeffect of the direct torque control algorithm.
By learning the motor mathematical model and direct torque control algorithm,thisthesis proposed the overall design scheme for direct torque control algorithm in the part ofthe motor hardware of the loop simulation test bed. Based on xPC Target real-timesimulation system, the direct torque control algorithm is used to control the three-phaseasynchronous motor, in order to confirm the practicality of the test bench.
In the last verification, the date transmission between the host and the target machines,as well as checking the signals obtained from the sensors and hardware, it is proved thatxPC Target real-time simulation system have a good real-time performance and the directtorque control algorithm’s effect is also very good. This makes a foundation for subsequentwork.
本文首先介绍了课题研究的背景意义，混合动力技术在国内外的发展概况，结合目前大多数车载电机的控制策略，探讨了三相异步电机直接转矩控制算法的原理，并对基于圆形磁链的直接转矩控制进行Simulink离线仿真，验证了直接转矩控制算法的仿真试验效果。
通过对电机数学模型的理解和直接转矩控制算法的学习，提出了针对直接转矩控制算法中电机部分的硬件在环仿真试验台的总体设计方案，并基于xPC Target实时仿真系统,在真实电机上对直接转矩控制算法进行了试验验证，确认了试验台的实用性。
在最后的验证环节，通过主机与目标机间的数据传输以及对各传感器获取的硬件系统信号进行检验，可以看到xPC Target实时仿真系统良好的实时性，直接转矩控制算法的控制效果也很好，验证了硬件在环仿真试验的实用性，为电机算法的进一步优化打下了试验基础。
From the energy crisis and the environmental protection point of view, thedevelopment of the hybrid cars gets more and more attention. Because of the runningcondition of the hybrid cars is complicated, so the high reliability, high performance, highefficiency, low cost requirements of the motor drive system has been put forward. To solvethis problem, the selection and optimization of drive motor control strategies, as well as tobuild a motor test bench to verify control algorithm, are the important research topic in thisthesis. The major research work is as follows:
This thesis firstly introduces the significance of the research background and thedevelopment of hybrid technology at home and abroad. Combined with the presentmotor-vehicle control strategies, the three-phase asynchronous motor direct torque controlalgorithm of the principle is discussed in detail. The offline simulation is made for the directtorque control based on the circular magnetic chain, and the simulation test results verify theeffect of the direct torque control algorithm.
By learning the motor mathematical model and direct torque control algorithm,thisthesis proposed the overall design scheme for direct torque control algorithm in the part ofthe motor hardware of the loop simulation test bed. Based on xPC Target real-timesimulation system, the direct torque control algorithm is used to control the three-phaseasynchronous motor, in order to confirm the practicality of the test bench.
In the last verification, the date transmission between the host and the target machines,as well as checking the signals obtained from the sensors and hardware, it is proved thatxPC Target real-time simulation system have a good real-time performance and the directtorque control algorithm’s effect is also very good. This makes a foundation for subsequentwork.
引文
[1] D.O.Neacsu,K.Rajashekara.Comparative analysis of torque-controlled IM driveswithapplications in electric and hybrid vehicles[J].IEEETrans. Power Electron.Mar.2001(16):240-247.
[2]电动汽车重大专项总体组，电动汽车重大专项办公室．‘十五’国家高技术研究发展计划(863计划)电动汽车重大专项进展[J]．汽车工程，2003，25(6)：533-536．
[3] Ding Xiying,Guo Qingding. A Novel Direct Torque Control Based on VariableStructure Control in Hybrid Electric Vehicle Induction Machine Drive[C].CMCE,2010,978-1-4244-7956-6110.
[4]陈清泉,孙逢春.现代电动汽车技术[M].北京:北京理工大学出版社,2002,11,15.
[5]李占龙．混合动力汽车试验台架的研究与开发[D].长春：吉林大学,2005.
[6]胡平.基于燃油经济性串联式混合动力公交车优化研究[D].武汉：武汉理工大学,2009.
[7]秦敬媛.双轴并联混合动力汽车的实时仿真技术研究[D].长春:吉林大学,2005.
[8]王帅.混合动力客车感应电机在低速运行下的控制研究[D].长春:吉林大学,2011.
[9] Tripathi A, Khambadkone A M. Stator Flux Based Space-Vector Modulation and closedLoop Control of the Stator Flux Vector in Overmodulation into Six-Step mode[C].IEEETrans. Power Electron.2004,19(3):775-782.
[10]丁惜瀛赵鑫夏强杨树平.基于空间电压矢量调制的直接转矩控制对混合动力汽车永磁同步电机低速运行性能的改进[J].永磁同步电机专题,2009,4:27-30.
[11]D.Casadei,F.Profumo.FOC and DTC Two Viable Schemes for Induction Motors TorqueControl[J].IEEE Trans.on Power Electronics,2004,17(5):779-786.
[12]张良.基于xPC Target的汽车ESP硬件在环仿真试验台的开发[D].长春:吉林大学,2009.
[13]M. Rashed, A. F. Stronach. A stable back-EMF MRAS-based sensorless low-speedinduction motor drive insensitive to stator resistance variation[J]. IEEE Proceedings ofElectric PowerApplications,2004,151(6):685-693.
[14]CASADEI D，PROFUMO F． FOC and DTC two viable schemes for induction motorstorque control[C]．IEEE Trans on Power Electronics，2004,17(5)：779-786．
[15]M.Vasudevan, Dr. R. Arumugam. New direct torque control scheme of induction motorfor electricve hciles[C].20045th Asian Control Conference.2004:1377-1383.
[16]Valerie H, Johnson, et. HEV control strategy for real-time optimization of fuel economyand emissions [J], SAE paper2000-01-1543.
[17]王智磊.野马混合动力汽车电机及通讯系统的研究[D].成都:四川大学,2006.
[18]向峰.异步电机直接转矩控制技术若干问题研究[D].西安:西安电子科技大学,2010.
[19]韩海涛.无速度传感器异步电机直接转矩控制低速性能改善[D].大连:大连交通大学,2004.
[20]欧璐璐.基于直接转矩控制的采煤机变频调速系统研究[D].淮南:安徽理工大学,2008.
[21]Powers W F, Nicastri P R. Automotive vehicle control challenges in the21st century[J].Control Engineering Practice2000,8(6):605-618.
[22]MUTOH N， NAKANISHI M， KANESAKI M，et al.Control methods for EMI noisesappearing in electric vehicle drive systems[C].Proc.IEEE Applied Power ElectronicsConf,Austin,2005,1022-1028.
[23]Lee DC,A Novel Overmodulation Technique for Space-Vector PWM Inverters[C].IEEETrans. Power Electron.1998,13(6):144-1151.
[24]PratsMaAM, Escobar G, Galvan E, et al. A switching control strategy based on outputregulation subspaces for the control of induction motors using a three level inverter[J].Power Electronics Letters, IEEE,2003,1(2):29-32.
[25]N. M. Silva, A. P. Martins. Torque and Speed Modes Simulation of a DTC-ControlledInduction Motor[C]．Proceedings of the10th Mediterranean Conference on Control andAutomation-MED, Lisbon, Portugal,2002:3-5
[26]N. R. N. Idris, C. C. Toh, M. E. Elbuluk. A New Torque and Flux Control for DirectTorque Control of Induction Machines[J]. IEEE Trans on. Industry Application,2006,42(6):1358-1365
[27]Chen Boshi, Yang Geng. Three Pieces of Considerations of High Performance VariableControl and Development[J].Electric Drive.2006,36(1):3-8.
[28]T. A. Lipo. Recent progress in the development of solid state AC motor drives[J]. IEEETrans. Power Electronic. Apr.1988, Vol. PEL-3:105-117.
[29]王成元，夏加宽，孙宜标.现代电机控制技术[M].机械工业出版社.
[30]Karel Jezernik. Speed sensorless torque control of induction motor for EV's[C]. AMC2002-Maribor,Slovenia.2002:236-241.
[31]Omega R., Barabanov N., Valderrama G. E. Direct torque control of induction motors:stability analysis and performance [J]. IEEE Trans. on Auto. Control,2001,46(8):1209-1221.
[32]H. M. Kojabadi, L. C. Chang, R. Doraiswami. A MRAS-based adaptive pseudoreducedorder flux observer for sensorless induction motor drives[J]. IEEE Trans. on PowerElectronics,2005,20(4):930-938
[33]M. Vasudevan, R. Arumugam. A robust torque control of induction motor for electricvehicle applications using ANFIS[C]. IEEE Industry Applications Conference2004:2623-2629.
[34]M. Cirrincione, M. Pucci. An MRAS-based sensorless high-performance inductionmotor drive with a predictive adaptive model[J]. IEEE Trans. on IndustrialElectronics,2005,52(2):532-551.
[35]H.R.Keyhani,M.R.Zolghadri.An Extended and Improved Discrete SpaceVectorModulation Direct Torque Control for Induction Motors[C].35th Annual IEEE PowerElectronics Specilists Conference.Aachen,Germany,2004:3414-3416.
[36]张俊喜.异步电动机直接转矩控制系统研究[D].哈尔滨:哈尔滨理工大学,2007.
[37]Kenkam.Creating a Sine Modulated PWM Signal Using the TMS320F240EVM[C].IEEE Trans. Industry Applications.2000: l-35
[38]秦家升，游善兰.AMESim软件的特征及其应用[J].危机应用与智能化.2004.8.17.
[39]Lascu C,Trzynadlowski A M.A sensorlcss hybrid DTC drive for high-volume low-costApplication[J].IEEE Trans.Industriay Electronics,2004,51(5):l048-1054.
[40]Richard Saeks,Chadwick J. Cox,Jmaes Neidhoefer,et al. Adaptive Control of a HybridElectric Vehicle[J]. IEEE Transactions On Intelligent Transportation Systems,2002，3(4)：213-234.
[41]Quan Zhong,Yan,Faisal,Oueslati,Jim Bielenda,John Hirshey.Hardware in the Loop fora Dynamic Driving System Controller Testing and Validation[J]. SAE paperNO.2005-01-1667.
[42]Mauro Velardocchia, Aldo Sorniotti.Hardware-In-the-Loop to Evaluate Active BrakingSystems Performance[J].SAE Paper No.2005-01-1580.
[43]The MathWorks Inc.I/O Reference Guide[Z]. xPC Target For Use With Real-timeWorkshop,2002.
[44]The MathWorks Inc.User' s Guide[Z]. xPC Target For Use With Real-time Workshop,2002.
[45]SHIAKOLAS P S, PIYABONGKAM D. On the Development of a Real-time DigitalControl System Using xPC Target and a Magnetic Levitation Device [C] Proceedings ofthe40th IEEE Conference on Decision and Control, Orlando, Florida,2001.
[46]葛荣亮.基于幅值恢复法的反应电动机定子电流的测试与分析[D].石家庄:河北科技大学,2011.
[47]Seok J K.A New Overmodulation Strategy for Induction Motor Drive Using SpaceVector PWM[C].Proceedings of APEC’95.1995.211-216.
[48]楚斌.IR2110功率驱动集成芯片应用.[J].电子工程师.2004.10.
[49]ONOZAWA Y， OTSUKI M， SEKI Y. Investigation of carrier streaming effect for thelow spike fast IGBT turn-off［C］.Proceedings of the18th International Symposium onPower Semiconductor Devices&IC's,Naples,2006,173-176.
[50]LOW K H, WANG Heng, WANG Y M. On the Development of a Real Time ControlSystem by Using xPC Target: Solution to Robotic System Control[C].IEEE.Proceedings of the International Conference on Automation Science and Engineering,2005.345-350.
[2]电动汽车重大专项总体组，电动汽车重大专项办公室．‘十五’国家高技术研究发展计划(863计划)电动汽车重大专项进展[J]．汽车工程，2003，25(6)：533-536．
[3] Ding Xiying,Guo Qingding. A Novel Direct Torque Control Based on VariableStructure Control in Hybrid Electric Vehicle Induction Machine Drive[C].CMCE,2010,978-1-4244-7956-6110.
[4]陈清泉,孙逢春.现代电动汽车技术[M].北京:北京理工大学出版社,2002,11,15.
[5]李占龙．混合动力汽车试验台架的研究与开发[D].长春：吉林大学,2005.
[6]胡平.基于燃油经济性串联式混合动力公交车优化研究[D].武汉：武汉理工大学,2009.
[7]秦敬媛.双轴并联混合动力汽车的实时仿真技术研究[D].长春:吉林大学,2005.
[8]王帅.混合动力客车感应电机在低速运行下的控制研究[D].长春:吉林大学,2011.
[9] Tripathi A, Khambadkone A M. Stator Flux Based Space-Vector Modulation and closedLoop Control of the Stator Flux Vector in Overmodulation into Six-Step mode[C].IEEETrans. Power Electron.2004,19(3):775-782.
[10]丁惜瀛赵鑫夏强杨树平.基于空间电压矢量调制的直接转矩控制对混合动力汽车永磁同步电机低速运行性能的改进[J].永磁同步电机专题,2009,4:27-30.
[11]D.Casadei,F.Profumo.FOC and DTC Two Viable Schemes for Induction Motors TorqueControl[J].IEEE Trans.on Power Electronics,2004,17(5):779-786.
[12]张良.基于xPC Target的汽车ESP硬件在环仿真试验台的开发[D].长春:吉林大学,2009.
[13]M. Rashed, A. F. Stronach. A stable back-EMF MRAS-based sensorless low-speedinduction motor drive insensitive to stator resistance variation[J]. IEEE Proceedings ofElectric PowerApplications,2004,151(6):685-693.
[14]CASADEI D，PROFUMO F． FOC and DTC two viable schemes for induction motorstorque control[C]．IEEE Trans on Power Electronics，2004,17(5)：779-786．
[15]M.Vasudevan, Dr. R. Arumugam. New direct torque control scheme of induction motorfor electricve hciles[C].20045th Asian Control Conference.2004:1377-1383.
[16]Valerie H, Johnson, et. HEV control strategy for real-time optimization of fuel economyand emissions [J], SAE paper2000-01-1543.
[17]王智磊.野马混合动力汽车电机及通讯系统的研究[D].成都:四川大学,2006.
[18]向峰.异步电机直接转矩控制技术若干问题研究[D].西安:西安电子科技大学,2010.
[19]韩海涛.无速度传感器异步电机直接转矩控制低速性能改善[D].大连:大连交通大学,2004.
[20]欧璐璐.基于直接转矩控制的采煤机变频调速系统研究[D].淮南:安徽理工大学,2008.
[21]Powers W F, Nicastri P R. Automotive vehicle control challenges in the21st century[J].Control Engineering Practice2000,8(6):605-618.
[22]MUTOH N， NAKANISHI M， KANESAKI M，et al.Control methods for EMI noisesappearing in electric vehicle drive systems[C].Proc.IEEE Applied Power ElectronicsConf,Austin,2005,1022-1028.
[23]Lee DC,A Novel Overmodulation Technique for Space-Vector PWM Inverters[C].IEEETrans. Power Electron.1998,13(6):144-1151.
[24]PratsMaAM, Escobar G, Galvan E, et al. A switching control strategy based on outputregulation subspaces for the control of induction motors using a three level inverter[J].Power Electronics Letters, IEEE,2003,1(2):29-32.
[25]N. M. Silva, A. P. Martins. Torque and Speed Modes Simulation of a DTC-ControlledInduction Motor[C]．Proceedings of the10th Mediterranean Conference on Control andAutomation-MED, Lisbon, Portugal,2002:3-5
[26]N. R. N. Idris, C. C. Toh, M. E. Elbuluk. A New Torque and Flux Control for DirectTorque Control of Induction Machines[J]. IEEE Trans on. Industry Application,2006,42(6):1358-1365
[27]Chen Boshi, Yang Geng. Three Pieces of Considerations of High Performance VariableControl and Development[J].Electric Drive.2006,36(1):3-8.
[28]T. A. Lipo. Recent progress in the development of solid state AC motor drives[J]. IEEETrans. Power Electronic. Apr.1988, Vol. PEL-3:105-117.
[29]王成元，夏加宽，孙宜标.现代电机控制技术[M].机械工业出版社.
[30]Karel Jezernik. Speed sensorless torque control of induction motor for EV's[C]. AMC2002-Maribor,Slovenia.2002:236-241.
[31]Omega R., Barabanov N., Valderrama G. E. Direct torque control of induction motors:stability analysis and performance [J]. IEEE Trans. on Auto. Control,2001,46(8):1209-1221.
[32]H. M. Kojabadi, L. C. Chang, R. Doraiswami. A MRAS-based adaptive pseudoreducedorder flux observer for sensorless induction motor drives[J]. IEEE Trans. on PowerElectronics,2005,20(4):930-938
[33]M. Vasudevan, R. Arumugam. A robust torque control of induction motor for electricvehicle applications using ANFIS[C]. IEEE Industry Applications Conference2004:2623-2629.
[34]M. Cirrincione, M. Pucci. An MRAS-based sensorless high-performance inductionmotor drive with a predictive adaptive model[J]. IEEE Trans. on IndustrialElectronics,2005,52(2):532-551.
[35]H.R.Keyhani,M.R.Zolghadri.An Extended and Improved Discrete SpaceVectorModulation Direct Torque Control for Induction Motors[C].35th Annual IEEE PowerElectronics Specilists Conference.Aachen,Germany,2004:3414-3416.
[36]张俊喜.异步电动机直接转矩控制系统研究[D].哈尔滨:哈尔滨理工大学,2007.
[37]Kenkam.Creating a Sine Modulated PWM Signal Using the TMS320F240EVM[C].IEEE Trans. Industry Applications.2000: l-35
[38]秦家升，游善兰.AMESim软件的特征及其应用[J].危机应用与智能化.2004.8.17.
[39]Lascu C,Trzynadlowski A M.A sensorlcss hybrid DTC drive for high-volume low-costApplication[J].IEEE Trans.Industriay Electronics,2004,51(5):l048-1054.
[40]Richard Saeks,Chadwick J. Cox,Jmaes Neidhoefer,et al. Adaptive Control of a HybridElectric Vehicle[J]. IEEE Transactions On Intelligent Transportation Systems,2002，3(4)：213-234.
[41]Quan Zhong,Yan,Faisal,Oueslati,Jim Bielenda,John Hirshey.Hardware in the Loop fora Dynamic Driving System Controller Testing and Validation[J]. SAE paperNO.2005-01-1667.
[42]Mauro Velardocchia, Aldo Sorniotti.Hardware-In-the-Loop to Evaluate Active BrakingSystems Performance[J].SAE Paper No.2005-01-1580.
[43]The MathWorks Inc.I/O Reference Guide[Z]. xPC Target For Use With Real-timeWorkshop,2002.
[44]The MathWorks Inc.User' s Guide[Z]. xPC Target For Use With Real-time Workshop,2002.
[45]SHIAKOLAS P S, PIYABONGKAM D. On the Development of a Real-time DigitalControl System Using xPC Target and a Magnetic Levitation Device [C] Proceedings ofthe40th IEEE Conference on Decision and Control, Orlando, Florida,2001.
[46]葛荣亮.基于幅值恢复法的反应电动机定子电流的测试与分析[D].石家庄:河北科技大学,2011.
[47]Seok J K.A New Overmodulation Strategy for Induction Motor Drive Using SpaceVector PWM[C].Proceedings of APEC’95.1995.211-216.
[48]楚斌.IR2110功率驱动集成芯片应用.[J].电子工程师.2004.10.
[49]ONOZAWA Y， OTSUKI M， SEKI Y. Investigation of carrier streaming effect for thelow spike fast IGBT turn-off［C］.Proceedings of the18th International Symposium onPower Semiconductor Devices&IC's,Naples,2006,173-176.
[50]LOW K H, WANG Heng, WANG Y M. On the Development of a Real Time ControlSystem by Using xPC Target: Solution to Robotic System Control[C].IEEE.Proceedings of the International Conference on Automation Science and Engineering,2005.345-350.
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