CN106357185B - Permanent magnet synchronous motor torque control method - Google Patents
Permanent magnet synchronous motor torque control method Download PDFInfo
- Publication number
- CN106357185B CN106357185B CN201611002479.8A CN201611002479A CN106357185B CN 106357185 B CN106357185 B CN 106357185B CN 201611002479 A CN201611002479 A CN 201611002479A CN 106357185 B CN106357185 B CN 106357185B
- Authority
- CN
- China
- Prior art keywords
- motor
- current
- torque
- formula
- vector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000013598 vector Substances 0.000 claims abstract description 57
- 238000005457 optimization Methods 0.000 claims abstract description 15
- 238000012216 screening Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000005265 energy consumption Methods 0.000 claims description 14
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052802 copper Inorganic materials 0.000 claims description 9
- 239000010949 copper Substances 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000010363 phase shift Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000005291 magnetic effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000005611 electricity Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 240000004859 Gamochaeta purpurea Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of permanent magnet synchronous motor method for controlling torque, belongs to control technology field.The object of the present invention is to provide being based on driving torque estimated demand and PREDICTIVE CONTROL in one, to solve the problems, such as driver's drive/braking and improve the compromise optimization of the more demands for control of efficiency and establish the permanent magnet synchronous motor method for controlling torque that optimization problem solving screening principle improves computational efficiency.Motor torque PREDICTIVE CONTROL process of the invention is: first that torque reference value is equations turned according to motor is motor stator vector current reference value；Establish the relational expression between three-phase inverter switch state and the vector voltage of output；Estimate the current value of next time domain；Optimal switch combination state acts on inverter AC motor.Method for controlling torque of the present invention, acquire the driving moment value according to needed for the mechanical external characteristic curve of permanent magnet synchronous motor calculating vehicle of driver pedal information and vehicle wheel rotational speed information, effectively explain drive/braking power demand of driver, reference is provided for subsequent motor control, improves system reliability.
Description
Technical field
The invention belongs to control technology fields.
Background technique
Current new-energy automobile is paid close attention to the characteristics of its energy-saving and emission-reduction by various circles of society, and various countries or even major automobile are obtained
The Devoting Major Efforts To Developing of manufacturer and application.Especially wheel hub electric drive automobile, because being driven using hub motor technology especially four-wheel wheel hub
Dynamic motor, so that vehicle four-wheel drive power is individually controllable, vehicle powered is more flexible, conveniently, can effectively improve electronic vapour
The driving performance of vehicle in the presence of a harsh environment just gradually becomes the following most potential pure electric automobile type.As electronic
The main selection of automotive hub driving motor, permanent magnet synchronous motor is because it is with small in size, light weight, reliable for operation, big torque
The advantages that output, speed-regulating range width, high power density and high efficiency, it can satisfy high performance electric vehicle drive and control of electric machine system
The basic demand of system.
Hub motor while the driving dynamics demand for meeting electric car, will also meet and run over as driving source
The performance of comfort, environmental suitability and the continual mileage that can be travelled that once charges in journey.Therefore, electricity is driven as wheel hub
The permanent magnet synchronous motor control technology of machine not only needs to meet the torque actuated and braking requirement of driver, also will be by reducing electricity
Machine loss improves the demand for control of driving efficiency, this is a problem of multiple target is realized, thus with general industry motor phase
More stringenter, complicated than control requirement, this is also one of the key problem of wheel hub electric drive automobile development.
Currently, the control method for permanent magnet synchronous motor mainly has vector controlled and Direct Torque Control, in recent years
Due to the fast development of microprocessor, the computing capability of digitial controller, which has, greatly to be promoted, so that some advanced controls are calculated
Method, especially Model Predictive Control Algorithm are able to realize in motor control.Many experts drive in permanent magnet synchronous motor and control
System aspect has carried out many effort, and the implementation for being directed to PREDICTIVE CONTROL also proposed some relatively molding methods, such as patent
CN201310740488, CN201610197283, CN201610533077, CN201510676715 etc., but published special
There are still some problems to be solved in sharp method: (1) making motor while meeting drive/brake power demand, realization subtracts
The loss of motor and inverter improves the multi objective control demand of whole efficiency in few drive system；(2) it is effectively treated existing
Physical constraint, such as current limit；(3) calculating that screening principle reduces candidate solution is formulated in solution procedure, reduces iteration time
Number reduces computation burden, to improve algorithm computational efficiency.
Therefore, research can effectively meet more demands for control of driver's dynamic property and economy, handle already present constraint
Limitation improves autonomous regulating power, the permanent magnet synchronous motor Stator-Quantities Control of fast response time, to wheel hub electric drive automobile electricity
Meaning is very great for the development of control technology.
Summary of the invention
The object of the present invention is to provide driving torque estimated demand and PREDICTIVE CONTROL is based in one, driven with solving driver/
Braking and the compromise for improving the more demands for control of efficiency optimize and establish optimization problem solving screening principle and improve computational efficiency problem
Permanent magnet synchronous motor method for controlling torque.
Motor torque PREDICTIVE CONTROL process of the invention is:
It is motor stator vector current reference value that step 1) is first equations turned according to motor by torque reference value；
Step 2 establishes the relational expression between three-phase inverter switch state and the vector voltage of output；
The current motor three-phase electricity flow valuve of acquisition is carried out clark and park and is transformed to d-q under rotor coordinate by step 3)
Shaft current, and according to the corresponding vector voltage of candidate switch state and permanent magnet synchronous motor electric current dynamical equation estimation it is next when
The current value in domain；
Step 4) passes through the cost function and restrict of optimization problem, and screening principle relatively obtains optimal switch
Assembled state acts on inverter AC motor.
Step of the invention is:
Step 1): first that single motor torque reference value is equations turned according to motor is permanent magnet synchronous motor in rotor coordinate
The reference value of stator d-q axial vector electric current under system:
(5)
In formula,WithRespectively indicate d axis and q shaft current of the motor under rotor coordinate, unit A, whereinIt indicates
Reference value；
Step 2: it establishes between the d-q axis output vector voltage under three-phase inverter switch state and rotor coordinate
Relational expression:
The output voltage for defining tri- bridges of a, b, c first is respectively、、, unit V, calculate it is as follows:
(6)
In formula,Indicate bus DC voltage, unit V；、、Respectively indicate threephase switch state, only 0
With 1 two states, dimensionless unit；There are the phase shifts of an orthogonal vectors between each bridge of three-phase bridge circuit, i.e.,, thus define output voltage vectorFor the vector of three-phase voltage
With:
(7)
It willIt brings (7) into, is then expressed as output voltage vectorMatrix form on axis:
(8)
It is converted using Park,Vector voltage on axisBe converted to rotor coordinate
Under stator d-q axis vector voltage, it may be assumed that
(9)
The rotor angular displacement of permanent magnet synchronous motor, unit rad are indicated in formula；By above formula (8) and (9), inversion is obtained
Relational expression between device switch state signal and stator d-q axial vector voltage:
(10)
Step 3): the current value estimation process at next moment:
Firstly, collecting a, b, c three-phase electricity flow valuve of current motor、、, unit A, also according to clark and
Park transformation, is converted into the vector current of stator d-q axis under rotor coordinate, the initial state value as PREDICTIVE CONTROL, it may be assumed that
(11)
Then, it according to Kirchoff voltage law and inductance characteristic, establishes under permanent-magnetic synchronous motor rotor coordinate system and determines
Sub- d-q shaft current equation, it may be assumed that
(12)
In formula,Indicate armature resistance, unit；WithRespectively indicate d-q axle inductance, unit H；It is extremely right to indicate
Number, dimensionless；Indicate permanent magnetism ferromagnetic flux, unit Wb；
Then, formula (10) is brought into (12), arranges and obtains control to input being the good quantity of state of switch state being d-q vector
The dynamical equation of electric current:
(13)
Defined variable, then formula (13) is convertible
For；
Using trapezoidal integration discretization dynamical equation (13), calculation formula:
(14)
In formula, the subsequent time d-q shaft current vector value of estimation is indicated, indicate intermediate calculations, indicate systematic sampling week
Phase, unit s；Regulatory factor between 0-1, dimensionless；
Step 4): optimal switch combination: formulating the objective function of motor torque predictive controller, as follows:
(15)
In formula,Indicate weighting coefficient, unit is respectivelyWith；Indicate current optimal mesh
Scalar functions, unit dimensionless；Respectively indicate torque tracking error minimum and minimum two sub-goals of energy consumption, unit
Dimensionless.
The acquisition of single motor torque reference value of the present invention:
According to the mechanical external characteristic curve of permanent magnet synchronous motor, motor driving shaft needed for estimating current state vehicle turns
Square:
(1)
(2)
In formula,WithDriving torque needed for respectively indicating vehicle and braking moment, unit Nm；WithTable respectively
Show the accelerator pedal and brake pedal aperture (0-1) of driver, dimensionless；It indicates between motor output shaft and wheel axis of torque
Transmission ratio, generally higher than 1, dimensionless；Indicate real-time motor output shaft revolving speed, unit rad/s；Table
Show real-time motor maximum axis output torque, unit Nm is one about revolving speedFunction, determined by revolving speed and external characteristics；
Real-time motor maximum axis output torqueCalculating it is as follows:
(3)
In formulaFor maximum power,For maximum output torque；
Single hub motor expectation torque value is calculated, as follows:
(4).
Minimum torque tracking error of the present inventionAnd lowest energy consumption:
1.In, estimation obtains drive/braking moment desired value such as formula (4) of single motor, and is converted into motor electricity
The reference value of stream such as formula (5) is referred to by controlling the subsequent time predicted current follow current of d-q axis of permanent magnet synchronous motor
It is minimum to be worth error, realizes that good longitudinal direction of car accelerates and braking ability performance；
2. motor driven systems energy consumption includes the copper loss and inverter switching device loss of motor itself, motor itself copper in
It damages related with electrical current, it may be assumed that
(16)
In formula,It indicatesCopper loss energy energy consumption in time interval, unit J；
Inverter switching device loss includes 6 IGBT switch-off losses and conduction loss on three-phase bridge arm, defines inferior horn
MarkIndicate three bridge arms of a, b, c inverter, then thePhase IGBT is singleLoss of energy in time interval, single
Position J, calculates as follows:
(17)
In formula,It is illustrated respectively inIGBT is switched on the single bridge arm of inverter in time interval
Nominal condition under conducting, closure and turn-off power loss energy, unit J；It respectively indicates under IGBT switch nominal condition
Electric current and voltage value, unit is respectively A and V；, dimensionless, unit J；
Indicate inverter theThe state of bridge arm current switch changes, if current switch states are, last moment switch state is, then；
The three-phase bridge arm of inverter amounts to energy loss, unit J:
(18)
In formula, switch state diverse vector
, dimension 3*
1, dimensionless；Indicate the predicted value of the subsequent time of abc vector current, unit A is calculated by following formula:
(19)
In formula,WithIt can be calculated by formula (11), (13) and (14)；
3. two steps screen principle: screening out the candidate switch shape for not meeting motor operating conditions before calculating target function
State, two steps screen principle:
A, minimum switch losses principle is carried out, the candidate solution of every time domain is reduced to 4 by 8, can describe it as；
B, it constrains, constrained for permanent magnet synchronous motor d-q shaft current clipping, predicted value exceeded
Bounds switch state candidate solution screens out.
The medicine have the advantages that
1. the basis of method for controlling torque of the present invention, acquisition driver pedal information and vehicle wheel rotational speed information is forever
Driving moment value needed for the mechanical external characteristic curve of magnetic-synchro motor calculates vehicle, effectively explains drive/braking of driver
Power demand provides reference for subsequent motor control, improves system reliability.
2. permanent magnet synchronous motor torque prediction control method of the present invention can effectively be located using forecast Control Algorithm
This multiple target complex optimization control problem is managed, and dominant processing current limit constrains, effectively realizes dynamic property and economy
Two different demands.
3. screening principle method of the present invention, reduces the number of iterations, the calculated performance of holistic approach is improved,
It calculates simultaneously clear in structure simple, is easy to combine realization and method upgrading.
Detailed description of the invention
Fig. 1 is to implement wheel hub electric drive automobile structure schematic diagram of the present invention；
Fig. 2 is to implement two-stage three-phase full-bridge inverter and permanent magnet synchronous motor connection structure schematic diagram of the present invention；
Fig. 3 is to implement the permanent magnet synchronous motor torque of the present invention based on driving torque estimated demand and PREDICTIVE CONTROL
Control system functional block diagram；
Fig. 4 is the overview flow chart for implementing direct torque process of the present invention;
Fig. 5 is to implement Model Predictive Control basic schematic diagram of the present invention；
Fig. 6 is the different Switch State Combination in Power Systems figures for implementing three-phase inverter of the present invention.
Specific embodiment
It is wheel hub electric drive automobile that the present invention, which relies on platform, and structural representation is as shown in Figure 1, mainly include four independent
Hub motor 1,2,3,4(motor obtain current information and wheel speed information by sensor measurement), four corresponding motors
Controller 5,6,7,8, an entire car controller 10, and be entire car controller 10 and Permanent Magnet Synchronous Motor Controller 5,6,7,8
Between the CAN network 11 of communication is provided, there are also battery packs 9 to provide power supply for four motors.The effect of entire car controller 10 is exactly
According to the rotary speed information of driver's corresponding four wheels that drive/brake command and electric machine controller 5,6,7,8 provide in real time, lead to
It crosses and vehicle drive/braking requirement torque is calculated, and the reference command as four motors.The master of electric machine controller 5,6,7,8
Wanting function is that acquisition rotary speed information feeds back to entire car controller, according to the torque command that entire car controller 10 provides, controls inversion
Device drives the tracing control of the torque fast and stable of corresponding hub motor 1,2,3,4.Permanent magnet synchronous motor and two in the present invention
Grade three-phase full-bridge inverter connection structure, as shown in Fig. 2, the IGBT that wherein two-stage three-phase full-bridge inverter is indicated by 6 Q1-Q6
It is constituted with freewheeling diode switch combination.
Torsion control system of synchronization generator with everlasting magnetic structure based on driving torque estimated demand and PREDICTIVE CONTROL of the invention
Block diagram vehicle torque-demand computing module, permanent magnet synchronous motor PREDICTIVE CONTROL module as shown in figure 3, be mainly made of.Totality side
Method process is as shown in Figure 4.Firstly, vehicle torque-demand estimation block, acquires driver's acceleration-brake pedal information and wheel turns
Fast information, according to the mechanical external characteristic curve of permanent magnet synchronous motor, motor driving shaft needed for estimating current state vehicle turns
Square.Then, in permanent magnet synchronous motor torque prediction control module,
It is motor stator vector current reference value that step 1) is first equations turned according to motor by torque reference value；
Step 2 establishes the relational expression between three-phase inverter switch state and the vector voltage of output；
The current motor three-phase electricity flow valuve of acquisition is carried out clark and park and is transformed to d-q under rotor coordinate by step 3)
Shaft current, and according to the corresponding vector voltage of candidate switch state and permanent magnet synchronous motor electric current dynamical equation estimation it is next when
The current value in domain；
Step 4) by the cost function of optimization problem (current track error minimum and motor-inverter losses are minimum) and
Screening principle relatively obtains optimal switch combination state, acts on inverter AC motor.Driver-vehicle control is completed above
Device-electric machine controller-inverter-motor-vehicle-controller closed-loop control processed.
Permanent magnet synchronous motor torque prediction control module
Model Predictive Control is multi-step prediction, and basic thought can be described as the open loop in one finite time-domain of line solver
Optimal control problem, while guaranteeing that system meets objective function, state and input constraint etc..PREDICTIVE CONTROL can be summarized simply as follows
Three steps: according to the current measurement information of acquisition and the following dynamic of prediction model forecasting system；Guarantee objective function and constraint condition
Lower line solver optimization problem；First element interaction of solution is in system.Model Predictive Control is to repeat at every sampling moment
It carries out, and the following dynamic starting point of forecasting system is current measured value, that is, uses the measured value of each sampling instant as in advance
The primary condition of survey.The basic principle of Model Predictive Control is as shown in Figure 5.In current time t, measured value is obtained from controlled system, according to metrical information and prediction model, forecasting system is in prediction time domainThe interior following dynamic behaviour, optimize open loop
Energy target function (there are four parts for objective function in the present invention), searches out control time domainInterior optimal control list entries, so that the system output of prediction is with the output of desired system closer to better, i.e. in Fig. 5 hatched area minimum.
Step of the invention is: (motor torque PREDICTIVE CONTROL process is shown in Fig. 4)
Step 1): first that single motor torque reference value is equations turned according to motor is permanent magnet synchronous motor in rotor coordinate
The reference value of stator d-q axial vector electric current under system, in permanent magnet synchronous motor characteristicIt is proportional to motor electromagnetic torque, by
This can convert torque tracking problem to current follow-up control problem, while to reduce reactive power and reluctance torque, need so thatIt is small as far as possible close to 0:
(5)
In formula,WithRespectively indicate d axis and q shaft current of the motor under rotor coordinate, unit A, whereinIt indicates
Reference value.
Step 2: it establishes between the d-q axis output vector voltage under three-phase inverter switch state and rotor coordinate
Relational expression:
The output voltage for defining tri- bridges of a, b, c first is respectively、、, unit V, calculate it is as follows:
(6)
In formula,Indicate bus DC voltage, unit V；、、Respectively indicate threephase switch state, only 0
With 1 two states, dimensionless unit；There are the phase shifts of an orthogonal vectors between each bridge of three-phase bridge circuit, i.e.,, thus define output voltage vectorFor the vector sum of three-phase voltage:
(7).
It willIt brings (7) into, is then expressed as output voltage vectorMatrix form on axis:
(8).
It is converted using Park,Vector voltage on axisBe converted to rotor coordinate
Under stator d-q axis vector voltage, it may be assumed that
(9)
The rotor angular displacement of permanent magnet synchronous motor, unit rad are indicated in formula；By above formula (8) and (9), inversion is obtained
Relational expression between device switch state signal and stator d-q axial vector voltage:
(10)。
Step 3): the current motor three-phase electricity flow valuve of acquisition is subjected to clark and park and is transformed to d-q under rotor coordinate
Shaft current, and according to the corresponding vector voltage of candidate switch state and permanent magnet synchronous motor electric current dynamical equation estimation it is next when
The current value at quarter.
Firstly, collecting a, b, c three-phase electricity flow valuve of current motor、、, unit A, also according to clark and
Park transformation, is converted into the vector current of stator d-q axis under rotor coordinate, the initial state value as PREDICTIVE CONTROL, it may be assumed that
(11).
Then, it according to Kirchoff voltage law and inductance characteristic, establishes under permanent-magnetic synchronous motor rotor coordinate system and determines
Sub- d-q shaft current equation, it may be assumed that
(12)
In formula,Indicate armature resistance, unit；WithRespectively indicate d-q axle inductance, unit H；Indicate pole
Logarithm, dimensionless；Indicate permanent magnetism ferromagnetic flux, unit Wb.
Then, formula (10) is brought into (12), arranges and obtains control to input being the good quantity of state of switch state being d-q vector
The dynamical equation of electric current:
(13).
For convenient for subsequent calculating, defined variable,
Then formula (13) can be exchanged into；
To improve discrete accuracy, the present invention uses trapezoidal integration discretization dynamical equation (13), calculation formula:
(14)
In formula, the subsequent time d-q shaft current vector value of estimation is indicated, indicate intermediate calculations, indicate systematic sampling week
Phase, unit s；Regulatory factor between 0-1, dimensionless.
Step 4): pass through the cost function of optimization problem (current track error minimum and motor-inverter losses are minimum)
Optimal switch combination state is relatively obtained with screening principle, acts on inverter AC motor.Firstly, according to above-mentioned dynamic
Power and economy demand formulate the objective function of motor torque predictive controller, as follows:
(15)
In formula,Indicate weighting coefficient, unit is respectivelyWith；Indicate current optimal mesh
Scalar functions, unit dimensionless；Respectively indicate torque tracking error minimum and minimum two sub-goals of energy consumption, unit
Dimensionless.
The acquisition of single motor torque reference value of the present invention:
The core concept of maximum transmitted torque estimating algorithm of the present invention is acquisition driver's acceleration-brake pedal information and vehicle
Real-time rotary speed information is taken turns, according to the mechanical external characteristic curve of permanent magnet synchronous motor, motor needed for estimating current state vehicle
Shaft torque is driven, principle is as follows:
(1)
(2)
In formula,WithDriving torque needed for respectively indicating vehicle and braking moment, unit Nm；WithTable respectively
Show the accelerator pedal and brake pedal aperture (0-1) of driver, dimensionless；It indicates between motor output shaft and wheel axis of torque
Transmission ratio, generally higher than 1, dimensionless；Indicate real-time motor output shaft revolving speed, unit rad/s；Table
Show real-time motor maximum axis output torque, unit Nm is one about revolving speedFunction, determined by revolving speed and external characteristics；
From the external characteristics of motor it is found that not up to maximum power limits when motor low speedWhen,It is constant, it is equal to most
Big output torque, motor can accelerate along external characteristic curve with permanent torque；As motor speed is gradually increased, motor reaches
To after maximum power point, it can be accelerated with invariable power, maximum axis output torque can be gradually reduced in real time.
Real-time motor maximum axis output torque as a result,Calculating it is as follows:
(3)
In formulaFor maximum power,For maximum output torque.
Since driver cannot operate acceleration and braking simultaneously, soWithThe sum of be total operator torque request,
Vehicle optimization is carried out based on motor energy efficiency convex curve characteristic according to early-stage study discovery, mean allocation front and back wheel wheel hub electricity can be obtained
Machine torque can make Full Vehicle System torque distribution energy consumption minimum, and single hub motor expectation torque value is thus calculated, as follows:
(4).
Minimum torque tracking error of the present inventionAnd lowest energy consumption:
1.In, motor torque control system meets drive/braking moment dynamic property demand of driver first, protects
Demonstrate,proving vehicle can be according to the intention acceleration-deceleration of driver.In order to realize this target, according to the analysis of front, estimation obtains list
The drive of a motor/braking moment desired value such as formula (4), and it is converted into the reference value such as formula (5) of current of electric, pass through control
The subsequent time predicted current follow current reference value error of the d-q axis of permanent magnet synchronous motor is minimum, realizes that good vehicle is vertical
To acceleration and braking ability performance；
2. while guaranteeing vehicles dynamic performance, reducing the energy consumption of motor driven systems in, improving vehicle efficiency.
Motor driven systems energy consumption includes the copper loss and inverter switching device loss of motor itself, and motor itself copper loss and electrical current have
It closes, it may be assumed that
(16)
In formula,It indicatesCopper loss energy energy consumption in time interval, unit J；
Inverter switching device loss includes 6 IGBT switch-off losses and conduction loss on three-phase bridge arm, defines inferior horn
MarkIndicate three bridge arms of a, b, c inverter, then thePhase IGBT is singleLoss of energy in time interval, single
Position J, calculates as follows:
(17)
In formula,It is illustrated respectively inIGBT is switched on the single bridge arm of inverter in time interval
Nominal condition under conducting, closure and turn-off power loss energy, unit J；It respectively indicates under IGBT switch nominal condition
Electric current and voltage value, unit is respectively A and V；, dimensionless, unit J；
Indicate inverter theThe state of bridge arm current switch changes, if current switch states are, last moment switch state is, then；WhenWhen, when inverter switching states do not change, there is an IGBT
It tends to remain on, another is still remained off, so there are conduction losses；WhenWhen, inverter
When switch state changes, meeting one, two IGBT switch on single bridge arm turns off another closure, so there is shutdown
Loss and closure loss.
Therefore, the three-phase bridge arm of inverter amounts to energy loss, unit J:
(18)
In formula, switch state diverse vector
, dimension 3*
1, dimensionless；Indicate the predicted value of the subsequent time of abc vector current, unit A is calculated by following formula:
(19)
In formula,WithIt can be calculated by formula (11), (13) and (14).
Vehicle longitudinal direction acceleration-braking power performance of controller of the present invention and the economy of drive system efficiency
Energy target is realized by constructing corresponding cost function.Mutual specific gravity is adjusted between them by weighting coefficient,
To realize the optimization of the compromise between the multiple demand different performance indexs of vehicle.
3. two steps screen principle: due to the different Switch State Combination in Power Systems of inverter, generating 8 kinds of different voltage to be selected arrows
Amount, as shown in fig. 6, wherein 6 be effective vector, in addition 2 be zero vector, do not generate output voltage.To make full use of micro- place
Device limited resources are managed, unnecessary iteration is reduced and compares, needs to screen out before calculating target function and does not meet motor operation
The candidate switch state of condition reduces computation burden, to improve calculating speed.Here is two steps screening principle.
A, when carrying out minimum switch losses principle, i.e. switching, only consider a switching or all remain unchanged, with
It avoids generating the voltage vector completely contradictedWith, to reduce pulsation of current, therefore the candidate solution of every time domain is reduced by 8
It is 4, can describes it as。
B, it constrains, constrained for permanent magnet synchronous motor d-q shaft current clipping, predicted value exceeded
Bounds switch state candidate solution screens out.
It is shown in Figure 4, when the switch state of selection meets the minimum switch losses i.e. A of principle, carry out step 3), estimation
Subsequent time current value is shown in formula (13) and (14)；If do not met, Returning switch state Candidate Set is chosen next in order
A switch state.When the subsequent time current value of step 3) estimation meets the current limit i.e. B of constraint, it is logical to continue step 4)
The cost function for crossing optimization problem relatively obtains so that the smallest optimized switching assembled state of functional value, is shown in formula (15), then
Act on inverter switching device；If do not met, Returning switch state Candidate Set chooses next switch state in order.Pass through two
Step screening principle, rejected in advance fall ineligible candidate switch state, reduce the estimation and optimization of subsequent time current value
The calculation times of function, reduce the computation burden of entire control system, to improve the operation efficiency of holistic approach.
The present invention is first according to driver pedal information and vehicle wheel rotational speed information, electricity needed for estimating current state vehicle
Machine drives shaft torque, and permanent magnet synchronous motor torque controller is then designed using predictive control algorithm, with effective tracking driving
Shaft torque target value obtains good acceleration or braking ability, while the loss for reducing motor and inverter improves vehicle energy
Effect.The estimation of driving moment needed for vehicle based on driver pedal information and vehicle wheel rotational speed information effectively explains current vehicle
The drive of driver/brake power demand under state and running environment.This multiple target can be effectively treated using forecast Control Algorithm
Complex optimization control problem, and dominant processing constrains, and effectively realizes driver's drive/braking dynamic property demand and improves system
Compromise optimization between the economy demand of efficiency.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002479.8A CN106357185B (en) | 2016-11-15 | 2016-11-15 | Permanent magnet synchronous motor torque control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002479.8A CN106357185B (en) | 2016-11-15 | 2016-11-15 | Permanent magnet synchronous motor torque control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106357185A CN106357185A (en) | 2017-01-25 |
| CN106357185B true CN106357185B (en) | 2019-01-25 |
Family
ID=57862279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611002479.8A Active CN106357185B (en) | 2016-11-15 | 2016-11-15 | Permanent magnet synchronous motor torque control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106357185B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105262404B (en) * | 2015-05-14 | 2018-04-03 | 同济大学 | A kind of pure electric vehicle power drive system mechanical-electric coupling control device and method |
| CN107104617B (en) * | 2017-05-08 | 2019-06-04 | 广西大学 | A torque prediction control method based on permanent magnet synchronous motor |
| CN108900119B (en) * | 2018-07-25 | 2021-07-23 | 吉林大学 | Model Predictive Control Method of Permanent Magnet Synchronous Motor Based on Dead-band Effect |
| CN109257001A (en) * | 2018-10-29 | 2019-01-22 | 江苏大学 | A kind of switching magnetic-resistance BSG motor active disturbance rejection torque prediction controller building method |
| CN110012401A (en) * | 2019-03-06 | 2019-07-12 | 湖南大学 | On-line identification method suitable for magnetostriction type energy converter equivalent inductance and resistance |
| CN109883589B (en) * | 2019-03-15 | 2020-10-27 | 中国汽车技术研究中心有限公司 | A new energy vehicle drive shaft torque testing device and method |
| CN110481339B (en) * | 2019-07-26 | 2022-11-18 | 江苏大学 | An intelligent composite controller for an electric vehicle hub motor |
| CN110843549B (en) * | 2019-10-22 | 2021-04-27 | 中国第一汽车股份有限公司 | Motor torque prediction method and device, motor controller and storage medium |
| CN110877532A (en) * | 2019-11-28 | 2020-03-13 | 安徽中车瑞达电气有限公司 | Intelligent mining electric locomotive |
| CN111064408B (en) * | 2020-01-02 | 2023-07-04 | 广西大学 | A No-weight Model Predictive Torque Control Method for Asynchronous Motors |
| CN112615576A (en) * | 2020-12-02 | 2021-04-06 | 郑州中电新能源汽车有限公司 | Intelligent control method and system for target operation point of permanent magnet synchronous motor for vehicle |
| CN113093542B (en) * | 2021-03-31 | 2022-08-12 | 吉林大学 | A Parallel Calculation Method for Motor Torque Optimization Finite Set Predictive Control |
| CN113765443A (en) * | 2021-08-30 | 2021-12-07 | 武汉理工大学 | Electric power-assisted brake control method, design simulation method, device and medium thereof |
| CN113895238B (en) * | 2021-09-15 | 2024-01-26 | 哈尔滨理工大学 | MRPP braking torque limiter-based regenerative braking control method |
| CN118358386B (en) * | 2024-06-17 | 2024-08-16 | 广汽埃安新能源汽车股份有限公司 | Control adjustment method and device of electric drive system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0638457B1 (en) * | 1993-08-10 | 1999-03-03 | Toyota Jidosha Kabushiki Kaisha | Apparatus for driving and controlling synchronous motor using permanent magnets as its field system |
| CN103312253B (en) * | 2013-06-06 | 2016-04-27 | 韩达光 | Torque prediction based on reference stator magnetic linkage Optimized model controls formula electric drive method |
| CN103746624B (en) * | 2013-12-28 | 2016-03-02 | 华中科技大学 | Based on the current control method of the bisalient-pole permanent-magnet synchronous machine of model prediction |
| CN104104295A (en) * | 2014-07-23 | 2014-10-15 | 哈尔滨工程大学 | Loss model based brushless direct current motor direct torque control method |
| CN105790664B (en) * | 2016-03-31 | 2018-05-22 | 华中科技大学 | Permanent magnet synchronous motor model predictive control method |
| CN106059428B (en) * | 2016-07-07 | 2019-07-12 | 东南大学 | The model predictive control method of three-phase Four-switch converter driving permanent magnet synchronous motor |
-
2016
- 2016-11-15 CN CN201611002479.8A patent/CN106357185B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106357185A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106357185B (en) | Permanent magnet synchronous motor torque control method | |
| CN103312253B (en) | Torque prediction based on reference stator magnetic linkage Optimized model controls formula electric drive method | |
| Justo et al. | Fuzzy model predictive direct torque control of IPMSMs for electric vehicle applications | |
| CN102769425B (en) | Permanent magnet synchronous motor control method based on model reference adaptive system (MRAS) and fuzzy control | |
| CN107154763B (en) | Dead-beat direct torque control system and control method for permanent magnet synchronous motor | |
| Li et al. | Driver intention based coordinate control of regenerative and plugging braking for electric vehicles with in‐wheel PMSMs | |
| CN108900128A (en) | Direct torque control method for permanent magnetic synchronous electric machine based on Model Predictive Control | |
| Krasopoulos et al. | Velocity and torque limit profile optimization of electric vehicle including limited overload | |
| Prabhakar et al. | Efficiency and performance analysis of DTC‐based IM drivetrain using variable dc‐link voltage for electric vehicle applications | |
| CN111884554B (en) | Life extension and torque precise control method of permanent magnet synchronous motor drive system | |
| CN112166050A (en) | Inverter control method and inverter control system | |
| Xu et al. | Permanent magnet synchronous machines and drives: Flux weakening advanced control techniques | |
| Thangarajan et al. | Performance comparison of permanent magnet synchronous motor (PMSM) drive with delay compensated predictive controllers | |
| Popescu et al. | Energy efficiency improvement for an electric vehicle PM BLDC propulsion system using phase advance and dwell control | |
| CN115528975A (en) | Dual-target global optimal model-free prediction control method of SMPMSM (self-organizing-vector-machine) driving system based on DSVM (distributed computation model) | |
| Won et al. | Improved FOC of IPMSM using finite-state model predictive current control for EV | |
| Jegan et al. | Simulation and validation of permanent magnet synchronous motor drives using reinforcement learning | |
| CN119058430A (en) | Optimal torque distribution method and system for dual-motor four-wheel drive vehicle | |
| Kumar et al. | Dynamic modeling and analysis of control techniques of an induction motor drive for application in an electric vehicle | |
| Xin et al. | Control strategy for motor drive system of electric vehicle | |
| Fu | [Retracted] A DSP‐Controlled Permanent Magnet Synchronous Motor Control System for Hybrid Vehicles | |
| Abhijith et al. | Regenerative Braking Control Methods of Interior Permanent Magnet Synchronous Motor for Electric Vehicles | |
| Jebahi et al. | Thermal state's impact on the efficiency of a PI control for speed’s tracking in EV | |
| Liu et al. | Kriging assisted on-line torque calculation for brushless DC motors used in electric vehicles | |
| Hartani et al. | Research Article Sensorless Master-slave Direct Torque Control of Permanent Magnet Synchronous Motors Based on Speed MRAS Observer in Electric Vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |