基于赛米控硬件的汽车电机控制器
摘要
汽车的出现改变了世界,有力的促进了世界经济的发展,方便了人们的出行与产品的运输,改变了人们的生活方式。但是,汽车发展到今天,同样带来了我们不能忽视的问题：对有限的石油资源的持续消耗,对世界环境的影响,包括环境污染与温室效应等,引起了全世界范围的广泛关注,各国都在研发能够替代传统汽车的新能源汽车,并且已经有比较成功的产品开始销售。
作为新能源汽车主要构成的电动汽车(Battery Electric Vehicle, BEV)与混合动力汽车(Hybrid Electric Vehicle, HEV),虽然历史与传统汽车差不多一样久,但却由于各种原因没有得到广泛的应用。直到近些年人们对于资源与环境的担忧逐渐变为现实,人们才开始逐渐把重心转移到新能源汽车领域。本文首先分析了电动汽车与混合动力汽车的基本结构与分类,重点介绍作为新能源汽车的核心部分的电机及电机控制技术,分析不同种类电机的优缺点,由于永磁同步电机具有高功率密度、高效率、调速范围大、启动转矩大、低速调速效果好等特点,已经得到比较广泛的应用。目前主流的电动汽车、混合动力汽车广泛使用永磁同步电机作为汽车电机。
接下来本文介绍永磁同步电机的结构及数学模型,重点介绍了永磁同步电机矢量控制中的磁场定向控制策略。通过对数学模型与控制策略中坐标变换的介绍,给下文永磁同步电机软件控制策略打下了理论基础。
我们使用赛米控(Semikron)公司的SKAI大功率异步电机控制模块为基础,改进电路与控制方式,设计电机控制算法流程,实现对汽车永磁同步电机的控制。作为论文的主要内容,首先介绍了赛米控模块的硬件功能,然后对其电路进行改进,在增加位置传感器模块之后,能够实现对永磁同步电机的控制。接下来介绍永磁同步电机控制的软件算法,我们通过磁场定向控制算法可以使电机输出给定的扭矩,并实现恒扭矩控制。这里我们介绍了算法中的比例积分控制(Proportional-integral-derivative, PID)模块与空间矢量脉宽调制(The Space Vector Pulse Width Modulation, SVPWM)模块。
最后我们对整个控制模块与控制算法进行测试,通过测试证明基于赛米控硬件的电机控制器及控制策略工作良好,能够实现对电机的恒扭矩控制。最后总结了工作中的不足以及需要完善的地方。控制策略中缺少恒功率的弱磁控制,这一点限制了电机的最高转速。而无位置传感器电机控制器是本文将来需要完善的方向。
The invention of the automobile has changed the world. Automobile has changed theway people live and also made the transportation more convenient. However, with thefast development of automotive industry and the increasingly large number ofautomobiles in use around the world we also faces problems that we can't ignore.The deteriorating air quality, global warming issues, and depleting petroleumresources are becoming serious threats to modern life. Many countries around theworld are doing research and development on new energy vehicles; some of themhave put new energy vehicles into production and on sale now.
Battery Electric Vehicle (BEV) and Hybrid Electric Vehicle (HEV) as the main streamof new energy vehicle are invented almost the same time with conventional innercombustion engine (ICE) vehicle but not in widely use due to many reasons likecovering range and stability, until recently the concerns on the deteriorating air quality,global warming issues, and depleting petroleum resources has come true and moreserious. In this article we first analyze the basic structure and classification of newenergy vehicles, focusing on electric motor and motor control technology which iscore technology of new energy vehicles. Then we analyze different type motor’s prosand cons, Permanent Magnet Synchronous Motor (PMSM) as automotive motor withhigh power density, high efficiency, wide speed range, high starting torque andexcellent low speed control ability, has been in relatively wide range use in newenergy vehicles. Nowadays quite a lot of electric vehicles and hybrid electric vehicleshave installed PMSM in automotive power trains.
In the next chapter, we introduce the structure and mathematical model of the PMSM,and then we give more words on introduction of Field Oriented Control (FOC)strategy of PMSM. Then the article introduces coordinate transformation of FOCwhich is also an important theoretical foundation of FOC.
We use Semikron’s SKAI asynchronous motor control module as basic hardware.
Then we modify the circuit and design new control strategy in order to make themodule an automotive PMSM control module. In this chapter it first introducesSemikron module hardware features and then introduces the circuit improvement. Weadd a position sensor module with which we can fulfill field oriented control ofPMSM, and also a new protection module. Next, the article introduces PMSM fieldoriented control algorithms, with this algorithm the motor can export given torque.Here we introduce the PID and SVPWM module in FOC algorithm.
Finally, we put these on test rig and test the whole control module and control strategy.In the test results we can see, both control module and control strategy works well. Inthe last is the summarize of the article, it point out that FOC strategy works only inmedium speed control area and there are still several steps that we need to doincluding field weakening control and sensorless control strategy.
作为新能源汽车主要构成的电动汽车(Battery Electric Vehicle, BEV)与混合动力汽车(Hybrid Electric Vehicle, HEV),虽然历史与传统汽车差不多一样久,但却由于各种原因没有得到广泛的应用。直到近些年人们对于资源与环境的担忧逐渐变为现实,人们才开始逐渐把重心转移到新能源汽车领域。本文首先分析了电动汽车与混合动力汽车的基本结构与分类,重点介绍作为新能源汽车的核心部分的电机及电机控制技术,分析不同种类电机的优缺点,由于永磁同步电机具有高功率密度、高效率、调速范围大、启动转矩大、低速调速效果好等特点,已经得到比较广泛的应用。目前主流的电动汽车、混合动力汽车广泛使用永磁同步电机作为汽车电机。
接下来本文介绍永磁同步电机的结构及数学模型,重点介绍了永磁同步电机矢量控制中的磁场定向控制策略。通过对数学模型与控制策略中坐标变换的介绍,给下文永磁同步电机软件控制策略打下了理论基础。
我们使用赛米控(Semikron)公司的SKAI大功率异步电机控制模块为基础,改进电路与控制方式,设计电机控制算法流程,实现对汽车永磁同步电机的控制。作为论文的主要内容,首先介绍了赛米控模块的硬件功能,然后对其电路进行改进,在增加位置传感器模块之后,能够实现对永磁同步电机的控制。接下来介绍永磁同步电机控制的软件算法,我们通过磁场定向控制算法可以使电机输出给定的扭矩,并实现恒扭矩控制。这里我们介绍了算法中的比例积分控制(Proportional-integral-derivative, PID)模块与空间矢量脉宽调制(The Space Vector Pulse Width Modulation, SVPWM)模块。
最后我们对整个控制模块与控制算法进行测试,通过测试证明基于赛米控硬件的电机控制器及控制策略工作良好,能够实现对电机的恒扭矩控制。最后总结了工作中的不足以及需要完善的地方。控制策略中缺少恒功率的弱磁控制,这一点限制了电机的最高转速。而无位置传感器电机控制器是本文将来需要完善的方向。
The invention of the automobile has changed the world. Automobile has changed theway people live and also made the transportation more convenient. However, with thefast development of automotive industry and the increasingly large number ofautomobiles in use around the world we also faces problems that we can't ignore.The deteriorating air quality, global warming issues, and depleting petroleumresources are becoming serious threats to modern life. Many countries around theworld are doing research and development on new energy vehicles; some of themhave put new energy vehicles into production and on sale now.
Battery Electric Vehicle (BEV) and Hybrid Electric Vehicle (HEV) as the main streamof new energy vehicle are invented almost the same time with conventional innercombustion engine (ICE) vehicle but not in widely use due to many reasons likecovering range and stability, until recently the concerns on the deteriorating air quality,global warming issues, and depleting petroleum resources has come true and moreserious. In this article we first analyze the basic structure and classification of newenergy vehicles, focusing on electric motor and motor control technology which iscore technology of new energy vehicles. Then we analyze different type motor’s prosand cons, Permanent Magnet Synchronous Motor (PMSM) as automotive motor withhigh power density, high efficiency, wide speed range, high starting torque andexcellent low speed control ability, has been in relatively wide range use in newenergy vehicles. Nowadays quite a lot of electric vehicles and hybrid electric vehicleshave installed PMSM in automotive power trains.
In the next chapter, we introduce the structure and mathematical model of the PMSM,and then we give more words on introduction of Field Oriented Control (FOC)strategy of PMSM. Then the article introduces coordinate transformation of FOCwhich is also an important theoretical foundation of FOC.
We use Semikron’s SKAI asynchronous motor control module as basic hardware.
Then we modify the circuit and design new control strategy in order to make themodule an automotive PMSM control module. In this chapter it first introducesSemikron module hardware features and then introduces the circuit improvement. Weadd a position sensor module with which we can fulfill field oriented control ofPMSM, and also a new protection module. Next, the article introduces PMSM fieldoriented control algorithms, with this algorithm the motor can export given torque.Here we introduce the PID and SVPWM module in FOC algorithm.
Finally, we put these on test rig and test the whole control module and control strategy.In the test results we can see, both control module and control strategy works well. Inthe last is the summarize of the article, it point out that FOC strategy works only inmedium speed control area and there are still several steps that we need to doincluding field weakening control and sensorless control strategy.
引文
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