混合动力汽车永磁同步电机矢量控制策略的研究

分类号密级混合动力汽车永磁同步电机矢量控制策略的研究研究生姓名：车倍凯指导教师姓名、职称：肖伸平教授学科专业：控制理论与控制工程研究方向：自动化集成技术及应用湖南工业大学二○一三年五月三十日I摘要混合动力汽车是目前新能源汽车的主要研究方向之一，电机驱动系统作为其关键技术，其性能优劣直接影响到整车动力性能和燃油经济性能，因此对其进行深入研究具有现实意义。论文首先介绍了永磁同步电机数学模型、矢量控制原理以及常用控制方法，然后详细阐述了矢量控制中常用的空间矢量脉宽调制(SVPWM)技术。针对永磁同步电机调速系统动态过程中出现的电压耦合问题，研究了三种解耦控制策略:电流反馈解耦控制、内模解耦控制和偏差解耦控制。电流反馈解耦将电流控制器输出端耦合项通过反馈形式予以补偿，容易实现，但是受电机参数估算准确性影响较大；以内模控制理论为基础的内模解耦方法对参数的变化有更好的鲁棒性；偏差解耦作为直接控制与交叉控制相结合的一种方法虽然复杂，但解耦效果基本不受参数变化影响，鲁棒性强。Matlab仿真结果证实了解耦控制策略的有效性。鉴于电驱动系统运行时的参数时变和非线性问题，普通PI控制无法在各种工况下达到设计性能指标，本文在转速环采用模糊PI参数自整定控制方法，根据不同转速误差及其变化率，实时调整PI参数，使得电机运行时获得更好的动态响应，通过对上两种控制方法进行仿真分析，证实了模糊自整定PI控制的优越性。昀后介绍了电驱动系统电机控制器的硬件设计包括主要功能模块的原理及实现方法，软件部分设计了控制系统的主程序以及中断程序等。通过理论分析与建模仿真，验证了本文设计的永磁同步电机驱动系统控制策略的正确性和有效性，为该系统的进一步研究奠定了基础。关键词:永磁同步电机,矢量控制,解耦控制,模糊自整定PI,Matlab仿真IIABSTRACTAtpresent,hybridelectricVehicleisoneofthemainstreamareaoftheresearchonnewenergyvehicles.Motordrivesystemisactasitscriticaltechnologies,whoseperformancewillinfluencethewholevehicle’sdynamicperformanceandfuelconsumptionperformancedirectly.Soithaspracticalsignificancetomakeanin-depthresearchtowardsthemotordrivesystem.Firstly,thisthesisintroducesthemathematicalmodelsofpermanentmagnetsynchronousmotor,theprinciplesofvectorcontrolandthecommonlyusedcontrolmethodforPMSM.Thenitmakesaspecificexplanationtowardstheelaboratedprinciplesofspacevectorpulsewidthmodulation(SVPWM)whichiscommonlyusedinvectorcontrol.ThisdissertationfocusesonresearchthevoltagecouplingproblemwhenPMSMgoverningsysteminadynamicprocess,andcomparedthreedynamicdecouplingstrategy:thecurrentfeedbackdecouplingcontrol,IMCanderrorcompensationdecouplingcontrol.Currentfeedbackdecouplingcontrolcompensatedthecouplingcomponentsoutputofcurrentcontrollerviafeedback,thismethodwaseasytorealize,butitdependshighlyontheaccuracyofthemotorparameters;IMCbasedonthetheoryofinternalmodelcontrollessdependentthemotorparameters;Althougherrorcompensationdecouplingcontrolasamixedstructureofdirectcontrolandcross-couplingcontroliscomplex,ithaswelldecouplingeffectwithstrongrobustnesstothemotorparameterestimationerrors.Simulationresultsconfirmedtheeffectivenessofthedecouplingcontrolstrategy.Owingtoparametersvaryingwithtimeandnon-linearwhenmotordrivesystemrunning,thecommonPIcontrolcannotbeinavarietyofconditionstoachievedesignperformance,thedissertationusedfuzzyPIparametersself-tuningcontrolmethodinthespeedloop,canadjustmentedthePIparametersinreal-timedependingonspeederroranditsrateofchange.whenthemotorisrunningcangetabetterdynamicresponseanalysisofthesimulationresultsofthetwocontrolmethods,IIIconfirmedthesuperiorityofthefuzzyadaptivePIcontrol.Finally,themainstructuresofthesoftwareandhardwarepartsofthetheelectricdrivesystemmotorcontrollerareintroduced.Principlesandrealizationofthemainfunctionalblocksofthesetwopartsarealsoilluminated.Thesoftwareflowchartofoverallsystemandtheworkflowchartofinterruptsubroutinearedesigned.Throughthetheoreticalanalysisandsimulationstudies,thethesisverifiesthatitiscorrectandeffectivefortheauthor’smethodofvectorcontroltowardsthePMSMdrivesystem.Alloftheselaidthefoundationforthefurtherstudyofthesystem.KeyWords:PMSM，FOC，DecouplingControl，FuzzyPIParametersSelf-tuningControl，SimulationIV目录摘要..............................................................................................................................IABSTRACT..................................................................................................................II第一章绪论..................................................................................................................11.1研究背景与意义..............................................................................................11.2国内外混合动力汽车电机驱动系统发展动态..............................................21.2.1驱动电机发展动态................................................................................21.2.2电控系统发展动态................................................................................31.3混合动力汽车及其驱动电机概述..................................................................41.3.1HEV电机驱动系统特性......................................................................41.3.2电驱动系统中各种电机性能比较........................................................41.3.3永磁同步电机概述................................................................................51.4永磁同步电机控制策略的发展......................................................................61.5本文主要研究内容..........................................................................................8第二章永磁同步电机的数学模型及其控制策略......................................................92.1PMSM数学模型与坐标矢量变换..................................................................92.1.1三相静止坐标系下的数学模型............................................................92.1.2坐标矢量变换......................................................................................102.1.3dq0坐标系下的永磁同步电机数学模型............................................122.2永磁同步电机控制方法................................................................................132.2.1零d轴电流矢量控制..........................................................................152.2