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江苏科技大学硕士学位论文大摘要论文题目电动汽车空调压缩机用永磁同步电机控制系统研究方向集成控制系统学科专业控制工程研究生姓名杨康导师姓名魏海峰副教授提交时间2014年06月07日大摘要电动汽车空调压缩机用永磁同步电机控制系统大摘要随着科技的发展以及对汽车驱动能源应用的深入研究，逐渐确立了以电能为主导的发展方向，电动汽车的发展进入了一个崭新的阶段，终将完成行业变革，代替传统的汽油车，实现真正的零污染零排放。电动汽车的发展又推动着车载空调的变革，作为汽车上一个重要的辅助子系统，其关键部件——压缩机长期被日本电装（DENSO）等国外品牌垄断，为了打破国外技术壁垒，国内一些企业和研究人员展开了对车载一体式电动压缩机的研究，本课题正是在此背景下展开的，具有重要的理论价值和现实意义。永磁同步电机（PMSM）因其体积小、寿命长、噪音低、效率高等优点，非常适合于车载空调系统中，但因为压缩机中很难安装位置传感器，需要使用无位置传感器控制技术，因而复杂的控制算法成为应用的瓶颈。论文选择基于滑模观测器的无传感器控制技术，该控制策略适用于高速运行下的电机调速，鲁棒性好、控制算法易于工程实现。在分析了永磁同步电机的数学模型和矢量控制理论后，建立了一套永磁同步电机矢量控制策略，给出了详细的数学表达，并在MATLAB/SIMULINK下搭建了仿真模型进行仿真研究。针对永磁同步电机无传感器控制，设计了一套基于滑模观测器的控制系统，详细推导了其数学表达，并对其模型进行了阐述，为实际系统设计提供了理论依据。详细介绍了以STM32F103为控制核心基于滑模观测器的永磁同步电机无位置传感器控制系统的软硬件设计。对系统的电源电路、驱动电路、控制电路、通信电路等进行了详细的阐述，保证硬件系统的可靠性和稳定性。针对论文提出的基于滑模观测器的PMSM控制策略进行了系统软件设计，用程序流程图分析了程序结构、中断程序和故障保护程序的设计,对系统设计步骤和流程等方面进行了详细的描述，为实验研究奠定了基础。搭建永磁同步电机实验平台，针对样机进行了大量的实验研究，详细分析了样机的启动过程和负载性能，并重点对电机的运行效率进行了研究分析，找出了系统的最佳工作区域。实验可得到如下结论：（1）控制策略能有效实现电机转子定位和起动，在转速闭环与开环加速之大摘要间，设计了位置闭环运行阶段，提高了闭环切换的可靠性；（2）滑模观测器能准确测取电机转子位置信息，从而完成无位置传感器运行时的自同步与闭环调速；（3）即使在高速重载工况下，控制方案仍具有较高的调速精度；（4）在压缩机运行的常态工况下，电机运行效率可达90%，并在较大转矩区间内都具有80%以上的运行效率。实验结果证明，控制方案能满足车载变频空调系统的应用需求，具有良好的工程应用价值。这些研究结果，从效率控制的角度，为车载空调温控模式的设定和驱动电机的选型及控制，给出了有益的指导性建议，为下一步的整机匹配奠定了基础。关键词车载空调；永磁同步电机；矢量控制；滑模观测器；STM32F103AbstractPermanentMagnetSynchronousMotorControlSystemforAir-conditionCompressorofElectricVehicleAbstractWiththedevelopmentoftechnologyandextensiveresearchonthecardrivenenergyapplications,wegraduallyestablishedthedominantdevelopmentdirectionbyelectricity.Thedevelopmentofelectricvehiclesenteredanewphase,whichwilleventuallycompletethechangeintheindustryandtheelectricvehicleswilltaketheplaceoftraditionalgasolinevehiclestoachievezeroemissionsandzeropollutioninthetruesense.Thedevelopmentofelectricvehicleshaspromotedthechangeofautomotiveairconditioning.Asanimportantauxiliarysubsysteminthecar,theautomotiveairconditioninghasakeycomponentwhichisthecompressor,however,thathasbeenmonopolizedbyJapan'sDensoandotherforeignbrandsforalongtime.Inordertobreaktheforeigntechnicalbarriers,somedomesticenterprisesandresearchersbeganastudyofon-boardone-pieceelectriccompressor.Thistopicisexpandedunderthisbackground,whichhasimportanttheoreticalandpracticalsignificance.Permanentmagnetsynchronousmotor(PMSM)isverysuitableforautomotiveairconditioningsystembecauseofitssmallsize,longlife,lownoiseandhighefficiency.However,becauseitisdifficulttoinstallthepositionsensorinthecompressor,peoplehavetousethesensorlesscontroltechnology.Asaresult,complexcontrolalgorithmsbecomethebottleneckofapplied.Articlesselectedsensorlesscontroltechnologybasedonslidingmodeobserver,toapplicabletothemotorspeedregulationunderhigh-speedoperation,whichhasagoodrobustnessandthecontrolalgorithmiseasytoimplementation.Afteranalyzingthemathematicalmodelandthevectorcontroltheoryofpermanentmagnetsynchronousmotor,IestablishedasetofpermanentmagnetsynchronousmotorvectorcontrolstrategywhichprovidesthedetailedmathematicalexpressionandandsetupansimulationmodelforthesimulationresearchunderMATLAB/SIMULINK.Inallusiontosensorlesscontrolofpermanentmagnetsynchronousmotor,acontrolsystemwasdesignedbasedonslidingmodeobserverAbstractandthemathematicalexpressionwasderivedindetail.Itsmodelhasbeenelaboratedprovideatheoreticalbasisfortheactualsystemdesign.ArticleintroducesthehardwareandsoftwaredesignofPMSMpositionsensorlesscontrolsystemwhichusesSTM32F103ascontrolcorebasedonslidingmodeobserverlandexpoundsthesystem'spowercircuit,drivercircuit,controlcircuits,communicationcircuits,etcindetailtoensurethereliabilityandstabilityofthehardwaresystem.Thedesignofprogramstructure,theinterruptprogramandthefaultprotectionprogramwereanalyzedbytheprogramflowchart.Thesoftwaresystemwasdesignedbasedontheslidingmodeobservercontrolstrategy.Thesystemdesignstepsandprocessesandotheraspectsweredescribedindetail,whichlaidthefoundationfortheexperimentalstudy.Apermanentmagnetsynchronousmotorexperimentalplatformwasbuilt.Conductalargenumberofexperimentalstudiesforprototypeandadetailedanalysisoftheloadperformanceandthestartupprocessoftheprototype.Theoperationalefficiencyofthemotorswerestudiedandanalyzedwithanemphasistofindthebestworkingareasofthesystem.Theexperimentingconclusionisasfollows:(1)Thecontrolstrategycaneffectivelyrealizethemotorrotorpositionandstarting.Thereliabilityoftheclosed-loopswitchwasimprovedbythedesignofthepositionloopoperationbetweenthespeedclosed-loopandopen-loopacceleration.(2)Slidingmodeobservercanaccuratelymeasuremotorrotorpositioninformation,soastocompletetheselfsynchronizationandclosedloopspeedsensorlessoperation.(3)Evenathighspeedandheavyloadconditions,thiscontrolschemestillhasahighaccuracyofspeed.(4)Innormalworkingconditionsofthecompressoroperation,themotorrunningefficiencycanreach90%,andinthelargertorquerangeworkingconditionsitstillhasoperationefficiencyabove80%.Experimentsshowedthatthesystemhasbasicallymeettherequirementsoftheprototype,whichispreparingforthenextloadmatchingexperiment.KeywordsTheVehicleAirConditioning;PMSM;VectorControl;ClidingModeObserver;STM32F103