CN102570958B - 用于控制电动车辆的感应电动机的转矩的系统和方法 - Google Patents
用于控制电动车辆的感应电动机的转矩的系统和方法 Download PDFInfo
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Abstract
本发明公开了一种用于控制电动车辆的转矩的系统和方法。根据本公开的用于控制电动车辆的感应电动机的转矩的系统和方法的有益效果在于,通过使用查表(一种数据表类型)能够解决在控制感应电动机的转矩的过程中由磁通量的饱和、感应电动机的参数和电池电压的变化引起的转矩控制问题,因此,提高了转矩控制的精度并提高行驶性能和电动车辆的燃料效率。
Description
本申请要求享有在2010年12月30日提交的韩国专利申请第10-2010-0139464号的在先提交日的权益和优先权,其全部内容通过引用合并于此。
技术领域
根据本公开的一个示例性实施例的教导通常涉及一种用于控制电动车辆的感应电动机的转矩的系统和方法,尤其涉及这样一种用于控制电动车辆的感应电动机的转矩的系统和方法:其被配置为使用查表来解决在控制感应电动机的转矩过程中由磁通量的饱和、感应电动机的参数和电池电压的变化引起的转矩控制问题,从而提高转矩控制的精度。
背景技术
使用转矩补偿逻辑的方法通常用于补偿由混合电动车辆的内置式永磁同步电动机的温度变化引起的转矩的变化。然而,常规的方法具有如下缺点:在感应电动机中的转矩控制中仅考虑温度,而不足以对付其它因素,例如感应电动机的磁通量的饱和以及电池电压的变化,使得难以精确地控制感应电动机的转矩。
发明内容
已经作出本发明以解决现有技术的前述缺点,而因此,本公开的特定实施例的目的是提供这样一种系统及其方法:其通过使用通过模拟预先准备的查表(look-up table)(一种数据表类型)来解决在电动车辆的感应电动机的转矩控制过程中由感应电动机的磁通量的饱和、感应电动机的参数和电池电压的变化引起的控制问题,从而能够提高电动车辆的转矩控制精度。
本公开所要解决的技术主题不限于上述的描述,本领域的技术人员可以从下面的描述中清楚地理解到目前为止还未提及的一些其它技术问题。也就是说,在下列示例性的描述过程中,将更容易地理解本公开并且本公开的其它目的、特征、细节和优点将变得更加清晰,这些示例性实施例的描述结合附图给出,并非旨在暗含对本公开的任何限制。
本发明的一个目的是整体或部分地解决至少一个或多个上述问题和/或缺点,并提供至少下文中所述的优点。为了全部或部分地达到至少上述目的,以及根据所体现的和广泛描述的本公开的意图,在本发明的一个一般方案中,提供了一种用于控制电动车辆的感应电动机的转矩的系统,该系统包括:电流指令单元,其使用二维查表,根据电源指令和感应电动机的转速ω,输出固定坐标系(或静止坐标系)的d轴和q轴电流指令并基于输出的d轴电流指令使用一维查表,输出互感系数Lm和转子转矩Tr;通量/电流控制器,其接收来自电流指令单元的互感系数Lm和转子转矩Tr以控制感应电动机的通量并计算转子的转差率,并且在此基础上,输出相对于来自电流指令单元的d轴和q轴电流指令的d轴和q轴电压指令V* dq;PWM(脉冲宽度调制)/门驱动器,其接收来自通量/电流控制器的d轴和q轴电流指令以调制脉冲宽度并输出晶体管的门驱动电压;以及逆变器,其接收来自PWM/门驱动器的输出以输出用于驱动感应电动机的AC电压。
优选地,但不是必须的,所述二维查表为一种根据电源指令(powercommand)和感应电动机的转速通过模拟得到的电流指令的数据表类型。
优选地,但不是必须的,所述的一维查表为一种通过模拟得到的来自电流指令单元的互感系数Lm和转子转矩Tr的数据表类型。
优选地,但不是必须的,所述通量/电流控制器包括:通量控制器,其接收从电流指令单元输出的互感系数Lm以基于输入的互感系数Lm控制感应电动机的通量;以及转差率计算器,其接收从电流指令单元输出的转子转矩Tr以基于输入的转子转矩Tr计算转子的转差率。
在本公开的另一一般方案中,提供了一种用于控制电动车辆的感应电动机的转矩的方法,所述电动车辆包括:电流指令单元、通量/电流控制器、PWM(脉冲宽度调制)/门驱动器和逆变器,所述方法包括:(a)使用二维查表,根据电源指令和感应电动机的转速,通过电流指令单元输出固定坐标系中的d轴和q轴电流指令(b)基于输出的d轴电流指令使用一维查表,通过电流指令单元输出互感系数Lm和转子转矩Tr;(c)通过通量/电流控制器接收来自电流指令单元的互感系数Lm和转子转矩Tr以控制感应电动机的通量并计算转子的转差率,并且在此基础上,输出相对于来自电流指令单元的d轴和q轴电流指令的d轴和q轴电压指令V* dq;(d)通过PWM(脉冲宽度调制)/门驱动器接收来自通量/电流控制器的d轴和q轴电流指令以调制脉冲宽度并输出晶体管的门驱动电压;和(e)通过逆变器接收来自PWM/门驱动器的输出以输出用于驱动感应电动机的AC电压。
优选地,但不是必须地,在(a)中的所述二维查表为一种根据电源指令和感应电动机的转速通过模拟得到的电流指令的数据表类型。
优选地,但不是必须地,在(b)中的所述一维查表为一种通过模拟得到的来自电流指令单元的互感系数Lm和转子转矩Tr的数据表类型。
根据本公开的用于控制电动车辆的感应电动机的转矩的系统和方法的有益效果在于,在控制感应电动机的转矩的过程中由磁通量的饱和、感应电动机的参数和电池电压的变化引起的转矩控制的问题可以通过使用查表(一种数据表类型)来解决,因此,提高了转矩控制的精度并提高了电动车辆的行驶性能和燃料效率。
附图说明
附图被包括以助于进一步理解本公开,所述附图引入到本申请中并构成该申请的一部分,所述附图图示了本公开的实施例,其与说明书一起用于解释本公开的原理。在附图中:
图1为图示根据本公开的一个示例性实施例的用于控制电动车辆的感应电动机的转矩的系统的示意性方块图;
图2为图示根据本公开的一个示例性实施例的实施用于控制电动车辆的感应电动机的转矩的方法的过程的流程图;
图3和图4为图示根据本公开的一个示例性实施例的二维查表的示意图,其根据用于控制电动车辆的感应电动机的转矩的方法输出电源指令和电流指令;
图5为图示根据本公开的一个示例性实施例的一维查表的示意图,其根据用于控制电动车辆的感应电动机的转矩的方法基于d轴电流指令输出互感系数(Lm);以及
图6为图示根据本公开的一个示例性的实施例的一维查表的示意图,其根据用于控制电动车辆的感应电动机的转矩的方法基于d轴电流指令输出转子转矩(Tr)。
具体实施方式
参照附图在下文中将更详细地描述多个示例性实施例,在附图中示出了一些示例性实施例。然而,本发明的概念可以以许多不同的形式体现,而不能解释成限于在此提出的示例性实施例。相反,提供这些示例性实施例从而使得该描述更全面和完整,并将本发明理念的范围充分传达给本领域的技术人员。
除非另外申明,在本文中使用所有的术语(包括技术和科学术语)具有与本发明所属领域的普通技术人员所理解的普通含义相同的含义。应该进一步理解的是,例如在通常所使用的词典里所定义的术语应该解释成具有与相关领域的语境中的含义相一致的含义,而不能解释成理想化的或过分正式的含义,除非在本文中特别定义。
此外,“示例性”仅表示指的是一个例子,而不是最好的。还应该理解的是,为了简单和容易理解的目的,本文中描述的特征、层和/或元件以相对于彼此的特定尺寸和/或方位示出,而实际尺寸和/或方位可以与示出的尺寸和/或方位显著不同。
省去对已知组件和处理技术的描述,从而不会不必要使本公开的实施例难以理解。
在下文中,将参照附图将详细地描述根据本公开的用于控制电动车辆的感应电动机的转矩的系统和方法。
图1为图示根据本公开的一个示例性实施例的用于控制电动车辆的感应电动机的转矩的系统的示意性方块图。
参照图1,根据本公开的一个示例性实施例的用于控制电动车辆的感应电动机150的转矩的系统(下文中,称作转矩控制系统)包括:电流指令单元110、通量/电流控制器120、PWM/门驱动器130和逆变器140。
所述电流指令单元110可以使用二维查表根据电源指令和感应电动机150的转速ω输出固定坐标系的d轴和q轴电流指令并基于输出的d轴电流指令使用一维查表输出互感系数Lm和转子转矩Tr,其中,所述电流指令单元110可以配置有单独的软件模块。
所述通量/电流控制器120可以接收来自电流指令单元110的互感系数Lm和转子转矩Tr以控制感应电动机的通量并计算转子的转差率(slip)。通过反映通量或转子的转差率的控制,所述通量/电流控制器120还可以输出相对于来自所述电流指令单元的d轴和q轴电流指令的d轴和q轴电压指令V* dq,其中,所述通量/电流控制器120可以配置有单独的软件模块。
所述PWM(脉冲宽度调制)/门驱动器130可以接收来自通量/电流控制器的d轴和q轴电流指令以调制脉冲宽度并输出晶体管(即,作为后面将要描述的逆变器的半导体开关元件的晶体管)的门驱动电压,其中,所述PWM(脉冲宽度调制)/门驱动器130可以配置有SVPWM(空间矢量脉冲宽度调制)门驱动器。
所述逆变器140可以接收来自PWM/门驱动器的输出以输出用于驱动感应电动机的AC(交流电)电压,其中,电流指令单元110所使用的二维查表可以为一种通过对电流指令单元所使用的电源指令P*和感应电动机150的转速ω的模拟得到的电流指令的数据表类型,并且所述电源指令P*可以表达为转矩指令T*和感应电动机的转速ω的乘积。
此外,所述电流指令单元110所使用的一维查表可以为一种通过模拟得到的相对于电流指令(即,d轴电流指令)的互感系数Lm和转子转矩Tr的数据表类型。
此外,所述通量/电流控制器包括:通量控制器121,其接收从电流指令单元输出的互感系数Lm以基于输入的互感系数Lm控制感应电动机的通量;以及转差率计算器122,其接收从电流指令单元110输出的转子转矩Tr以基于输入的转子转矩Tr计算转子的转差率。
现在,将描述用于控制电动车辆中的感应电动机的转矩的方法,其使用根据本公开而配置的用于控制电动车辆的感应电动机的转矩的系统。
图2为图示根据本公开的一个示例性实施例的实施用于控制电动车辆的感应电动机的转矩的方法的过程的流程图。
参照图2,根据本公开的一个示例性实施例的用于控制电动车辆的感应电动机的转矩的方法为这样一种方法:其使用用于控制电动车辆的感应电动机的转矩的系统来控制电动车辆的感应电动机的转矩,所述系统包括电流指令单元110、通量/电流控制器120、PWM/门驱动器130和逆变器140。
首先,使用二维查表通过电流指令单元110根据电源指令P*和感应电动机的转速ω输出固定坐标系的d轴和q轴电流指令(S201)。
图3和图4为示出二维查表的示意图,通过提前计算以有效利用来自实测数据的电流和电压,所述二维查表根据感应电动机的转速ω输出电源指令和电流指令,其中图3(A)显示电动机运转d轴电流指令,图3(B)显示电动机运转q轴电流指令,图4(A)显示重新生成的运转d轴电流指令,以及图4(B)显示重新生成的运转q轴电流指令。
此时,所述二维查表可以为一种根据电源指令P*和感应电动机的转速ω输出电流指令的电流指令数据表类型,并且所述电流指令数据表是通过由本公开的系统设计者的模拟预先得到的。
同时,所述电源指令P*是转矩指令T*和感应电动机的转速ω的乘积,其中,如果在逆变器140处改变DC-链电压(DC-link voltage),则通过改变电动机转速根据给定的DC-链电压产生可输出的电流指令,其中所述电动机转速为响应于相对标准电压的比值的二维查表的另一输入。此外,所述电流指令被计算以沿着MTPA(最大转矩/安培)曲线和MFPT(最大通量/转矩)曲线移动,以使铜损失最小化并提高电压的使用率。
在固定坐标系的d轴和q轴电流指令基于前述被输出的情况下,使用基于输出的d轴电流指令的一维查表,通过所述电流指令单元输出互感系数Lm和转子转矩Tr(S202),其中,所述电流指令单元110所使用的一维查表可以为一种通过模拟得到的相对于电流指令的互感系数Lm和转子转矩Tr的数据表类型。
图5为图示根据本公开的一个示例性实施例的一维查表的示意图,其根据用于控制电动车辆的感应电动机的转矩的方法基于d轴电流指令输出互感系数Lm;以及图6为图示根据本公开的一个示例性实施例的一维查表的示意图,其根据用于控制电动车辆的感应电动机的转矩的方法基于d轴电流指令输出转子转矩Tr。
输出互感系数Lm的所述一维查表使得在弱磁控制的过程中能够考虑到通量饱和而实现精确控制。此外,图6的输出转子转矩Tr的二维查表能够在间接的矢量控制的过程中考虑电动机的参数的变化提高转矩控制的精度。
也就是说,作出一维查表输出的互感系数Lm修正二维查表的实测数据的测量误差,其反映为能够进行弱磁控制的通量控制器121的输入,从而能够考虑到通量的饱和而进行弱磁控制。
此外,另一一维查表输出在间接矢量控制过程中计算转差率使用的转子转矩Tr,由此通过反映通量的饱和以及电动机的温度的变化引起的参数的变化,精确的转矩控制是可能的。
同时,在输出如此配置的互感系数Lm和转子转矩Tr的情况下,所述通量/电流控制器120接收来自电流控制单元110的互感系数Lm和转子转矩Tr以控制感应电动机150的通量并计算转子的转差率,以及在此基础上,输出相对于来自电流指令单元的d轴和q轴电流指令的d轴和q轴电压指令V* dq(S203)。
接着,所述PWM(脉冲宽度调制)/门驱动器130接收来自通量/电流控制器120的d轴和q轴电流指令以调制脉冲宽度并输出晶体管(作为后面描述的逆变器140的半导体开关元件晶体管)的门驱动电压(S204)。
此后,所述逆变器140接收来自PWM/门驱动器130的输出以输出用于驱动感应电动机150的AC电压(S205)。
提供的本发明的之前的描述使得本领域的任何普通技术人员能够实现或使用本发明。对本发明的多种修改对于本领域的普通技术人员而言是显而易见的,而在本文中定义的一般原理可以应用于其它的变例中,而不偏离本发明的实质或范围。因此,本发明并不意欲限于本文中描述的示例,而是符合与在本文中公开的原理和新型特征一致的最宽的范围。
从前述内容可以显而易见的是,所述用于控制电动车辆的感应电动机的转矩的系统和方法具有工业实用性,因为通过使用二维或一维查表(数据表的类型)解决在控制电动车辆的感应电动机的转矩过程中由于通量的饱和以及参数和电池电压的变化引起的控制问题,能够获得反映感应电动机的通量饱和以及在逆变器DC-链处较宽的电压范围内的参数变化的精确转矩控制,由此,可以改善电动车辆的行驶性能和燃料消耗。
Claims (6)
1.一种用于控制电动车辆的感应电动机的转矩的系统,所述系统包括:电流指令单元,其使用二维查表根据电源指令和感应电动机的转速,输出固定坐标系的d轴和q轴电流指令,并基于输出的d轴电流指令使用一维查表,输出互感系数和转子转矩;
通量/电流控制器,其接收来自电流指令单元的互感系数和转子转矩以控制感应电动机的通量并计算转子的转差率,并且在此基础上,输出相对于来自电流指令单元的d轴和q轴电流指令的d轴和q轴电压指令;
脉冲宽度调制/门驱动器,其接收来自通量/电流控制器的d轴和q轴电压指令以调制脉冲宽度并输出晶体管的门驱动电压;
以及逆变器,其接收来自脉冲宽度调制/门驱动器的输出以输出用于驱动感应电动机的AC电压,
其中所述通量/电流控制器包括:
通量控制器,其基于从电流指令单元接收到的互感系数控制感应电动机的通量,以及
转差率计算器,其基于从电流指令单元接收到的转子转矩计算转子的转差率。
2.根据权利要求1所述的系统,其中所述二维查表为一种根据电源指令和感应电动机的转速通过模拟得到的电流指令的数据表类型。
3.根据权利要求1所述的系统,其中所述的一维查表为一种通过模拟得到的来自电流指令单元的互感系数和转子转矩的数据表类型。
4.一种用于控制电动车辆的感应电动机的转矩的方法,所述电动车辆包括:电流指令单元、通量/电流控制器、脉冲宽度调制/门驱动器和逆变器,所述方法特征在于:
使用二维查表,根据电源指令和感应电动机的转速,通过电流指令单元输出固定坐标系的d轴和q轴电流指令;
基于输出的d轴电流指令,使用一维查表,通过电流指令单元输出互感系数和转子转矩;
通过通量控制器,基于从电流指令单元接收到的互感系数控制感应电动机的通量;
通过转差率计算器,基于从电流指令单元接收到的转子转矩计算转子的转差率;
通过脉冲宽度调制/门驱动器接收来自通量/电流控制器的d轴和q轴电压指令,以调制脉冲宽度并输出晶体管的门驱动电压;和
通过逆变器接收来自脉冲宽度调制/门驱动器的输出,以输出用于驱动感应电动机的AC电压。
5.根据权利要求4所述的方法,其中所述二维查表为一种根据电源指令和感应电动机的转速通过模拟得到的电流指令的数据表类型。
6.根据权利要求4所述的方法,其特征在于:所述一维查表为一种通过模拟得到的来自电流指令单元的互感系数和转子转矩的数据表类型。
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US20120169268A1 (en) | 2012-07-05 |
ES2661077T3 (es) | 2018-03-27 |
EP2485389A2 (en) | 2012-08-08 |
JP5343119B2 (ja) | 2013-11-13 |
JP2012143144A (ja) | 2012-07-26 |
EP2485389B1 (en) | 2018-02-14 |
KR101209965B1 (ko) | 2012-12-07 |
CN102570958A (zh) | 2012-07-11 |
KR20120077498A (ko) | 2012-07-10 |
EP2485389A3 (en) | 2016-01-27 |
US8508162B2 (en) | 2013-08-13 |
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