CN103391034B - The electric automobile hub control method of disk type coreless Permanent Magnet Synchronous Motor Controller - Google Patents
The electric automobile hub control method of disk type coreless Permanent Magnet Synchronous Motor Controller Download PDFInfo
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- CN103391034B CN103391034B CN201310331952.7A CN201310331952A CN103391034B CN 103391034 B CN103391034 B CN 103391034B CN 201310331952 A CN201310331952 A CN 201310331952A CN 103391034 B CN103391034 B CN 103391034B
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Abstract
A kind of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller makes method, the three-phase inverting circuit including control circuit and be connected for driving disc type coreless machine with the signal output part of control circuit, also be provided with DC-DC conversion circuit, the signal output part of the control signal input connection control circuit of described DC-DC conversion circuit, the current output terminal of described DC-DC conversion circuit connects the current input terminal of three-phase inverting circuit by inductance L, the output shaft of described disk type coreless motor passes through the signal input part of an angular transducer connection control circuit, the three-phase of described three-phase inverting circuit exports the signal input part respectively by current sensor connection control circuit.The present invention is simple and reliable, and control system response is fast, realizes the control to motor electromagnetic torque, for control algolithm provides rotor-position signal accurately, present invention decreases the torque pulsation because commutation causes.<!-- 2 -->
Description
Technical field
The present invention relates to a kind of disk type coreless permagnetic synchronous motor.Particularly relate to a kind of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller based on brush DC control model and method.
Background technology
Electric energy is as a kind of new cleaning fuel, and will become the inexorable trend of future source of energy development, electric automobile also must replace the mode of transportation that traditional fuel-engined vehicle becomes the New Times.The correlation technique in current electric automobile field is the hot topic of research and development, and car wheel electromotor is also the emphasis of recent research.Driving control system for electric machine, as a core component of car load power assembly system, must ensure its high efficiency, fast-response.Drive system many employings centralized driving of current common electric automobile, the rotary power that motor produces is through transmission system drives rotation of wheels such as gear trains, in this process will inevitably some energy loss, adopt wheel hub motor to rotate by direct drive of wheel, thus it is minimum that energy loss is dropped to.
Disk type coreless permagnetic synchronous motor, does not have that cogging torque, overload capacity are extremely strong, axial dimension is short, lightweight, compact conformation, is particularly suitable for the wheel hub motor of electric automobile.But because motor itself does not have iron core, stator winding inductance is very little, when making the controller based on voltage-type drive this type of motor, stator winding current can not be continuous, motor is caused to produce torque ripple, so traditional motor control method can not meet the control overflow of disk type coreless permagnetic synchronous motor.
Summary of the invention
Technical problem to be solved by this invention is, provide a kind of by disk type coreless motor application in the electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller of electric automobile hub drive system and method.
The technical solution adopted in the present invention is: a kind of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller, the three-phase inverting circuit including control circuit and be connected for driving disc type coreless machine with the signal output part of control circuit, also be provided with DC-DC conversion circuit, the signal output part of the control signal input connection control circuit of described DC-DC conversion circuit, the current output terminal of described DC-DC conversion circuit connects the current input terminal of three-phase inverting circuit by inductance L, the output shaft of described disk type coreless motor passes through the signal input part of an angular transducer connection control circuit, the three-phase of described three-phase inverting circuit exports the signal input part respectively by current sensor connection control circuit.
Described DC-DC conversion circuit includes DC power supply Us, be connected in parallel on the Absorption Capacitance C at DC power supply Us two ends, the first inverse parallel fly-wheel diode VSD1 between first switching tube VS1 and the collector and emitter being connected to the first switching tube VS1, and the second inverse parallel fly-wheel diode VSD2 between second switch pipe VS2 and the collector and emitter being connected to second switch pipe VS2, wherein, the collector electrode of the first described switching tube VS1 connects the positive pole of DC power supply Us, the signal output part of grid connection control circuit, the emitter of described second switch pipe VS2 connects the negative pole of DC power supply Us, the signal output part of grid connection control circuit, the collector electrode of second switch pipe VS2 and the emitter of the first switching tube VS1 are connected one end of inductance L jointly as output.
Described angular transducer adopts resolver or photoelectric encoder or magnetism encoder.
A control method for electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller, the control model of control section adopts stator current 120 degree of conduction modes, and stator winding only has two to be conducted simultaneously, every 60 degree of commutations once; Three-phase inverting circuit adopts Heng Tong mode, and be namely in two switching tubes opened in each state area and do not carry out PWM, three-phase inverting circuit only plays commutation effect; Control section adopts double circle controling mode, and outer shroud is speed ring, and inner ring is torque ring, and control section calculates the duty ratio of chopper circuit switching tube according to the output valve of torque controller, thus regulates stator current size.
Control circuit goes out the position angle of rotor according to the calculated signals that angular transducer feeds back, and estimates the electromagnetic torque of disk type coreless motor, thus achieves the torque closed-loop control of motor.
The position angle of the rotor that control circuit feeds back according to angular transducer, adjusts the commutation angle of disk type coreless motor, thus reduces the commutation torque ripple of disk type coreless motor.
The output of control circuit medium velocity adjuster and the difference of torque are as the input of torque controller.
Described control circuit calculates the duty ratio of chopper circuit switching tube according to the output valve of torque controller; Control circuit detects the three-phase current i of disk type coreless motor in real time
a, i
b, i
c, three-phase current is transformed into current i under d, q axis coordinate system by coordinate transform
d, i
q, then according to inductance of disk type coreless motor itself and magnetic linkage, number of pole-pairs, calculate the actual torque value of disk type coreless motor according to the torque equation of disk type coreless motor, the torque value calculated is namely as the torque feedback value of torque controller; The torque equation of disk type coreless motor is:
Because the cross, straight inductance of disk type coreless permagnetic synchronous motor is equal, i.e. L
d=L
q, electromagnetic torque can be expressed as:
In formula
T
d-torque value
P
m-motor number of pole-pairs
ψ
r-rotor magnetic linkage, draws by finite element software emulation.
-motor quadrature axis current component.
Electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller of the present invention and method, have following beneficial effect:
1) employing chopper circuit regulates the electric current in motor stator winding, thus realizes the control to motor electromagnetic torque.2) inverter bridge does not carry out PWM speed governing, reduces the switching loss of system.
3) adopt resolver as motor rotor position checkout gear, for control algolithm provides rotor-position signal accurately.
4) direct torque control algorithm is combined with brush DC control model, achieve the control to coreless permanent magnet synchronous machine.
5) regulate stator current commutation angle according to motor rotor position, reduce the torque pulsation because commutation causes.
6) adopt stator current 120 degree of conduction modes to control motor, control algolithm is simple and reliable, and control system response is fast.
Accompanying drawing explanation
Fig. 1 is the circuit theory diagrams of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller of the present invention.
Embodiment
Below in conjunction with embodiment and accompanying drawing, electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller of the present invention and method are described in detail.
As shown in Figure 1, electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller of the present invention and method, the three-phase inverting circuit 2 including control circuit 1 and be connected with the signal output part of control circuit 1 for driving disc type coreless machine M, also be provided with DC-DC conversion circuit 3, the signal output part of the control signal input connection control circuit 1 of described DC-DC conversion circuit 3, the current output terminal of described DC-DC conversion circuit 3 connects the current input terminal of three-phase inverting circuit 2 by inductance L, the output shaft of described disk type coreless motor M passes through the signal input part of an angular transducer 4 connection control circuit 1, the three-phase of described three-phase inverting circuit 2 exports the signal input part respectively by current sensor 5 connection control circuit 1.Described angular transducer 4 adopts resolver or photoelectric encoder or magnetism encoder.
Described DC-DC conversion circuit 3 includes DC power supply Us, be connected in parallel on the Absorption Capacitance C at DC power supply Us two ends, the first inverse parallel fly-wheel diode VSD1 between first switching tube VS1 and the collector and emitter being connected to the first switching tube VS1, and the second inverse parallel fly-wheel diode VSD2 between second switch pipe VS2 and the collector and emitter being connected to second switch pipe VS2, wherein, the collector electrode of the first described switching tube VS1 connects the positive pole of DC power supply Us, the signal output part of base stage connection control circuit 1, the emitter of described second switch pipe VS2 connects the negative pole of DC power supply Us, the signal output part of base stage connection control circuit 1, the collector electrode of second switch pipe VS2 and the emitter of the first switching tube VS1 are connected one end of inductance L jointly as output.
When disk type coreless electric machine control system is under disk type coreless electrical machine working mode, second switch triode VS2 is in closed condition always.When the first switching tube VS1 conducting, power supply powers to the load, and electric current flows through inductance and is in two phase windings of conducting state, and due to the effect of inductance, electric current can slowly increase; When the first switching tube VS1 turns off, stator winding current is through diode continuousing flow, and load current declines, and terminates, then drives the first switching tube VS1 conducting, repeat a periodic process to a switch periods.In order to make current continuity and pulse less, the inductance l values on major loop should be larger.
Second switch pipe VS2 and the second inverse parallel fly-wheel diode VSD2 forms boost chopper, when disk type coreless motor is in on-position, become back electrical energy to power supply the kinetic energy of disk type coreless motor, charge the battery, in this mode, the first switching tube VS1 as power switch turns off, and under second switch pipe VS2 is operated in PWM mode, disk type coreless motor is made regenerative braking and run.
Described three-phase inverting circuit 2, adopts Heng Tong mode, is namely in two switching tubes opened in each state area and does not carry out PWM, inverter bridge only plays commutation effect, according to rotor position angle, every 60 degree of commutations once, make machine operation at 120 degree of conduction modes.
Control circuit, by carrying out the actual speed of detection rotor position signalling and motor as the resolver of angular transducer, between the position signalling drawing-in system coordinate transform of rotor, participates in the vector of electric current.Controller, according to the commutation angle of the actual motion condition selecting stator current of motor, reduces the torque pulsation of motor.
The control method of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller of the present invention is, the control model of control section adopts stator current 120 degree of conduction modes, stator winding only has two to be conducted simultaneously, every 60 degree of commutations once, namely, regulate the commutation angle of stator current according to motor rotor position, reduce commutation torque ripple.Three-phase inverting circuit adopts Heng Tong mode, and be namely in two switching tubes opened in each state area and do not carry out PWM, three-phase inverting circuit only plays commutation effect, to reach the object that electric machine speed regulation controls; Control section adopts double circle controling mode, and outer shroud is speed ring, and inner ring is torque ring, and control section calculates the duty ratio of chopper circuit switching tube according to the output valve of torque controller, thus regulates stator current size.
Described control section calculates the duty ratio of chopper circuit switching tube according to the output valve of torque controller; Control circuit detects the three-phase current i of disk type coreless motor in real time
a, i
b, i
c, three-phase current is transformed into current i under d, q axis coordinate system by coordinate transform
d, i
q, then according to inductance of disk type coreless motor itself and magnetic linkage, number of pole-pairs, calculate the actual torque value of disk type coreless motor according to the torque equation of disk type coreless motor, the torque value calculated is namely as the torque feedback value of torque controller; The torque equation of disk type coreless motor is:
Because the cross, straight inductance of disk type coreless permagnetic synchronous motor is equal, i.e. L
d=L
q, electromagnetic torque can be expressed as:
In formula
T
d-torque value
P
m-motor number of pole-pairs
ψ
r-rotor magnetic linkage, draws by finite element software emulation.
-motor quadrature axis current component.
The position angle of the rotor that control circuit feeds back according to angular transducer, estimates the electromagnetic torque of disk type coreless motor, thus achieves the torque closed-loop control of motor.Namely control section is according to the operating condition of motor and rotating speed, makes corresponding adjustment to the commutation angle of stator current, such as commutation or delayed commutation in advance.The foundation of commutation angle adjustment is the position angle of current motor rotor.
The position angle of the rotor that control section feeds back according to angular transducer, adjusts the commutation angle of disk type coreless motor, thus reduces the commutation torque ripple of disk type coreless motor.The output of control section medium velocity adjuster and the difference of actual torque are as the input of torque controller.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (4)
1. the electric automobile hub control method of disk type coreless Permanent Magnet Synchronous Motor Controller, electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller, the three-phase inverting circuit (2) including control circuit (1) and be connected with the signal output part of control circuit (1) for driving disc type coreless machine (M), it is characterized in that, also be provided with DC-DC conversion circuit (3), the signal output part of control signal input connection control circuit (1) of described DC-DC conversion circuit (3), the current output terminal of described DC-DC conversion circuit (3) connects the current input terminal of three-phase inverting circuit (2) by inductance L, the output shaft of described disk type coreless motor (M) passes through the signal input part of an angular transducer (4) connection control circuit (1), the three-phase of described three-phase inverting circuit (2) exports the signal input part respectively by current sensor (5) connection control circuit (1), described DC-DC conversion circuit (3) includes DC power supply Us, be connected in parallel on the Absorption Capacitance C at DC power supply Us two ends, the first inverse parallel fly-wheel diode VSD1 between first switching tube VS1 and the collector and emitter being connected to the first switching tube VS1, and the second inverse parallel fly-wheel diode VSD2 between second switch pipe VS2 and the collector and emitter being connected to second switch pipe VS2, wherein, the collector electrode of the first described switching tube VS1 connects the positive pole of DC power supply Us, the signal output part of grid connection control circuit (1), the emitter of described second switch pipe VS2 connects the negative pole of DC power supply Us, the signal output part of grid connection control circuit (1), the collector electrode of second switch pipe VS2 and the emitter of the first switching tube VS1 are connected one end of inductance L jointly as output, it is characterized in that, the control model of control section adopts stator current 120 degree of conduction modes, and stator winding only has two to be conducted simultaneously, every 60 degree of commutations once, three-phase inverting circuit adopts Heng Tong mode, and be namely in two switching tubes opened in each state area and do not carry out PWM, three-phase inverting circuit only plays commutation effect, control section adopts double circle controling mode, outer shroud is speed ring, inner ring is torque ring, control section calculates the duty ratio of chopper circuit switching tube according to the output valve of torque controller, thus regulating stator current size, described control circuit calculates the duty ratio of chopper circuit switching tube according to the output valve of torque controller, control circuit detects the three-phase current i of disk type coreless motor in real time
a, i
b, i
c, three-phase current is transformed into current i under d, q axis coordinate system by coordinate transform
d, i
q, then according to inductance of disk type coreless motor itself and magnetic linkage, number of pole-pairs, calculate the actual torque value of disk type coreless motor according to the torque equation of disk type coreless motor, the torque value calculated is namely as the torque feedback value of torque controller, the torque equation of disk type coreless motor is:
In formula
for electronic current d axle component
for the d axle component of rotor magnetic linkage
for the q axle component of rotor magnetic linkage
Because the cross, straight inductance of disk type coreless permagnetic synchronous motor is equal, i.e. L
d=L
q, electromagnetic torque can be expressed as:
In formula
T
d-torque value
P
m-motor number of pole-pairs
ψ
r-rotor magnetic linkage, draws by finite element software emulation
-motor quadrature axis current component.
2. the control method of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller according to claim 1, it is characterized in that, control circuit goes out the position angle of rotor according to the calculated signals that angular transducer feeds back, estimate the electromagnetic torque of disk type coreless motor, thus achieve the torque closed-loop control of motor.
3. the control method of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller according to claim 1, it is characterized in that, the position angle of the rotor that control circuit feeds back according to angular transducer, the commutation angle of disk type coreless motor is adjusted, thus reduces the commutation torque ripple of disk type coreless motor.
4. the control method of electric automobile hub disk type coreless Permanent Magnet Synchronous Motor Controller according to claim 1, is characterized in that, the output of control circuit medium velocity adjuster and the difference of torque are as the input of torque controller.
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| CN201310331952.7A CN103391034B (en) | 2013-07-31 | 2013-07-31 | The electric automobile hub control method of disk type coreless Permanent Magnet Synchronous Motor Controller |
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| CN104579045B (en) * | 2014-12-26 | 2017-04-05 | 北京航天控制仪器研究所 | A kind of phase change method of the brshless DC motor based on angular transducer |
| CN105490603B (en) * | 2015-12-28 | 2018-01-12 | 浙江科技学院 | A kind of electric automobile hub side electromagnetism shock-absorbing control method of In-wheel motor driving |
| CN106208827B (en) * | 2016-08-16 | 2019-04-12 | 王宏涛 | A kind of robot wheel hub DC brushless motor controller and its control method |
| CN106685280A (en) * | 2016-12-23 | 2017-05-17 | 惠州市蓝微电子有限公司 | Method for simply controlling commutation angle of direct current brushless motor without hall |
| CN109302106A (en) * | 2018-09-19 | 2019-02-01 | 深圳拓邦股份有限公司 | A kind of brushless electric machine no-position control circuit, device and method |
| CN110995114B (en) * | 2019-12-31 | 2022-12-09 | 天津大学 | Method for quickly optimizing and selecting inductance in motor control driving system |
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| CN203352516U (en) * | 2013-07-31 | 2013-12-18 | 天津大学 | Disc-type iron-core-free permanent magnet synchronous motor controller for electric automobile wheel hub |
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| CN102910505B (en) * | 2011-08-02 | 2014-07-16 | 上海三菱电梯有限公司 | Elevator energy saving device with a plurality of working modes and control method thereof |
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| CN101959745A (en) * | 2008-03-06 | 2011-01-26 | 株式会社捷太格特 | Electric power steering apparatus |
| CN203352516U (en) * | 2013-07-31 | 2013-12-18 | 天津大学 | Disc-type iron-core-free permanent magnet synchronous motor controller for electric automobile wheel hub |
Non-Patent Citations (3)
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| 基于TL494控制的电流可逆斩波电路研究;洪武;《机床电器》;20100331;第58页第1部分，图1 * |
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