CN106357185A - Permanent magnet synchronous motor torque control method - Google Patents
Permanent magnet synchronous motor torque control method Download PDFInfo
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- CN106357185A CN106357185A CN201611002479.8A CN201611002479A CN106357185A CN 106357185 A CN106357185 A CN 106357185A CN 201611002479 A CN201611002479 A CN 201611002479A CN 106357185 A CN106357185 A CN 106357185A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a permanent magnet synchronous motor torque control method, belonging to the field of control technology. The invention aims at providing a permanent magnet synchronous motor torque control method for compromising optimization and establishing an optimization problem for the multi-control needs of driver drive/brake and energy efficiency improvement and solving a screening principle to improve the calculation efficiency based on the drive torque need estimation and prediction control. The motor torque prediction control flow comprises the following steps: converting a torque reference value into a motor stator vector current reference value according to a motor equation; establishing a relation between a three-phase inverter on-off state and the output vector voltage; estimating the current value of next time domain; and acting on an inverter drive motor with the optimal on-off combination state. In the torque control method disclosed by the invention, the driver pedal information and wheel speed information are collected, and the drive torque value required by the vehicle is calculated according to the mechanical external characteristic curve of the permanent magnet synchronous motor, then the drive/brake power needs of the driver are effectively met, a reference is provided for follow-up motor control, and the system reliability is improved.
Description
Technical field
The invention belongs to control technology field.
Background technology
Current new-energy automobile is extensively paid close attention to by various circles of society with the feature of its energy-saving and emission-reduction, obtains various countries or even each big automobile
The Devoting Major Efforts To Developing of manufacturer and application.Especially wheel hub electric drive automobile, because being driven using wheel hub motor technology especially four-wheel wheel hub
, so that car load four-wheel drive power is individually controllable, car load powered is more flexible, convenient, can effectively improve electronic vapour for galvanic electricity machine
Car driving performance in the presence of a harsh environment, is just progressively becoming future the most potential pure electric automobile type.As electronic
The main selection of automotive hub motor, permagnetic synchronous motor has small volume, light weight, reliable, big torque because of it
Output, the advantages of speed-regulating range width, high power density and high efficiency, disclosure satisfy that high performance electric vehicle drive and control of electric machine system
The basic demand of system.
Wheel hub motor while meeting the driving dynamics demand of electric automobile, also will meet and run over as driving source
Comfortableness in journey, environmental suitability and the performance of the continual mileage that can travel that once charges.Drive electricity accordingly, as wheel hub
The permagnetic synchronous motor control technology of machine not only needs to meet torque actuated and the braking requirement of driver, also will be by reducing electricity
Machine loss improves the demand for control driving efficiency, and this is the problem that a multiple target is realized, thus with general industry motor phase
Than controlling, requirement is more strict, complicated, and this is also one of key problem of wheel hub electric drive automobile development.
At present, the control method for permagnetic synchronous motor mainly has vector controlled and Direct Torque Control, in the last few years
Due to the fast development of microprocessor, the computing capability of digitial controller has greatly lifting so that some senior controls are calculated
Method, especially Model Predictive Control Algorithm are able to realize in the middle of motor control.Many experts drive control in permagnetic synchronous motor
Aspect processed has carried out many effort, is directed to the method that the enforcement of PREDICTIVE CONTROL it is also proposed some relative molding, such as patent
Cn201310740488, cn201610197283, cn201610533077, cn201510676715 etc., but published special
Still suffering from some in sharp method has problem to be solved: (1) makes motor while meeting drive/brake power demand, realizes subtracting
In few drive system, the loss of motor and inverter improves the multi objective control demand of overall efficiency；(2) effective process exists
Physical constraint, such as current limit；(3) formulate the calculating that screening principle reduces candidate solution in solution procedure, reduce iteration time
Number, reduces computation burden, to improve algorithm computational efficiency.
Therefore, research can effectively meet many demands for control of driver's dynamic property and economy, processes already present constraint
Limit, improve autonomous regulating power, the permagnetic synchronous motor Stator-Quantities Control of fast response time, to wheel hub electric drive automobile electricity
For the development of control technology, meaning is very great.
Content of the invention
It is an object of the invention to provide being based on driving torque estimated demand and PREDICTIVE CONTROL in one, driven with solving driver/
Brake and improve the compromise optimization of the many demands for control of efficiency and set up optimization problem screening principle raising computational efficiency problem
Permagnetic synchronous motor method for controlling torque.
The motor torque PREDICTIVE CONTROL flow process of the present invention is:
Step 1) first by torque reference value according to motor equations turned for motor stator vector current reference value；
Step 2) set up relational expression between three-phase inverter on off state and the vector voltage of output；
The current motor three-phase electricity flow valuve of collection is carried out clark and park and is transformed to d-q axle electricity under rotor coordinate by step 3)
Stream, and next time domain is estimated according to the corresponding vector voltage of candidate's on off state and permagnetic synchronous motor electric current dynamical equation
Current value；
Step 4) passes through cost function and the constrained of optimization problem, and screening principle relatively obtains the switch combination of optimum
State, acts on inverter AC motor.
The step of the present invention is:
Step 1): first by single motor torque reference value according to motor equations turned for permagnetic synchronous motor under rotor coordinate
Stator d-q axial vector electric current reference value:
(5)
In formula,WithRepresent d axle under rotor coordinate for the motor and q shaft current respectively, unit a, whereinRepresent reference
Value；
Step 2): set up the relation between the d-q axle output vector voltage under three-phase inverter on off state and rotor coordinate
Formula:
The output voltage defining tri- bridges of a, b, c first is respectively、、, unit v, it is calculated as follows:
(6)
In formula,Represent bus DC voltage, unit v；、、Expression threephase switch state respectively, only 0 and 1 liang
Individual state, dimensionless unit；There is the phase shift of orthogonal vectors, that is, between each bridge of three-phase bridge circuit, thus define output voltage vectorVector for three-phase voltage:
(7)
WillBring (7) into, then output voltage vector is expressed asMatrix form on axle:
(8)
Convert through park again,Vector voltage on axleBe converted to determining under rotor coordinate
The vector voltage of sub- d-q axleIt may be assumed that
(9)
The rotor angular displacement of permagnetic synchronous motor, unit rad is represented in formula；By above formula (8) and (9), obtain inverter and open
Relational expression between off status signal and stator d-q axial vector voltage:
(10)
Step 3): the current value estimation process in next moment:
First, collect a, b, c three-phase electricity flow valuve of current motor、、, unit a, become also according to clark and park
Change, be converted into the vector current of stator d-q axle under rotor coordinate, the initial state value as PREDICTIVE CONTROL it may be assumed that
(11)
Then, according to kirchoff voltage law and inductance characteristic, set up the stator d-q under permanent-magnetic synchronous motor rotor coordinate system
Shaft current equation it may be assumed that
(12)
In formula,Represent armature resistance, unit；WithRepresent d-q axle inductance, unit h respectively；Represent number of pole-pairs,
Dimensionless；Represent permanent magnetism ferromagnetic flux, unit wb；
Then, formula (10) is brought in (12), it is d-q vector current that arrangement obtains control input for the good quantity of state of on off state
Dynamical equation:
(13)
Defined variable, then formula (13) can be exchanged into；
Using trapezoidal integration discretization dynamical equation (13), computing formula:
(14)
In formula, represent the subsequent time d-q shaft current vector value of estimation, represent intermediate computations amount, represent system communication cycle, single
Position s；For the regulatory factor between 0-1, dimensionless；
Step 4): optimum switch combination: formulate the object function of motor torque predictive controller, as follows:
(15)
In formula,Represent weight coefficient, unit is respectivelyWith；Represent current optimal objective function,
Unit dimensionless；Represent torque tracking error minimum and minimum two sub-goals of energy consumption, unit dimensionless respectively.
The acquisition of single motor torque reference value of the present invention:
According to the mechanical external characteristic curve of permagnetic synchronous motor, estimate the Motor drive shaft torque needed for current state vehicle:
(1)
(2)
In formula,WithRepresent driving torque and the braking moment needed for car load, unit nm respectively；WithRepresent respectively and drive
The accelerator pedal of the person of sailing and brake pedal aperture (0-1), dimensionless；Represent the biography between motor output shaft and wheel axis of torque
Dynamic ratio, generally higher than 1, dimensionless；Represent real-time motor output shaft rotating speed, unit rad/s；Represent in real time
Motor greatest axis output torque, unit nm, is one with regard to rotating speedFunction, determined by rotating speed and external characteristics；
Motor greatest axis output torque in real timeBe calculated as follows:
(3)
In formulaFor peak power,For maximum output torque；
It is calculated single wheel hub motor expectation torque value, as follows:
(4).
Minimum torque tracking error of the present inventionAnd lowest energy consumption:
1. existIn, estimation obtains the drive/braking moment expected value such as formula (4) of single motor, and is converted into current of electric
Reference value such as formula (5), is missed by the subsequent time predicted current follow current reference value controlling the d-q axle of permagnetic synchronous motor
Difference is minimum, realizes good longitudinal direction of car and accelerates and braking ability performance；
2. in, motor driven systems energy consumption includes the copper loss of motor itself and inverter switching device loss, motor itself copper loss and
Electrical current relevant it may be assumed that
(16)
In formula,RepresentCopper loss energy energy consumption, unit j in time interval；
Inverter switching device loss includes 6 igbt switch-off losses and conduction loss on three-phase brachium pontis, defines subscript
Represent three brachium pontis of a, b, c inverter, then thePhase igbt is singleLoss of energy in time interval, unit j, meter
Calculate as follows:
(17)
In formula,It is illustrated respectively inThe name of igbt switch on the single brachium pontis of inverter in time interval
Conducting, closure and turn-off power loss energy, unit j under operating mode；Represent that igbt switchs the electric current under nominal condition respectively
And magnitude of voltage, unit respectively a and v；, dimensionless, unit j；Represent inversion
DeviceThe state change of brachium pontis current switch, if current switch states are, a upper moment on off state is, then；
The three-phase brachium pontis of inverter amounts to energy loss, unit j:
(18)
In formula, on off state diverse vector
, dimension 3*1, dimensionless；
Represent the predictive value of the subsequent time of abc vector current, unit a, be calculated by following formula:
(19)
In formula,WithCan be calculated by formula (11), (13) and (14)；
3. two steps screening principle: screen out the candidate's on off state not meeting motor operating conditions before calculating target function, two
Step screening principle:
A, implementation minimum switch losses principle, the candidate solution of every time domain is reduced to 4 by 8, can describe it as；
B, constraint, it is the constraint of permagnetic synchronous motor d-q shaft current amplitude limit, predictive value is exceeded border
Range switch state candidate solution screens out.
The medicine have the advantages that
1. method for controlling torque of the present invention, collection driver pedal information and vehicle wheel rotational speed information according to permanent magnetism with
The mechanical external characteristic curve of step motor calculates vehicle required driving torque value, effectively explains the power of the drive/braking of driver
Demand, provides reference for follow-up motor control, improves system reliability.
2. permagnetic synchronous motor torque prediction control method of the present invention, can effectively be located using forecast Control Algorithm
Manage this multiple target complex optimization control problem, and dominant process current limit constraint, effectively realize dynamic property and economy
Two different demands.
3. screening principle method of the present invention, decreases iterationses, improves the calculating performance of holistic approach,
Computation structure is clearly simple simultaneously realizes and method upgrading it is easy to combine.
Brief description
Fig. 1 is to implement wheel hub electric drive automobile structure schematic diagram of the present invention；
Fig. 2 is to implement two-stage three-phase full-bridge inverter of the present invention and permagnetic synchronous motor attachment structure sketch；
Fig. 3 is to implement the permagnetic synchronous motor direct torque based on driving torque estimated demand and PREDICTIVE CONTROL of the present invention
System principle diagram；
Fig. 4 is the overview flow chart implementing direct torque process of the present invention;
Fig. 5 is to implement Model Predictive Control ultimate principle figure of the present invention；
Fig. 6 is the different Switch State Combination in Power Systems figures implementing three-phase inverter of the present invention.
Specific embodiment
It is wheel hub electric drive automobile that the present invention relies on platform, its structural representation as shown in figure 1, mainly include four independent
Wheel hub motor 1,2,3,4(motor current information and wheel speed information are obtained by sensor measurement), four corresponding motors
Controller 5,6,7,8, an entire car controller 10, and be entire car controller 10 and Permanent Magnet Synchronous Motor Controller 5,6,7,8
Between the can network 11 of communication is provided, also set of cells 9 is that four motors provide power supplys.The effect of entire car controller 10 is exactly
/ the rotary speed informations of corresponding four wheels that provide of brake command and electric machine controller 5,6,7,8 are provided in real time according to driver, lead to
Cross and be calculated car load drive/braking requirement torque, and the reference command as four motors.The master of electric machine controller 5,6,7,8
Function is wanted to be that collection rotary speed information feeds back to entire car controller, the torque command being provided according to entire car controller 10, control inversion
Device drives the tracing control of the torque fast and stable of corresponding wheel hub motor 1,2,3,4.Permagnetic synchronous motor and two in the present invention
Level three-phase full-bridge inverter attachment structure, as shown in Fig. 2 the igbt that wherein two-stage three-phase full-bridge inverter is represented by 6 q1-q6
Constitute with fly-wheel diode switch combination.
The torsion control system of synchronization generator with everlasting magnetic structure based on driving torque estimated demand and PREDICTIVE CONTROL of the present invention
Block diagram is as shown in figure 3, be mainly made up of car load torque-demand computing module, permagnetic synchronous motor PREDICTIVE CONTROL module.Totally side
Method flow process is as shown in Figure 4.First, car load torque-demand estimation block, collection driver's acceleration-brake pedal information and wheel turn
Fast information, according to the mechanical external characteristic curve of permagnetic synchronous motor, estimates the motor driving shaft needed for current state vehicle and turns
Square.Then, in permagnetic synchronous motor torque prediction control module,
Step 1) first by torque reference value according to motor equations turned for motor stator vector current reference value；
Step 2) set up relational expression between three-phase inverter on off state and the vector voltage of output；
The current motor three-phase electricity flow valuve of collection is carried out clark and park and is transformed to d-q axle electricity under rotor coordinate by step 3)
Stream, and next time domain is estimated according to the corresponding vector voltage of candidate's on off state and permagnetic synchronous motor electric current dynamical equation
Current value；
Step 4) is by the cost function of optimization problem (current track error is minimum and motor-inverter losses are minimum) and screening
Principle relatively obtains the switch combination state of optimum, acts on inverter AC motor.More than complete driver-full-vehicle control
The closed loop control of device-electric machine controller-inverter-motor-car load-controller.
Permagnetic synchronous motor torque prediction control module
Model Predictive Control is multi-step prediction, and the open loop that basic thought can be described as in one finite time-domain of line solver is optimum
Control problem, ensures that system meets object function, state and input constraint etc. simultaneously.PREDICTIVE CONTROL can be summarized simply as follows three
Step: following dynamic according to the current measurement information obtaining and forecast model prognoses system；Under the conditions of ensureing object function and constraint
Line solver optimization problem；First element interaction of solution is in system.Model Predictive Control be each sampling instant repeat into
Row, and the following dynamic starting point of prognoses system is current measured value, that is, with the measured value of each sampling instant as prediction
Initial condition.The ultimate principle of Model Predictive Control is as shown in Figure 5.In current time t, obtain measured value from controlled system
, according to metrical information and forecast model, prognoses system is in prediction time domainInterior following dynamic behaviour, optimize open-loop performance and refer to
Scalar functions (in the present invention, object function has four parts), search out control time domainInterior optimal control input sequence, make
The system output that must predict and the output of desired system are closer to better, i.e. hatched area minimum in Fig. 5.
The step of the present invention is: (motor torque PREDICTIVE CONTROL flow process is shown in Fig. 4)
Step 1): first by single motor torque reference value according to motor equations turned for permagnetic synchronous motor under rotor coordinate
Stator d-q axial vector electric current reference value, in permagnetic synchronous motor characteristicIt is proportional to motor electromagnetic torque, thus may be used
Torque tracking problem is converted into current follow-up control problem, simultaneously for reducing reactive power and reluctance torque, need to makeTo the greatest extent
Possible little close to 0:
(5)
In formula,WithRepresent d axle under rotor coordinate for the motor and q shaft current respectively, unit a, whereinRepresent reference
Value.
Step 2): set up between the d-q axle output vector voltage under three-phase inverter on off state and rotor coordinate
Relational expression:
The output voltage defining tri- bridges of a, b, c first is respectively、、, unit v, it is calculated as follows:
(6)
In formula,Represent bus DC voltage, unit v；、、Expression threephase switch state respectively, only 0 and 1 liang
Individual state, dimensionless unit；There is the phase shift of orthogonal vectors, that is, between each bridge of three-phase bridge circuit, thus define output voltage vectorVector for three-phase voltage:
(7).
WillBring (7) into, then output voltage vector is expressed asMatrix form on axle:
(8).
Convert through park again,Vector voltage on axleBe converted under rotor coordinate
The vector voltage of stator d-q axleIt may be assumed that
(9)
The rotor angular displacement of permagnetic synchronous motor, unit rad is represented in formula；By above formula (8) and (9), obtain inverter and open
Relational expression between off status signal and stator d-q axial vector voltage:
(10).
Step 3): the current motor three-phase electricity flow valuve of collection is carried out clark and park and is transformed to d-q under rotor coordinate
Shaft current, and during according to the corresponding vector voltage of candidate's on off state and the permagnetic synchronous motor electric current dynamical equation estimation next one
The current value carved.
First, collect a, b, c three-phase electricity flow valuve of current motor、、, unit a, also according to clark and
Park convert, be converted into the vector current of stator d-q axle under rotor coordinate, the initial state value as PREDICTIVE CONTROL it may be assumed that
(11).
Then, according to kirchoff voltage law and inductance characteristic, set up determining under permanent-magnetic synchronous motor rotor coordinate system
Sub- d-q shaft current equation it may be assumed that
(12)
In formula,Represent armature resistance, unit；WithRepresent d-q axle inductance, unit h respectively；Represent number of pole-pairs,
Dimensionless；Represent permanent magnetism ferromagnetic flux, unit wb.
Then, formula (10) is brought in (12), it is d-q vector that arrangement obtains control input for the good quantity of state of on off state
The dynamical equation of electric current:
(13).
For ease of subsequent calculations, defined variable, then public
Formula (13) can be exchanged into；
For improving discrete accuracy, the present invention adopts trapezoidal integration discretization dynamical equation (13), computing formula:
(14)
In formula, represent the subsequent time d-q shaft current vector value of estimation, represent intermediate computations amount, represent system communication cycle, single
Position s；For the regulatory factor between 0-1, dimensionless.
Step 4): by the cost function (current track error is minimum and motor-inverter losses are minimum) of optimization problem
Relatively obtain the switch combination state of optimum with screening principle, act on inverter AC motor.First, according to above-mentioned dynamic
Power and economy demand, formulate the object function of motor torque predictive controller, as follows:
(15)
In formula,Represent weight coefficient, unit is respectivelyWith；Represent current optimal objective letter
Number, unit dimensionless；Represent torque tracking error minimum and minimum two sub-goals of energy consumption respectively, unit is immeasurable
Guiding principle.
The acquisition of single motor torque reference value of the present invention:
The core concept of maximum transmitted moment estimating algorithm of the present invention is collection driver's acceleration-brake pedal information and wheel is real
When rotary speed information, according to the mechanical external characteristic curve of permagnetic synchronous motor, estimate the Motor drive needed for current state vehicle
Shaft torque, principle is as follows:
(1)
(2)
In formula,WithRepresent driving torque and the braking moment needed for car load, unit nm respectively；WithRepresent respectively and drive
The accelerator pedal of the person of sailing and brake pedal aperture (0-1), dimensionless；Represent the biography between motor output shaft and wheel axis of torque
Dynamic ratio, generally higher than 1, dimensionless；Represent real-time motor output shaft rotating speed, unit rad/s；Represent in real time
Motor greatest axis output torque, unit nm, is one with regard to rotating speedFunction, determined by rotating speed and external characteristics；From motor
External characteristics understand, when motor low speed be not up to peak power limitWhen,Constant, equal to maximum output
Torque, motor can be along external characteristic curve with permanent torque acceleration；It is gradually increased with motor speed, motor reaches maximum work
After rate point, can be accelerated with invariable power, real-time greatest axis output torque can be gradually reduced.
Thus, real-time motor greatest axis output torqueBe calculated as follows:
(3)
In formulaFor peak power,For maximum output torque.
Because driver can not operate acceleration and brakes simultaneously, soWithSum is total operator torque request,
Find to carry out car load optimization based on motor efficiency convex curve characteristic according to early-stage Study, mean allocation front and back wheel wheel hub electricity can be obtained
Machine torque, can make Full Vehicle System torque distribution energy consumption minimum, be thus calculated single wheel hub motor expectation torque value, as follows:
(4).
Minimum torque tracking error of the present inventionAnd lowest energy consumption:
1. existIn, motor torque control system meets the dynamic property demand of the drive/braking moment of driver first it is ensured that car
Can be according to the intention acceleration-deceleration of driver.In order to realize this target, according to analysis above, estimation obtains single electricity
The drive of machine/braking moment expected value such as formula (4), and it is converted into the reference value such as formula (5) of current of electric, by controlling permanent magnetism
The subsequent time predicted current follow current reference value error of the d-q axle of synchronous motor is minimum, realizes good longitudinal direction of car and adds
Speed and braking ability performance；
2. in, ensure vehicles dynamic performance while, reduce motor driven systems energy consumption, improve car load efficiency.Motor
Drive system energy consumption includes the copper loss of motor itself and inverter switching device loss, motor itself copper loss relevant with electrical current it may be assumed that
(16)
In formula,RepresentCopper loss energy energy consumption, unit j in time interval；
Inverter switching device loss includes 6 igbt switch-off losses and conduction loss on three-phase brachium pontis, defines subscript
Represent three brachium pontis of a, b, c inverter, then thePhase igbt is singleLoss of energy in time interval, unit j,
It is calculated as follows:
(17)
In formula,It is illustrated respectively inThe name volunteer of igbt switch on the single brachium pontis of inverter in time interval
Conducting, closure and turn-off power loss energy, unit j under condition；Respectively represent igbt switch nominal condition under electric current and
Magnitude of voltage, unit is respectively a and v；, dimensionless, unit j；Represent inverter
TheThe state change of brachium pontis current switch, if current switch states are, a upper moment on off state is, then；WhenWhen, when inverter switching states do not change, there is an igbt to be held on
State, another still remains off, so there is conduction loss；WhenWhen, inverter switching states
When changing, the two igbt switches meetings one on single brachium pontis turn off another closure, so there is turn-off power loss and closing
Close loss.
Therefore, the three-phase brachium pontis of inverter amounts to energy loss, unit j:
(18)
In formula, on off state diverse vector
, dimension 3*1, dimensionless；Table
Show the predictive value of the subsequent time of abc vector current, unit a, be calculated by following formula:
(19)
In formula,WithCan be calculated by formula (11), (13) and (14).
Power performance and the economy of drive system efficiency that the car load of controller of the present invention longitudinally accelerates-brakes
Can target be all to be realized by constructing corresponding cost function.Adjust proportion each other by weight coefficient between them,
Thus realizing the compromise optimization between vehicle multiple demand different performance index.
3. two step screening principle: due to the different Switch State Combination in Power Systems of inverter, produce 8 kinds of different voltage arrows to be selected
Amount, as shown in fig. 6, wherein 6 is effective vector, in addition 2 is zero vector, does not produce output voltage.For making full use of micro- place
Reason device limited resources, reduce unnecessary iteration and compare, and need to screen out before calculating target function not meeting motor operation
Candidate's on off state of condition, reduces computation burden, thus improving calculating speed.Two step screening principles are presented herein below.
A, implementation minimum switch losses principle, that is, during switch switching, only consider that a switch switches or all keeps constant, with
Avoid producing diametrically opposite voltage vectorWith, to reduce pulsation of current, the candidate solution of therefore every time domain is reduced by 8
For 4, can describe it as.
B, constraint, it is the constraint of permagnetic synchronous motor d-q shaft current amplitude limit, predictive value is exceeded side
Boundary's range switch state candidate solution screens out.
Shown in Figure 4, when the on off state chosen meets minimum switch losses principle and is a, carry out step 3), estimation
Subsequent time current value, is shown in formula (13) and (14)；If do not met, Returning switch state Candidate Set, choose next in order
Individual on off state.When step 3) the subsequent time current value estimated when to meet current limit constraint be b, proceeds step 4) lead to
The cost function crossing optimization problem relatively obtains making the minimum optimized switching assembled state of functional value, sees formula (15), then
Effect inverter switching device；If do not met, Returning switch state Candidate Set, choose next on off state in order.By two
Step screening principle, rejected in advance falls ineligible candidate's on off state, reduces estimation and the optimization of subsequent time current value
The calculation times of function, reduce the computation burden of whole control system, thus improving the operation efficiency of holistic approach.
The present invention according to driver pedal information and vehicle wheel rotational speed information, estimates the electricity needed for current state vehicle first
Machine drives shaft torque, then to design permagnetic synchronous motor torque controller using predictive control algorithm, is driven with effective tracking
Shaft torque desired value, obtains good acceleration or braking ability, reduces motor simultaneously and the loss of inverter improves car load energy
Effect.The estimation of the vehicle required driving torque based on driver pedal information and vehicle wheel rotational speed information effectively explains Current vehicle
The drive of driver/brake power demand under state and running environment.Using forecast Control Algorithm this multiple target of energy effective process
Complex optimization control problem, and dominant dynamic property demand and the raising system processing constraint, effectively realizing that driver drives/brakes
Compromise optimization between the economy demand of efficiency.
Claims (4)
1. a kind of permagnetic synchronous motor method for controlling torque it is characterised in that: motor torque PREDICTIVE CONTROL flow process is:
Step 1) first by torque reference value according to motor equations turned for motor stator vector current reference value；
Step 2) set up relational expression between three-phase inverter on off state and the vector voltage of output；
The current motor three-phase electricity flow valuve of collection is carried out clark and park and is transformed to d-q axle electricity under rotor coordinate by step 3)
Stream, and next time domain is estimated according to the corresponding vector voltage of candidate's on off state and permagnetic synchronous motor electric current dynamical equation
Current value；
Step 4) passes through cost function and the constrained of optimization problem, and screening principle relatively obtains the switch combination of optimum
State, acts on inverter AC motor.
2. permagnetic synchronous motor method for controlling torque according to claim 1 it is characterised in that:
Step 1): first by single motor torque reference value according to motor equations turned for permagnetic synchronous motor under rotor coordinate
Stator d-q axial vector electric current reference value:
(5)
In formula,WithRepresent d axle under rotor coordinate for the motor and q shaft current respectively, unit a, whereinRepresent reference
Value；
Step 2): set up the relation between the d-q axle output vector voltage under three-phase inverter on off state and rotor coordinate
Formula:
The output voltage defining tri- bridges of a, b, c first is respectively、、, unit v, it is calculated as follows:
(6)
In formula,Represent bus DC voltage, unit v；、、Expression threephase switch state respectively, only 0 and 1 two
State, dimensionless unit；There is the phase shift of orthogonal vectors, that is, between each bridge of three-phase bridge circuit, thus define output voltage vectorVector for three-phase voltage:
(7)
WillBring (7) into, then output voltage vector is expressed asMatrix form on axle:
(8)
Convert through park again,Vector voltage on axleBe converted to the stator d- under rotor coordinate
The vector voltage of q axleIt may be assumed that
(9)
The rotor angular displacement of permagnetic synchronous motor, unit rad is represented in formula；By above formula (8) and (9), obtain inverter and open
Relational expression between off status signal and stator d-q axial vector voltage:
(10)
Step 3): the current value estimation process in next moment:
First, collect a, b, c three-phase electricity flow valuve of current motor、、, unit a, become also according to clark and park
Change, be converted into the vector current of stator d-q axle under rotor coordinate, the initial state value as PREDICTIVE CONTROL it may be assumed that
(11)
Then, according to kirchoff voltage law and inductance characteristic, set up the stator d-q under permanent-magnetic synchronous motor rotor coordinate system
Shaft current equation it may be assumed that
(12)
In formula,Represent armature resistance, unit；WithRepresent d-q axle inductance, unit h respectively；Represent number of pole-pairs, no
Dimension；Represent permanent magnetism ferromagnetic flux, unit wb；
Then, formula (10) is brought in (12), it is d-q vector current that arrangement obtains control input for the good quantity of state of on off state
Dynamical equation:
(13)
Defined variable, then formula (13) can be exchanged into；
Using trapezoidal integration discretization dynamical equation (13), computing formula:
(14)
In formula, represent the subsequent time d-q shaft current vector value of estimation, represent intermediate computations amount, represent system communication cycle, single
Position s；For the regulatory factor between 0-1, dimensionless；
Step 4): optimum switch combination: formulate the object function of motor torque predictive controller, as follows:
(15)
In formula,Represent weight coefficient, unit is respectivelyWith；Represent current optimal objective function,
Unit dimensionless；Represent torque tracking error minimum and minimum two sub-goals of energy consumption, unit dimensionless respectively.
3. permagnetic synchronous motor method for controlling torque according to claim 1 it is characterised in that: single motor torque ginseng
Examine the acquisition of value:
According to the mechanical external characteristic curve of permagnetic synchronous motor, estimate the Motor drive shaft torque needed for current state vehicle:
(1)
(2)
In formula,WithRepresent driving torque and the braking moment needed for car load, unit nm respectively；WithRepresent respectively and drive
The accelerator pedal of member and brake pedal aperture (0-1), dimensionless；Represent the transmission between motor output shaft and wheel axis of torque
Than, generally higher than 1, dimensionless；Represent real-time motor output shaft rotating speed, unit rad/s；Represent in real time
Motor greatest axis output torque, unit nm, is one with regard to rotating speedFunction, determined by rotating speed and external characteristics；
Motor greatest axis output torque in real timeBe calculated as follows:
(3)
In formulaFor peak power,For maximum output torque；
It is calculated single wheel hub motor expectation torque value, as follows:
(4).
4. permagnetic synchronous motor method for controlling torque according to claim 2 it is characterised in that: minimum torque tracking errorAnd lowest energy consumption:
1. existIn, estimation obtains the drive/braking moment expected value such as formula (4) of single motor, and is converted into current of electric
Reference value such as formula (5), is missed by the subsequent time predicted current follow current reference value controlling the d-q axle of permagnetic synchronous motor
Difference is minimum, realizes good longitudinal direction of car and accelerates and braking ability performance；
2. in, motor driven systems energy consumption includes the copper loss of motor itself and inverter switching device loss, motor itself copper loss and
Electrical current relevant it may be assumed that
(16)
In formula,RepresentCopper loss energy energy consumption, unit j in time interval；
Inverter switching device loss includes 6 igbt switch-off losses and conduction loss on three-phase brachium pontis, defines subscriptTable
Show three brachium pontis of a, b, c inverter, thenPhase igbt is singleLoss of energy in time interval, unit j, meter
Calculate as follows:
(17)
In formula,It is illustrated respectively inThe name volunteer of igbt switch on the single brachium pontis of inverter in time interval
Conducting, closure and turn-off power loss energy, unit j under condition；Respectively represent igbt switch nominal condition under electric current and
Magnitude of voltage, unit is respectively a and v；, dimensionless, unit j；Represent inverter theThe state change of brachium pontis current switch, if current switch states are, a upper moment on off state is, then；
The three-phase brachium pontis of inverter amounts to energy loss, unit j:
(18)
In formula, on off state diverse vector
, dimension 3*1, no
Dimension；Represent the predictive value of the subsequent time of abc vector current, unit a, be calculated by following formula:
(19)
In formula,WithCan be calculated by formula (11), (13) and (14)；
3. two steps screening principle: screen out the candidate's on off state not meeting motor operating conditions before calculating target function, two
Step screening principle:
A, implementation minimum switch losses principle, the candidate solution of every time domain is reduced to 4 by 8, can describe it as；
B, constraint, it is the constraint of permagnetic synchronous motor d-q shaft current amplitude limit, predictive value is exceeded border model
Enclose on off state candidate solution to screen out.
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