CN106899248A - Driving system for electric vehicles - Google Patents

Abstract

The invention discloses a kind of driving system for electric vehicles, including DC/DC converter units, inverter, permagnetic synchronous motor, Cark conversion modules, Park conversion modules, rotor-position sensor, Fractional Order PID adjuster, current regulator, Park inverse transform modules and Pulse width modulation module；The input of the rotor-position sensor connects the rotor parameter output end of permagnetic synchronous motor, and the rotor-position output end of rotor-position sensor connects the rotor position data input of Park conversion modules；The rotor velocity data output end of rotor-position sensor connects the reverse input end of first comparator, and the positive input of first comparator is connected with rotational speed setup signal；The output end of first comparator is connected with the input of Fractional Order PID adjuster.The present invention improves system control effect.

Description

Driving system for electric vehicles

Technical field

Generally the present invention relates to vehicle, more particularly to a kind of driving system for electric vehicles.

Background technology

Electric vehicle, such as electric automobile, are increasingly favored by people.The driving of current electric automobile is typically used The pattern of battery+magneto, control system is using open/close control.For opened loop control, vehicle (speed) is no Can accurately follow given, be phased out.In closed-loop control, current general using velocity close-loop control mode, it is used Traditional PID regulator is adjusted to given speed with the deviation of actual speed, according to the defeated of adjustment output control inverter Go out.This control mode, system response time is slow, easily occurs overshoot during adjustment, actual speed around setting value for a long time Vibration, so results in the driver during vehicle speed-raising and feels speed wobble.In addition, current electric vehicle is general Output voltage to battery by the way of copped wave boosting (boost) boosts, and this mode switch pipe loss is big, power Factor is low.

The content of the invention

For the defect of prior art, the invention provides a kind of driving system for electric vehicles.

A kind of driving system for electric vehicles, including DC/DC converter units, inverter, permagnetic synchronous motor, Cark become mold changing Block, Park conversion modules, rotor-position sensor, Fractional Order PID adjuster, current regulator, Park inverse transform modules, He Mai Rush width modulation module；The input of the rotor-position sensor connects the rotor parameter output end of permagnetic synchronous motor, turns The rotor-position output end of sub- position sensor connects the rotor position data input of Park conversion modules；Rotor position sensing The rotor velocity data output end of device connects the reverse input end of first comparator, the positive input of first comparator with turn Fast Setting signal is connected；The output end of first comparator is connected with the input of Fractional Order PID adjuster, Fractional Order PID regulation The output end of device connects the positive input of the second comparator, the reverse input end of the second comparator and the q of Park conversion modules Shaft current output end is connected；I.e. d shaft currents set-point perseverance is the positive input of zero, d shaft currents set-point and the 3rd comparator It is connected, the reverse input end of the 3rd comparator is connected with the d shaft current output ends of Park conversion modules；Second comparator and the 3rd The output end of comparator is connected with current regulator, and the output end of current regulator passes through Park inverse transform modules and pulse width Modulation module is connected, and Pulse width modulation module exports modulated signal to inverter, and inverter receives the defeated of DC/DC converter units Go out voltage Vo, according to the IGBT that modulated signal is beaten in opening/closing inverter, so as to export the voltage signal of variable frequency to permanent magnetism Motor；Rotor position, the actual speed ω m of permagnetic synchronous motor are gathered by rotor-position sensor, by current sensor Wherein two-phase ia, ib of collection inverter output, ia, ib are converted by Clark and Park is converted, and are obtained permagnetic synchronous motor and are existed Equivalent current id and iq under dq axis coordinate systems；First comparator is by rotary speed setting valueIt is compared with actual speed ω m, Deviation signal is adjusted by Fractional Order PID adjuster, the output valve of Fractional Order PID adjuster as q axles given value of current value D shaft current set-pointsSecond comparator to iq withBe compared, the 3rd comparator to id withIt is compared, second The comparative result feeding current regulator of comparator and the 3rd comparator, dq axis coordinate systems are obtained after current regulator is adjusted Under q shaft voltage set-pointsWith d shaft voltage set-pointsPark inverse transform modules pairWithCarry out Park inverse transformations Afterwards, it is sequentially output to Pulse width modulation module and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, drives Permagnetic synchronous motor runs；The DC/DC converter units include DC/AC conversion modules, AC/DC conversion modules and high frequency transformation Device, DC/AC conversion modules are connected with the primary side of high frequency transformer, and AC/DC conversion modules are connected with the secondary of high frequency transformer； DC/AC conversion modules include primary side high-frequency electrical energy change-over circuit and primary side high-frequency circuit, and battery passes through primary side high-frequency electrical energy Change-over circuit and primary side high-frequency circuit are connected with the primary side of high frequency transformer；AC/DC conversion modules include secondary high-frequency electrical Energy change-over circuit and secondary high-frequency circuit, the secondary of high frequency transformer pass through secondary high-frequency circuit and secondary high-frequency electrical Energy change-over circuit is connected with inverter；The current regulator is used to calculate q shaft voltage set-pointsWith d shaft voltage set-pointsSecond comparator and the deviation signal of the 3rd comparator output are respectively fed to d axles pi regulator and q axle pi regulators, d axles PI The output voltage of adjuster is U_d, the output voltage of q axle pi regulators is U_q, U_d、U_q、V_oFeeding voltage limit ring, obtainsWithBy the 4th comparator to U_qWithIt is compared, obtains deviation △ U_q, △ U_qQ axles PI is admitted to through ratio module 1/Kqp Integration module in adjuster, to △ U_qCarry out PI regulations so thatBy the 5th comparison module to U_dWithCompared Compared with obtaining deviation △ U_d, △ U_dThe integration module in d axle pi regulators is admitted to through ratio module 1/Kdp, to △ U_dCarry out PI Regulation so that

The beneficial effects of the invention are as follows：Using rotating speed outer shroud, the double-closed-loop control structure of current inner loop, rotating speed can be quick Follow given, improve system response time；Using the two-way DC/DC converters of resonant type soft-switch state, the quality of power supply is improved； Cause that system is provided with bigger adjustable range by using Fractional Order PID, obtain Control platform more more preferable than traditional PI D and Stronger robustness；Amplitude limit and closed loop feedback link are added in electric current loop, it is ensured that motor even running, it is to avoid motor occurs Ovennodulation.

Brief description of the drawings

Fig. 1 is present system overall structure diagram；

Fig. 2 is the structural representation of drive system of the present invention；

Fig. 3 is the structural representation of DC/DC converter units；

Fig. 4 is the structural representation of Fractional Order PID；

Fig. 5 adjusts flow chart for Fractional Order PID；

Fig. 6 is the structural representation of current regulation unit；

Fig. 7 compares figure for control result of the present invention.

Specific embodiment

To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention Specific embodiment be described in detail, above and other purpose of the invention, feature and advantage will be become apparent from.Complete Identical reference indicates identical part in portion's accompanying drawing.Not deliberately accompanying drawing drawn to scale, it is preferred that emphasis is show this hair Bright purport.

System architecture of the invention is explained with reference to accompanying drawing 1 first.The invention provides a kind of electric vehicle drivetrain System, system includes：DC/DC converter units, inverter, magneto, MCU (main control unit), and position detecting circuit, electric current Detection circuit etc..DC/DC converter units are connected with battery, the output end of DC/DC converter units connection inverter, inverter with forever Magneto is connected, and drives vehicle to run by magneto.Detect the input of DC/DC converter units respectively by voltage sensor Voltage Vin and output voltage Vo, output voltage ia, ib of inverter are detected by current sensor, are detected by Hall element The actual speed ω of magneto_mAnd rotor-position, these detection signals are admitted to MCU, and MCU distinguishes according to these detection signals To DC/DC converter units and inverter output drive signal G1, G2, so as to adjust the output of DC/DC converter units and inverter.

By one piece of MCU processors control operation, various pieces coordinated operation, human-computer exchange part can use whole system LCD and button realize (not shown).The turn-on frequency of IGBT in MCU control inverters, so as to realize permagnetic synchronous motor Coil magnetic field order change motor operating；Hall position detection electric circuit inspection is not turned on the Zero change of coil counter electromotive force Judge the position of magnetic pole of rotor, controlled motor is run according to the rotating speed of setting；Current detection circuit is by real-time detection electricity The phase current of machine coil, and be compared with electric machine theory model in MCU processors, realize the closed-loop control of motor, Yi Jishi Overvoltage, the overcurrent protection of existing motor.

The control structure to drive system in the present invention is described in detail below, refers to Fig. 2.Drive system uses rotating speed The double circle structure of outer shroud, current inner loop, it includes Cark conversion modules, Park conversion modules, rotor-position sensor, fraction Rank PID regulator, current regulator, Park inverse transform modules, Pulse width modulation module and inverter.

Wherein, the input of rotor-position sensor connects the rotor parameter output end of permagnetic synchronous motor, rotor-position The rotor-position output end of sensor connects the rotor position data input of Park conversion modules；Rotor-position sensor turn Sub- angular velocity data output end connects the reverse input end of first comparator, the positive input and rotational speed setup of first comparator Signal is connected, and rotational speed setup signal can be given by gas pedal.The output end of first comparator and Fractional Order PID adjuster Input is connected.The output end of Fractional Order PID adjuster connects the positive input of the second comparator, the second comparator it is reverse Input is connected with the q shaft current output ends of Park conversion modules.Controlled using d shaft currents permanent zero in the present invention, i.e. d shaft currents Set-point perseverance is zero, and this set-point is connected with the positive input of the 3rd comparator, the reverse input end of the 3rd comparator with The d shaft currents output end of Park conversion modules is connected.The output end of the second comparator and the 3rd comparator and current regulator phase Even, the output end of current regulator is connected by Park inverse transform modules with Pulse width modulation module, pulse width modulation mould Block exports modulated signal to inverter, and inverter receives the output voltage Vo of DC/DC converter units, opened according to modulated signal/ The IGBT closed in inverter, so as to export the voltage signal of variable frequency to magneto.

Rotor position, the actual speed ω m of permagnetic synchronous motor are gathered by rotor-position sensor, is passed by electric current Wherein two-phase ia, ib of sensor collection inverter output, ia, ib are converted by Clark and Park is converted, and obtain permanent magnet synchronous electric Equivalent current id and iq of the machine under dq axis coordinate systems.First comparator is by rotary speed setting valueCarried out with actual speed ω m Compare, deviation signal is adjusted by Fractional Order PID adjuster, the output valve of Fractional Order PID adjuster as q axles given value of current ValueD shaft current set-points

Second comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the second comparator and The comparative result feeding current regulator of three comparators, obtains the q axles electricity under dq axis coordinate systems after current regulator is adjusted Pressure set-pointWith d shaft voltage set-pointsPark inverse transform modules pairWithAfter carrying out Park inverse transformations, it is sequentially output To Pulse width modulation module and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, permanent magnet synchronous electric is driven Machine runs.

Wherein, Clark conversion, Park conversion, Park inverse transformations is realized by following formula (1), (2), (3) respectively.

In formula, i_αAnd i_βIt is the equivalent current under two-phase rest frame (abbreviation α β coordinate systems), i_a、i_bAnd i_cIt is permanent magnetism The three-phase current of synchronous motor, i_dAnd i_qIt is equivalent current of the permagnetic synchronous motor under dq axis coordinate systems, θ is permanent magnet synchronous electric The rotor-position of machine.

Fig. 3 is the structural representation of DC/DC converter units in the present invention, and DC/DC converter units include DC/AC conversion modules 1st, AC/DC conversion modules 2 and high frequency transformer 3, DC/AC conversion modules 1 are connected with the primary side of high frequency transformer 3, AC/DC conversion Module 2 is connected with the secondary of high frequency transformer 3.DC/DC converter units use symmetrical circuit structure, realize the two-way biography of energy It is defeated so that whole electric power electric transformer can power for other system bidirectionals, with continuation.Wherein, DC/AC becomes mold changing Block 1 includes primary side high-frequency electrical energy change-over circuit 11 and primary side high-frequency circuit 12, and electrokinetic cell is turned by primary side high-frequency electrical energy Change circuit 11 and primary side high-frequency circuit 12 is connected with the primary side of high frequency transformer 3；AC/DC conversion modules 2 include that secondary is high Frequency electrical energy conversion circuit 22 and secondary high-frequency circuit 21, the secondary of high frequency transformer 3 pass through secondary high-frequency circuit 21 It is connected with inverter with secondary high-frequency electrical energy change-over circuit 22, electric capacity of voltage regulation and inverter parallel, electric capacity of voltage regulation is in inverter The direct current of upper output plays a part of voltage stabilizing.

Dc source obtains the ac square wave signal of constant frequency perseverance width, square-wave signal warp through primary side high-frequency electrical energy change-over circuit 11 Primary side high-frequency circuit 12 be converted to the AC signal with permanent envelope trait be input into paramount frequency power transformer 3 carry out electrically every From, and produce high-frequency induction electromotive force, high-frequency induction electromotive force to turn by secondary high-frequency electrical energy through secondary high-frequency circuit 21 Changing circuit 22 carries out AC-DC conversion, obtains stable DC voltage output.M is the mutual inductance of both sides winding in Fig. 3.Above-mentioned primary side High-frequency electrical energy change-over circuit 11 includes the first HF switch S1 and the second HF switch S2, and primary side high-frequency circuit 12 includes original Side resonant capacitance C1 and primary side resonant inductance L1, the positive pole of battery is connected with one end of the first HF switch S1, and the first high frequency is opened Close S1 the other end be connected with one end of the second HF switch S2 and one end of primary side resonant capacitance C1 respectively, the negative pole of battery and The other end connection of the second HF switch S2, the other end of primary side resonant capacitance C1 passes through primary side resonant inductance L1 and the second high frequency Switch the other end connection of S2；The leakage inductance of the primary side winding of high frequency transformer 3 can replace the primary side resonant inductance L1.What is be input into is straight Stream power supply obtains ac square wave signal by the conversion of primary side high-frequency electrical energy change-over circuit 11, then again by primary side high-frequency resonant electricity The primary side of ac square wave signal input high frequency transformer 3 is carried out electrical isolation by road 12.Primary side high-frequency circuit 12 causes DC/ AC converters always work in resonant type soft-switch state, so as to improve the quality of power supply.

Above-mentioned secondary high-frequency circuit 21 includes secondary resonant inductance L2 and secondary resonant capacitance C2, secondary high-frequency electrical Energy change-over circuit 22 includes the 3rd HF switch S3 and the 4th HF switch S4, one end and the secondary resonance of secondary resonant inductance L2 One end connection of electric capacity C2, the other end of secondary resonant capacitance C2 is opened with one end of the 4th HF switch S4 and the 3rd high frequency respectively One end connection of S3 is closed, the other end of secondary resonant inductance L2 is connected with the other end of the 4th HF switch S4, and the 3rd high frequency is opened The other end for closing S3 is connected by secondary resonant capacitance C2 with the other end of secondary resonant inductance L2；The secondary of high frequency transformer 3 around The leakage inductance of group can replace the secondary resonant inductance L2.Secondary high-frequency circuit 21 produces high frequency sense according to original edge voltage signal Electromotive force is answered, then is exported through overload by after the AC-DC conversion of secondary high-frequency circuit 21, being converted to DC voltage.Secondary High-frequency circuit 21 causes that DC/AC converters always work in resonant type soft-switch state, improves the quality of power supply.

DC/DC converter units have two kinds of mode of operations in the present invention：Energy injection pattern and free-run mode.In energy When the positive transmission of amount, input dc power and the positive circulation of the electric current of primary side high-frequency circuit 12, the first HF switch S1 conductings, the Two HF switch S2 are turned off, and input dc power injects primary side resonant network by HF switch, lift resonance current, this kind of work Pattern is energy injection pattern；When the positive transmission of energy and the electric current negative sense of primary side high-frequency circuit 12 are circulated, the second high frequency Switch S2 conductings, the first HF switch S1 shut-offs, the resonance current of primary side high-frequency circuit 12 is by the second HF switch S2 Flowing, this kind of mode of operation is free-run mode.When input DC power in DC/AC converter topologies module 1, pass through The control of mode of operation so that the first HF switch S1 and the second HF switch S2 alternating, complementaries are turned on, and realize zero current Switching, thus the primary side in high frequency transformer 3 just generates high frequency exciting current.Wherein, DC/AC converter topologies module 1 Energy injection time and free oscillation time are equal to the half of the harmonic period of primary side high-frequency circuit 12.Become in DC/AC In the mode of operation of parallel operation topography module 1, angle of flow when the first HF switch S1 and the second HF switch S2 is turned on It is 180 degree, turn-on cycle is the resonance current cycle of primary side high-frequency circuit 12.

The mode of operation of AC/DC converter topologies module 2 is controlled by secondary high-frequency electrical energy change-over circuit 22, specially can Amount two kinds of mode of operations of injection way and free-run mode.In the positive transmission of energy and the resonance of secondary high-frequency circuit 21 When electric current negative sense circulates, the 4th HF switch S4 conductings, the 3rd HF switch S3 shut-offs, the secondary high-frequency circuit 21 resonance current flows by the 4th HF switch S4, and this kind of mode of operation is free-run mode；In the positive transmission of energy During circulation positive with the resonance current of secondary high-frequency circuit 21, the 3rd HF switch S3 conductings, the 4th HF switch S4 is turned off, and the resonance current of the secondary high-frequency circuit 21 injects inverter, this kind of work by the 3rd HF switch S3 Pattern is energy injection pattern.Both patterns realize the 3rd HF switch S3 and the zero current of the 4th HF switch S4 is cut Change, complete the conversion and transmission of energy.

DC/DC converter units of the invention use symmetrical circuit structure, realize the transmitted in both directions of energy so that whole electricity Power electronic transformer can power for other systems stays, in terms of control method, be noted using free-run mode and energy Enter pattern, with more preferable control performance.The efficiency of transmission of DC/DC converters is further increased, control is simple, power device It is few, reduce the volume of whole electric power electric transformer；DC/AC converters and AC/DC in whole electric power electric transformer become Parallel operation always works in resonant type soft-switch state, improves the quality of electric energy.

Different from conventional regulator, in the present invention, the speed regulation for outer shroud uses Fractional Order PID, and its structure is such as Shown in Fig. 4.Similar to integer rank PID controller, the differential equation of Fractional Order PID Controller is:

Wherein,For Caputo is defined；λ ＞ 0, μ ＞ 0 are any real number, are the orders of fractional order control device.

Fractional calculus to Caputo definition ask Laplace transform, can obtain:

The transmission function of thus obtained Fractional Order PID Controller：

Fractional Order PID Controller includes that an integration order λ and differential order μ, wherein λ and μ can be any real numbers.It is whole Number rank PID controller is special circumstances of the Fractional Order PID Controller at λ=1 and μ=1, and PI controls are when λ=1, μ=0 Device processed, is PD control device when λ=0, μ=1.Fractional Order PID Controller many two adjustable parameters λ and μ, by reasonably selecting Parameter can just improve the control effect of system.

Refering to Fig. 5, if the preferable closed loop reference model of system is：λ, μ, kp, ki, kd pass through Following manner determines：

S110：The cut-off frequency ω c and order α of ideal close-loop reference model are chosen in control performance requirement according to system； The control performance requirement of system is time domain index, and time domain index can be overshoot, regulating time or time to peak；The ideal is closed Ring reference model H (s) is such that system has the desired characteristic insensitive to change in gain, is to cause cut-off when change in gain The change of frequencies omega c, system has strong robustness to change in gain, and the overshoot size of system is only relevant with α, and with gain without Close.

S120：By H (s) and G_C(S) control object model, is calculated

Wherein λ, μ take decimal.If λ=α, have

S130：Obtain the frequency domain response data of unknown actual controlled device Gp (s), it is assumed thatWith Gp (s) in ω=0 and Frequency response at ω=ω x is identical, then ω x can be chosen for the cross-over frequency of Gp (s) phase margins of original system | Gp (j ω X) |=1, λ=α is first chosen, it is meaningful at ω=0 that (now, object can keep good steady-state response, with general reality The situation of system is consistent), haveThen basisHave k_p、k_dIn ω=ω_xPlace is with the functional relation of μ：

Wherein,

S140：The ideal form of unknown object is picked out by optimizingIn parameter, makeIn cutoff frequency To greatest extent close to the frequency domain response index of practical object Gp (s) in the range of rate；Set up frequency domain response error criterionAnd error criterion is optimized in the range of 0 ＜ μ ＜ 2Finally give fractional order The parameter of controller.

The present invention primarily determines that the value of ω c, α, λ according to the time domain response index of system, by approaching practical object model With the frequency response characteristic of ideal object model, optimizing obtains the differential term order of Fractional Order PID, is calculated kd, ki, The value of kp, can obtain approaching the Fractional Order PID Controller of desired reference model.

Current regulator is used to calculate q shaft voltage set-pointsWith d shaft voltage set-pointsThe structure of current regulator As shown in fig. 6, the second comparator and the deviation signal of the 3rd comparator output are respectively fed to d axles pi regulator being adjusted with q axles PI Device, the output voltage of d axle pi regulators is U_d, the output voltage of q axle pi regulators is U_q, U_d、U_q、V_oFeeding voltage limit ring, ObtainWithMeanwhile, by the 4th comparator to U_qWithIt is compared, obtains deviation △ U_q, △ U_qThrough ratio module 1/ Kqp is admitted to the integration module in q axle pi regulators, so to △ U_qCarry out PI regulations so thatCompare by the 5th Module is to U_dWithIt is compared, obtains deviation △ U_d, △ U_dThe product in d axle pi regulators is admitted to through ratio module 1/Kdp Sub-module, so to △ U_dCarry out PI regulations so that

In order to ensure motor even running, it is to avoid motor ovennodulation pattern occurs, it is necessary to voltage limit ring limiting motor is electric Pressure U_dqLess than busbar voltage.That is U_d、U_qFollowing formula condition need to be met.

If the condition is invalid, dq shaft voltages ud, uq need to carry out equal proportion amplitude limit, such as according to busbar voltage amplitude Vo Shown in formula (11)：

Park inverse transform modules are used for willWithBe converted to α shaft voltage U α, β shaft voltages U_β, and send to pulsewidth modulation Module；Pulse width modulation module is space vector pulse width modulation, for being calculated voltage arteries and veins according to α β shaft voltages, busbar voltage Punching, and send to inverter.

Inverter output power so is controlled by controlling d shaft currents and q shaft currents, is determined according to motor is actually required Electron current amplitude, phasor difference is done by with q shaft currents, obtains actually required q shaft currents, simplifies the control knot of q shaft currents Structure, on the premise of net side High Power Factor is realized, the robustness of strengthening system；According to busbar voltage amplitude, limiting motor reality Border stator voltage size, it is to avoid motor runs into ovennodulation, enhances the reliability of system；Adjusted by voltage error, will The current error value for obtaining feeds back to electric current loop integral element, effectively increases the rapidity of electric current loop regulation.

The control system of two close cycles+Fractional Order PID+current limit ring of the invention is adjusted with traditional digital ratio ring speed System is contrasted, and Fig. 7 is the comparison diagram of control result, and curve a is given step signal in figure, and curve b drives for the present invention The velocity-response curve of dynamic system, curve C is the response curve of traditional list closed-loop system.By contrast as can be seen that the present invention Drive system rotating speed response it is smooth, quick, there is no overshoot, the phenomenon of vibration, substantially improve system drive effect.

Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with The difference of other embodiment, between each embodiment identical similar part mutually referring to.For the side of the application For method embodiment, because it is substantially similar to device embodiment, so description is fairly simple, related part is referring to device reality Apply the part explanation of example.

Elaborate many details in order to fully understand the present invention in the above description.But above description is only Presently preferred embodiments of the present invention, the present invention can be implemented with being much different from other manner described here, therefore this Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously In the case of aspects, all make many possible to technical solution of the present invention using the methods and techniques content of the disclosure above Change and modify, or the Equivalent embodiments for being revised as equivalent variations.Every content without departing from technical solution of the present invention, according to this The technical spirit of invention still falls within skill of the present invention to any simple modification, equivalent variation and modification made for any of the above embodiments In the range of the protection of art scheme.

Claims (3)

1. a kind of driving system for electric vehicles, it is characterised in that including DC/DC converter units, inverter, permagnetic synchronous motor, Cark conversion modules, Park conversion modules, rotor-position sensor, Fractional Order PID adjuster, current regulator, Park inversions Mold changing block and Pulse width modulation module；The rotor ginseng of the input connection permagnetic synchronous motor of the rotor-position sensor Number output end, the rotor-position output end of rotor-position sensor connects the rotor position data input of Park conversion modules； The rotor velocity data output end of rotor-position sensor connects the reverse input end of first comparator, and first comparator is just It is connected with rotational speed setup signal to input；The output end of first comparator is connected with the input of Fractional Order PID adjuster, point The output end of number rank PID regulator connects the positive input of the second comparator, the reverse input end and Park of the second comparator The q shaft currents output end of conversion module is connected；I.e. d shaft currents set-point perseverance is zero, d shaft currents set-point and the 3rd comparator Positive input is connected, and the reverse input end of the 3rd comparator is connected with the d shaft current output ends of Park conversion modules；Second ratio Output end compared with device and the 3rd comparator is connected with current regulator, and the output end of current regulator passes through Park inverse transform modules It is connected with Pulse width modulation module, Pulse width modulation module exports modulated signal to inverter, inverter receives DC/DC and becomes The output voltage Vo of unit is changed, according to the IGBT that modulated signal is beaten in opening/closing inverter, so as to export the voltage of variable frequency Signal is to magneto；Rotor position, the actual speed ω m of permagnetic synchronous motor are gathered by rotor-position sensor, is passed through Wherein two-phase ia, ib of current sensor collection inverter output, ia, ib are converted by Clark and Park is converted, and obtain permanent magnetism Equivalent current id and iq of the synchronous motor under dq axis coordinate systems；First comparator is by rotary speed setting valueWith actual speed ω m Be compared, deviation signal is adjusted by Fractional Order PID adjuster, the output valve of Fractional Order PID adjuster as q axles electric current Set-pointD shaft current set-pointsSecond comparator to iq withBe compared, the 3rd comparator to id withCompared Compared with the comparative result feeding current regulator of the second comparator and the 3rd comparator obtains dq after current regulator is adjusted Q shaft voltage set-points under axis coordinate systemWith d shaft voltage set-pointsPark inverse transform modules pairWithCarry out Park After inverse transformation, it is sequentially output to Pulse width modulation module and inverter, so as to obtain the three-phase input electricity of permagnetic synchronous motor Pressure, drives permagnetic synchronous motor operation；The DC/DC converter units include DC/AC conversion modules, AC/DC conversion modules and height Frequency power transformer, DC/AC conversion modules are connected with the primary side of high frequency transformer, the secondary of AC/DC conversion modules and high frequency transformer It is connected；DC/AC conversion modules include primary side high-frequency electrical energy change-over circuit and primary side high-frequency circuit, and battery passes through primary side high frequency Electrical energy conversion circuit and primary side high-frequency circuit are connected with the primary side of high frequency transformer；AC/DC conversion modules include that secondary is high Frequency electrical energy conversion circuit and secondary high-frequency circuit, the secondary of high frequency transformer are high by secondary high-frequency circuit and secondary Frequency electrical energy conversion circuit is connected with inverter；The current regulator is used to calculate q shaft voltage set-pointsIt is given with d shaft voltages ValueSecond comparator and the deviation signal of the 3rd comparator output are respectively fed to d axles pi regulator and q axle pi regulators, d axles The output voltage of pi regulator is U_d, the output voltage of q axle pi regulators is U_q, U_d、U_q、V_oFeeding voltage limit ring, obtains WithBy the 4th comparator to U_qWithIt is compared, obtains deviation △ U_q, △ U_qQ axles are admitted to through ratio module 1/Kqp Integration module in pi regulator, to △ U_qCarry out PI regulations so thatBy the 5th comparison module to U_dWithCarry out Compare, obtain deviation △ U_d, △ U_dThe integration module in d axle pi regulators is admitted to through ratio module 1/Kdp, to △ U_dCarry out PI is adjusted so that

2. driving system for electric vehicles according to claim 1, it is characterised in that the primary side high-frequency electrical energy change-over circuit Including the first HF switch S1 and the second HF switch S2, primary side high-frequency circuit includes that primary side resonant capacitance C1 and primary side are humorous Shake inductance L1, and the positive pole of battery is connected with one end of the first HF switch S1, and the other end of the first HF switch S1 is respectively with One end connection of one end and primary side resonant capacitance C1 of two HF switch S2, the negative pole of battery is another with the second HF switch S2's End connection, the other end of primary side resonant capacitance C1 is connected by primary side resonant inductance L1 with the other end of the second HF switch S2； The secondary high-frequency circuit includes secondary resonant inductance L2 and secondary resonant capacitance C2, secondary high-frequency electrical energy change-over circuit bag The 3rd HF switch S3 and the 4th HF switch S4 is included, one end of secondary resonant inductance L2 connects with one end of secondary resonant capacitance C2 Connect, the other end of secondary resonant capacitance C2 connects with one end of the 4th HF switch S4 and one end of the 3rd HF switch S3 respectively Connect, the other end of secondary resonant inductance L2 is connected with the other end of the 4th HF switch S4, the other end of the 3rd HF switch S3 It is connected with the other end of secondary resonant inductance L2 by secondary resonant capacitance C2.

3. driving system for electric vehicles according to claim 1, it is characterised in that the biography of the Fractional Order PID Controller Delivery function is：Wherein parameter lambda, μ, kp, ki, kd are determined as follows：

S210：The cut-off frequency ω c and order α of ideal close-loop reference model H (S) are chosen in control performance requirement according to system； S220：By H (s) and G_c(S) control object model, is calculatedS230：The frequency domain for obtaining actual controlled device Gp (s) rings Data are answered, ifIdentical with frequency responses of the Gp (s) at ω=0 and ω=ω x, then ω x are chosen for the Gp (s) of original system The cross-over frequency of phase margin | Gp (j ω x) |=1, first chooses λ=α, hasThen basisHavek_p、k_dIn ω=ω_xPlace and the function of μ Relation is：

Wherein,

$\begin{array}{c}p=\mathrm{Re}\[G_p\left({\mathrm{j\ω}}_x\right)\]\\ q=\mathrm{Im}\[G_p\left({\mathrm{j\ω}}_x\right)\]\end{array},\left\{\begin{array}{c}t=\mathrm{\λ}+\mathrm{\μ}\\ a+jb=j^t=\cos \left(\frac{\mathrm{\π}}{2}t\right)+j\sin \left(\frac{\mathrm{\π}}{2}t\right)\\ c+jd=j^{\mathrm{\λ}}=\cos \left(\frac{\mathrm{\π}}{2}\mathrm{\λ}\right)+j\sin \left(\frac{\mathrm{\π}}{2}\mathrm{\λ}\right)\end{array}\right..---\left(15\right)$

S240：The ideal form of unknown object is picked out by optimizingIn parameter, makeIn cut-off frequency model To greatest extent close to the frequency domain response index of practical object Gp (s) in enclosing；Set up frequency domain response error criterionAnd error criterion is optimized in the range of 0 ＜ μ ＜ 2Finally give The parameter of fractional order control device.