CN110466597A - A kind of electric car EPS AC magnetoelectric machine energy optimal control system - Google Patents
A kind of electric car EPS AC magnetoelectric machine energy optimal control system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The present invention discloses one of electric car manipulation and electric drive control apparatus field electric car EPS AC magnetoelectric machine energy optimal control system, it is made of energy optimal control device and Torque test module, energy optimal control device is by optimal-search control device, optimal controller, robust controller, energy consumption controller and torque PI module composition, optimal-search control device, optimal controller, robust controller is connected to the input terminal of EPS motor system after being in parallel, optimal-search control device is by constraints module, KNN algorithm weight module and integral form PI control module composition, optimal controller can make motor speed and electric current reach reference value in finite time, realize quick transient response, the optimization of optimal-search control device realization parameter, further enhance performance of noiseproof, it ensure that control precision, energy optimal control device energy In the case where given inversion clipping, accurate torque tracking is realized with the smallest power consumption.
Description
Technical field
The invention belongs to electric car manipulation and electric drive control equipment technical fields, especially for electric car
The AC magnetoelectric machine control system of electric power steering (Electric Power Steering, abbreviation EPS).
Background technique
The universal of automobile brings severe energy and environmental problem, and energy conservation and environmental protection become the theme of automotive technology development
One of.In this case, electric car comes into being, and is able to achieve zero-emission, reduces the discharge of greenhouse gases, operation
Stationary noise is small.The output power of electric car is not so good as fuel-engined vehicle, compares mechanical-hydraulic power-assisted steering, electric power steering
(EPS) light and handy flexibly to reduce complete vehicle quality, bring vibration in effective attenuation road surface improves steering behaviour, it is steady to improve manipulation
It is qualitative, it is suitable for electric car.
The power source of EPS system is provided by assist motor, and largely, the performance of system is by assist motor
Influence it is very big.Overwhelming majority motor uses direct current generator now, has good starting and speed adjusting performance, and speed adjustable range is wide,
But the sliding contact of brush and commutator causes mechanical wear and spark, forms a radio interference source, makes direct current
Machine failure is more, reliability is low, limits at high speed, and large capacity direction is developed.AC magnetoelectric machine various control algolithms such as
Vector controlled, Direct Torque Control, Model Predictive Control control under, performance be continuously improved, and have small in size, efficiency
High, many advantages, such as power factor (PF) is high, gradually develop into the novel steering motor for replacing EPS system direct current generator.
EPS system motor needs accurate position signal, fast and accurately moment responses, therefore used normal in current industrial
Rule control system is unable to satisfy caused by time-varying parameter, load sudden change and the various uncertain factors of electric boosting steering system
Interference.Such as it is that " intelligent automobile EPS alternating current generator is anti-interference that Chinese Patent Application No., which is 201610553933.2, title,
Controller is constructed in the building method of intelligent controller ", has pertained only to the optimal control of controller interference free performance, but can not be real
It is existing energy-optimised, it is energy saving.
Summary of the invention
The purpose of the present invention is the optimizations to electric car EPS with AC magnetoelectric machine control technology, have provided one kind both
Steering motor performance indexes can be efficiently modified again and can be reduced the electric car EPS AC magnetoelectric machine of power-assisted steering energy consumption
Energy optimal control system can effectively solve the problem that the electric car EPS undesirable performance of motor driven systems Traditional control effect,
Make electric car EPS with motor driven systems items Control performance standard within optimum range again simultaneously, realizes faster
Dynamic responding speed, higher stable state track precision.
A kind of electric car EPS AC magnetoelectric machine energy optimal control system of the present invention the technical solution adopted is that:
It is made of energy optimal control device and Torque test module, and energy optimal control device connects after mutually concatenating with Torque test module
Between the input terminal and output end of EPS motor system, EPS motor system is with voltage vd、vqFor input, with rotor position angle θ and
Electric current id、iqFor output；The energy optimal control device is by optimal-search control device, optimal controller, robust controller, energy consumption control
Device processed and torque PI module composition, optimal-search control device, optimal controller, robust controller are connected to EPS motor system after being in parallel
The input terminal of system, the output end of EPS motor system are separately connected optimal-search control device, optimal controller, robust controller and energy consumption
The input terminal of controller, input terminal of the output end of EPS motor system also through Torque test module connection torque PI module, torque
The output end of PI module is separately connected the input terminal of robust controller and energy consumption controller, and the output end of energy consumption controller connects Shandong
The input terminal of stick controller；Rotor position angle θ is input in optimal-search control device, rotor position angle θ, electric current id、iqIt is input to optimization
In controller and Torque test module, the given module of angle is made reference angle degree θ*, given value of current module, which is given, to be made with reference to electricity
StreamReference currentIt is input in optimal controller, with reference to angle, θ*It is separately input into optimal-search control device and optimal controller
In；The output of optimal-search control device is control voltagevd2、vq2For v2Voltage under d-q coordinate system, K are most
Excellent gain matrix, x are the state variable of EPS motor system；The output of optimal controller is control voltage v1: Torque test module
Detect torque F, torque F and given torque F*It compares to obtain torque error eT, torque error eTIt is input to torque PI module
In, the output of torque PI module is torque g；Energy consumption controller is with rotor position angle θ, electric current id、iq, torque g as input, it is defeated
Energy-saving voltage z out: robust controller 24 is with rotor position angle θ, electric current id、iq, energy-saving voltage z and torque g be as input, output
To control voltage v3, the output of energy optimal control device is control voltage v=v1+v2+v3。
The optimal-search control device is made of constraints module, KNN algorithm weight module and integral form PI control module, reference
Angle, θ*The angle error value e obtained compared with rotor position angle θθFor the input of integral form PI control module, integral form PI control
Molding block output control voltageTo angle error value eθIt quadratures respectively and obtains ∫ e with derivationθ(τ) d τ andIt is right
With reference to angle, θ*First derivative is asked to obtainForm the training sample set of KNN algoritic module The output of KNN algorithm weight module is optimal control voltage v'd2、v'q2, optimal control voltage v'd2、v'q2
With control voltage vd2、vq2It compares to obtain error evd、evq, error evd、evqIt is input to constraints module, constraints module acquires described
Optimum gain matrix K.
The beneficial effects of the present invention are:
1, optimal controller can make motor speed and electric current reach reference value in finite time, realize that quick transient state is rung
It answers, and insensitive for parameter uncertainty and external disturbance.Optimal-search control device realizes the optimization of parameter, makes disturbance rejection
Performance further enhances, and ensure that control precision.Energy optimal control device can be in the case where given inversion clipping, with the smallest
Power consumption realizes accurate torque tracking.
2, optimal-search control device is in conjunction with optimum gain matrix K is chosen based on the Weight Training of KNN algorithm, by mass data
Training optimization obtains optimum gain matrix K, optimizes the performance indexes of controller, reduces the work of manual adjustment parameter
Amount, improves the accuracy of output voltage.
3, present invention employs a kind of novel, in conjunction with the energy consumption controller of the operation conditions of current EPS system, guaranteeing
Under the good operating condition of motor, optimizes energy management strategies, consume least energy, reach energy saving target.
Detailed description of the invention
Fig. 1 is a kind of control structure frame of electric car EPS AC magnetoelectric machine energy optimal control system of the present invention
Figure；
Fig. 2 is the equivalent block diagram of EPS motor system 1 in Fig. 1；
Fig. 3 is the optimizing functional block diagram of optimal-search control device 26 in Fig. 1；
In figure: 1.EPS electric system；2. current sensor；3. rotary transformer；4. energy optimal control device；11.2r/
2s coordinate transformation module；12.PWM module；13. inverter；14. AC magnetoelectric machine；15.3s/2r coordinate transformation module；21.
Angle gives module；22. given value of current module；23. optimal controller；24. robust controller；25. energy consumption controller；26. seeking
Excellent controller；28. Torque test module；29. torque PI module；31. integral form PI control module；41.KNN algorithm weight mould
Block；51. constraints module.
Specific embodiment
As shown in Figure 1, the present invention is made of energy optimal control device 4 and Torque test module 28, energy optimal control device 4
And it is connected between the input terminal and output end of EPS motor system 1 for electric vehicle after 28 phase of Torque test module concatenation.
EPS motor system 1 is with voltage vd、vqTo input, with rotor position angle θ and electric current id、iqFor output.
Energy optimal control device 4 is by optimal-search control device 26, optimal controller 23, robust controller 24, energy consumption controller 25
It is formed with torque PI module 29.Optimal-search control device 26, optimal controller 23, robust controller 24 are connected to EPS electricity after being in parallel
The input terminal of machine system 1.The output end of EPS motor system 1 is separately connected optimal-search control device 26, optimal controller 23, robust control
The input terminal of device 24 and energy consumption controller 25 processed, the output end of EPS motor system 1 also connect torque PI through Torque test module 28
The output end of the input terminal of module 29, torque PI module 29 is separately connected the input of robust controller 24 and energy consumption controller 25
End, the input terminal of the output end connection robust controller 24 of energy consumption controller 25.
The rotor position angle θ that EPS motor system 1 exports is input in optimal-search control device 26, rotor position angle θ and electric current
id、iqIt is input in optimal controller 23.The given module 21 of angle is made reference angle degree θ*, given value of current module 22 is to being made
Reference currentReference currentIt is input in optimal controller 23, with reference to angle, θ*It is separately input into optimal-search control device 26 and excellent
Change in controller 23.The output of optimal-search control device 26 is control voltage v2:
In formula, vd2、vq2For v2Voltage under d-q coordinate system, the optimum gain square for the optimal-search control device 26 that K is 2 × 3
Battle array, value is related with the response characteristic of system, and x is the state variable of EPS motor system 1, x=[id iq θ]T, T is matrix turn
It sets.
The output of optimal controller 23 is control voltage v1:
In formula, vd1、vq1It is v1Voltage under d-q rotating coordinate system, RsFor motor stator resistance, Ld、LqIt is stator in d-
Inductance under q rotating coordinate system, Φ are rotor flux.
The rotor position angle θ and electric current i that EPS motor system 1 exportsd、iqIt is input in Torque test module 28, torque inspection
It surveys module 28 and detects torque F, the given torque F exported with torque reference module 27*It compares to obtain torque error eT, torque
Error eTIt is input in torque PI module 29, obtains torque g through adjusting.Torque g is separately input to robust controller 24 and energy consumption
In controller 25.
The rotor position angle θ and electric current i that EPS motor system 1 exportsd、iqIt is input in energy consumption controller 25, energy consumption control
Device 25 is by rotor position angle θ, electric current id、iq, torque g as input, obtain energy-saving voltage z according to the following formula:
jTZ=0,
In formula, j is robust coefficient matrix, jd、jqFor component of the j under d-q coordinate system,μ is torque
Coefficient.
Energy-saving voltage z is input in robust controller 24, the rotor position angle θ and electric current i that EPS motor system 1 exportsd、iq
It is input in robust controller 24.Robust controller 24 is with rotor position angle θ, electric current id、iq, energy-saving voltage z and torque g conduct
Input exports to control voltage v3:
In formula, vd3、vq3For v3Component under d-q coordinate system, j are robust coefficient matrixλ(i,θ)
For robust function,A, b, c, d, e are related with the parameter of electric machine, a=95, b=-
0.00352, c=-0.0026, d=-2570000, e=0.0053.
Energy optimal control device 4 is to refer to angle, θ*, reference currentTorque error eTWith rotor position angle θ and electric current id、
iqAs input, to control voltage v as output.Optimal-search control device 26, optimal controller 23, robust controller 24 are in parallel,
The output for obtaining energy optimal control device 4 is control voltage v,Voltage vd、vqFor component of the v under d-q coordinate system:
V=v1+v2+v3,
Wherein: v1、v2、v3Be respectively optimal controller 23, optimal-search control device 26, robust controller 24 export control electricity
Pressure.
As shown in Fig. 2, EPS motor system 1 by current sensor 2, rotary transformer 3,2r/2s coordinate transformation module 11,
PWM module 12, inverter 13, AC magnetoelectric machine 14,3s/2r coordinate transformation module 15 form, wherein 2r/2s coordinate transform
Module 11, PWM module 12, inverter 13, AC magnetoelectric machine 14 and rotary transformer 3 are sequentially connected in series, the output of inverter 13
End is sequentially connected in series current sensor 2 and 3s/2r coordinate transformation module 15.2r/2s coordinate transformation module 11 is with voltage vd、vqIt is defeated
Enter, voltage vd、vqThe stator voltage v under rest frame is obtained through coordinate transformα、vβ, stator voltage vα、vβAs PWM module
12 input, PWM module 12 export switching pulse signal 0 and 1 (respectively represent shutdown and open-minded), and switching pulse signal is as inverse
Become the input of device 13, the variable ratio frequency changer transformation three-phase current i of 13 output driving AC magnetoelectric machine 14 of invertera、ib、ic, three-phase electricity
Flow ia、ib、icDrive AC magnetoelectric machine 14,14 output corner of AC magnetoelectric machineAngle of rotorBy rotary transformer 3
Detection obtain rotor position angle θ, that rotary transformer 3 exports is rotor position angle θ.Inversion is measured using current sensor 2
Three-phase current i={ the i that device 13 exportsa、ib、ic, three-phase current ia、ib、icInput to 3s/2r coordinate transformation module 15,3s/2r
The output of coordinate transformation module 15 is electric current i under synchronous rotating framed、iq。
Consider that Parameters variation and outside are disturbed by analysis, equivalent and derivation according to the parameters of EPS motor system 1
It is dynamic, establish the mathematical model equation of EPS motor system 1 are as follows:
In formula, x=[id iq θ]T, u=[vd vq Tl]T, respectively the state variable of EPS motor system 1 and input become
Three outputs of EPS motor system 1 are rotor position angle θ and electric current i by amountd、iqAs state variable, by EPS motor system 1
Two input be voltage vd、vqWith load torque TlAs input variable, T is matrix transposition, and A coefficient of combination matrix, L is electricity
Feel matrix, B is input coefficient matrix, and M is derivation coefficient matrix, and p is motor pole logarithm.A, B, L are by AC magnetoelectric machine 14
Parameter determine:
As shown in figure 3, optimal-search control device 26 controls mould by constraints module 51, KNN algorithm weight module 41 and integral form PI
Block 31 forms, and chooses optimum gain matrix K using based on KNN algorithm weight module 41 and constraints module 51.Angle is to cover half
The given reference angle, θ of block 21*The angle error value e obtained compared with the rotor position angle θ that EPS motor system 1 exportsθ, angle
Spend error amount eθAs the input of integral form PI control module 31, the output control voltage of integral form PI control module 31Meanwhile by angle error value eθIt quadratures respectively and derivation, obtains ∫ eθ(τ) d τ andTo reference angle, θ*It asks
First derivative obtainsAnd standardization processing is done to signal, form the training sample set of KNN algoritic module 41It is input in KNN algoritic module 41, off-line training sample, obtains KNN algorithm mould
The optimization of block 41 exports, and is optimal control voltage v'd2、v'q2, by optimal control voltage v'd2、v'q2With integral form PI control module
The control voltage v of 31 outputsd2、vq2It compares, obtains error evd、evq, error evd、evqIt is input to constraints module 51, constrains mould
Block 51 acquires optimum gain matrix K, in the present inventionTo obtainThe limits of error
The output voltage signal of molding block 51 are as follows:
Wherein, v (k) is vd2、vq2Discrete form, e (k) are voltage error ed2、eq2Discrete form, ε are according to real electrical machinery
The limit of error that parameter obtains, when error is greater than the limit, β=1, to reduce overshoot；When error is less than the limit, β=0,
To guarantee systematic steady state precision, Kp、KiAnd KdRespectively proportionality coefficient, integral coefficient and differential coefficient, value are respectively
0.001,0.01 and 0.05.
At work, energy optimal control device 4 optimizes energy management in the case where guaranteeing the good operating condition of motor to the present invention
Strategy, energy-saving voltage z reduce power loss caused by due to winding copper loss, and energy-saving voltage z affects the generation of motor torque,
Torque g realizes the accurate tracking of torque, improves the control performance of energy optimal control device 4.To realize to electric car electricity
The high-performance robust control of dynamic servo steering system.
Claims (6)
1. a kind of electric car EPS AC magnetoelectric machine energy optimal control system, it is characterized in that: by energy optimal control device
(4) it is connected to after mutually being concatenated with Torque test module (28) with Torque test module (28) composition, energy optimal control device (4)
Between the input terminal and output end of EPS motor system (1), EPS motor system (1) is with voltage vd、vqTo input, with rotor-position
Angle θ and electric current id、iqFor output；The energy optimal control device (4) is by optimal-search control device (26), optimal controller (23), Shandong
Stick controller (24), energy consumption controller (25) and torque PI module (29) composition, optimal-search control device (26), optimal controller
(23), robust controller (24) is connected to the input terminal of EPS motor system (1), the output of EPS motor system (1) after being in parallel
End is separately connected the input of optimal-search control device (26), optimal controller (23), robust controller (24) and energy consumption controller (25)
End, input terminal of the output end of EPS motor system (1) also through Torque test module (28) connection torque PI module (29), torque
The output end of PI module (29) is separately connected the input terminal of robust controller (24) and energy consumption controller (25), energy consumption controller
(25) input terminal of output end connection robust controller (24)；Rotor position angle θ is input in optimal-search control device (26), rotor
Angular position theta, electric current id、iqIt is input to optimal controller (23) and Torque test module (28), angle gives module (21) to making
With reference to angle, θ*, given value of current module (22) is to being made reference currentReference currentIt is input to optimal controller (23), joins
Examine angle, θ*It is separately input into optimal-search control device (26) and optimal controller (23)；The output of optimal-search control device (26) is control electricity
Pressurevd2、vq2For v2Voltage under d-q coordinate system, K are optimum gain matrix, and x is EPS motor system
(1) state variable；The output of optimal controller (23) is control voltage v1: Torque test module (28) detects torque F, turns
Square F and given torque F*It compares to obtain torque error eT, torque error eTIt is input in torque PI module (29), torque PI mould
The output of block (29) is torque g；Energy consumption controller (25) is with rotor position angle θ, electric current id、iq, torque g as input, output section
Energy voltage z: robust controller (24) is with rotor position angle θ, electric current id、iq, energy-saving voltage z and torque g as input, export and be
Control voltage v3；The output of energy optimal control device (4) is control voltage v=v1+v2+v3。
2. a kind of electric car EPS AC magnetoelectric machine energy optimal control system according to claim 1, feature
Be: the optimal-search control device (26) is by constraints module (51), KNN algorithm weight module (41) and integral form PI control module
(31) it forms, with reference to angle, θ*The angle error value e obtained compared with rotor position angle θθFor integral form PI control module (31)
Input, integral form PI control module (31) output control voltageTo angle error value eθIt quadratures and asks respectively
It leads to obtain ∫ eθ(τ) d τ andTo reference angle, θ*First derivative is asked to obtainForm the training sample of KNN algoritic module (41)
CollectionThe output of KNN algorithm weight module (41) is optimal control voltage v'd2、
v'q2, optimal control voltage v'd2、v'q2With control voltage vd2、vq2It compares to obtain error evd、evq, error evd、evqIt is input to
Constraints module (51), constraints module (51) acquire the optimum gain matrix K.
3. a kind of electric car EPS AC magnetoelectric machine energy optimal control system according to claim 1, feature
Be: the EPS motor system (1) by current sensor (2), rotary transformer (3), 2r/2s coordinate transformation module (11),
PWM module (12), inverter (13), AC magnetoelectric machine (14), 3s/2r coordinate transformation module (15) composition, 2r/2s coordinate become
Mold changing block (11), PWM module (12), inverter (13), AC magnetoelectric machine (14) and rotary transformer (3) are sequentially connected in series, inverse
The output end for becoming device (13) is sequentially connected in series current sensor (2) and 3s/2r coordinate transformation module (15), 2r/2s coordinate transform mould
The input of block (11) is the voltage vd、vq, the output of rotary transformer (3) is rotor position angle θ, the 3s/2r coordinate
The output of conversion module (15) is the electric current id、iq。
4. a kind of electric car EPS AC magnetoelectric machine energy optimal control system according to claim 1, feature
It is: the control voltage of optimal controller (23) outputvd1、vq1It is v1In
Voltage under d-q rotating coordinate system, RsFor motor stator resistance, Ld、LqFor inductance of the stator under d-q rotating coordinate system, Φ is
Rotor flux.
5. a kind of electric car EPS AC magnetoelectric machine energy optimal control system according to claim 1, feature
It is: the energy-saving voltagejTZ=0, j are robust coefficient matrix,
jd、jqFor component of the j under d-q coordinate system, μ is torque coefficient.
6. a kind of electric car EPS AC magnetoelectric machine energy optimal control system according to claim 1, feature
It is: the control voltage of robust controller (24) outputvd3、vq3For v3In
Component under d-q coordinate system, j are robust coefficient matrix, and λ (i, θ) is robust function.
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