CN112615576A - Intelligent control method and system for target operation point of permanent magnet synchronous motor for vehicle - Google Patents
Intelligent control method and system for target operation point of permanent magnet synchronous motor for vehicle Download PDFInfo
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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
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses an intelligent control method and system for a target operation point of a permanent magnet synchronous motor for a vehicle, wherein the target operation point is used as an operation intention of a vehicle driver or an intelligent vehicle autonomous decision unit at the next moment. The intelligent control method can be summarized into a one-step structure, a two-step searching, a three-step positioning and a four-step locking, wherein the one-step structure is to construct a possible target operation area range at the next moment by taking the current moment as a reference operation point; secondly, a target operation point is locked by adopting a search type search mode; three steps of positioning are the optimal three configuration selections and action time of the range of the position of the decision target running point; the four-step locking is a time sequence segmented execution mode for positioning three configuration action times; from the implementation aspect, the three steps and the timing locking function can be divided into a multi-step hybrid control application execution module and a timing positioning control application execution module, so that the inverter is controlled, and the permanent magnet synchronous motor is driven to meet the operation intention requirement.
Description
Technical Field
The invention belongs to the technical field of control of permanent magnet synchronous motors, and particularly relates to an intelligent control method and system for a target operating point of a permanent magnet synchronous motor for a vehicle.
Background
Along with the rapid development of national economy, the problems of energy safety and environmental protection are increasingly highlighted, the conversion from fossil energy kinetic energy driving to electric driving is upgraded into a necessary trend and selection, and the internal logic of the conversion is the high efficiency of the electric driving and zero emission and no pollution in the use process of a new energy technology. With the pursuit of people for good life, the attribute of the vehicle is gradually changed into the space requirement of production life from the attribute of the transportation tool, and the transportation is changed into an intelligent and networking information interaction main body, so that the new energy vehicle technology, the intelligent networking technology and the intelligent driving technology are developed vigorously, and the electric driving technology serving as the core of a platform is of great importance in selecting the proper type of motor and the high efficiency and the intelligence of the control mode of the motor.
China has the advantage of abundant rare earth resources, and the research level of rare earth permanent magnet materials and rare earth permanent magnet motors reaches the international advanced level, so that the rare earth permanent magnet motors are intensively researched, popularized and applied, and the rare earth permanent magnet motors have important theoretical significance and use value for realizing the development of social economy. The permanent magnet synchronous motor replaces excitation windings of the electrically excited synchronous motor with magnetic flux provided by the rare earth permanent magnet, has simple structure and low processing and assembling cost, saves a collecting ring and an electric brush, and improves the running reliability; and because excitation current is not needed, excitation loss is saved, and the efficiency and the power density of the motor are improved. The permanent magnet synchronous motor for the vehicle usually adopts a built-in permanent magnet synchronous motor, the permanent magnet is positioned in the rotor, the reluctance torque generated by the asymmetry of the magnetic circuit structure of the rotor is beneficial to improving the overload capacity and the power density of the motor, the 'field weakening' speed expansion is easier, and the driving requirement of rapid change in the using process of the vehicle can be met. Along with the popularization of the application depth and the application range of the permanent magnet synchronous motor for the vehicle, the requirements on the efficiency, the power density, the cost and the like of the motor and a driving system of the motor are higher and higher, and the difficulty of system control is further increased due to the characteristic that the structure of the permanent magnet synchronous motor is various and the limitation of the available space of the vehicle is caused.
Currently, a vehicle permanent magnet synchronous motor which is industrially applied generally adopts a vector control method and a direct torque control method, the vector control adopts multi-loop PI control to carry out follow-up control on an operation intention, the control response time is long, parameter setting is required, the operation is complicated and a large amount of practical experience is required, and the direct torque control method has large steady-state torque pulsation and is not ideal in low-speed characteristic.
Therefore, how to adopt a more efficient and intelligent control method is a problem to be solved urgently at present.
Disclosure of Invention
The intelligent control method in the invention realizes the technical idea that:
the intelligent control method is a confirmation process of the position of a target operation point, and has the characteristic of autonomous decision making, and the steps of the intelligent control method can be summarized into one-step construction, two-step searching, three-step positioning and four-step locking, wherein the one-step construction is to construct a possible target operation area range at the next moment by taking the current moment as a reference operation point; secondly, a target operation point is locked by adopting a search type search mode; three steps of positioning are the optimal three configuration selections and action time of the range of the position of the decision target running point; the four-step locking is a time sequence segmented execution mode for positioning three configuration action times; from the implementation aspect, the three steps and the timing locking function can be divided into a multi-step hybrid control application execution module and a timing positioning control application execution module, so that the inverter is controlled, and the permanent magnet synchronous motor is driven to meet the operation intention requirement.
In view of the above problems, the present invention aims to provide an intelligent control method and system for a target control point of a permanent magnet synchronous motor for a vehicle, so as to improve the intelligent degree of control and the accuracy of torque control, thereby reducing the response time of the system, and the specific technical scheme is as follows:
the intelligent control system for the target operating point of the permanent magnet synchronous motor for the vehicle is characterized by comprising a dynamic mixing system and an operation control unit.
Further, the dynamic hybrid system includes a motor driver inverter having m configurations and a continuously progressing permanent magnet synchronous motor having n state variables;
the motor driver inverter comprises a power semiconductor, a drive plate of the power semiconductor and a control plate for realizing the function of the operation control unit, or the drive plate and the control plate are combined into a plate, a current collecting device and the like;
the motor driver inverter outputs three phase lines to the permanent magnet synchronous motor and collects three-phase or two-phase current in the three phase lines; and meanwhile, the position information of the motor rotor is collected and input into a motor driver inverter in the form of a voltage signal, so that the permanent magnet synchronous motor can drive the vehicle to move by mechanical energy.
Further, the control target in the arithmetic control unit includes:
(1) collecting current ia、ib、icAnd transforming the collected current from a three-phase abc natural coordinate system to a dq two-phase rotating coordinate system id、iq；
(2) Collecting energy storage device or system output end voltage Udc；
(3) Collecting permanent magnet synchronous motor stator rotation position angle thetarAnd calculating the mechanical angular velocity omega of the motorr；
(4) To be inputted
The operation intention is used as a target operation point, and the intelligent control method is realized.
Further, the simplified dynamic model equation established by the target operating point according to the intelligent control method can be expressed as:
wherein F (k), H1(k)、R(θr)、C23、H2(k) Respectively, as follows:
wherein the content of the first and second substances,
the operating point at the next time k +1 is the target operating point,
is the operating point of the current time k, i.e. the reference operating point, RsIs the stator armature phase winding resistance, LdIs a direct axis inductor, LqIs a quadrature axis inductance, omegarMechanical angular velocity, T, of the motoreTo calculate the period, θrFor the rotational position angle, psi, of the stator of the motorfIs a permanent magnet flux linkage, UdcA voltage at an output of a vehicle energy storage device or system.
The intelligent control method for the target operation point of the permanent magnet synchronous motor for the vehicle is characterized by comprising the following steps of:
s1: obtaining a general model equation of the dynamic characteristic of the whole system formed by the motor driver and the permanent magnet synchronous motor by establishing m nonlinear mathematical model equations, wherein the m mathematical models with different control configurations are expressed as follows:
x(t+τ)＝x(t)+τf(x(t),uj(t)) (2)，
wherein j represents the number corresponding to different control configurations, x (t) represents the measured state variable, τ represents the prediction horizon, uj(t) represents the switching state combination of the power semiconductor devices of each bridge arm of the inverter, if the power semiconductor devices on the upper part of a certain bridge arm are switched on, the lower part is switched off,1 if not, 0 if not;
s2: based on the established characteristics of the running tracks of the nonlinear mathematical model at the t moment and the t + tau moment, the regional range of the target running point at the t + tau moment is established, and the establishment formula of the regional range is as follows:
dj(t)＝x(t+τ)-x(t) (3)，
wherein d isj(t) m possible direction vectors with the t time as a starting point of the reference point, wherein the direction vectors represent the initial state of the t time;
s3: searching the relation between a target operating point and a constructed area range in a searching mode, reducing the area range, and limiting a configuration j and a small area range constructed by the configuration states which are different from the switching states of the power semiconductor devices on the bridge arms represented by the configuration j and the switching states of the power semiconductor devices on the bridge arms of only one inverter;
s4: based on m possible d in the constructed small area rangej(t) and a reference point at the moment t, determining three accurate configurations and calculating the action time of the accurate configurations;
s5: and based on the calculated action time, executing the determined m configurations by adopting a sequential positioning control method in a segmented sequence.
Further, the specific operation steps of step S3 are:
s31: at a temperature equal tomaxCalculating a simplified mathematical model for each decision moment according to a formula (1) in the determined action time and an effective region in a state vector space, and determining the position of a target operating point;
s32: dividing the target operating point into a region outside the region range, a region within the region range and a region range boundary;
s33: aiming at target operation points in the area range and on the boundary, further reducing the area range, and limiting the target operation points in a small area range which is constructed by a configuration j (j is larger than {1: m }) and a configuration state which is different from the switching state of the power semiconductor device on each bridge arm represented by j in the switching state of the power semiconductor device on only one inversion bridge arm;
s34: aiming at a target operation point which is out of the region range, firstly, connecting a reference operation point and the target operation point into a line segment; secondly, the line segments are intersected with the line segments formed by adjacent configuration, the intersection point falls on the boundary of the construction region range, the coordinates of the intersection point are target operation points, and then the processing is carried out according to the mode that the target operation points are on the boundary of the region range.
Further, the specific operation steps in step S4 are:
s41: if | x (t + τ) -x (t) | < | dmIf yes, the determined configuration choices i and j have an equality relation:
the configuration selection i and j only have different power semiconductor device switch states on one inverter bridge arm;
s42: if | x (t + τ) -x (t) | < | d is not satisfiedmIf yes, the determined configuration choices i and j have an equality relation:
the configuration selection i and j only have different power semiconductor device switch states on one inverter bridge arm;
s43: obtaining the determined configurations i and j according to formulas (4) to (5) and designating m as another configuration; according to di、dj、dmCalculating to obtain action time taui、τj、τmThe calculation formula is as follows:
wherein, taui、τj、τmConfiguring the action time of i, j and m configurations;
then, the equation of action time is derived according to the formula (6):
the beneficial effects of the invention include the following:
firstly, the intelligent control method and system for the target operating point of the vehicle permanent magnet synchronous motor provided by the invention regard the whole formed by the motor driver and the permanent magnet synchronous motor as a dynamic hybrid system, can realize the global optimization of the combined level of the motor driver and the permanent magnet synchronous motor, improve the overall efficiency of a driving system and fully exert the application efficiency of vehicle-mounted energy.
Secondly, the method and the system for intelligently controlling the target operating point of the permanent magnet synchronous motor for the vehicle, which are provided by the invention, regard the whole permanent magnet synchronous motor comprising a motor driver with m configurations and a continuous process with n state variables as a dynamic hybrid system, can be popularized to any physical dynamic system consisting of a plurality of switching value configurations and a plurality of continuous processes with state variables, and have wide application range.
Thirdly, the intelligent control method and the intelligent control method of the system for the target operating point of the permanent magnet synchronous motor for the vehicle have intelligence, are high-level control technologies of the permanent magnet synchronous motor, meet the intelligent development trend of new energy vehicles, intelligent vehicles and intelligent networked vehicles in the future, and can improve the intelligent level of the autonomous decision making of a vehicle driving system.
Fourthly, the intelligent control method of the target operating point of the permanent magnet synchronous motor for the vehicle and the intelligent control method of the system can provide excellent high-speed dynamic response capability and steady-state performance, can simultaneously process the constraint and optimization of multi-target control variables so as to improve the overall performance of the system, and have the characteristics of high control speed, high precision and good robustness.
Fifth, the intelligent control method and system for the target operating point of the permanent magnet synchronous motor for the vehicle provided by the invention adopt the analytical algorithm control law based on the simplified model, and are superior to the tentative control law based on the change trend in the aspect of implementation accuracy. Meanwhile, the mode of implementation by modules is adopted, so that the software functions can be clearly and reasonably divided, for example, multi-step hybrid control and time sequence positioning control are adopted, and the target operation point is positioned and the action time is locked and positioned by adopting a layer-by-layer propulsion mode, so that the practicability is high, and the requirement on the practical experience of technical personnel is reduced.
Drawings
FIG. 1 is a schematic block diagram of a dynamic hybrid system of the present invention;
FIG. 2 is a functional block diagram of a two-level inverter in an embodiment of the present invention;
FIG. 3 is a block diagram of the schematic structure of the intelligent control system of the present invention;
FIG. 4 is a schematic diagram of the selection of range regions and configurations constructed in the present invention;
FIG. 5 is a schematic diagram of the timing alignment and segmentation implementation of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.
The intelligent control system for the target operating point of the permanent magnet synchronous motor for the vehicle comprises a dynamic hybrid system and an operation control unit, wherein the dynamic hybrid system comprises a motor driver with m configurations and a permanent magnet synchronous motor with n continuous processes of state variables, and the amplitude control of the motor driver is not regarded as the driving voltage control of the permanent magnet synchronous motor any longer, but as the configuration selection of an inverter.
The operation control unit comprises algorithm strategies of a hybrid control module and a time sequence positioning control module, but is not limited to the algorithm strategies, and also comprises conversion from a three-phase natural rotation coordinate system (abc) to a two-phase (dq) coordinate system, including park conversion and Clark conversion, and conversion from collected values of the motor position angle to the motor running speed.
Further, the dynamic hybrid system mainly comprises a motor driver inverter and a vehicle permanent magnet synchronous motor; the motor driver inverter comprises a power semiconductor, a drive plate of the power semiconductor, a control plate for realizing the function of the operation control unit and a current acquisition device, and the drive plate and the control plate can also be combined into a whole, and the two modes are more division only considered by angles and have no difference in nature;
the motor driver inverter outputs three phase lines to the permanent magnet synchronous motor, three-phase or two-phase current in the three phase lines is collected, the permanent magnet synchronous motor drives a vehicle to move by mechanical energy, position information of a motor rotor needs to be collected, and the position information is input into the motor driver inverter in the form of a voltage signal and serves as a control element of an algorithm strategy.
Further, the control target in the arithmetic control unit includes:
(1) collecting current ia、ib、icAnd transforming the collected current from a three-phase abc natural coordinate system to a dq two-phase rotating coordinate system id、iq；
(2) Collecting energy storage device or system output end voltage Udc；
(3) Collecting permanent magnet synchronous motor stator rotation position angle thetarAnd calculating the mechanical angular velocity omega of the motorr；
(4) To be inputted
The operation intention is used as a target operation point to realize an intelligent control method;
the input operation intention,
Namely the operation intention of the vehicle driver or the intelligent automobile autonomous decision-making unit at the next moment.
If the vehicle is manned, the driver decides the operation mode, namely the operation intention of the input control system according to the driving state
If the automobile is unmanned (intelligent automobile), the autonomous decision-making unit on the intelligent automobile decides the running state of the automobile based on the state of the automobile and the current environment state of the automobile, wherein the running state is the operation intention input into the intelligent control system
Further, the dynamic hybrid system establishes a simplified dynamic model equation according to an intelligent control method, that is, a state vector of the system is represented by a first-order discretization of the following formula in a time domain of a calculation step size:
wherein F (k), H1(k)、R(θr)、C23、H2(k) Respectively, as follows:
wherein the content of the first and second substances,
the operating point at the next time k +1 is the target operating point,
is the operating point of the current time k, i.e. the reference operating point, RsFor stator electricityResistance of the armature winding, LdIs a direct axis inductor, LqIs a quadrature axis inductance, omegarMechanical angular velocity, T, of the motoreTo calculate the period, θrFor the rotational position angle, psi, of the stator of the motorfIs a permanent magnet flux linkage, UdcA voltage at an output of a vehicle energy storage device or system.
The intelligent control method for the target operation point of the permanent magnet synchronous motor for the vehicle is characterized by comprising the following steps of:
s1: a general model equation describing the dynamic characteristics of the overall system formed by the motor drive and the permanent magnet synchronous motor is obtained. The method for obtaining the equation comprises the steps of establishing one or more nonlinear mathematical model equations to obtain one or more local mathematical models which are locally effective in a decision level and a required state vector space, selecting m different control configurations, expressing corresponding numbers (j belongs to {1: m }) of the different configurations by using j, and recording m mathematical models at a moment (t + tau) as:
x(t+τ)＝x(t)+τf(x(t),uj(t)) (2)，
wherein j represents the number corresponding to different control configurations, x (t) represents the measured state variable, τ represents the prediction horizon, uj(t) represents the switching state combination of the power semiconductor devices of each bridge arm of the inverter, if the power semiconductor devices on the upper part and the lower part of a certain bridge arm are switched on and off, the power semiconductor devices are 1, otherwise, the power semiconductor devices are 0;
s2: a linear spatial region range is searched. Based on the characteristics of the running tracks of the nonlinear mathematical models established in the step S1 at the time t and the time t + tau, all possible configurations of the hybrid system of the optical power semiconductor device and all tracks in the state vector space are changed linearly, and the limiting condition means that the maximum action time tau of the control law of the intelligent control method is determinedmaxAnd a state space limiting condition meeting the condition, namely constructing a region range of the target operation point at the time of t + tau, wherein the establishing formula of the region range is as follows:
dj(t)＝x(t+τ)-x(t) (3)，
wherein d isj(t) m possible direction vectors with the t time as a starting point of the reference point, wherein the direction vectors represent the initial state of the t time;
s3: determining a local mathematical model, searching the relation between the target operating point and the constructed region range by an exploratory formula, and aiming at the limiting condition in S2, namely, the relation is determined by taumaxCalculating a simplified mathematical model aiming at each decision moment according to the determined action time and the effective area in the state vector space, determining the position of a target operating point, searching the characteristics of the target operating point and the range of a constructed area in an exploratory manner, further reducing the range of the area, and limiting a configuration j (j belongs to {1: m }) and a small area range constructed by configuration states which are different from the switching states of the power semiconductor devices on the bridge arms represented by j and the switching states of the power semiconductor devices on only one inverter bridge arm;
preferably, the specific operation steps of step S3 are:
s31: at a temperature equal tomaxCalculating a simplified mathematical model aiming at each decision moment in the determined action time and an effective area in a state vector space, and determining the position of a target operating point;
s32: dividing the target operating point into a region outside the region range, a region inside the region range and a region range boundary;
the case on the boundary and the processing method inside the boundary are consistent, and for the case that the target operation point is outside the area: the coordinates of the intersection points are determined to be the target operating points;
s33: aiming at target operation points in the area range and on the boundary, further reducing the area range, and limiting the target operation points in a small area range which is constructed by a configuration j (j is larger than {1: m }) and a configuration state which is different from the switching state of the power semiconductor device on each bridge arm represented by j in the switching state of the power semiconductor device on only one inversion bridge arm;
j denotes different control configurations, which are restricted by narrowing the areaComprise two adjacent dj(t) determining the switching state of the power semiconductor devices on each arm and the switching state of the power semiconductor devices on only one of the inverter arms is different. The motor driver inverter described in this patent includes three bridge arms in total, each bridge arm includes two power semiconductor switching devices (the power semiconductor devices may be MOSFETs, IGBTs, SIC, etc., and the two power semiconductor switching devices on the same bridge arm cannot be turned on at the same time), and the control of voltage and current is realized by controlling the power semiconductor switching devices, so that the limited small area range, that is, the j configuration state is determined.
S34: and locking the target operation point which falls outside the area range on the boundary of the construction area range, and processing according to the mode that the target operation point is on the boundary of the area range.
S4: configuration selection and action time determination: within the small region constructed at S3, based on the m possible d determined at S2j(t) determining three accurate configurations and calculating the action time of the accurate configurations according to the reference points at the t moment;
preferably, the specific operation steps of step S4 are:
s41: if | x (t + τ) -x (t) | < | dmIf yes, the determined configuration choices i and j have an equality relation:
the configuration selection i and j only have different power semiconductor device switch states on one inverter bridge arm;
s42: if | x (t + τ) -x (t) | < | d is not satisfiedmIf yes, the determined configuration choices i and j have an equality relation:
the configuration selection i and j only have different power semiconductor device switch states on one inverter bridge arm;
s43: determining configurations i and j and designating m as another configuration through formulas (4) - (5); according to di、dj、dmCalculating the time of action τi、τj、τmThe calculation formula is as follows:
wherein, taui、τj、τmFor the action times of the three configurations i, j and m, the action time equation is derived according to equation (6):
s5: timing positioning control: the action time τ calculated in the step S4i、τj、τmThe three configurations i, j and m are executed in a segmented sequence by adopting a time sequence positioning control method, and each operation period T iseAnd m configuration interaction forms are formed, the working characteristics of the power semiconductor device of the inverter on and off are comprehensively considered, and a central pulse type reversing driving mode of each bridge arm of the inverter is selected to drive the permanent magnet synchronous motor to realize the operation intention. Example (b):
specific examples of motor drives and permanent magnet synchronous motors using a two-level inverter are further described with reference to fig. 1-5.
As can be seen with reference to fig. 1, the system comprises a motor drive with m configurations and a permanent magnet synchronous motor with a continuous progression of n state variables. Taking a motor driver with a two-level inverter and a permanent magnet synchronous motor as examples, m is equal to 7, i.e., 8 configuration states of 0-7 are constructed. n equals 2, i.e. the permanent magnet synchronous machine has 2 consecutive process state variables. Establishing a mathematical model of the permanent magnet synchronous motor in a d-q reference coordinate system as follows:
1. voltage equation:
wherein u isd、uqRespectively representing the vector voltage psi of the two-phase stator windings after coordinate axis transformationd、ψqRespectively representing the vector flux linkage i of the two-phase stator winding after coordinate axis transformationd、iqRespectively representing the vector currents of the two-phase stator windings after coordinate axis transformation.
2. The flux linkage equation:
wherein psid、ψq、ψfRespectively representing the vector flux linkage and the permanent magnet flux linkage of the two-phase stator winding after coordinate axis transformation; l isd、LqRepresenting direct axis inductance and quadrature axis inductance.
3. Expression of electromagnetic torque:
Cem＝p·(id·iq·(Ld-Lq)+ψf·iq) (10)，
wherein, CemFor electromagnetic torque, p is the number of pole pairs of the motor.
From equation (8) to equation (10), the equation of state can be derived:
wherein the content of the first and second substances,
the 2 continuous process state variables of the permanent magnet synchronous motor obtained by the formula (11) are as follows:
FIG. 2 is a schematic block diagram of a two-level inverter, as can be seen from FIG. 2, wherein u is shown separatelyA、uBAnd uCIs defined as:
it can be found that 8 space voltage vector configuration states of the two-level inverter are shown in table 1:
TABLE 1 two-level inverter with 8 configuration states
As can be seen from the above table, the 8 configuration state vectors of the two-level inverter are constructed because configuration state 0 and state 7 have the same voltage vector composition, because state 0 is not considered in the configuration state vector selection process according to the present invention.
As can be seen by combining the attached figure 3, the intelligent control system of the invention mainly comprises two parts: a hybrid system with power semiconductor devices and an arithmetic control unit. The hybrid system with power semiconductor devices includes a motor drive inverter section and a permanent magnet synchronous motor. The operation control unit realizes the control function by collecting relevant information, and the collected information is as follows:
(1) collecting current ia、ib、ic。
(2) Collecting voltage U at output end of energy storage device or systemdc。
(3) Collecting permanent magnet synchronous motor stator rotation position angle thetarAnd calculating the mechanical angular velocity omega of the motorr。
(4) Collecting input current
FIG. 4 is a schematic diagram of the construction of the area range and the configuration selection in the intelligent control method of the present invention, and it can be seen that the prediction interval range of the target operation point is firstly constructed, and the target operation point is locked by a search control method in a search manner
At d3、d4The two configuration states form a small area.
FIG. 5 is a schematic diagram of the timing alignment and the segmentation execution of the intelligent control method of the present invention. Referring to fig. 5, it can be seen that the time of action τ is determined by selecting the optimum configuration of the small region in which the target operating point is located3、τ4、τ7The time sequence positioning control method adopts a segmented sequential execution mode for three configurations of 3, 4 and 7, and in each operation period TeAnd thus forms a 7-stage 3-configuration-state effect. The operating characteristics of the power semiconductor devices of the inverter on and off are comprehensively considered, and a central pulse type reversing driving mode of each bridge arm of the inverter is selected to drive the permanent magnet synchronous motor to achieve the operation intention.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The intelligent control system for the target operating point of the permanent magnet synchronous motor for the vehicle is characterized by comprising a dynamic mixing system and an operation control unit.
2. The intelligent control system for the target operating point of the permanent magnet synchronous motor for the vehicle according to claim 1, characterized in that: the dynamic hybrid system includes a motor driver inverter having m configurations and a continuously progressing permanent magnet synchronous motor having n state variables;
the motor driver inverter comprises a power semiconductor, a drive plate of the power semiconductor and a control plate for realizing the function of the operation control unit, or the drive plate and the control plate are combined into a plate, a current collecting device and the like;
the motor driver inverter outputs three phase lines to the permanent magnet synchronous motor for the vehicle and collects three-phase or two-phase current in the three phase lines; and meanwhile, the position information of the motor rotor is collected and input into a motor driver inverter in the form of a voltage signal, so that the permanent magnet synchronous motor can drive the vehicle to move by mechanical energy.
3. The intelligent control system for the target operating point of the permanent magnet synchronous motor for the vehicle according to claim 1, characterized in that: the control target in the arithmetic control unit includes:
(1) collecting current ia、ib、icAnd transforming the collected current from a three-phase abc natural coordinate system to a dq two-phase rotating coordinate system id、iq；
(2) Collecting energy storage device or system output end voltage Udc；
(3) Collecting permanent magnet synchronous motor stator rotation position angle thetarAnd calculating the mechanical angular velocity omega of the motorr；
(4) To be inputted
The operation intention is used as a target operation point, and the intelligent control method is realized.
4. The intelligent control system for the target operating point of the permanent magnet synchronous motor for the vehicle according to claim 3, characterized in that: the simplified dynamic model equation established by the target operating point according to the intelligent control method can be expressed as follows:
wherein F (k), H1(k)、R(θr)、C23、H2(k) Respectively, as follows:
wherein the content of the first and second substances,
the operating point at the next time k +1 is the target operating point,
is the operating point of the current time k, i.e. the reference operating point, RsIs the stator armature phase winding resistance, LdIs a direct axis inductor, LqIs a quadrature axis inductor, and is characterized in that,ωrmechanical angular velocity, T, of the motoreTo calculate the period, θrFor the rotational position angle, psi, of the stator of the motorfIs a permanent magnet flux linkage, UdcA voltage at an output of a vehicle energy storage device or system.
5. The intelligent control method for the target operation point of the permanent magnet synchronous motor for the vehicle is characterized by comprising the following steps of:
s1: obtaining a general model equation of the dynamic characteristic of the whole system formed by the motor driver and the permanent magnet synchronous motor by establishing m nonlinear mathematical model equations, wherein the m mathematical models with different control configurations are expressed as follows:
x(t+τ)＝x(t)+τf(x(t),uj(t)) (2)，
wherein j represents the number corresponding to different control configurations, x (t) represents the measured state variable, τ represents the prediction horizon, uj(t) represents the switching state combination of the power semiconductor devices of each bridge arm of the inverter, if the power semiconductor devices on the upper part and the lower part of a certain bridge arm are switched on and off, the power semiconductor devices are 1, otherwise, the power semiconductor devices are 0;
s2: based on the established characteristics of the running tracks of the nonlinear mathematical model at the t moment and the t + tau moment, the regional range of the target running point at the t + tau moment is established, and the establishment formula of the regional range is as follows:
dj(t)＝x(t+τ)-x(t) (3)，
wherein d isj(t) m possible direction vectors with the t time as a starting point of the reference point, wherein the direction vectors represent the initial state of the t time;
s3: searching the relation between a target operating point and a constructed area range in a searching mode, reducing the area range, and limiting a configuration j and a small area range constructed by the configuration states which are different from the switching states of the power semiconductor devices on the bridge arms represented by the configuration j and the switching states of the power semiconductor devices on the bridge arms of only one inverter;
s4: based on m possible d in the constructed small area rangej(t) and time t reference points, determining three exact configurations and calculating the exact configurationThe time of use;
s5: and based on the calculated action time, executing the determined m configurations by adopting a sequential positioning control method in a segmented sequence.
6. The intelligent control method for the target operating point of the permanent magnet synchronous motor for the vehicle according to claim 5, characterized in that: the specific operation steps of step S3 are:
s31: at a temperature equal tomaxCalculating a simplified mathematical model for each decision moment according to a formula (1) in the determined action time and an effective region in a state vector space, and determining the position of a target operating point;
s32: dividing the target operating point into a region outside the region range, a region within the region range and a region range boundary;
s33: aiming at target operation points in the area range and on the boundary, further reducing the area range, and limiting the target operation points in a small area range which is constructed by a configuration j (j is larger than {1: m }) and a configuration state which is different from the switching state of the power semiconductor device on each bridge arm represented by j in the switching state of the power semiconductor device on only one inversion bridge arm;
s34: aiming at a target operation point which is out of the region range, firstly, connecting a reference operation point and the target operation point into a line segment; secondly, the line segments are intersected with the line segments formed by adjacent configuration, the intersection point falls on the boundary of the construction region range, the coordinates of the intersection point are target operation points, and then the processing is carried out according to the mode that the target operation points are on the boundary of the region range.
7. The intelligent control method for the target operating point of the permanent magnet synchronous motor for the vehicle according to claim 5, characterized in that: the specific operation steps of step S4 are:
s41: if | x (t + τ) -x (t) | < | dmIf yes, the determined configuration choices i and j have an equality relation:
the configuration selection i and j only have different power semiconductor device switch states on one inverter bridge arm;
s42: if | x (t + τ) -x (t) | < | d is not satisfiedmIf yes, the determined configuration choices i and j have an equality relation:
the configuration selection i and j only have different power semiconductor device switch states on one inverter bridge arm;
s43: obtaining the determined configurations i and j according to formulas (4) to (5) and designating m as another configuration; according to di、dj、dmCalculating to obtain action time taui、τj、τmThe calculation formula is as follows:
wherein, taui、τj、τmConfiguring the action time of i, j and m configurations;
then, the equation of action time is derived according to the formula (6):
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