CN201197132Y - Vector control AC variable-frequency control system of electric car - Google Patents
Vector control AC variable-frequency control system of electric car Download PDFInfo
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- CN201197132Y CN201197132Y CNU2008200919637U CN200820091963U CN201197132Y CN 201197132 Y CN201197132 Y CN 201197132Y CN U2008200919637 U CNU2008200919637 U CN U2008200919637U CN 200820091963 U CN200820091963 U CN 200820091963U CN 201197132 Y CN201197132 Y CN 201197132Y
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Abstract
The utility model discloses an electric automobile vector control alternate current variable-frequency speed regulation system, which comprises a DSP controller, an anti-rotation transformation module, a two-phase/three-phase AC transformation module, a PWM converter, a three-phase AC induction motor, a flux observer, a battery set, wherein a control system adopts speed and flux loop control; and the flux observer adopts a current structure, namely the size and phase position of a rotor flux are obtained through the current of a three-phase stator and the rotating speed of a motor so as to realize field orientation. As the asynchronous motor is a non-linear link in which multiple variants are mutually coupled, field orientation can decouple and linearize the non-linear link so as to correct the system to obtain a perfect dynamic performance. Through the comparison and the comprehensive research on the direct torque control technology and the vector control technology, the critical technical problem of variable-frequency speed regulation of the electric automobile driving system is solved, thereby providing a more effective new technology for the electric automobile driving system.
Description
Technical field
The utility model relates to a kind of control system of electric automobile, relates in particular to a kind of frequency conversion speed-adjusting system that combines based on flush type electric automobile vector control technology and the PWM converter technique of DSP.
Background technology
Along with the contradiction of energy resource structure and fuel-engined vehicle air pollution aspect becomes increasingly conspicuous and the development of high-energy battery technology, modern power electronic and Electric Drive technology, realize that by electronic mode transmission, adjusting and manipulation in the automobile have become an important development direction of automobile.Therefore study that efficient height, response are fast, wide, the safe and reliable drive system of electric automobile of speed adjustable range becomes inevitable.The drive system of electric automobile can be divided into dc drive system and AC Driving System two classes substantially.Dc drive system adopts direct current machine as motor, have easy, the dynamic property of control preferably characteristics still be widely used so far, but, because the existence of DC motor commutator, greatly reduce the performance of system, limited the maximum speed of motor and brought a lot of problems for the maintenance of drive system.For direct current machine, it is little that alternating current machine has a volume, power is big, the efficient height, simple in structure, be easy to advantages such as maintenance, but the mode of speed regulation of traditional AC Driving System such as variable voltage speed control, the wire-wound asynchronous motor rotor series resistance speed, tandem control, these modes of speed regulation of pole changing or the like all exist tangible limitation, along with alternating frequency conversion technique, developing rapidly of power electronic device and microprocessor technology, the AC Motor Control technology has also obtained breakthrough, the later stage eighties and the nineties, slippage control, vector control, the control technique of alternating current machines such as direct torque control reaches its maturity, frequency control becomes the main developing direction of current ac speed control technology, its dynamic property has reached or has exceeded the level of direct current machine, and AC Driving System just progressively replaces the main flow that dc drive system becomes drive system of electric automobile.Electric Vehicle's Alternating Current Drive System is made up of four major parts: controller, power inverter, motor and transducer.Electric automobile generally has the following aspects to the requirement of electric drive system:
1. the following big torque of base speed is to adapt to requirements such as quick startup, climbing, acceleration, frequent starting, the above little torque of base speed, permanent power, wide region are to adapt to the high speed of a motor vehicle road running and the requirement of overtaking other vehicles, be permanent torque of low speed segment and high speed section constant output characteristic, characteristic should be able to have level to regulate according to the different load rate.
2. the efficiency optimizationization in the whole torque range of operation is long as far as possible with the driving distance of seeking after battery once charges.
3. motor and motor control assembly are firm in structure, volume is little, in light weight, non-maintaining or few safeguard, the anti-vibrations of jolting.
4. automobile will adapt to various road surfaces, and pavement behavior is complicated and changeable, and level road shows as constant torque load, then is irregular disturbance when the road surface is uneven, and climb and fall shows as the potential energy load again, therefore, requires the adaptive load ability of driving control system strong especially.
At present also there are many companies and scientific research institution to be devoted to the research of drive system of electric automobile in the world always, as U.S. sun electricity company, General Corporation, Japan Toyota Company, the Electrician Institute of Chinese Academy of Sciences of China, section of Beijing University of Science ﹠ Engineering insults motor vehicle limited company etc., on the whole, very expensive from the motor in electric automobile controller price of external introduction, and blockade on new techniques, can not finely mate with electric automobile, the kernel control chip of Cai Yonging neither be up-to-date simultaneously, make the algorithm of more optimizing to realize, and the research of domestic electric machine controller often disconnects with automobile, and the vehicle performance effect is bad.
Electric Vehicle's Alternating Current Drive System mainly adopts VVVF (variable voltage variable frequency control), slip frequency controlled and 3 kinds of variable-frequency control techniques of vector control at present.
The VVVF technology realizes speed governing based on the steady-state characteristic of alternating current machine by regulating synchronizing frequency (supply frequency), is the static speed governing of a kind of open loop, can not carry out real-time speed regulating to the load torque that changes.It can be used to start not frequent and the little drive system of electric automobile of road surface load variations.
In slip frequency speed regulating control loop, must control two variablees simultaneously: one is slip frequency Δ ω=ω
1-ω; Another is stator current I
1In addition, also need satisfy the restriction of maximum slip frequency.But compare with the VVVF frequency control drive system, it has added the torque adjustment of utilizing slip frequency, and dynamic characteristic makes moderate progress, but because its principle based on the torque steady-state characteristic, still can not reach the such high dynamic performance of direct current machine.
In the vector control speed-adjusting driving system,,, can get MT (rotor rotating magnetic field orientation) and be the electromagnetic torque expression formula under the rotating coordinate system of d-q axle, that is: through complicated vector coordinate transform for induction alternating current (AC) motor
T
em＝p
nL
mΨ
rdi
sq/L
2 (1)
In the formula, T
EmBe electromagnetic torque; p
nBe the magnetic pole logarithm; L
mBe equivalent mutual inductance between stator and rotor; Ψ
RdBe the rotor flux amplitude; i
SqBe the stator current quadrature axis component; L
2Be the rotor equivalent inductance.This torque expression formula form with DC motor is identical, can control induction alternating current (AC) motor as the control DC motor.As can be seen from the above equation, can control the control of resolving into rotor flux and stator quadrature axis component to the AC induction motor torque by transform vector.Following formula draws from fixing reluctance motor theoretical derivation, also sets up under the transient state situation, so vector control can be used for electric control system that dynamic characteristic is had relatively high expectations.For being used for the traffic is the electric automobile of purpose, starts frequently, and load variations is big, requires acceleration and deceleration rapid, and it is very suitable adopting vector control technology.
The utility model content
Problem to be solved of the present utility model provide a kind of efficiently, at a high speed, practical flush type electric automobile vector control AC variable-frequency speed regulation system based on DSP.
The technical scheme that the utility model adopted is: electric automobile vector control AC variable-frequency speed regulation system comprises dsp controller, despining conversion module, two cross streams/three-phase alternating current conversion module, pwm converter, three phase AC induction machine, flux observer, battery pack, the driver tramples throttle signal, and processing is sent to dsp controller through interface circuit, through calculating driver-operated signal speed ω
*,
, again with stator frequency signal ω, rotor flux
Compare, deviation signal is carried out vector by dsp controller and is calculated the biphase current instruction i that separates lotus root under the rotor field-oriented coordinate system of generation (d/q coordinate system)
Sd, i
Sq, carry out vector inverse transformation with phase signal p as the phase angle under two coordinate systems by the despining conversion module then and produce biphase current instruction i under static α/β coordinate system
a, i
β, again through two cross streams/three-phase alternating current conversion module, carry out under static α/β coordinate system two-phase exchange conversion three-phase alternating current under the three-phase alternating current coordinate u-v-w coordinate system, obtain stator three-phase alternating current instruction i
A1, i
B1, i
C1The direct current that pwm converter is supplied with battery according to the amplitude in the three-phase alternating current instruction and two aspects of frequency is converted to and drives required alternating current, with drive motors and last drive wheels, flux observer is accepted the threephase stator current i that current sensor is gathered
A, i
B, i
C, three-phase alternating current transforms to that two cross streams obtain two-phase rest frame current i under static α/β coordinate system under three-phase alternating current coordinate u-v-w coordinate system
A1, i
β 1,, obtain the current i on the d-q coordinate system through synchronous rotation transformation and by rotor field-oriented
d, i
q, utilize the vector control equation to obtain rotor flux
With slip frequency ω
sSignal is by ω
sThe actual measurement tach signal ω of signal and speed probe actual measurement
1Addition obtains stator frequency signal ω, and the phase signal through integration acquisition rotor flux is rotor field position angle p again, and with rotor flux
, stator frequency signal ω sends dsp controller to, sends phase signal p to the despining conversion module.
In the described dsp controller, speed regulator decides according to the deviation of given speed and actual speed and uses different timeconstant n, compares with single time constant like this with only, and it is little to have overshoot, regulate characteristics fast, when actual speed is in given a certain scope, use little τ n, integral action is strengthened, deviation reduces to zero rapidly, and,, can make speed regulator withdraw from saturation condition fast when actual speed during greater than given speed.When actual speed is outside this scope, adopt big τ n, the time speed regulator do not enter dark saturation condition as far as possible, thereby overshoot is reduced.
Described pwm converter adopts IPM Intelligent Power Module or IGBT drive circuit.
Described three phase AC induction machine is equipped with temperature sensor to be handled through interface circuit and delivers to DSP to send signal when the motor overheating, and IPM Intelligent Power Module or IGBT are realized that software switching-off is so that motor is out of service.
Described dsp controller is a core with the TMS320LF2407A of TI company.
The utility model adopts vector control method, control system adopts speed, magnetic linkage closed-loop control, flux observer adopts the electric current structure, promptly try to achieve the size and the phase place of rotor flux by threephase stator electric current and motor speed, realize field orientation, because asynchronous motor is a nonlinear element that multivariable intercouples, can be by field orientation with its decoupling zero and linearisation, thus carry out system compensation to obtain good dynamic characteristics; The utility model is by reading and judge feedbacks such as three-phase current signal, motor speed signal, pedal throttle signal inputs and driving controller input/output signal, dsp controller reads the realization vector control to feedback signal, by the output of gate signal isolated drive circuit control IPM Intelligent Power Module or IGBT, thus the even running of realization motor.
The beneficial effects of the utility model are: the utility model is by battery-powered, constitute directly, hand over change-over circuit by IPM Intelligent Power Module or IGBT, send gathering electric current, the rate signal of returning into dsp controller by transducer and input interface module, in the DSP program, electric current, rate signal are converted to the size and the phase place of rotor flux by advanced person's vector operation, control gate pole signal drive circuit drives IPM Intelligent Power Module or IGBT, produces frequency-changing AC driven three-phase alternating-current induction motor.Dsp controller passes through driving controller pedal throttle signal, brake signal, the reading and judge of feedback input signals such as frequency converter temperature signal, handle accordingly and operate, the utility model volume is little, in light weight, mechanical wear is little, vibrate little, life-span is long, maintenance workload is little, the efficient height, speed adjustable range is wide, response is fast, pollution-free, by to the direct torque control technology, the contrast comprehensive study of vector control technology, solved the guardian technique problem of drive system of electric automobile frequency control, for the drive system of electric automobile increases a kind of more effective new technology.
Description of drawings
The utility model is described in further detail below in conjunction with the drawings and specific embodiments:
Fig. 1 is the electric automobile vector control AC variable-frequency speed regulation system block diagram of the utility model embodiment.
Embodiment
Fig. 1 is the vector control AC variable-frequency speed regulation system block diagram of the utility model embodiment, as shown in Figure 1, electric automobile vector control AC variable-frequency speed regulation system comprises dsp controller, the despining conversion module, two cross streams/three-phase alternating current conversion module, pwm converter, three phase AC induction machine, flux observer, battery pack, battery pack is 144V or 72V high-energy battery group, the Intelligent Power Module of efficient three-phase output, the three phase AC induction machine of 75V (corresponding 144V battery pack) or 38V (corresponding 72V battery pack), pwm converter adopts IPM Intelligent Power Module or IGBT drive circuit, dsp controller is a core with TI company's T MS320LF2407A, also comprises Switching Power Supply, the A/D conversion interface circuit, the motor speed interface circuit, bus, drive (not shown)s such as control circuit.
The driver tramples throttle signal, and processing is sent to dsp controller through interface circuit, through calculating driver-operated signal speed ω
*,
, again with stator frequency signal ω, rotor flux
Compare, deviation signal is carried out vector by dsp controller and is calculated the biphase current instruction i that separates lotus root under the rotor field-oriented coordinate system of generation (d/q coordinate system)
Sd, i
Sq, carry out vector inverse transformation with phase signal p as the phase angle under two coordinate systems by the despining conversion module then and produce biphase current instruction i under static α/β coordinate system
a, i
β, again through two cross streams/three-phase alternating current conversion module, carry out under static α/β coordinate system two-phase exchange conversion three-phase alternating current under the three-phase alternating current coordinate u-v-w coordinate system, obtain stator three-phase alternating current instruction i
A1, i
B1, i
C1The direct current that pwm converter is supplied with battery according to the amplitude in the three-phase alternating current instruction and two aspects of frequency is converted to and drives required alternating current, with drive motors and last drive wheels, flux observer is accepted the threephase stator current i that current sensor is gathered
A, i
B, i
C, three-phase alternating current transforms to that two cross streams obtain two-phase rest frame current i under static α/β coordinate system under three-phase alternating current coordinate u-v-w coordinate system
A1, i
β 1,, obtain the current i on the d-q coordinate system through synchronous rotation transformation and by rotor field-oriented
d, i
q, utilize the vector control equation to obtain rotor flux
With slip frequency ω
sSignal is by ω
sThe actual measurement tach signal ω of signal and speed probe actual measurement
1Addition obtains stator frequency signal ω, and the phase signal through integration acquisition rotor flux is rotor field position angle p again, and with rotor flux
, stator frequency signal ω sends dsp controller to, sends phase signal p to the despining conversion module.
In order to prevent the interference of common-mode noise to IPM Intelligent Power Module or IGBT, an electrodeless at least 10uF of IPM control power supply termination move back lotus root electric capacity, this electric capacity helps to filter common-mode noise and also provides IPM or the required electric current of IGBT grid circuit.
For preventing phase mutual interference between each device of IPM Intelligent Power Module or IGBT, power for each module separately, and digital system power supply, A/D reference voltage, communication module power supply supply respectively, to improve the antijamming capability of system.
For the influence that prevents that thump from bringing, the installation of whole and each parts of control system has all been reinforced and has been carried out aseismatic design.
In system,, motor overheating protection, IPM Intelligent Power Module or IGBT overtemperature protection, line under-voltage protection, overcurrent protection, short-circuit protection etc. also in system, have been loaded in order to guarantee the reliability service of system.
When motor overheating, be contained in the signal that the temperature sensor on the motor sends and deliver to DSP through the processing of interface circuit, program realizes software switching-off to IGBT, motor is out of service.
When battery tension was lower than set point (is 100V, is 50V) when adopting the 72V power supply when adopting the 144V power supply, shutoff IGBT also exported fault-signal and gives DSP, and program is sent warning by bus to driver's cabin.
When the electric current that flows through IGBT surpasses numerical value and greater than time t
OffDuring=10us, IGBT is by the effective soft shutoff of program.
When underarm is straight-through on load short circuits or IGBT take place, turn-offs IGBT immediately and export fault-signal, by dsp system notice driver's cabin.Owing to adopted real-time current detection technique RTC (Real time current control circuit), made the response time less than 100ns.
Claims (5)
1. electric automobile vector control AC variable-frequency speed regulation system, it is characterized in that: described electric automobile vector control AC variable-frequency speed regulation system comprises dsp controller, despining conversion module, two cross streams/three-phase alternating current conversion module, pwm converter, three phase AC induction machine, flux observer, the driver tramples throttle signal and handles through interface circuit and be sent to dsp controller, through calculating driver-operated signal speed ω *,
*, again with stator frequency signal ω, rotor flux
Compare, deviation signal is carried out vector by dsp controller and is calculated the biphase current instruction i that separates lotus root under the rotor field-oriented coordinate system of generation
Sd, i
Sq, carry out vector inverse transformation with phase signal p as the phase angle under two coordinate systems by the despining conversion module then and produce biphase current instruction i under static α/β coordinate system
a, i
β, again through two cross streams/three-phase alternating current conversion module, carry out under static α/β coordinate system two-phase exchange conversion three-phase alternating current under the three-phase alternating current coordinate u-v-w coordinate system, obtain stator three-phase alternating current instruction i
A1, i
B1, i
C1The direct current that pwm converter is supplied with battery according to the amplitude in the three-phase alternating current instruction and two aspects of frequency is converted to and drives required alternating current, with drive motors and last drive wheels, flux observer is accepted the threephase stator current i that current sensor is gathered
A, i
B, i
C, three-phase alternating current transforms to that two cross streams obtain two-phase rest frame current i under static α/β coordinate system under three-phase alternating current coordinate u-v-w coordinate system
A1, i
β 1,, obtain the current i on the d-q coordinate system through synchronous rotation transformation and by rotor field-oriented
d, i
q, utilize the vector control equation to obtain rotor flux
With slip frequency ω
sSignal is by ω
sThe tach signal ω of signal and speed probe actual measurement
1Addition obtains stator frequency signal ω, obtains the phase signal p of rotor flux again through integration, and with rotor flux
, stator frequency signal ω sends dsp controller to, sends phase signal p to the despining conversion module.
2. electric automobile vector control AC variable-frequency speed regulation system according to claim 1 is characterized in that: in the described dsp controller, speed regulator decides according to the deviation of given speed and actual speed and uses different timeconstant n.
3. electric automobile vector control AC variable-frequency speed regulation system as claimed in claim 1 or 2, it is characterized in that: described pwm converter adopts IPM Intelligent Power Module or IGBT drive circuit.
4. as electric automobile vector control AC variable-frequency speed regulation system as described in the claim 3, it is characterized in that: described three phase AC induction machine is equipped with temperature sensor to be handled through interface circuit and delivers to DSP to send signal when the motor overheating, and IPM Intelligent Power Module or IGBT are realized that software switching-off is so that motor is out of service.
5. as electric automobile vector control AC variable-frequency speed regulation system as described in the claim 4, it is characterized in that: described dsp controller is a core with the TMS320LF2407A of TI company.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200919637U CN201197132Y (en) | 2008-02-04 | 2008-02-04 | Vector control AC variable-frequency control system of electric car |
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|---|---|---|---|
| CNU2008200919637U CN201197132Y (en) | 2008-02-04 | 2008-02-04 | Vector control AC variable-frequency control system of electric car |
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| CN201197132Y true CN201197132Y (en) | 2009-02-18 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101834558A (en) * | 2009-12-28 | 2010-09-15 | 南昌大学 | Vector controller of alternating current asynchronous motor |
| CN101713473B (en) * | 2009-12-29 | 2011-05-25 | 河北工业大学 | Device for carrying out valve microstep regulation by utilizing permanent magnet synchronous motor and realizing method thereof |
| CN102280999A (en) * | 2011-07-19 | 2011-12-14 | 郁百超 | Micro power consumption electric automobile power system |
| CN102820845A (en) * | 2012-08-10 | 2012-12-12 | 深圳市汇川技术股份有限公司 | System and method for estimating magnetic flow of asynchronous machine based on current model |
| CN103368489A (en) * | 2013-07-12 | 2013-10-23 | 朱金荣 | PWM variable frequency speed control system based on control of DSP |
| CN105846751A (en) * | 2016-05-17 | 2016-08-10 | 苏州工业职业技术学院 | Multivariable feedback linearization control method for variable frequency pump controlled motor speed adjustment system |
| CN106208856A (en) * | 2015-05-29 | 2016-12-07 | 奥的斯电梯公司 | Double three-phase machine and the driving with negligible common-mode noise |
| CN109981020A (en) * | 2018-07-27 | 2019-07-05 | 苏州伟创电气设备技术有限公司 | A kind of loaded self-adaptive method |
-
2008
- 2008-02-04 CN CNU2008200919637U patent/CN201197132Y/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101834558A (en) * | 2009-12-28 | 2010-09-15 | 南昌大学 | Vector controller of alternating current asynchronous motor |
| CN101713473B (en) * | 2009-12-29 | 2011-05-25 | 河北工业大学 | Device for carrying out valve microstep regulation by utilizing permanent magnet synchronous motor and realizing method thereof |
| CN102280999A (en) * | 2011-07-19 | 2011-12-14 | 郁百超 | Micro power consumption electric automobile power system |
| CN102280999B (en) * | 2011-07-19 | 2013-10-30 | 郁百超 | Micro power consumption electric automobile power system |
| CN102820845A (en) * | 2012-08-10 | 2012-12-12 | 深圳市汇川技术股份有限公司 | System and method for estimating magnetic flow of asynchronous machine based on current model |
| CN102820845B (en) * | 2012-08-10 | 2015-09-30 | 深圳市汇川技术股份有限公司 | Based on the asynchronous machine flux estimator system and method for current model |
| CN103368489A (en) * | 2013-07-12 | 2013-10-23 | 朱金荣 | PWM variable frequency speed control system based on control of DSP |
| CN106208856A (en) * | 2015-05-29 | 2016-12-07 | 奥的斯电梯公司 | Double three-phase machine and the driving with negligible common-mode noise |
| CN106208856B (en) * | 2015-05-29 | 2021-03-30 | 奥的斯电梯公司 | Dual three-phase motor and drive with negligible common mode noise |
| CN105846751A (en) * | 2016-05-17 | 2016-08-10 | 苏州工业职业技术学院 | Multivariable feedback linearization control method for variable frequency pump controlled motor speed adjustment system |
| CN109981020A (en) * | 2018-07-27 | 2019-07-05 | 苏州伟创电气设备技术有限公司 | A kind of loaded self-adaptive method |
| CN109981020B (en) * | 2018-07-27 | 2021-09-24 | 苏州伟创电气科技股份有限公司 | Load self-adaption method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20090218 Effective date of abandoning: 20080204 |