电动汽车用内置式永磁同步电机的效率最优无差拍直接转矩控制研究

High-performance motor driving system and its control strategy are the key technology for electric vehicle development, which is significatly important for accelerating the industrialization of electric vehicles. A novel high-efficiency and fast-response control strategy of interior permanent magnet synchronous motor (IPMSM) driving systems for electric vehicle applications are studied in this project. Firstly, by establishing the dynamic descrete model of IPMSM, a new-type direct torque control technique based on the deadbeat control and predictive state observer is investigated in details. And an on-line efficiency optimization approach which combines the loss model and intelligent optimization technology is proposed to increase the efficiency of the IPMSM driving system. Secondly, a flux and speed observer designed by employing high frequency injection technique, which makes use of the magnetic saliency, is explored. And a speed -senorless deadbeat direct torque control technique of IPMSM with optimizing efficiency is proposed. Taking into account the inverter output voltage limit as well as the sampling and calculating time delays of the discrete control systems, the digital implementation technology of the optimal efficiency direct torque control driving system is studied. Finally, by completely revealing the basic principle of IPMSM direct torque control system with optimal efficiency, a digital implementation scheme of the proposed driving system with the characteristics of high efficiency and fast response is given, and the digital controller prototype is developed as well, which will provide the theoretical and technical support for the development of high-performance electric vehicle driving systems.

高性能的电机驱动系统及其控制技术是电动汽车研制的关键技术,对加速电动汽车的产业化进程有重要意义。本课题研究电动汽车用IPMSM的高效率快响应控制策略,通过建立IPMSM的动态离散化模型,研究基于无差拍控制和预测状态观测器的IPMSM直接转矩控制技术;将电机损耗模型和智能在线搜索方法相结合,研究IPMSM驱动系统的效率优化，提出IPMSM的效率最优无差拍直接转矩控制方法;通过研究高频电压信号注入时IPMSM的磁凸极效应,探索利用磁极凸性设计状态观测器的方法,提出无速度传感器的IPMSM效率最优无差拍直接转矩控制技术;在计及逆变器电压输出限制和数字系统采样与计算时滞的条件下,研究效率最优无差拍直接转矩控制的数字实现技术。在全面揭示IPMSM高效率快响应控制策略工作原理的基础上,给出IPMSM驱动系统数字实现方案,研制驱动控制器样机,为开发高性能的电动汽车电机驱动系统提供理论依据和技术支撑。

按照项目申请书的计划安排。项目组分别在IPMSM的无差拍直接转矩控制方法、状态观测器设计和效率优化控制策略方向开展研究。在IPMSM的无差拍直接转矩控制方法和基于损耗模型的效率最优直接转矩控制技术方面取得了预期成果，在状态观测器设计和转矩脉动抑制方面取得了积极进展。项目研究取得成果，为开发高性能IPMSM直接转矩控制技术奠定了基础；相关的技术专利，在电动汽车、空间电机驱动装置等高性能交流传动与伺服控制领域，有较好的应用前景。项目完成的主要工作包括以下几个方面：.1．IPMSM的无差拍直接转矩控制方法.提出了一种IPMSM无差拍直接转矩控制方法。基于IPMSM的离散化模型，在转子磁场定向坐标系中，导出了空间矢量无差拍直接转矩控制的电压控制律。在伏秒平面中引入了一种图形化表示，直观地揭示了电压矢量解的物理含义。解决了二电平电压源逆变器输出电压限制条件下，无差拍直接转矩控制的数字实现问题，针对电机的不同运行工况要求，给出了无差拍直接转矩控制的实现方案。.2．IPMSM直接转矩控制系统的效率最优控制策略.提出了一种IPMSM直接转矩控制系统的效率最优化方法。在建立计及铁芯损耗的IPMSM数学模型的基础上，给出了一种损耗模型参数的测量方法；分析了电机损耗与转矩、转速和定子磁链的关系，导出了不同运行工况条件下效率最优的定子磁链计算式，通过动态调节定子磁链给定值，实现了IPMSM直接转矩控制系统的效率最优运行。.3．IPMSM直接转矩控制系统的转速与磁链观测器的设计.提出了一种基于有效磁链滑模观测器的磁链与转速观测方法，并将其应用于IPMSM无速度传感器直接转矩控制。该观测器并不包含转速自适应环节，从而避免了由于转速估计误差所导致的磁链观测误差。采用Lyapunov稳定性理论证明了观测器渐近收敛。设计了基于有效磁链滑模观测器的IPMSM无速度传感器直接转矩控制系统，实现了IPMSM的无速度传感器直接转矩控制。