【作者】 黄涛；

【导师】 夏超英；

【作者基本信息】 天津大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 随着能源、环保等问题的日益突出,电动汽车成为近年来发展迅速的一种新型汽车。但是电动汽车的发展尚有很多问题需要解决,高性能的电机驱动系统就是几个关键技术中的一个。本文的主要任务就是研究电动汽车用的永磁同步电机无速度传感器的驱动技术。本文在对现有的无速度传感器控制方法进行比较之后,针对电动汽车对无速度传感器系统控制的特殊要求,设计了基于高频注入法的电动汽车无速度传感器矢量控制系统。文章中首先详细介绍了高频注入法的理论基础,说明了这种方法在电机低速运行时速度估计的优势。然后进行控制系统各个部分的细节设计,为提取高频电流而提出了一种新的滤波方法,取得了较好的效果。转子位置估计算法选择了锁相环观测器。文中对锁相环的原理、数学模型、稳定性、抗干扰性能等方面都进行了深入的研究,并针对高频注入方法的特殊性,对锁相环的参数进行了设计。随后,利用电机的饱和效应在理论上解决了高频注入法无法分辨磁极的问题。最后对影响高频注入法估计误差的各种因素进行了分析,尤其对于逆变器死区的影响提出了初步的解决办法。在理论推导的基础上,本文利用Simulink构建了仿真模型,在电机启动、带载和转速指令变化的情况下,对位置估计以及电压电流的控制进行了分析。最后在TECHNOSOFT公司生产的MSK2407控制板上对转子位置与高频电流的对应关系进行了实验验证,初步证明了理论分析的正确性。更多还原

【Abstract】 Electric Vehicle (EV) has developed rapidly vehicle in the recent years as the problem of energy and environment is becoming increasingly serious. However, many prolems are demanded to be solved in order to develop this kind of vehicle, and high performance motor driving system is one of the key techonlogies. The main goal of this thesis is to research the sensorless control techonlogy of PMSM in EV.Based on the comparisons of existent sensorless control methods, and by taking into account the special demands of EV on the speed-control sensorless system, we design a sensorless vector control system with high frequency (HF) injection. This thesis first introduces the details of HF theory, and shows the advantage of HF injection in low speed region. Then, we design every part of sensorless control system. To extract the high frequency current we put forward a new method and achieve good result. The Phase Locked Loop (PLL) is adopted as the algorithm of getting rotor position. The study towards theory, mathematical models, stability, as well as anti-jamming performance of PLL is conducted in-depth. Later, we design the parameters for PLL. Since the HF injection is unble to identify the pole of rotor, we propose a solution using the motor saturation effect in theory. Finally, the factors that impact the high-frequency estimation error are analyzed.Based on the theory, we build the model of the algorithm with the help of Simulink. The speed and position characteristic are analyzed under the situation of start, loading and changing speed reference, respectively. Finally we validate the theory by the MSK2407 control board which is made by TECHNOSOFT.更多还原