路感模拟用永磁同步电机电流控制

doi:10.13229/j.cnki.jdxbgxb20180616

摘要/Abstract

摘要：

为获取良好的路感模拟执行器响应性能，从提高路感模拟用永磁同步电机的动态电流响应速度和降低稳态时的电流波动角度出发，针对数字电机控制固有延时问题和逆变器输出饱和问题应用三步非线性方法设计了一种电流控制(TSPCC)算法。三步非线性方法具有对参数不过分敏感和易于离散系统工程实现的优点，将逆变器的输出饱和转化成基于模型的动态饱和限制引入到动态前馈控制和误差反馈控制中以获得最优的电流响应速度，用下一拍电流预测值代替当前传感器采集值以降低由于延时引起的电流超调和波动。仿真和试验结果表明：该算法可显著提高电流响应速度和降低稳态时的电流波动，适合用于实现平滑的手感和实时的路感。

关键词: 车辆工程, 路感模拟, 电流控制, 逆变器输出饱和, 延时, 三步非线性方法

Abstract:

To get better response performance of a road feeling simulation actuator, a current control (Triple-step saturation prediction current control, TSPCC) algorithm is designed using the triple-step nonlinear method to solve the problems of the inherent delay of digital motor control and the output saturation of the inverter. The objectives are to improve the current response speed and reduce the current oscillation of permanent magnet synchronous motor of the road feeling simulation system. The triple-step nonlinear method has the advantages of being less sensitive to parameters and easy to implement in engineering. By transforming the inverter output saturation into model-based dynamic saturation limit, the dynamic feedforward control law and error feedback control law can obtain the optimal current response speed. The next step predicted current value is used to reduce overshoot and oscillation of the current due to delay. Simulation and experimental results demonstrate that the proposed algorithm can significantly increase the response speed of the current and reduce the current fluctuations in the steady state, and is suitable for smooth touch feeling and real-time road feeling.

Key words: vehicle engineering, road feeling simulation, current control, inverter output saturation, delay, triple-step nonlinear method

中图分类号:

U463.4

张博,张建伟,郭孔辉,丁海涛,褚洪庆. 路感模拟用永磁同步电机电流控制[J]. 吉林大学学报(工学版), 2019, 49(5): 1405-1413.

Bo ZHANG,Jian-wei ZHANG,Kong-hui GUO,Hai-tao DING,Hong-qing CHU. Current control of permanent magnet synchronous motor for road feeling simulation[J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1405-1413.

图/表 9

图1

图2

表1

电机参数"

参数

额定值

额定功率/W

额定转速/（r·min^-1）

额定转矩/(N·m)

定子电阻 $R$ /Ω

d-q轴电感 $L$ /μH

转子磁链幅值 $ψ f$ /Wb

极对数 $P n$

1090

2000

5.2

0.023

80.5

0.0079

表1

图3

图4

图5

图6

图7

图8

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