Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (5): 1405-1413.doi: 10.13229/j.cnki.jdxbgxb20180616

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Current control of permanent magnet synchronous motor for road feeling simulation

Bo ZHANG(),Jian-wei ZHANG(),Kong-hui GUO,Hai-tao DING,Hong-qing CHU   

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2018-06-11 Online:2019-09-01 Published:2019-09-11
  • Contact: Jian-wei ZHANG E-mail:zbisme@126.com;beqoxn@163.com

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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

CLC Number: 

  • U463.4

Fig.1

Timing sequence of digital motor control"

Fig.2

Diagram of TSPCC control scheme"

Table 1

Parameters of PMSM"

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

4

Fig.3

Simulation results: 0 A→-5 A→50 A→100 Hz, 50 A sine q?axis current input instructions"

Fig.4

Experimental bench of PMSM"

Fig.5

Test results: 0 A→-5 A→50 A→100 Hz, 50 A sine q?axis current input instructions"

Fig.6

Road sense simulation bench of steer?by?wire system"

Fig.7

Steering input of driver"

Fig.8

Test results: response of q?axis current under road sense simulation"

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