Robust Control of the Brushless DC Motor with Variable Torque Load for Automotive Applications

Abstract

The design of an Active Disturbance Rejection Controller for the Brushless DC motor (BLDC) that compensates load torque variations in the rotor shaft without the measurement of the rotor shaft speed is presented. The reconstruction of the unknown load and motor speed is accomplished by the combination of a generalized Proportional Integral Control (PI) and a Luenberger observer, while the stator current regulation is designed around a passivity based controller. Using parameters of a commercial motor designed for a small electric vehicle under different driving conditions, numerical simulation results are included that validate the effectiveness of the proposed scheme both in terms of transient response to changes in set points and in tracking variable speed references.     

直流变频系统转矩脉动分析与SVPWM驱动研究

为提高无刷直流变频空调工作效率,设计了以高速数字信号控制器dsPIC30F6010为核心的室外机控制与驱动系统,并针对集中绕组稀土永磁无刷直流电动机在正弦波和方波电流驱动下的电磁转矩脉动系数进行了对比.实现了SVPWM控制策略,通过实验比较了在方波驱动和SVPWM驱动下电机的转速与电流.实验结果证明,SVPWM驱动下电机效率高,转矩脉动小.     

刷架位置对直流力矩电动机性能的影响

直流电机装配后要保证换向元件位于几何中性线上,而力矩电动机由于其特殊的结构决定了换向片中心只能与电枢的槽中心重合.对直流力矩电机采用三种不同的刷架结构,通过对比试验,验证了适当调整刷架与定子的装配位置关系可以弥补这种缺陷,确保电机性能满足指标要求.     

基于锂电池供电短时大负载下永磁无刷直流电机及驱动设计

通过分析锂电池输出电压随着能量的输出而下降的规律,根据实际的任务结束后的电压设计电机及驱动电路,通过对其机械特性进行分析可以满足正常情况下的输出要求。当电压低于预期值时,可以对无刷直流电机采用混合驱动的方式提高电机的输出转矩和转速,在混合驱动模式能够实现低电压供电情况下与高电压情况下两两驱动方式相同的输出特性。在电机的设计时,可以适当提高电机的额定电压值,从而减轻电机的体积和重量,更适用于航空航天和户外等对电机体积、重量和短时大负载有特殊要求的场合。仿真和实验表明无刷直流电机的额定电压能够根据锂电池的最低工作电压提高10%以上。     

高磁负荷单相无刷直流电机的转矩波动抑制

在具有较高磁负荷的单相无刷直流电动机中,不均匀气隙结构以及通常存在的电流尖峰将导致尖峰定位转矩的产生,从而造成合成转矩特性的严重畸变。该文在稳态运动磁场计算及场路耦合计算的基础上,分析了气隙渐变结构中各结构要素对定位转矩峰值的影响及合理设计,并研究了各种驱动模式对转矩特性的影响,提出了采用有限转角的电压驱动模式降低转矩波动及噪声。样机试验表明,采用一定的关断角度可以有效降低电机噪声及提高性能。     

PWM驱动电动加载系统的稳定性分析

主要分析了PWM驱动装置的开关频率f对电动加载系统稳定性的影响,给出了整个电动加载系统的数学模型,用朱利稳定判据分析PWM驱动装置的开关频率f对系统稳定性的影响。通过仿真对分析结果进行了验证。     

Stability Analysis of a Constant Torque Static Slip-Power-Recovery Drive

The stability analysis of a static slip-power-recovery drive is presented A set of nonlinear differential equation describing the dynamics of the system are developed and linearized about an operating point using perturbation technique. Using the characteristic equation obtained from the motional impedance matrix and the Routh-Hurwitz criterion instability regions have been plotted in the torque-firing angle plane. The effects of system inertia, filter parameters, and applied voltage upon the instability regions have been investigated. An experimental verification of the stability region has also been presented.     

双绕组无刷直流电动机的数学模型与转矩特性

阐述一种用于全电飞机机电作动系统的双绕组永磁无刷直流电动机.该电动机定子上有双重绕组,由两套独立的功率电路驱动形成双通道控制系统.该系统能够实现容错控制以提高可靠性.论文研究了该电动机的数学模型与转矩特性,并给出试验结果.     

低转矩磁链脉动型电励磁同步电机直接转矩驱动系统的研究

电励磁同步电动机定子电感通常较小,转子阻尼绕组的存在使得电机暂态电感更小。若采用转矩及磁链滞环型直接转矩控制(基本DTC)策略电机电磁转矩及定子磁链脉动较大。针对电励磁同步电动机引入一种空间矢量调制型直接转矩控制(SVM-DTC)策略。它基于电励磁同步电动机中转矩角控制电磁转矩原理,利用空间电压矢量合成出最佳电压矢量实时补偿定子磁链矢量误差,以达到减小电动机在运行中电磁转矩及定子磁链脉动量之目的,同时又能基本维持开关频率恒定。仿真和实验结果证明,与基本DTC相比较,SVM-DTC电磁转矩和定子磁链脉动大幅度降低;电机起动电流峰值大大减小,稳态电流畸变较小;同时系统能够平稳地由恒转矩区过渡到弱磁区运行。     

基于负载转矩观测的PMSM直接转矩反步控制

基于永磁同步电机数学模型,考虑永磁同步电机的非线性特性,提出了一种新颖的反步法控制策略设计转矩和磁链非线性控制器,使电机具有快速的速度和转矩响应性能,并且能有效减小转矩和电流脉动。针对负载转矩扰动的问题,设计了负载转矩Luenberger状态观测器以减小扰动对系统的影响,并采用线性矩阵不等式对反馈增益进行求解。通过仿真可以看出,所设计的控制器使系统具有良好的动静态特性,负载转矩观测器能准确估计负载变化,使系统对负载扰动具有较强的鲁棒性。     

力矩式自整角机的直流驱动方法研究

力矩式自整角机通常采用交流电驱动,为了便于计算机控制,研究能否用直流电驱动交流力矩自整角机.经理论分析和实验证明是可行的;巳在新研制的计算机解算与控制的航空维修训练模拟器中成功地应用了这一技术.     

Direct Flux and Torque Regulation in a PWM Inverter-Induction Motor Drive

A dc motor drive is controlled by varying the armature current and field current. The field is a measure of flux, and the armature current times field current is a measure of torque. Various approximate means of estimating the flux and torque levels in an induction motor exist. Most of these methods are sensitive to motor parameter value changes and do not work well near zero speed. Also, the harmonics in the motor voltage and current due to the nonsinusoidal inverter waveform cause errors in the estimated torque. A practical method has been developed to measure the flux level in an induction motor in the actual operating environment. Using the flux signals and stator current, the actual electromagnetic torque can be obtained. This torque signal responds correctly to motor saturation and inverter voltage waveform harmonics. The motor can be designed to operate without the customarily required flux margin, since the flux level is accurately controlled. The control strategy for use with these feedback signals does not require the use of a tachometer.     

电力传动系统的转矩控制规律

本文对高动态性能电力传动系统的转矩控制方式进行了详细的分析和讨论，表明了转矩与与磁通或磁链协调控制的重要性；并从概念上澄清了当前广为应用的矢量控制系统和直接转矩系统的特点与区别。     

Rotary Grinding Mill and Drive Motor Torque Relationships

An understanding of torque relationships in the operation of rotary grinding mills necessitates a complete analysis of the mill, gear train, and drive motor insofar as torsional load, inertia, and frictional losses are concerned. Ability of a drive motor to develop the required torque is dependent upon its inherent torque characteristics in combination with its electrical supply system. A complete evaluation of both the drive motor and power system is therefore necessary to assure that proper torque will be supplied by the drive motor for the mill requirements.     

无刷直流电机转矩观测与电感自适应辨识

为提高无刷直流电机（brushless DC motor,BLDCM）转矩观测结果的准确性,定量分析了传统的反电势滑模观测器（sliding．mode observer,SMO）及相应的转矩观测结果受定子电感参数偏差的影响程度。分析表明,电感参数偏差会在定子电流变化时引起反电势和转矩观测误差。为消除这一影响,利用李雅普诺夫（Lyapunov）稳定性理论,设计了定子电感自适应辨识率,在线辨识得到电感参数,实时调整SMO的系数矩阵和输入矩阵,构成了新型的自适应滑模观测器,提高了观测精度。最后利用RT-LAB实时控制器进行实验,验证了理论分析的正确性。实验结果表明,所提方法能有效辨识出BLDCM的定子电感值,并正确观测出电机转矩。     

基于四开关逆变器的无刷直流电机控制

分析了无刷直流电机(BLDCM)控制系统的换相特点；提出了采用四开关逆变器的结构。通过分析该逆变器系统的运行状态，给出了系统换相的逻辑实现图，并对系统进行了仿真和实验。结果表明，在特定的逻辑控制下，该逆变器可成功地获得无刷直流电机所需要的方波电流。     

A Fast-Acting Current Limit for a DC Motor Drive

The two basic methods of providing current-limit protection for a variable-speed dc motor drive are examined. The most common method, the current regulator, is a two-loop scheme consisting of a current-regulating loop enclosed within a speed-control loop. The alternate method is the interventionist system, which normally operates in the speed-control mode, the current limiter taking control only after the armature current has exceeded a threshold value. The paper reviews the existing literature on the topic and goes on to describe a new interventionist-type system. The speed of response is extremely high: with a typical, fully controlled three-phase bridge rectifier the current is limited with high accuracy within one-sixth of a cycle. Experimental results for a 50-hp machine are given.     

直流回馈型直流电子负载的设计与研究

针对机车电源测试时用模拟负载造成能量浪费的情况,设计了一种将测试能量回馈到电源直流输入侧的能量回馈型电子负载。该电子负载由升压斩波电路和移相全桥电路级联组成。前级升压斩波电路采用单电流环控制结构,单周期控制方式,通过控制输入电感电流模拟直流电源的输出特性;后级移相全桥电路采用输入电压外环、输出电流内环的双闭环控制结构,比例积分控制方式,通过高频逆变实现输入与输出的电气隔离,并将能量高效率的回馈给测试电源的直流输入侧,使测试能量被循环使用。通过8 k W实验平台的仿真与实验,验证了设计的可行性,结果表明电子负载能节约超过80%的测试电能。     

带恒功率负载的DC/DC变换器阶跃响应过程分析

由于恒功率负载负阻抗输入特性,Buck直直变换器带恒功率负载与阻性负载阶跃负载响应过程不同,且带恒功率负载时不能保证系统性能不受影响。并基于平均大信号模型,借助相平面法,针对恒功率负载以及阻性负载,详细分析了平均电流控制Buck变换器两种情形下的阶跃响应动态过程。分析表明,变换器带恒功率负载阶跃响应过程存在2类4种类型。通过限制阶跃负载所导致的电压跌落的大小可以确保变换器级联后阶跃负载动态性能不受影响。具体可以通过增大源变换器电感电流限流值及提高其电流环带宽实现。实验结果验证了理论分析的正确性。     

不间断电源拖动感性负载与应用

该系统是不间断电源系统(UPS)通过软启动器转换实现拖动感性负载,成功解决了UPS不能拖动感性负载的技术难题,为高炉热风炉煤气切断阀运行提供后备电源保证,避免供电意外情况下的煤气使用事故,实现安全稳定生产.