基于dsp的電動車多輪驅(qū)電機的協(xié)調(diào)控制.doc
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基于dsp的電動車多輪驅(qū)電機的協(xié)調(diào)控制,基于dsp的電動車多輪驅(qū)電機的協(xié)調(diào)控制本文為碩士畢業(yè)論文，共67字數(shù)：29072摘 要承載、轉(zhuǎn)向和牽引是地面運行車輛的三大基本功能。目前純電動汽車正在向多輪驅(qū)方向發(fā)展，這種系統(tǒng)至少含有兩臺驅(qū)動電機，通過對多電機的協(xié)調(diào)控制，不僅可實現(xiàn)電動車的雙向牽引，而且為同時實現(xiàn)轉(zhuǎn)向協(xié)調(diào)提供了可能。為此，本文圍繞多輪驅(qū)電機的協(xié)調(diào)控制技...
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基于DSP的電動車多輪驅(qū)電機的協(xié)調(diào)控制
本文為碩士畢業(yè)論文，共67 字數(shù)：29072
摘 要
承載、轉(zhuǎn)向和牽引是地面運行車輛的三大基本功能。目前純電動汽車正在向多輪驅(qū)方向發(fā)展，這種系統(tǒng)至少含有兩臺驅(qū)動電機，通過對多電機的協(xié)調(diào)控制，不僅可實現(xiàn)電動車的雙向牽引，而且為同時實現(xiàn)轉(zhuǎn)向協(xié)調(diào)提供了可能。為此，本文圍繞多輪驅(qū)電機的協(xié)調(diào)控制技術進行相關的理論與試驗研究。
首先，對永磁無刷直流電動機的工作原理與特性進行分析；借鑒經(jīng)典汽車技術，系統(tǒng)的研究了輪驅(qū)式電動車的控制功能及實現(xiàn)方法；給出一個由人工轉(zhuǎn)向輪+兩個驅(qū)動輪組成的電動三輪車概念模型，并提出了一種基于雙電機獨立驅(qū)動、電流指令靈活分配的控制系統(tǒng)策略。該系統(tǒng)接收電流調(diào)節(jié)手把指令和電流分配指令，通過雙電機電流信號分配及閉環(huán)控制實現(xiàn)轉(zhuǎn)矩協(xié)調(diào)控制，使電動車在牽引驅(qū)動的同時，實現(xiàn)轉(zhuǎn)向協(xié)調(diào)控制。
其次，針對上述電動三輪車的控制需求，在對電機功率驅(qū)動電路結(jié)構(gòu)與控制方式、電流及轉(zhuǎn)子位置信號檢測方法進行比較分析的基礎上，設計了無刷直流電動機的硬件驅(qū)動電路，搭建了以TMS320F2812開發(fā)板為主控制器的雙電機協(xié)調(diào)控制系統(tǒng)硬件試驗研究平臺；分析了控制系統(tǒng)軟件整體需求，編寫了系統(tǒng)輸入、輸出及控制模塊軟件，完成了雙電機協(xié)調(diào)控制系統(tǒng)軟件設計。
最后，在試驗研究平臺上，完成了系統(tǒng)軟件與硬件聯(lián)合調(diào)試。通過電機開環(huán)調(diào)試，標定了速度檢測子系統(tǒng)；單獨施加恒定激勵電流，標定了電流檢測子系統(tǒng)；外加可變負載，驗證了電機電流閉環(huán)控制功能。調(diào)試結(jié)果表明，控制系統(tǒng)可實現(xiàn)電機啟動、調(diào)速、正反轉(zhuǎn)和電流閉環(huán)控制。
全部試驗結(jié)果表明，基于DSP的電動車多輪驅(qū)電機協(xié)調(diào)控制可在牽引驅(qū)動的同時實現(xiàn)轉(zhuǎn)向協(xié)調(diào)，采用成熟的電流閉環(huán)控制技術，以軟件代替機械差速器的功能，可供多輪驅(qū)電動汽車的研究參考。
關鍵詞：電動汽車；多輪驅(qū)；DSP；電流閉環(huán)控制
Abstract
Three basic functions of the ground running vehicles are bearing, steering and traction. At present, the trend of the pure electric automobiles is the multiwheel drive. This kind of system contains two driven motors at least. By coordinating control of the motors, the bidirectional traction of the electric vehicles can be realized, and coordinating control for the steering could become possible at the same time. Therefore, the related theory and experiment about coordinating control technology of the multiwheel drive has been researched in this paper.
At first, the working principle and characteristic for the permanent magnet brushless dc motor have been analyzed. According to the technique of traditional automobile, the control functions and realization methods of wheel-driven electric vehicle are researched systematically. The conceptual model of the electric tricycle composed of artificial steering wheel and two driven wheels is presented, and the system control strategy based on independent dual motor driven and flexible current instructions assignment has been proposed. The current adjustment handle instructions and current assignment instructions are received in this system, and coordinating control for torque is realized by assignment and closed-loop control for current of the dual motors. Furthermore, steering coordinating control can be realized, while traction of the electric automobiles can be completed.
Secondly, for the control need of the electric tricycle mentioned above, the hardware driven circuit of magnet brushless dc motor has been designed on the basis of comparing for power driven circuit structure, control means, mehod of current and rotor’s position signal detection of motor. And the hardware test and research platform of the dual-motor coordinating control system taking TMS320F2812 as the main controller has been builded up. The entire demand of software control system has been analyzed and input modules, output modules and control modules of system have been programmed. The software design of the dual-motor coordinating control system has been accomplished at last.
Finally, system software and hardware joint debug has been completed on the experimental study platform. Speed detection subsystem has been calibrated by the motor open-loop tests. Current detection subsystem has been calibrated by excitation permanent current imposed separately. And current closed-loop control of motor has been completed. The test results show that the control system can realize starting, speed adjustment, clockwise and anti-clockwise running and current closed-loop control functions of motor.
All the test results show that the coordinating control for multiple driven motors of the electric vehicle based on DSP can realize coordinating control for the steering, while traction of the electric automobiles can be completed. Mature technique of current closed-loop control is adopted, and the function of differential mechanism can be replaced by software module, which gives the reference to the study of multiwheel electric vehicles.
Keywords: Electric Vehicle; Multiwheel Drive; DSP; Current Closed-loop Control;
目 錄
第1章 緒 論 1
1.1 課題研究背景及意義 1
1.2 多輪驅(qū)協(xié)調(diào)控制的現(xiàn)狀 1
1.3 論文完成的主要工作 3
第2章 電動車控制技術研究 4
2.1 無刷直流電動機分析 4
2.1.1 工作原理 4
2.1.2 數(shù)學模型 6
2.1.3 建模仿真 8
2.2 電動車控制功能及實現(xiàn) 11
2.3 電動三輪車概念模型及策略 14
2.3.1 電動三輪車概念模型 14
2.3.2 雙電機協(xié)調(diào)控制策略 15
2.4 研究技術路線 17
2.5 本章小結(jié) 17
第3章 電氣控制系統(tǒng)硬件設計 18
3.1 電氣控制系統(tǒng)方案研究 18
3.1.1 功率橋電路與控制 18
3.1.2 電機電流檢測方案 21
3.1.3 轉(zhuǎn)子位置信號檢測 21
3.2 控制調(diào)節(jié)系統(tǒng)研究 22
3.2.1 控制調(diào)節(jié)系統(tǒng)需求 22
3.2.2 硬件解決方案 22
3.3 電氣控制系統(tǒng)的實現(xiàn) 23
3.3.1 電流控制輸入電路 23
3.3.2 PWM信號隔離電路 24
3.3.3 電機功率驅(qū)動電路 24
3.3.4 轉(zhuǎn)子位置檢測電路 28
3.3.5 電機電流檢測電路 28
3.4 控制系統(tǒng)可靠性設計 30
3.4.1 電源去耦 30
3.4.2 信號隔離 31
3.4.3 布線線寬 31
3.5 本章小結(jié) 32
第4章 控制系統(tǒng)應用軟件設計 33
4.1 軟件總體分析 33
4.2 輸入模塊軟件設計 34
4.2.1 控制信號輸入 34
4.2.2 轉(zhuǎn)子位置檢測 38
4.2.3 電機轉(zhuǎn)速測量 38
4.2.4 電壓電流采集 41
4.3 輸出模塊軟件設計 42
4.4 控制模塊軟件設計 45
4.5 本章小結(jié) 47
第5章 系統(tǒng)調(diào)試與試驗結(jié)果分析 48
5.1 試驗研究平臺介紹 48
5.2 電機開環(huán)調(diào)試 49
5.2.1 轉(zhuǎn)速標定 49
5.2.2 轉(zhuǎn)速/電流特性 50
5.3 電流檢測系統(tǒng)標定 51
5.4 電流閉環(huán)系統(tǒng)調(diào)試 52
結(jié) 論 55
致 謝 56
參考文獻 57
參考文獻
[1] 孫志紅等.坦克電傳動系統(tǒng)的發(fā)展和展望.四川兵工學報，2005，第1期：12-14
[2] 呂勤等.基于工控機+DSP的移動機器人控制系統(tǒng)設計.電氣傳動自動化，2009，第31卷第1期：43-46
[3] 徐宗祥.我國電力機車的發(fā)展回顧.中國鐵路，2001，第2期：12-14
[4] 陳清泉.電動汽車及混合動力汽車的發(fā)展現(xiàn)狀.陳清泉院士論文選集—現(xiàn)代電動車、電機驅(qū)動及電力電子技術.北京：機械工業(yè)出版社，2005：43-64
[5] 陳清泉.電動汽車的現(xiàn)狀及發(fā)展趨勢.陳清泉院士論文選集—現(xiàn)代電動車、電機驅(qū)動及電力電子技術.北京：機械工業(yè)出版社，2005：6-13
[6] S. Gair. Motor Drives and Propulsion Systems for EVs, 1998, The Institution of Electrical Engineers
[7] 陳清泉等.21世紀的綠色交通工具—電動車.北京：清華大學出版社，2000
[8] 李興虎.電動汽車概論.北京：北京理工大學出版社，2005
[9] 陳清泉等.現(xiàn)代電動汽車技術.北京：北京理工大學出版社，2002
[10] 寧國寶.電動車輪邊驅(qū)動系統(tǒng)的發(fā)展.新能源汽車，2006.11，2-6
[11] 王玲瓏等.輪轂式電動汽車驅(qū)動系統(tǒng)的研究與開發(fā).汽車電器，2007，第3期，7-10
[12] Ju-Sang Lee,Young-Jac Ryoo,Young-Cheol Lim. A Neural network model of electric differential system for electric vehicle,26th Annual Confernece of the IEEE,2000,1:83-87
[13] 郭建龍等.電動車用多電機獨立輪式驅(qū)動的協(xié)調(diào)運行分析.微特電機，2007，第1期
[14] Peng Xu. A Novel Fore Axle Whole-turning Driving and Control System for Direct-Wheel-Driven Electric Vehicle，Proceedings of the IEEE International Conference on Automation and Logistics Qingdao, China September 2008:705-709
[15] Guilin Tao. A Novel Driving and Control System for Direct-Wheel- Driven Electric Vehicle, IEEE TRANSACTIONS ON MAGNETICS, VOL.41, NO.1, JANUARY 2005
本文為碩士畢業(yè)論文，共67 字數(shù)：29072
摘 要
承載、轉(zhuǎn)向和牽引是地面運行車輛的三大基本功能。目前純電動汽車正在向多輪驅(qū)方向發(fā)展，這種系統(tǒng)至少含有兩臺驅(qū)動電機，通過對多電機的協(xié)調(diào)控制，不僅可實現(xiàn)電動車的雙向牽引，而且為同時實現(xiàn)轉(zhuǎn)向協(xié)調(diào)提供了可能。為此，本文圍繞多輪驅(qū)電機的協(xié)調(diào)控制技術進行相關的理論與試驗研究。
首先，對永磁無刷直流電動機的工作原理與特性進行分析；借鑒經(jīng)典汽車技術，系統(tǒng)的研究了輪驅(qū)式電動車的控制功能及實現(xiàn)方法；給出一個由人工轉(zhuǎn)向輪+兩個驅(qū)動輪組成的電動三輪車概念模型，并提出了一種基于雙電機獨立驅(qū)動、電流指令靈活分配的控制系統(tǒng)策略。該系統(tǒng)接收電流調(diào)節(jié)手把指令和電流分配指令，通過雙電機電流信號分配及閉環(huán)控制實現(xiàn)轉(zhuǎn)矩協(xié)調(diào)控制，使電動車在牽引驅(qū)動的同時，實現(xiàn)轉(zhuǎn)向協(xié)調(diào)控制。
其次，針對上述電動三輪車的控制需求，在對電機功率驅(qū)動電路結(jié)構(gòu)與控制方式、電流及轉(zhuǎn)子位置信號檢測方法進行比較分析的基礎上，設計了無刷直流電動機的硬件驅(qū)動電路，搭建了以TMS320F2812開發(fā)板為主控制器的雙電機協(xié)調(diào)控制系統(tǒng)硬件試驗研究平臺；分析了控制系統(tǒng)軟件整體需求，編寫了系統(tǒng)輸入、輸出及控制模塊軟件，完成了雙電機協(xié)調(diào)控制系統(tǒng)軟件設計。
最后，在試驗研究平臺上，完成了系統(tǒng)軟件與硬件聯(lián)合調(diào)試。通過電機開環(huán)調(diào)試，標定了速度檢測子系統(tǒng)；單獨施加恒定激勵電流，標定了電流檢測子系統(tǒng)；外加可變負載，驗證了電機電流閉環(huán)控制功能。調(diào)試結(jié)果表明，控制系統(tǒng)可實現(xiàn)電機啟動、調(diào)速、正反轉(zhuǎn)和電流閉環(huán)控制。
全部試驗結(jié)果表明，基于DSP的電動車多輪驅(qū)電機協(xié)調(diào)控制可在牽引驅(qū)動的同時實現(xiàn)轉(zhuǎn)向協(xié)調(diào)，采用成熟的電流閉環(huán)控制技術，以軟件代替機械差速器的功能，可供多輪驅(qū)電動汽車的研究參考。
關鍵詞：電動汽車；多輪驅(qū)；DSP；電流閉環(huán)控制
Abstract
Three basic functions of the ground running vehicles are bearing, steering and traction. At present, the trend of the pure electric automobiles is the multiwheel drive. This kind of system contains two driven motors at least. By coordinating control of the motors, the bidirectional traction of the electric vehicles can be realized, and coordinating control for the steering could become possible at the same time. Therefore, the related theory and experiment about coordinating control technology of the multiwheel drive has been researched in this paper.
At first, the working principle and characteristic for the permanent magnet brushless dc motor have been analyzed. According to the technique of traditional automobile, the control functions and realization methods of wheel-driven electric vehicle are researched systematically. The conceptual model of the electric tricycle composed of artificial steering wheel and two driven wheels is presented, and the system control strategy based on independent dual motor driven and flexible current instructions assignment has been proposed. The current adjustment handle instructions and current assignment instructions are received in this system, and coordinating control for torque is realized by assignment and closed-loop control for current of the dual motors. Furthermore, steering coordinating control can be realized, while traction of the electric automobiles can be completed.
Secondly, for the control need of the electric tricycle mentioned above, the hardware driven circuit of magnet brushless dc motor has been designed on the basis of comparing for power driven circuit structure, control means, mehod of current and rotor’s position signal detection of motor. And the hardware test and research platform of the dual-motor coordinating control system taking TMS320F2812 as the main controller has been builded up. The entire demand of software control system has been analyzed and input modules, output modules and control modules of system have been programmed. The software design of the dual-motor coordinating control system has been accomplished at last.
Finally, system software and hardware joint debug has been completed on the experimental study platform. Speed detection subsystem has been calibrated by the motor open-loop tests. Current detection subsystem has been calibrated by excitation permanent current imposed separately. And current closed-loop control of motor has been completed. The test results show that the control system can realize starting, speed adjustment, clockwise and anti-clockwise running and current closed-loop control functions of motor.
All the test results show that the coordinating control for multiple driven motors of the electric vehicle based on DSP can realize coordinating control for the steering, while traction of the electric automobiles can be completed. Mature technique of current closed-loop control is adopted, and the function of differential mechanism can be replaced by software module, which gives the reference to the study of multiwheel electric vehicles.
Keywords: Electric Vehicle; Multiwheel Drive; DSP; Current Closed-loop Control;
目 錄
第1章 緒 論 1
1.1 課題研究背景及意義 1
1.2 多輪驅(qū)協(xié)調(diào)控制的現(xiàn)狀 1
1.3 論文完成的主要工作 3
第2章 電動車控制技術研究 4
2.1 無刷直流電動機分析 4
2.1.1 工作原理 4
2.1.2 數(shù)學模型 6
2.1.3 建模仿真 8
2.2 電動車控制功能及實現(xiàn) 11
2.3 電動三輪車概念模型及策略 14
2.3.1 電動三輪車概念模型 14
2.3.2 雙電機協(xié)調(diào)控制策略 15
2.4 研究技術路線 17
2.5 本章小結(jié) 17
第3章 電氣控制系統(tǒng)硬件設計 18
3.1 電氣控制系統(tǒng)方案研究 18
3.1.1 功率橋電路與控制 18
3.1.2 電機電流檢測方案 21
3.1.3 轉(zhuǎn)子位置信號檢測 21
3.2 控制調(diào)節(jié)系統(tǒng)研究 22
3.2.1 控制調(diào)節(jié)系統(tǒng)需求 22
3.2.2 硬件解決方案 22
3.3 電氣控制系統(tǒng)的實現(xiàn) 23
3.3.1 電流控制輸入電路 23
3.3.2 PWM信號隔離電路 24
3.3.3 電機功率驅(qū)動電路 24
3.3.4 轉(zhuǎn)子位置檢測電路 28
3.3.5 電機電流檢測電路 28
3.4 控制系統(tǒng)可靠性設計 30
3.4.1 電源去耦 30
3.4.2 信號隔離 31
3.4.3 布線線寬 31
3.5 本章小結(jié) 32
第4章 控制系統(tǒng)應用軟件設計 33
4.1 軟件總體分析 33
4.2 輸入模塊軟件設計 34
4.2.1 控制信號輸入 34
4.2.2 轉(zhuǎn)子位置檢測 38
4.2.3 電機轉(zhuǎn)速測量 38
4.2.4 電壓電流采集 41
4.3 輸出模塊軟件設計 42
4.4 控制模塊軟件設計 45
4.5 本章小結(jié) 47
第5章 系統(tǒng)調(diào)試與試驗結(jié)果分析 48
5.1 試驗研究平臺介紹 48
5.2 電機開環(huán)調(diào)試 49
5.2.1 轉(zhuǎn)速標定 49
5.2.2 轉(zhuǎn)速/電流特性 50
5.3 電流檢測系統(tǒng)標定 51
5.4 電流閉環(huán)系統(tǒng)調(diào)試 52
結(jié) 論 55
致 謝 56
參考文獻 57
參考文獻
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