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Research On Control Strategy And Key Technology Of Permanent Magnet Synchronous Motor For Electrical Vehicle Based On Predictive Control

Posted on:2017-01-27Degree:DoctorType:Dissertation
Country:ChinaCandidate:X D LiuFull Text:PDF
GTID:1312330512989944Subject:Power electronics and electric drive
Abstract/Summary:PDF Full Text Request
In the face of dual pressure in environmental crisis and energy shortage,the electric vehicle has become an important trend in the automobile industry due to the low energy consumption and the small pollution.The electric vehicle is typically a manned tool with limited energy supply and it has the complex operating condition with strong randomness,and its driving motor itself is a kind of complex nonlinear,multivariable,strong coupling and parameter time-varying system.Therefore,re-search of the advanced electric drive system control theory and methods is the key to improve the performance of electric vehicle.Permanent magnet synchronous motor(PMSM)has the characteristics of high efficiency,high power density and high reli-ability,which has become the main development trend for the electric drive system.For these reasons,this paper is mainly based on the predictive control system theory,comprehensive uses the modern control methods,such as disturbance observer,slid-ing mode control and resonant regulator,and thoroughly studies the key technologies of PMSM for the electric drive system,which includes the high performance speed and current control strategy and harmonic suppression,etc.The contents of this paper are summarized as follows:Firstly,the development status and key technologies of electric vehicle are in-troduced.The problems of the permanent magnet synchronous motor control system for electric drive are discussed.The research status and development trends of the modern control strategy and harmonic suppression method for permanent magnet synchronous motor are reviewed,and the main content and chapter arrangement of this study are pointed out.Then,to realize the fast speed response and strong robustness of permanen-t magnet synchronous motor for electric vehicle,combining generalized predictive control and disturbance compensation,the speed tracking control methods are pro-posed for PMSM.Firstly,the speed controller is designed based on generalized predictive control.Then,to deal with the problem of degradation in speed con-trol performance due to the external perturbation,the extended state observer and the high-order sliding mode controller are designed respectively to compensate the disturbance,and the robustness is significantly improved.The simulation and ex-perimental results indicate that,comparing with the traditional control method,the proposed methods have the faster transient response and the stronger robustness in the case of load disturbance.And then,aiming at the current control problem of permanent magnet syn-chronous motor,the compound current controller based on generalized predictive control and sliding mode disturbance compensation is designed.Firstly,according to the electromagnetic model in the synchronization reference frame of PMSM,the predictive current controller is designed based on the generalized predictive con-trol,but the parameter variations and model uncertainties are not considered.Then,the current compensation controller is designed by using the characteristic of strong robustness of sliding mode control.In the end,the simulation and experiment are completed.This method combines the merits of both the predictive control and slid-ing mode control,and the designed current controller has fast dynamic response and well robust performance.The method can effectively eliminate the effects of param-eter variations and model uncertainties on the system,and the fast current tracking control is realized.In order to improve dynamic response and robustness of the permanent mag-net synchronous motor control system,and reduce the adjusting difficulty of the controller parameters,the speed and current single loop control methods based on adaptive backstepping control and generalized predictive control with nonlinear dis-turbance observer are studied,respectively.Firstly,based on the backstepping con-trol of PMSM,and combing the maximum torque per ampere control principle,the adaptive backstepping controller is designed through estimating the load torque and stator resistance on line.The simulation results show that the method has good tran-sient response and strong robustness.Then,the single loop predictive controller is designed by using the generalized predictive control method with different out-put relative order,and according to the parameter variations and load disturbance,a nonlinear disturbance observer is designed to estimate the lump disturbance of the system,which is used to the feed-forward compensation control.Simulation and experimental results show that the motor has good speed and current control perfor-mance and strong robustness for the disturbance in this method,meanwhile,only the predictive horizon and the observer gains are needed to be adjusted in the controller.The comparison of two methods shows that the controller based on generalized pre-dictive control and nonlinear disturbance observer has the stronger robustness for the parameter disturbance,and the controller parameters are easier to be adjusted.So this method is highly practical,which provides an effective approach for the en-gineering application.Lastly,to improve the current control accuracy of permanent magnet synchronous motor in steady state,the model predictive control and the resonant controller are used in the current control system.Firstly,the current predictive controller is de-signed through the predictive control method based on discrete time state space mod-el,and the current tracking control and the robustness for the parameter uncertainties are realized.However,the model predictive control method still cannot eliminate the periodic disturbance in the system,then according to the current harmonic problem caused by the current measure error,the resonant controller is designed.The har-monic is effectively suppressed,and the current control accuracy is also improved.At last,the experimental results show the effectiveness of the control method.The study in this paper not only provides theoretical significance and academic value for the development of motor control theoretical discipline and a number of related branch disciplines,but also it has a certain practical significance to improve the performance of electric vehicle,and to achieve the industrialization and the high-performance of electric vehicles as soon as possible.
Keywords/Search Tags:Electric vehicle, Permanent magnet synchronous motor, Generalized predictive control, Extended state observer, Sliding mode control, Nonlinear distur-bance observer, Backstepping control, Model predictive control, Resonant controller
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