CN103269199A  Electric car induction motor torque current setting device  Google Patents
Electric car induction motor torque current setting device Download PDFInfo
 Publication number
 CN103269199A CN103269199A CN2013101925560A CN201310192556A CN103269199A CN 103269199 A CN103269199 A CN 103269199A CN 2013101925560 A CN2013101925560 A CN 2013101925560A CN 201310192556 A CN201310192556 A CN 201310192556A CN 103269199 A CN103269199 A CN 103269199A
 Authority
 CN
 China
 Prior art keywords
 torque
 speed
 current
 controller
 omega
 Prior art date
 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
 Granted
Links
 230000001939 inductive effect Effects 0.000 title claims abstract description 67
 230000001360 synchronised Effects 0.000 claims description 15
 238000005303 weighing Methods 0.000 abstract 2
 238000010586 diagram Methods 0.000 description 7
 230000004907 flux Effects 0.000 description 4
 238000004804 winding Methods 0.000 description 4
 238000005516 engineering process Methods 0.000 description 3
 238000000034 method Methods 0.000 description 3
 230000015556 catabolic process Effects 0.000 description 2
 238000004458 analytical method Methods 0.000 description 1
 230000001276 controlling effect Effects 0.000 description 1
 238000001816 cooling Methods 0.000 description 1
 230000000875 corresponding Effects 0.000 description 1
 239000012467 final product Substances 0.000 description 1
 238000011031 large scale production Methods 0.000 description 1
 230000001172 regenerating Effects 0.000 description 1
 238000005211 surface analysis Methods 0.000 description 1
 230000001052 transient Effects 0.000 description 1
 XLYOFNOQVPJJNPUHFFFAOYSAN water Substances data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nMzAwcHgnIGhlaWdodD0nMzAwcHgnIHZpZXdCb3g9JzAgMCAzMDAgMzAwJz4KPCEtLSBFTkQgT0YgSEVBREVSIC0tPgo8cmVjdCBzdHlsZT0nb3BhY2l0eToxLjA7ZmlsbDojRkZGRkZGO3N0cm9rZTpub25lJyB3aWR0aD0nMzAwJyBoZWlnaHQ9JzMwMCcgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgeD0nMTAwLjUwMScgeT0nMTcwJyBjbGFzcz0nYXRvbS0wJyBzdHlsZT0nZm9udC1zaXplOjQwcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojRTg0MjM1JyA+SDwvdGV4dD4KPHRleHQgeD0nMTI2LjExNCcgeT0nMTg2JyBjbGFzcz0nYXRvbS0wJyBzdHlsZT0nZm9udC1zaXplOjI2cHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojRTg0MjM1JyA+MjwvdGV4dD4KPHRleHQgeD0nMTM4JyB5PScxNzAnIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6NDBweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiNFODQyMzUnID5PPC90ZXh0Pgo8L3N2Zz4K data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nODVweCcgaGVpZ2h0PSc4NXB4JyB2aWV3Qm94PScwIDAgODUgODUnPgo8IS0tIEVORCBPRiBIRUFERVIgLS0+CjxyZWN0IHN0eWxlPSdvcGFjaXR5OjEuMDtmaWxsOiNGRkZGRkY7c3Ryb2tlOm5vbmUnIHdpZHRoPSc4NScgaGVpZ2h0PSc4NScgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgeD0nMTMuMzEyOCcgeT0nNTMuNTkwOScgY2xhc3M9J2F0b20tMCcgc3R5bGU9J2ZvbnQtc2l6ZToyM3B4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO3RleHQtYW5jaG9yOnN0YXJ0O2ZpbGw6I0U4NDIzNScgPkg8L3RleHQ+Cjx0ZXh0IHg9JzI4LjE1NjknIHk9JzYyLjg2MzYnIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6MTVweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiNFODQyMzUnID4yPC90ZXh0Pgo8dGV4dCB4PSczNS4wNDU1JyB5PSc1My41OTA5JyBjbGFzcz0nYXRvbS0wJyBzdHlsZT0nZm9udC1zaXplOjIzcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojRTg0MjM1JyA+TzwvdGV4dD4KPC9zdmc+Cg== O XLYOFNOQVPJJNPUHFFFAOYSAN 0.000 description 1
Abstract
The invention provides an electric car induction motor torque current setting device. Based on the prior art, a highspeed torque controller, a weighing and calculating module and a torque current setting and calculating module are added. Meanwhile, an existing torque controller used for calculating set torque current is used as a lowspeed torque controller. When an induction motor runs at low speed, the lowspeed torque controller works, the weight of the lowspeed torque controller is set as 1, and torque current is completely given by the lowspeed torque controller. When the induction motor runs at high speed, the highspeed torque controller works, the weight of the highspeed torque controller is set as 1, and torque current is completely given by the highspeed torque controller. When the induction motor runs in a switching transition zone, torque current is given by the highspeed torque controller and the lowspeed torque controller, and a value of the torque current can be calculated and obtained according to the weight k. When the actual rotation speed of the induction motor increases, slow switching between two structures can be achieved through a slowlychanging weighing method in structural switching, control stability of the induction motor is improved, and torque control accuracy is improved.
Description
Technical field
The invention belongs to electric automobile Control of Induction Motors technical field, more specifically say, relate to a kind of electric automobile induction machine torque current setter.
Background technology
Along with becoming increasingly conspicuous of problems such as the development of society and the energy, environmental protection, electric automobile is with its zero discharge, low noise advantages more and more is subjected to the attention of countries in the world, and electric automobile has become the developing direction of 21 century automobile industry, is one of topmost developing direction of green vehicle.Drive motors and motor drive controller be as the pith of " three horizontal strokes " technology, and what provide that electric automobile drives power directly provides mechanism, and the quality of its drive characteristic has directly determined the quality of electric automobile during traveling performance.
At present, asynchronous machine be induction machine with its reliability height, simple in structure, in light weight, cost is lower, noise is low, the vibration is little, it is simple to safeguard, be fit to largescale production, can accomplish bigger power output than synchronous machine and direct current machine, can also effectively realize advantages such as regenerative braking, obtained using widely at electric automobile, become the driving motor for electric automobile of present main flow.Therefore, the asynchronous motor speedregulating system that is applicable to electric automobile is studied widely.
No matter electric automobile is to accelerate, slow down or travel at the uniform speed all need be controlled to be the basis accurately so that drive system is exported torque in running.For electric automobile can be travelled in wideer velocity interval, drive system of electric automobile should have wideer speed adjustable range.Usually, drive system of electric automobile adopts weak magnetic control system to enlarge the speed adjustable range of drive system.Yet in research in the past, all do not consider the saturated influence to drive system torque control precision of induction machine magnetic linkage, this influence is particularly evident the stage performance processed of weak magnetic control.And drive system only possesses higher torque control precision, could satisfy the controllability of actuating force in the electric automobile during traveling process, adapts to the driver's operation custom.
When system adopted vector control algorithm, the drive system level of torque was determined by torque current indirectly.Therefore the torque current instruction that how to provide induction machine accurately becomes influences the key that electric automobile is exported accurate torque.
When carrying out Control of Induction Motors usually, think that the inductance parameters of induction machine is invariable, yet because the saturated influence of induction machine magnetic linkage, the mutual inductance of induction machine is not constant, when the induction machine mutual inductance changes, the tradition torque controller can not provide torque current accurately, therefore, needs the redesign torque controller.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of electric automobile induction machine torque current setter is provided, to increase the stability of Control of Induction Motors, improve the torque control precision.
For realizing above purpose, electric automobile induction machine torque current setter of the present invention is characterized in that, comprising:
One low speed torque controller is used for calculating the given torque current of first
Wherein, N
_{p}Be number of polepairs, L
_{m}Be mutual inductance, L
_{r}For the rotor selfinduction,
For given exciting current,
Be given torque;
One high speed torque controller is used for calculating the given torque current of second portion
Wherein,
Be the given torque current of last bat, R
_{s}Be stator resistance, u
_{Sd}, u
_{Sq}Be the component of line voltage on the dq axle, provide ω by electric current loop PI controller
_{e}Be the motor synchronous rotating speed;
One weight computation module is used for calculating the given torque current of first that the low speed torque controller provides
Weights k:
k=1,0≤ω
_{r}≤ω
_{rL}
k=0,ω
_{rH}≤ω
_{r}
Wherein, ω
_{r}Be the actual speed of induction machine, ω
_{RL}Be slowspeed of revolution switching point, ω
_{RH}Be the high speed switching point, generally get ω simultaneously
_{RH}ω
_{RL}=200RPM;
One given torque current computing module is used for calculating given torque current
The object of the present invention is achieved like this:
Electric automobile induction machine torque current setter of the present invention, on the basis of existing technology, increased the given computing module of high speed torque controller, weight computation module and torque current, simultaneously, be used for calculating the torque controller of given torque current as the low speed torque controller with existing.When the induction machine low cruise, the low speed torque controller works and weight is 1, torque current
Provided by the low speed torque controller fully; When the induction machine highspeed cruising, the high speed torque controller works and weight is 1, and torque current is provided by the high speed torque controller fully; When induction machine when switching the transition section operation, this moment torque current
By two torque controller values of providing of high, low speed, k calculates according to weights.Along with the increase of induction machine actual speed, the time standby that structure is switched slowly changes the slow switching of two kinds of structures of method realization of weighting, increases the stability of Control of Induction Motors, improves the torque control precision.
Description of drawings
Fig. 1 is based on the drive system of electric automobile theory diagram of traditional torque controller;
Fig. 2 is the drive system of electric automobile theory diagram that adopts torque current setter of the present invention;
Fig. 3 is the structure chart of low speed torque controller shown in Figure 2;
Fig. 4 is high speed torque controller architecture figure shown in Figure 2;
Fig. 5 is the indirect vector control module figure of novel torque controller shown in Figure 2;
Fig. 6 is weights and the rotation speed relation figure of the given torque current that provides of low speed torque controller;
Fig. 7 is given torque and the actual torque comparison diagram that obtains according to electric automobile induction machine torque current setter of the present invention.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described, so that those skilled in the art understands the present invention better.What need point out especially is that in the following description, when perhaps the detailed description of known function and design can desalinate main contents of the present invention, these were described in here and will be left in the basket.
Fig. 1 is based on the drive system of electric automobile theory diagram of traditional torque controller.
As shown in Figure 1, the given torque that provides according to gas pedal of traditional torque controller 1
And the given exciting current that provides of weak magnetic controller 2
Calculate torque current
Give indirect vector control module 3, weak magnetic controller 2 provides exciting current
Give torque controller 1, indirect vector control module 3, vector control module 3 generates SVPWM ripple Ua, Ub, Uc control induction machine output actual torque and rotating speed indirectly.
Fig. 2 is the drive system of electric automobile theory diagram that adopts torque current setter of the present invention.
In the present embodiment, as shown in Figure 2, electric automobile induction machine torque current setter of the present invention comprises low speed torque controller 101, high speed torque controller 102, weight computation module 103 and given torque current computing module 104.
1, low speed torque controller
In present drive system of electric automobile, control algolithm adopts the indirect vector control algorithm of ring in the band torque more.It is introduced and encircles the decoupling zero that has realized between torque and the magnetic linkage in the torque on the basis of indirect vector control algorithm.And under the constant situation of magnetic flux, can produce constant electromagnetic torque by given torque current.
Calculate the given torque current of first by vector control algorithm
Wherein, N
_{p}Be number of polepairs, L
_{m}Be mutual inductance, L
_{r}For the rotor selfinduction,
For given exciting current,
Be given torque;
Need only given torque as can be known by formula (1)
Just can calculate given first's torque current
2, high speed torque controller
Should avoid introducing the mutual inductance L of induction machine when under considering the saturated influence of magnetic linkage, designing torque controller
_{m}By the direct torque control algorithm as can be known, then the induction machine torque can be calculated by following formula under twophase rest frame α β:
Wherein,
Be stator magnetic linkage
Component on twophase rest frame α β axle;
Be stator current vector
Component on twophase rest frame α β axle.
By induction machine by stator magnetic linkage
The T type transient state equivalent electric circuit of expression as can be known under twophase rest frame α β, stator magnetic linkage
Can be calculated by following formula:
Wherein, R
_{s}Be stator resistance; u
_{S α}, u
_{S β}Be the stator voltage vector
Component on twophase rest frame α β axle.
Order
For
Resultant vector.When the induction machine steady operation,
Be constant amplitude, with the motor synchronous rotational speed omega
_{e}Vector for the angular speed rotation.Therefore,
Can be write as following form:
Then
Resultant vector
Can be calculated by following formula:
（9）
Right as can be seen by (9) formula
Integration can regard as with
Amplitude is divided by ω
_{e}, again with 90 ° of its phase angular advances.Therefore, following form can be used in formula (5), (6), (7) in the dq synchronous rotating frame:
Can release the iterative torque current by formula (10), (11), (12)
Wherein,
For the given torque current of current bat is the given torque current of second portion
Be the given torque current of last bat, R
_{s}Be stator resistance, u
_{Sd}, u
_{Sq}Be the component of line voltage on the dq axle, provide ω by electric current loop PI controller
_{e}Be the motor synchronous rotating speed.
By formula (13) as can be seen, calculate given torque current in formula thus
Process in, the parameter of electric machine that unique needs are known is stator resistance R
_{s}Therefore, the given torque current of second portion that calculates with formula (13)
Can not be subjected to the saturated influence of magnetic linkage.And when the motor highspeed cruising, stator resistance R
_{s}The pressure drop that causes is very little with respect to stator voltage.Therefore, stator resistance R
_{s}Variation to the given torque current of second portion
It is very little to calculate influence.
3, weight computation module and given torque current computing module
By the twopart analysis in front as can be known, when being in low regime and high velocity, uses by asynchronous machine low speed torque controller and high speed torque controller respectively.So need be at low speed with switching different torque controllers controls the purpose that corresponding torque current reaches accurate controlling torque at a high speed.And because the calculating of choosing given torque current is by motor speed ω
_{r}Divide, so switch rule according to motor speed ω
_{r}Choose different torque controllers.Because switching rule and handoff procedure is all realized by program in controller, so switching rule can design flexible, consider the stability when system configuration is switched, the present invention does not adopt the changing method of flipflop system configuration when structure is switched, but realizes the slow switching of two kinds of structures with the method that slowly changes weighting.Handoff algorithms is that given torque current calculating is realized by following formula
Wherein,
It is the given torque current that is provided by the low speed torque controller;
It is the given torque current that is provided by the high speed torque controller.K is the given torque current that the low speed torque controller provides
Weights.It is one with motor speed ω
_{r}Be the function of independent variable, its curve as shown in Figure 6.Can see that from Fig. 6 this is a piecewise function, when the induction machine rotational speed omega
_{r}Less than ω
_{RL}The time, the value of k is 1, this moment, the Induction Motor Drive system ran on the structure of lowerspeed state; When the induction machine rotational speed omega
_{r}Greater than ω
_{RH}The time, the value of k is 0, this moment, the Induction Motor Drive system ran on the structure of fast state.As motor speed ω
_{r}Greater than ω
_{RL}Less than ω
_{RH}The time, two kinds of structures are moved simultaneously, by the certain whole Induction Motor Drive of weights influence system.In the present invention, weights k is represented by following piecewise function
k=1,0≤ω
_{r}≤ω
_{rL}
k=0,ω
_{rH}≤ω
_{r}
Wherein, ω
_{r}Be the actual speed of induction machine, ω
_{RL}, ω
_{RH}Be the rotating speed switching point that arranges, ω
_{RL}Be slowspeed of revolution switching point, ω
_{RH}Be the high speed switching point, get ω simultaneously
_{RH}ω
_{RL}=200RPM;
Realize that formula (4) also need determine highspeed ω
_{RH}Value.By we can know in the last surface analysis, during the induction machine highspeed cruising torque controller of low speed inaccurate mainly be to be caused by the great variety that weak magnetic control manufactures the voltagefrequency ratio.Therefore, determine high speed switching point ω
_{RH}The key of value be exactly to guarantee the induction machine rotational speed omega
_{r}Be ω
_{RH}The time, induction machine does not also enter weak magnetic state.
u
_{sd}=ω
_{e}σL
_{s}i
_{sq}
u
_{sq}=ω
_{e}L
_{s}i
_{sd}
Wherein, ω
_{e}Synchronous speed for motor; σ is the leakage inductance coefficient of motor; u
_{Dc}Be DC busbar voltage; u
_{Smax}Be the stator voltage maximum under the dq coordinate system.
Busbar voltage and torque current when the steadystate equation (14) during the induction machine operation has shown the induction machine steady operation
And exciting current
To induction machine synchronous speed ω
_{e}Restriction relation.Satisfy induction machine at certain synchronous speed ω
_{e}All the time do not enter weak magnetic state down, should make synchronous speed ω
_{e}Minimum value less than the formula on formula (14) sign of inequality the right.In the drive system of electric automobile of reality, busbar voltage is not a constant value, and it reduces along with the decline of battery electric quantity.Usually, when drive system of electric automobile controller of design, can determine the busbar voltage scope u of the normal operation of controller
_{Dcn}k
_{Ul}～u
_{Dcn}k
_{Uh}Therefore, during the minimum value of the right formula of calculating formula (14) this moment, busbar voltage u
_{Dc}Get specified busbar voltage u
_{Dcn}K
_{Ul}Doubly.For the denominator of the right formula of formula (14), torque current
Value when getting the operation of induction machine maximum overload multiple, exciting current is got specified exciting current value i
_{Sdn}And controller can be stipulated a breakdown torque overload magnification k
_{T}Under the situation that does not have weak magnetic, the asynchronous motor torque current i
_{Sq}And the relation between the asynchronous motor output torque can be represented by formula (15)
Convolution (14) and (15) guarantee that induction machine does not enter the synchronous speed ω of weak magnetic state
_{EH}For:
Formula in conjunction with asynchronous machine rotating speed and synchronous speed relation
Convolution (16) and formula (17) can draw
Wherein, k
_{Ul}The minimum voltage coefficient of busbar voltage, u
_{Dcn}Be specified busbar voltage; L
_{s}Be stator selfinduction, i
_{Sdn}Rated exciting current for motor; T
_{En}Nominal torque for motor;
Can calculate with formula (18) that the coboundary is high speed switching point ω between the transition region that structure switches
_{RH}Maximum occurrences.Getting high speed switching point ω
_{RH}Value the time generally can stay certain surplus, value is high speed switching point ω
_{RH}Maximum occurrences 85～95%.
Fig. 3 is the structure chart of low speed torque controller shown in Figure 2;
In the present embodiment, as shown in Figure 3, the given torque of the input variable of low speed torque controller
Rotational speed governor or gas pedal by the Control of Induction Motors device provide, and another input variable is by the given exciting current of weak magnetic controller
By drawing the given torque current of first after formula (1) calculating
Thereby avoided introducing the PI controller and caused complicated interative computation, more can improve the response speed of torque control.At realization formula (rotor selfinduction L when (1)
_{r}, mutual inductance L
_{m}, number of polepairs N
_{p}Do not need to measure accurately given torque current when only needing to measure the specified operation of induction machine
With given torque
Ratio get final product.
Fig. 4 is high speed torque controller architecture figure shown in Figure 2.
In the present embodiment, as shown in Figure 4, the given torque of the input variable of high speed torque controller
Rotational speed governor or gas pedal by the Control of Induction Motors device provide; The given exciting current of input variable
By weak magnetic controller output; The component u of input variable line voltage on the dq axle
_{Sd}, u
_{Sq}Provided by electric current loop PI controller; The synchronous speed ω of induction machine
_{e}Provided by flux observer.By drawing the given torque current of second portion after formula (2) calculating
Fig. 5 is the indirect vector control module figure of novel torque controller shown in Figure 2.
As shown in Figure 5, can carry out rotor flux linkage orientation to the d axle of synchronous rotating frame dq by flux observer, thereby make the q shaft current i under the coordinate system
_{Sq}Be torque current, the d shaft current is i
_{Sd}Exciting current.At this moment, the control of the current controller of available feedforward decoupling zero with voltage is to torque current i
_{Sq}With exciting current i
_{Sd}Carry out two closedloop controls, constitute the indirect vector control module of feedforward decoupling zero with voltage.
Fig. 6 is weights and the rotation speed relation figure of the given torque current that provides of low speed torque controller;
Can determine switching point by formula (3).As shown in Figure 6, when given torque
The time, two torque controllers all can calculate given torque current namely
And final given torque current
Size also depends on the current rotational speed omega of induction machine
_{r}Size.As induction machine ω during at low cruise
_{r}＜ω
_{RL}, the given torque current of output
Provided by the low speed torque controller fully.As induction machine ω during at highspeed cruising
_{r}ω
_{RH}, the given torque current of output
Provided by the high speed torque controller fully.As induction machine ω when switching section operation
_{RL}＜ω
_{r}＜ω
_{RH}, the given torque current of output
Provided jointly by low two torque controllers at a high speed.
By two torque controllers respectively the switching controls torque current reach and improve torque precision and the even running of whole electric automobile drive system.
Example
Apply the present invention to the drive system of electric automobile experiment porch formed by 20KW induction machine, 60KW dynamometer machine, DC power supply, dc bus, controller, signal simulator, water cooling plant.Wherein the parameter of 20KW induction machine is as shown in table 1.
Rated voltage u _{n}  180V 
Rated current i _{n}  80A 
Nominal torque T _{en}  53Nm 
Rated power P _{n}  20kW 
Rated frequency f _{n}  120Hz 
Rated speed n _{n}  3600rpm 
Moment of inertia J  0.21kg.m^2 
Number of polepairs p  2 
Overload magnification  3 
Leakage inductance Delta  0.0165 
Rotor mutual inductance Lm  0.0056H 
Rotor two phase winding selfinduction Lr  0.0056H 
Stator two phase winding selfinduction Ls  0.0057H 
Rotor twophase winding resistance Rr  0.0097Ω 
Stator twophase winding resistance Rs  0.0205Ω 
Time constant Tr  0.5777 
Table 1
The high speed switching point calculates by induction motor parameter table 1 and calculates, and the peak value of motor lines voltage is 180*1.414=254.52V, and getting the busbar voltage coefficient is 0.8, rated current=80A.So torque current i
_{Sd}, exciting current i
_{Sq}Maximum is 80A*3=240A (3 times of overcurrent).By formula (14) synchronous speed ω as can be known
_{e}＜6380rpm.Breakdown torque overload magnification of controller gets 3.Can get ω by formula (16)
_{EH}＜1585rpm. switches ω so get the high speed rotating speed by (17) formula
_{RH}＜1487rpm, value is got 1400rmp.
Fig. 7 is given torque and the actual torque comparison diagram that obtains according to electric automobile induction machine torque current setter of the present invention.
In the present embodiment, be that 1000rpm, 2000rpm, 3000rpm, 3600rpm, 4600rpm obtain given torque and actual torque comparison diagram at the induction machine rotating speed respectively shown in Fig. 7 (a)～(e).Induction machine output torque 0159N*m that can controller 20kW, control precision can reach 10.5%: induction machine output torque is when nominal torque 53N*m is following, departure is no more than ± 5N*m, and when nominal torque 53N*m was above, controller error was no more than ± and 10%.
Although above the illustrative embodiment of the present invention is described; so that those skilled in the art understand the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various variations appended claim limit and the spirit and scope of the present invention determined in, these variations are apparent, all utilize innovation and creation that the present invention conceives all at the row of protection.
Claims (2)
1. an electric automobile induction machine torque current setter is characterized in that, comprising:
One low speed torque controller is used for calculating the given torque current of first
Wherein, N
_{p}Be number of polepairs, L
_{m}Be mutual inductance, L
_{r}For the rotor selfinduction,
For given exciting current,
Be given torque;
One high speed torque controller is used for calculating the given torque current of second portion
Wherein,
Be the given torque current of last bat, R
_{s}Be stator resistance, u
_{Sd}, u
_{Sq}Be the component of line voltage on the dq axle, have electric current loop PI controller to provide ω
_{e}Be the motor synchronous rotating speed;
One weight computation module is used for calculating the given torque current of first that the low speed torque controller provides
Weights k:
k=1,0≤ω
_{r}≤ω
_{rL}
k=0,ω
_{rH}≤ω
_{r}
Wherein, ω
_{r}Be the actual speed of induction machine, ω
_{RL}Be slowspeed of revolution switching point, ω
_{RH}Be the high speed switching point, generally get ω simultaneously
_{RH}ω
_{RL}=200RPM;
One given torque current computing module is used for calculating given torque current
。
2. torque current setter according to claim 1 is characterized in that, it is characterized in that, described high speed switching point ω
_{RH}Be 85～95% of following value:
Wherein, k
_{Ul}The minimum voltage coefficient of busbar voltage; u
_{Dcn}Be specified busbar voltage; i
_{Sdn}Rated exciting current for motor; T
_{En}Nominal torque for motor.
Priority Applications (1)
Application Number  Priority Date  Filing Date  Title 

CN201310192556.0A CN103269199B (en)  20130522  20130522  Electric car induction motor torque current setting device 
Applications Claiming Priority (1)
Application Number  Priority Date  Filing Date  Title 

CN201310192556.0A CN103269199B (en)  20130522  20130522  Electric car induction motor torque current setting device 
Publications (2)
Publication Number  Publication Date 

CN103269199A true CN103269199A (en)  20130828 
CN103269199B CN103269199B (en)  20150218 
Family
ID=49012811
Family Applications (1)
Application Number  Title  Priority Date  Filing Date 

CN201310192556.0A Expired  Fee Related CN103269199B (en)  20130522  20130522  Electric car induction motor torque current setting device 
Country Status (1)
Country  Link 

CN (1)  CN103269199B (en) 
Cited By (6)
Publication number  Priority date  Publication date  Assignee  Title 

CN103501153A (en) *  20131021  20140108  佛山市美传科技有限公司  Intelligent speedregulating system for threephase alternatingcurrent asynchronous motor 
CN103701393A (en) *  20131227  20140402  深圳市航盛电子股份有限公司  Method for compensating for torque accuracy in flux weakening of asynchronous motor 
CN103944476A (en) *  20140307  20140723  电子科技大学  Torque controller of electric vehicle 
CN108718167A (en) *  20180614  20181030  同济大学  For the torque estimation method of permanent magnet synchronous motor, medium, equipment and system 
CN109802612A (en) *  20190328  20190524  重庆长安新能源汽车科技有限公司  A kind of vehicle and its driving motor control system and method 
CN111865165A (en) *  20200803  20201030  上海电气风电集团股份有限公司  Control method, system, medium and electronic device of squirrelcage asynchronous generator 
Citations (9)
Publication number  Priority date  Publication date  Assignee  Title 

JPS58172987A (en) *  19820402  19831011  Mitsubishi Electric Corp  Torque controller for induction motor 
US5821727A (en) *  19960416  19981013  Okuma Corporation  Induction motor control unit 
CN1767355A (en) *  20041027  20060503  乐金电子(天津)电器有限公司  Rotary speed control device for brushless DC motor and its control method 
US20070018606A1 (en) *  20030312  20070125  Hideaki Iura  Method and device for sensorless vector control for ac motor 
CN101789750A (en) *  20100115  20100728  中国科学院电工研究所  Control method for reducing traction pulsation of linear induction motor 
EP1876698B1 (en) *  20060707  20110803  Schneider Toshiba Inverter Europe SAS  Method and device for estimating the speed of an electric motor 
CN102403950A (en) *  20111114  20120404  电子科技大学  Exciting current given device of induction motor of electric vehicle 
CN102638215A (en) *  20110215  20120815  陈跃明  Vector control system for speedless sensor of induction motor of electric automobile 
WO2014009580A1 (en) *  20120713  20140116  Caf Power & Automation, S.L.U.  Method for estimating the stator resistance of electrical machines 

2013
 20130522 CN CN201310192556.0A patent/CN103269199B/en not_active Expired  Fee Related
Patent Citations (9)
Publication number  Priority date  Publication date  Assignee  Title 

JPS58172987A (en) *  19820402  19831011  Mitsubishi Electric Corp  Torque controller for induction motor 
US5821727A (en) *  19960416  19981013  Okuma Corporation  Induction motor control unit 
US20070018606A1 (en) *  20030312  20070125  Hideaki Iura  Method and device for sensorless vector control for ac motor 
CN1767355A (en) *  20041027  20060503  乐金电子(天津)电器有限公司  Rotary speed control device for brushless DC motor and its control method 
EP1876698B1 (en) *  20060707  20110803  Schneider Toshiba Inverter Europe SAS  Method and device for estimating the speed of an electric motor 
CN101789750A (en) *  20100115  20100728  中国科学院电工研究所  Control method for reducing traction pulsation of linear induction motor 
CN102638215A (en) *  20110215  20120815  陈跃明  Vector control system for speedless sensor of induction motor of electric automobile 
CN102403950A (en) *  20111114  20120404  电子科技大学  Exciting current given device of induction motor of electric vehicle 
WO2014009580A1 (en) *  20120713  20140116  Caf Power & Automation, S.L.U.  Method for estimating the stator resistance of electrical machines 
Cited By (10)
Publication number  Priority date  Publication date  Assignee  Title 

CN103501153A (en) *  20131021  20140108  佛山市美传科技有限公司  Intelligent speedregulating system for threephase alternatingcurrent asynchronous motor 
CN103501153B (en) *  20131021  20160120  佛山市美传科技有限公司  The intelligent speedgoverning system of threephase AC asynchronous motor 
CN103701393A (en) *  20131227  20140402  深圳市航盛电子股份有限公司  Method for compensating for torque accuracy in flux weakening of asynchronous motor 
CN103701393B (en) *  20131227  20160413  深圳市航盛电子股份有限公司  The compensation method of torque precision during a kind of asynchronous machine weak magnetic 
CN103944476A (en) *  20140307  20140723  电子科技大学  Torque controller of electric vehicle 
CN103944476B (en) *  20140307  20170125  电子科技大学  Torque controller of electric vehicle 
CN108718167A (en) *  20180614  20181030  同济大学  For the torque estimation method of permanent magnet synchronous motor, medium, equipment and system 
CN109802612A (en) *  20190328  20190524  重庆长安新能源汽车科技有限公司  A kind of vehicle and its driving motor control system and method 
CN111865165A (en) *  20200803  20201030  上海电气风电集团股份有限公司  Control method, system, medium and electronic device of squirrelcage asynchronous generator 
CN111865165B (en) *  20200803  20210730  上海电气风电集团股份有限公司  Control method, system, medium and electronic device of squirrelcage asynchronous generator 
Also Published As
Publication number  Publication date 

CN103269199B (en)  20150218 
Similar Documents
Publication  Publication Date  Title 

CN103269199B (en)  Electric car induction motor torque current setting device  
CN102769425B (en)  Permanent magnet synchronous motor control method based on model reference adaptive system (MRAS) and fuzzy control  
CN101507101B (en)  Permanent magnet synchronization motor vector control device  
CN103560735B (en)  Control method for electromagnetic synchronous motor  
CN106059419B (en)  A kind of permanent magnet synchronous motor parallel connection vector control scheme  
CN103853891A (en)  Finite element analysisbased variableelement permanent magnet synchronous motor modeling method  
CN106026816B (en)  A kind of axial magnetic field Magneticfluxswitching type hybrid permanentmagnet memory electrical machine vector control method  
CN101741309B (en)  Directional control device and control method for magnetic field of permanent magnet synchronous motor  
CN103532466B (en)  Method and device for controlling torque change rate of permanent magnet synchronous motor  
CN104885356B (en)  Arrangement for controlling induction motor and inductance motor control method  
CN106992733A (en)  Vehiclemounted internal permanent magnet synchronous motor control method  
CN103595324B (en)  A kind of mixed excitation electric machine field weakening control method  
CN104393814B (en)  A kind of method for controlling permanent magnet synchronous motor  
CN103269195B (en)  Speed change integral PID controller for asynchronous motor vector control of electromobile  
CN103595325B (en)  A kind of hidden pole type mixed excitation electric machine vector control method  
CN201197132Y (en)  Vector control AC variablefrequency control system of electric car  
CN106627251A (en)  Motor control method and device  
CN108377115B (en)  Smooth switching control method for basic speed area and weak magnetic area of builtin permanent magnet synchronous motor  
CN104953916A (en)  Novel speed controller based on speed regulating system of permanent magnet synchronous motor  
CN103051274A (en)  Variable dampingbased passive control method for twodegreeoffreedom permanent magnetic synchronous motor  
CN104467597A (en)  V/F control method for inhibiting induction motor current oscillation  
CN108123650A (en)  Fivephase inverter double threephase machine system driving circuit and Direct Torque Control  
CN102281029A (en)  Method for constructing bearingfree synchronous reluctance motor suspension system  
CN104158457A (en)  Torque calibration method for AC induction motor of electric vehicle  
CN106788095B (en)  Field weakening control method for the output of asynchronous machine torque capacity 
Legal Events
Date  Code  Title  Description 

C06  Publication  
PB01  Publication  
C10  Entry into substantive examination  
SE01  Entry into force of request for substantive examination  
C14  Grant of patent or utility model  
GR01  Patent grant  
CF01  Termination of patent right due to nonpayment of annual fee  
CF01  Termination of patent right due to nonpayment of annual fee 
Granted publication date: 20150218 Termination date: 20190522 