电动汽车用永磁同步电机控制系统设计

硕士学位论文

电动汽车用永磁同步电机控制系统设计 Design of permanent magnet synchronous motor control system

for electric vehicle

控制工程

作者姓名 指导教师 学科专业

二0一五 年 六 月

1

摘 要

本文在开始先介绍了研究电动汽车的背景及其意义，并介绍了电动汽车在国内外的发展现状，然后从电动汽车的燃油经济性，驱动性，安全性及舒适度，三个方面分析了电动汽车比其他燃料汽车存在的优越性。电动机是电动汽车的核心部件，本文中从其驱动方式把电动机分为四大类，直流有刷电动机，永磁同步电动机，永磁无刷直流电动机和开关磁阻电动机。本章从工作原理与性能方面分析了，这四种电动机各存在的优点和不足。从中得出永磁同步电动机是电动汽车比较理想的选择。本文刚开始介绍了永磁同步电动机PMSM的三种不同的控制方式，恒压频比控制，矢量控制，直接转矩控制，并从三者之间比较得出，PMSM采用直接转矩控制DTC的方式有着比其他两者更好的稳定性。

随后从永磁同步电动机PMSM的结构及其特点，分析了其优越性，并建立数学模型，根据空间矢量坐标关系推导出PMSM的在各坐标系下DTC的原理。本章分析了定子磁链与电磁转矩的估算和滞环控制，通过其原理研究了开关表控制的方式，并对PMSM的直接转矩控制DTC的Matlab/Simulink仿真，最终得出了DTC较其它控制方式的稳定性。

其次分析了永磁同步电机PMSM的直接转矩控制DTC存在的诸多缺点，并提出基于SVM技术的SVPWM的控制方式，即空间矢量调制DTC控制策略，通过Matlab/Simulink仿真，得出SVPWM比PMSM DTC有着更好的稳定性。

TI公司推出的TMS320F2812 DSP芯片的控制系统设计，从硬件电路的设计和软件的设计，两个方面研究了该芯片。DSP硬件方面包含了智能模块的自保护特性，并设计了检测电路，保护电路，驱动电路和CAN通信等模块，软件系统方面分析了，其初始化流程图，接收流程图等。

关键词：永磁同步电机；直接转矩控制；DSP；SVPWM

I

Abstract

In this paper, we first introduce the background and significance of the research of electric vehicles, and introduces its present situation of development at home and abroad, and from the fuel economy and driving, safety and comfort, three aspects analysis the advantages of electric vehicles than other fuel vehicles exist. As the motor of the core components of electric vehicles, from the drive motor is divided into four categories, DC brushless motor, permanent magnet synchronous motor, permanent magnet brushless DC motor and switched reluctance motor. This chapter analyzes the advantages and disadvantages of these four motor in the aspects of the working principle and performance.. It is concluded that the permanent magnet synchronous motor PMSM as the core component of electric vehicle, is the ideal choice of the motor vehicle.. In this chapter, three different control modes, constant frequency ratio control, vector control and direct torque control of PMSM are introduced.. And the comparison between the three, the direct torque control DTC has better than the other two.

Then, the structure and characteristics of PMSM are analyzed, and the advantages of PMSM PMSM are analyzed, and its mathematical model is established.. According to the space vector coordinate, the mathematical model of PMSM is deduced and the principle of DTC is analyzed.. In this chapter, the stator flux linkage and the magnetic torque estimation and the hysteresis control are analyzed, and the research methods of the switching table control are studied by the principle.. The Matlab/Simulink simulation of the direct torque control DTC of PMSM is demonstrated, and the advantages of the DTC control mode stability are proved..

Secondly, the disadvantages of the PMSM direct torque control DTC, the flux linkage, the large torque ripple, and the poor performance of the control system are analyzed.. The control mode of SVPWM based on SVM technology is proposed, that is, the realization of the space vector modulation DTC control strategy.. Through the simulation of Matlab/Simulink, SVPWM has better stability than PMSM-DTC.

At last, the design of the control system of DSP TI chip is introduced, and the design of the hardware circuit and the design of the software part are studied. The chip is described in two aspects.. DSP hardware includes the self-protection of the smart module, and the detection circuit, protection circuit, driver circuit and CAN communication module. The software system analysis, and its initialization flow chart, receiving flow chart and so on many parts.

Key Words： permanent magnet synchronous motor; direct torque control；DSP；SVPWM

II

目 录

摘 要 ......................................................................................................................................... I 1. 绪论 ........................................................................................................................................... 1

1.1 论文的研究背景和意义 .................................................................................................. 1 1.2 电动汽车国内外发展现状 .............................................................................................. 2

1.2.1 电动汽车国外发展状况 ............................................................................... 2 1.2.2 电动汽车国内发展现状 ............................................................................... 3 1.3 电动汽车优越性 .............................................................................................................. 4

1.3.1 提高燃油经济性 ............................................................................................ 4 1.3.2 提高驱动性 ..................................................................................................... 4 1.3.3 提高安全性和舒适度 .................................................................................... 4 1.4 驱动电动机的工作原理与性能比较 .............................................................................. 5

1.4.1 直流有刷电动机 ............................................................................................ 5 1.4.2 永磁同步电动机 ............................................................................................ 5 1.4.3 永磁无刷直流电动机 .................................................................................... 6 1.4.4 开关磁阻电动机 ............................................................................................ 6 1.5 永磁同步电动机的多种控制策略 .................................................................................. 6

1.5.1 恒压频比控制 ................................................................................................. 6 1.5.2 矢量控制 ......................................................................................................... 7 1.5.3 直接转矩控制 ................................................................................................. 7 1.6 本论文的的主要工作及安排 .......................................................................................... 7

1.6.1 主要研究工作 ................................................................................................. 7 1.6.2 论文安排 ......................................................................................................... 8

2. 电动汽车PMSM 系统研究 .................................................................................................. 8

2.1 永磁同步电机 .................................................................................................................. 8

2.1.1 永磁同步电动机的结构和特点 .................................................................. 8 2.1.2 永磁同步电动机的数学模型 ..................................................................... 10 2.2 直接转矩控制实现 ........................................................................................................ 13

2.2.1 定子磁链的估算和滞环控制 ..................................................................... 14 2.2.2 电磁转矩的估算与滞环控制 ..................................................................... 15 2.2.3 开关表的研究 ............................................................................................... 16 2.3 直接转矩控制MATLAB仿真 ........................................................................................ 17 3. SVPWM研究 ........................................................................................................................... 21

3.1 引言................................................................................................................................ 21 3.2 SVM技术用于永磁同步电机的直接转矩控制 ........................................................... 21

3.2.2 SVPWM技术研究 ........................................................................................... 22 3.2.3 电压幅值研究 ............................................................................................... 25 3.2.4 电压矢量的分区 .......................................................................................... 27 3.3 SVPWM的MATLAB仿真 .............................................................................................. 28 4. TMS320F2812 DSP控制系统的设计 ............................................................................... 31

4.1 控制系统整体设计 ........................................................................................................ 31 4.2 硬件电路设计 ................................................................................................................ 31

4.2.1 DSP 最小系统设计 ...................................................................................... 31

4.2.2 智能功率模块的自保护特性 ..................................................................... 34 4.2.3 检测设计电路 ............................................................................................... 36 4.3 软件系统设计 ................................................................................................................ 40 5. 工作总结与展望 ................................................................................................................. 45

5.1 总结................................................................................................................................ 45 5.2 展望................................................................................................................................ 45 参考文献......................................................................................................................................... 46