装甲车用轮毂电机转矩观测及无位置传感器改进控制

doi:10.3901/JME.2021.18.252

机械工程学报 ›› 2021, Vol. 57 ›› Issue (18): 252-263.doi: 10.3901/JME.2021.18.252

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装甲车用轮毂电机转矩观测及无位置传感器改进控制

赵其进¹, 魏曙光¹, 廖自力¹, 苗成林²

1. 陆军装甲兵学院兵器与控制系北京 100072;
2. 中国人民解放军 96901部队北京 100089

收稿日期:2020-12-23 修回日期:2021-06-25 出版日期:2021-09-20 发布日期:2021-11-30
通讯作者: 魏曙光(通信作者),男,1975年出生,博士,副教授,硕士研究生导师。主要研究方向为车辆电驱动技术。E-mail:wsg_123321@163.com
作者简介:赵其进,男,1994年出生,博士研究生。主要研究方向为永磁同步电机控制技术。E-mail:zqj563954008@163.com
基金资助:
武器装备预先研究（301051102）和武器装备探索研究（7131528）资助项目。

Torque Observation and Improved Sensorless Control of Hub Motor for Armored Vehicles

ZHAO Qijin¹, WEI Shuguang¹, LIAO Zili¹, MIAO Chenglin²

1. Weapons and Control Department, Army Academy of Armored Forces, Beijing 100072;
2. Troop No. 96901 of PLA, Beijing 100072

Received:2020-12-23 Revised:2021-06-25 Online:2021-09-20 Published:2021-11-30

摘要/Abstract

摘要： 为提高电传动装甲车辆驱动系统的运行可靠性，开展永磁同步电机无位置传感器控制策略研究。针对传统脉振高频注入法包含多个滤波器，算法及程序复杂冗余的问题，提出一种改进的位置辨识方法，节省了控制系统的软、硬件资源；此外，为优化轮毂电机的转矩动态跟随性能，采用基于全阶滑模观测器的观测方法对转矩进行实时观测。在此基础上，搭建基于转矩给定的轮毂电机无位置传感器控制系统并开展了快速控制原型试验验证。结果表明，与传统脉振高频注入法相比，改进后的算法同样具有优越的辨识性能，能够确保电机在多种工况下实现稳定运行；所设计的转矩观测器辨识精度较高，观测误差基本控制在1%以内；电机整体转矩控制性能良好，稳定运行时实际转矩与给定转矩的误差保持在2%以内，能够满足轮毂电机的高性能控制需求。

关键词: 永磁同步电机, 无位置传感器, 改进的脉振高频注入法, 全阶滑模观测器, 转矩观测

Abstract: A sensorless control strategy for permanent magnet synchronous motor(PMSM) is developed to improve the operation reliability of the electric drive armored vehicle. Aiming at the problem that the traditional high frequency pulse injection method contains multiple filters, complex algorithms and redundant programs, an improved position identification method is proposed, which saves the software and hardware resources of the control system. In addition, in order to optimize the dynamic torque following performance of hub motor, a torque observation method based on full-order sliding mode observer is proposed to observe the torque in real time. On this basis, a sensorless control system of hub motor based on torque given is built, and the rapid control prototype experiment is carried out. The results show that, compared with the traditional frequency pulse injection method, the improved method also has good identification performance and can ensure the stable operation of the motor under various working conditions. The designed torque observer has high identification accuracy and the observation error is basically controlled within 1%. The overall torque control performance of the motor is good. In stable operation, the error between the actual torque and the given torque is kept within 2%, which can meet the high-performance control requirements of hub motors.

Key words: permanent magnet synchronous motor(PMSM), position sensorless, improved frequency pulse injection method, full-order sliding mode observer, torque observation

中图分类号:

TM301

赵其进, 魏曙光, 廖自力, 苗成林. 装甲车用轮毂电机转矩观测及无位置传感器改进控制[J]. 机械工程学报, 2021, 57(18): 252-263.

ZHAO Qijin, WEI Shuguang, LIAO Zili, MIAO Chenglin. Torque Observation and Improved Sensorless Control of Hub Motor for Armored Vehicles[J]. Journal of Mechanical Engineering, 2021, 57(18): 252-263.

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装甲车用轮毂电机转矩观测及无位置传感器改进控制

Torque Observation and Improved Sensorless Control of Hub Motor for Armored Vehicles

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