基于dsp的電動(dòng)車多輪驅(qū)電機(jī)的協(xié)調(diào)控制.doc
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基于dsp的電動(dòng)車多輪驅(qū)電機(jī)的協(xié)調(diào)控制,基于dsp的電動(dòng)車多輪驅(qū)電機(jī)的協(xié)調(diào)控制本文為碩士畢業(yè)論文，共67字?jǐn)?shù)：29072摘 要承載、轉(zhuǎn)向和牽引是地面運(yùn)行車輛的三大基本功能。目前純電動(dòng)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(dòng)電機(jī)，通過對多電機(jī)的協(xié)調(diào)控制，不僅可實(shí)現(xiàn)電動(dòng)車的雙向牽引，而且為同時(shí)實(shí)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(jī)的協(xié)調(diào)控制技...
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基于DSP的電動(dòng)車多輪驅(qū)電機(jī)的協(xié)調(diào)控制
本文為碩士畢業(yè)論文，共67 字?jǐn)?shù)：29072
摘 要
承載、轉(zhuǎn)向和牽引是地面運(yùn)行車輛的三大基本功能。目前純電動(dòng)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(dòng)電機(jī)，通過對多電機(jī)的協(xié)調(diào)控制，不僅可實(shí)現(xiàn)電動(dòng)車的雙向牽引，而且為同時(shí)實(shí)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(jī)的協(xié)調(diào)控制技術(shù)進(jìn)行相關(guān)的理論與試驗(yàn)研究。
首先，對永磁無刷直流電動(dòng)機(jī)的工作原理與特性進(jìn)行分析；借鑒經(jīng)典汽車技術(shù)，系統(tǒng)的研究了輪驅(qū)式電動(dòng)車的控制功能及實(shí)現(xiàn)方法；給出一個(gè)由人工轉(zhuǎn)向輪+兩個(gè)驅(qū)動(dòng)輪組成的電動(dòng)三輪車概念模型，并提出了一種基于雙電機(jī)獨(dú)立驅(qū)動(dòng)、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(jī)電流信號分配及閉環(huán)控制實(shí)現(xiàn)轉(zhuǎn)矩協(xié)調(diào)控制，使電動(dòng)車在牽引驅(qū)動(dòng)的同時(shí)，實(shí)現(xiàn)轉(zhuǎn)向協(xié)調(diào)控制。
其次，針對上述電動(dòng)三輪車的控制需求，在對電機(jī)功率驅(qū)動(dòng)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(jìn)行比較分析的基礎(chǔ)上，設(shè)計(jì)了無刷直流電動(dòng)機(jī)的硬件驅(qū)動(dòng)電路，搭建了以TMS320F2812開發(fā)板為主控制器的雙電機(jī)協(xié)調(diào)控制系統(tǒng)硬件試驗(yàn)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(jī)協(xié)調(diào)控制系統(tǒng)軟件設(shè)計(jì)。
最后，在試驗(yàn)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(jī)開環(huán)調(diào)試，標(biāo)定了速度檢測子系統(tǒng)；單獨(dú)施加恒定激勵(lì)電流，標(biāo)定了電流檢測子系統(tǒng)；外加可變負(fù)載，驗(yàn)證了電機(jī)電流閉環(huán)控制功能。調(diào)試結(jié)果表明，控制系統(tǒng)可實(shí)現(xiàn)電機(jī)啟動(dòng)、調(diào)速、正反轉(zhuǎn)和電流閉環(huán)控制。
全部試驗(yàn)結(jié)果表明，基于DSP的電動(dòng)車多輪驅(qū)電機(jī)協(xié)調(diào)控制可在牽引驅(qū)動(dòng)的同時(shí)實(shí)現(xiàn)轉(zhuǎn)向協(xié)調(diào)，采用成熟的電流閉環(huán)控制技術(shù)，以軟件代替機(jī)械差速器的功能，可供多輪驅(qū)電動(dòng)汽車的研究參考。
關(guān)鍵詞：電動(dòng)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(dòng)車控制技術(shù)研究 4
2.1 無刷直流電動(dòng)機(jī)分析 4
2.1.1 工作原理 4
2.1.2 數(shù)學(xué)模型 6
2.1.3 建模仿真 8
2.2 電動(dòng)車控制功能及實(shí)現(xiàn) 11
2.3 電動(dòng)三輪車概念模型及策略 14
2.3.1 電動(dòng)三輪車概念模型 14
2.3.2 雙電機(jī)協(xié)調(diào)控制策略 15
2.4 研究技術(shù)路線 17
2.5 本章小結(jié) 17
第3章 電氣控制系統(tǒng)硬件設(shè)計(jì) 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(jī)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(shí)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(jī)功率驅(qū)動(dòng)電路 24
3.3.4 轉(zhuǎn)子位置檢測電路 28
3.3.5 電機(jī)電流檢測電路 28
3.4 控制系統(tǒng)可靠性設(shè)計(jì) 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(yīng)用軟件設(shè)計(jì) 33
4.1 軟件總體分析 33
4.2 輸入模塊軟件設(shè)計(jì) 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(jī)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(shè)計(jì) 42
4.4 控制模塊軟件設(shè)計(jì) 45
4.5 本章小結(jié) 47
第5章 系統(tǒng)調(diào)試與試驗(yàn)結(jié)果分析 48
5.1 試驗(yàn)研究平臺介紹 48
5.2 電機(jī)開環(huán)調(diào)試 49
5.2.1 轉(zhuǎn)速標(biāo)定 49
5.2.2 轉(zhuǎn)速/電流特性 50
5.3 電流檢測系統(tǒng)標(biāo)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(xiàn) 57
參考文獻(xiàn)
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[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(dòng)車用多電機(jī)獨(dú)立輪式驅(qū)動(dòng)的協(xié)調(diào)運(yùn)行分析.微特電機(jī)，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
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本文為碩士畢業(yè)論文，共67 字?jǐn)?shù)：29072
摘 要
承載、轉(zhuǎn)向和牽引是地面運(yùn)行車輛的三大基本功能。目前純電動(dòng)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(dòng)電機(jī)，通過對多電機(jī)的協(xié)調(diào)控制，不僅可實(shí)現(xiàn)電動(dòng)車的雙向牽引，而且為同時(shí)實(shí)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(jī)的協(xié)調(diào)控制技術(shù)進(jìn)行相關(guān)的理論與試驗(yàn)研究。
首先，對永磁無刷直流電動(dòng)機(jī)的工作原理與特性進(jìn)行分析；借鑒經(jīng)典汽車技術(shù)，系統(tǒng)的研究了輪驅(qū)式電動(dòng)車的控制功能及實(shí)現(xiàn)方法；給出一個(gè)由人工轉(zhuǎn)向輪+兩個(gè)驅(qū)動(dòng)輪組成的電動(dòng)三輪車概念模型，并提出了一種基于雙電機(jī)獨(dú)立驅(qū)動(dòng)、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(jī)電流信號分配及閉環(huán)控制實(shí)現(xiàn)轉(zhuǎn)矩協(xié)調(diào)控制，使電動(dòng)車在牽引驅(qū)動(dòng)的同時(shí)，實(shí)現(xiàn)轉(zhuǎn)向協(xié)調(diào)控制。
其次，針對上述電動(dòng)三輪車的控制需求，在對電機(jī)功率驅(qū)動(dòng)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(jìn)行比較分析的基礎(chǔ)上，設(shè)計(jì)了無刷直流電動(dòng)機(jī)的硬件驅(qū)動(dòng)電路，搭建了以TMS320F2812開發(fā)板為主控制器的雙電機(jī)協(xié)調(diào)控制系統(tǒng)硬件試驗(yàn)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(jī)協(xié)調(diào)控制系統(tǒng)軟件設(shè)計(jì)。
最后，在試驗(yàn)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(jī)開環(huán)調(diào)試，標(biāo)定了速度檢測子系統(tǒng)；單獨(dú)施加恒定激勵(lì)電流，標(biāo)定了電流檢測子系統(tǒng)；外加可變負(fù)載，驗(yàn)證了電機(jī)電流閉環(huán)控制功能。調(diào)試結(jié)果表明，控制系統(tǒng)可實(shí)現(xiàn)電機(jī)啟動(dòng)、調(diào)速、正反轉(zhuǎn)和電流閉環(huán)控制。
全部試驗(yàn)結(jié)果表明，基于DSP的電動(dòng)車多輪驅(qū)電機(jī)協(xié)調(diào)控制可在牽引驅(qū)動(dòng)的同時(shí)實(shí)現(xiàn)轉(zhuǎn)向協(xié)調(diào)，采用成熟的電流閉環(huán)控制技術(shù)，以軟件代替機(jī)械差速器的功能，可供多輪驅(qū)電動(dòng)汽車的研究參考。
關(guān)鍵詞：電動(dòng)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(dòng)車控制技術(shù)研究 4
2.1 無刷直流電動(dòng)機(jī)分析 4
2.1.1 工作原理 4
2.1.2 數(shù)學(xué)模型 6
2.1.3 建模仿真 8
2.2 電動(dòng)車控制功能及實(shí)現(xiàn) 11
2.3 電動(dòng)三輪車概念模型及策略 14
2.3.1 電動(dòng)三輪車概念模型 14
2.3.2 雙電機(jī)協(xié)調(diào)控制策略 15
2.4 研究技術(shù)路線 17
2.5 本章小結(jié) 17
第3章 電氣控制系統(tǒng)硬件設(shè)計(jì) 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(jī)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(shí)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(jī)功率驅(qū)動(dòng)電路 24
3.3.4 轉(zhuǎn)子位置檢測電路 28
3.3.5 電機(jī)電流檢測電路 28
3.4 控制系統(tǒng)可靠性設(shè)計(jì) 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(yīng)用軟件設(shè)計(jì) 33
4.1 軟件總體分析 33
4.2 輸入模塊軟件設(shè)計(jì) 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(jī)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(shè)計(jì) 42
4.4 控制模塊軟件設(shè)計(jì) 45
4.5 本章小結(jié) 47
第5章 系統(tǒng)調(diào)試與試驗(yàn)結(jié)果分析 48
5.1 試驗(yàn)研究平臺介紹 48
5.2 電機(jī)開環(huán)調(diào)試 49
5.2.1 轉(zhuǎn)速標(biāo)定 49
5.2.2 轉(zhuǎn)速/電流特性 50
5.3 電流檢測系統(tǒng)標(biāo)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(xiàn) 57
參考文獻(xiàn)
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