永磁无刷轮毂电机轮对系统同步工况下的协调控制策略
Coordinated Control Strategy Under Synchronous Condition of Permanent Magnet Brushless Hub Motor Wheelset System
杨东旭 1贾少锋 1梁得亮 1冯帅2
作者信息
- 1. 电工材料电气绝缘国家重点实验室(西安交通大学电气工程学院),陕西省 西安市 710049
- 2. 国网安徽省电力有限公司合肥供电公司,安徽省 合肥市 230000
- 折叠
摘要
针对双轮毂电机在负载不平衡工况下转速同步精度不够及同步响应速度不快的问题,该文提出速度环补偿 PID交叉耦合同步控制和电流环补偿 PID 交叉耦合同步控制策略.首先,建立双轮毂电机的数学模型,采用双闭环六步方波控制.基于该模型,采用速度环补偿 PID 交叉耦合同步控制代替单增益交叉耦合控制器,使转速同步调节精度提升.在两侧电机负载不平衡工况下,用电流环补偿 PID 交叉耦合控制方法进一步提升转速同步精度,同时加快同步响应速度,并兼顾了转矩精度.仿真和实验验证了所提控制策略的正确性和有效性.
Abstract
Aiming at the problem of insufficient speed synchronization accuracy and slow synchronization response of dual hub motors under unbalanced load conditions,the speed loop compensated PID cross-coupling control method and current loop compensated PID cross-coupling control method are proposed.First,the mathematical model of the dual hub motors is established,and the dual closed-loop six-step square wave control method is adopted.Based on this model,the speed-loop compensated PID cross-coupling control method is used instead of the single-gain cross-coupling control to improve the speed synchronization accuracy.Under the unbalanced load conditions of both motors,the current-loop compensated PID cross-coupling control method is used to further improve the speed synchronization accuracy,while the synchronization response time is accelerated.The torque accuracy is also improved.The correctness and effectiveness of the proposed control strategy is proved by simulation and experimental results.
关键词
双轮毂电机/负载不平衡工况/同步运行/电流环补偿PID控制/交叉耦合控制Key words
dual wheel hub motors/unbalanced load conditions/synchronous motion/current loop compensated PID control/cross-coupling control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据