多自由度球形感应电机的驱动控制策略

doi:10.3969/j.issn.1674-8484.2020.04.014

汽车安全与节能学报 ›› 2020, Vol. 11 ›› Issue (4): 538-545.DOI: 10.3969/j.issn.1674-8484.2020.04.014

多自由度球形感应电机的驱动控制策略

丁镇涛¹(), 邓涛²^,^*(), 吴昌军¹, 尹燕莉¹, 周丹³

1.重庆交通大学机电与车辆工程学院, 重庆 400074, 中国
2.重庆交通大学航空学院, 重庆 400074, 中国
3.重庆宗申航空发动机制造有限公司, 重庆 400054, 中国

收稿日期:2020-05-28 出版日期:2020-12-30 发布日期:2021-01-04
通讯作者: 邓涛
作者简介:*邓涛(1982—),教授。E-mail:d82t722@cqjtu.cn。
丁镇涛(1994—),男(汉),四川,硕士研究生。E-mail:137091421@qq.com。
基金资助:
重庆市教育委员会科学技术研究重点项目(KJZD-K202000701)

Driving control with a multi-degree-of-freedom spherical induction motor

DING Zhentao¹(), DENG Tao²^,^*(), WU Changjun¹, YIN Yanli1¹, ZHOU Dan³

1. School of Mechatronics & Automotive Engineering, Chongqing Jiaotong University, Chongqing 400074, China
2. School of Aeronautic, Chongqing Jiaotong University, Chongqing 400074, China
3. Chongqing Zongshen Aero Engine Manufacturing Co., Ltd, Chongqing 400054, China

Received:2020-05-28 Online:2020-12-30 Published:2021-01-04
Contact: DENG Tao

摘要/Abstract

摘要：

为实现城市微型电动汽车全方位转向功能,对新型多自由度(multi-DOF)球形感应电机(SIM)驱动控制策略进行仿真。从SIM设计原理和结构特性出发,提出了一种多自由度驱动控制策略。分析SIM转矩输出情况;以球形转子偏转角度为依据,设定4个工作扇区;通过判断球形转子偏转角度所在扇区位置,来调整各定子工作状态;采用直接转矩控制策略,使各定子在球形转子上产生的转矩输出沿目标方向。结果表明：该SIM控制策略可实现2个自由度的旋转驱动控制,且转子无偏转角度限制,同时具有良好的动态特性和跟随性能。从而,验证了驱动控制策略的可行性和合理性。

关键词: 电动汽车, 多自由度(multi-DOF), 球形感应电机(SIM), 驱动控制, 直接转矩, 仿真

Abstract:

A driving-control-strategy was simulated for a novel multi-degree-of-freedom (multi-DOF) spherical-induction-motor (SIM) to make city-micro-electric-vehicles having omni-directional-steering-function. A multi-DOF driving control strategy was proposed on the base of the design principle and structural characteristics of SIM. Four working sectors were set by analyzing SIM torque output based on the deflection angle of the spherical rotor. The working state of stators was adjusted by judging the sector position where the spherical rotor located; and a direct torque control was adopted to make the torque output of stators on the spherical rotor along the target direction. The results show that this SIM control strategy can achieve rotation driving control at two degrees-of-freedom without any limitation of rotor deflection angle. Thanks for having appropriate dynamic characteristics and tracking performance of the proposed strategy, its reasonable feasibility is verified.

Key words: electric vehicle, multi-degree-of-freedom (multi-DOF), spherical induction motor (SIM), driving control, direct torque control, simulation

中图分类号:

U469.72+2

丁镇涛, 邓涛, 吴昌军, 尹燕莉, 周丹. 多自由度球形感应电机的驱动控制策略[J]. 汽车安全与节能学报, 2020, 11(4): 538-545.

DING Zhentao, DENG Tao, WU Changjun, YIN Yanli1, ZHOU Dan. Driving control with a multi-degree-of-freedom spherical induction motor[J]. Journal of Automotive Safety and Energy, 2020, 11(4): 538-545.

图/表 14

图1 SIM结构示意图

极数,n_p	5
极距,τ	48.0 mm
定子铁心初度,L	250 mm
绕组因数,k_w1	0.966
定子铁心宽度,2a	45.0 mm
定子每相每极槽数,q₁	2
槽数,S	30
齿距,t₁	8.0 mm
绕组节距,y	6
槽宽,b₀	5.0 mm
槽深,h_t	18.0 mm
转子外径,D	300 mm
气隙,δ	4.5 mm
铜层厚度,d	1.0 mm
钢层厚度,d_s	3.0 mm

表1 SIM主要设计参数

图2 SIM结构定子定位示意图

图3 转矩分布(图2俯视方向)

图4 定子工作状态调节

图5 SIM定子结构示意图

图6 考虑动态边缘效应的单定子结构SIM等效电路

定子电阻,R_s	2.03 Ω
定子电感,L_s	20.0 mH
转子电阻,R_s	7.41 Ω
转子电感,L_r	80.0 mH
互感,L_m	80.0 mH

表2 单定子结构SIM等效电路参数

图7 SIM多自由度驱动控制系统原理图

图8 单定子结构SIM仿真

图9 单定子结构SIM仿真

图10 直线行驶仿真结果

图11 侧向行驶仿真结果

图12 全向驱动仿真结果

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多自由度球形感应电机的驱动控制策略

Driving control with a multi-degree-of-freedom spherical induction motor

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