【摘要】：隨著人們綠色出行、健康出行的觀念逐步加深,國(guó)家相關(guān)規(guī)定的進(jìn)一步完善和規(guī)范,電動(dòng)助力自行車(chē)在中國(guó)具有巨大的潛力和廣闊的市場(chǎng),與電動(dòng)助力車(chē)相關(guān)的研究將成為時(shí)下一段時(shí)間內(nèi)的熱點(diǎn)。然而現(xiàn)階段市面上出現(xiàn)的一些助力車(chē),有著各種各樣明顯的設(shè)計(jì)缺陷:整車(chē)質(zhì)量超標(biāo),電機(jī)控制簡(jiǎn)單,速度開(kāi)環(huán)控制等。本文立足于電動(dòng)助力車(chē)的使用背景,專(zhuān)注于助力車(chē)電機(jī)的驅(qū)動(dòng)和控制算法設(shè)計(jì),主要完成了以下工作:首先介紹了無(wú)刷直流電機(jī)(BLDCM)的結(jié)構(gòu)和工作原理,提出輪轂電機(jī)的選型方案;討論助力車(chē)系統(tǒng)對(duì)電機(jī)控制提出的要求,提出以力矩作為控制對(duì)象實(shí)現(xiàn)閉環(huán)控制,同時(shí)在助力車(chē)動(dòng)力學(xué)模型的基礎(chǔ)上,提出電機(jī)力矩的最優(yōu)輸出值;針對(duì)所選無(wú)感無(wú)刷直流電機(jī),引入反電動(dòng)勢(shì)法檢測(cè)轉(zhuǎn)子位置,提出以算法復(fù)雜性來(lái)代替硬件復(fù)雜性來(lái)降低成本,提高系統(tǒng)穩(wěn)定性。其次研究了電機(jī)控制所需硬件電路的設(shè)計(jì)方案和芯片選型,對(duì)電機(jī)的控制和驅(qū)動(dòng)電路設(shè)計(jì)方案做出了詳細(xì)介紹;在力矩控制算法方面,引入矢量控制方法來(lái)對(duì)BLDCM的運(yùn)動(dòng)過(guò)程進(jìn)行解耦,以簡(jiǎn)化計(jì)算;在驅(qū)動(dòng)電壓的調(diào)制方面,引入電壓空間矢量(SVPWM)算法來(lái)提高控制精度,同時(shí)提高電源利用效率。在控制策略上提出將基于PI控制器的力矩閉環(huán)控制系統(tǒng)應(yīng)用于助力車(chē),詳細(xì)介紹了PI控制器參數(shù)的整定方法和選取思路來(lái)提高助力車(chē)系統(tǒng)的控制精度和響應(yīng)速度。最后基于前文闡述的研究目的和控制要求,建立了電動(dòng)助力車(chē)項(xiàng)目的硬件和軟件實(shí)驗(yàn)平臺(tái),并在該平臺(tái)上完成了電路測(cè)試和算法驗(yàn)證。從實(shí)驗(yàn)結(jié)果中能夠看出,本文所設(shè)計(jì)的力矩閉環(huán)電機(jī)控制系統(tǒng)能夠初步滿足電動(dòng)助力車(chē)項(xiàng)目的動(dòng)態(tài)和穩(wěn)態(tài)控制要求,同時(shí)在助力車(chē)正常行駛(未超速且阻力正常)的情況下系統(tǒng)具有一定的穩(wěn)定性。
[Abstract]:Along with people's green travel, the concept of healthy travel gradually deepened, and the relevant national regulations further improved and standardized, electric bicycle in China has a huge potential and broad market. The research related to electric booster will become a hot spot in the next period of time. However, there are a variety of obvious defects in the design of these vehicles: the quality of the whole vehicle exceeds the standard, the motor control is simple, the speed is open-loop control, and so on. Based on the application background of electric booster, this paper focuses on the design of driving and control algorithm of the motor. The main work is as follows: firstly, the structure and working principle of brushless DC motor (BLDCM) are introduced. The selection scheme of hub motor is put forward. This paper discusses the requirements for motor control in the booster system, and puts forward the closed-loop control based on the torque as the control object. At the same time, the optimal output value of the motor torque is put forward on the basis of the dynamic model of the vehicle. For the selected brushless DC motor, the backEMF method is introduced to detect the rotor position, and the complexity of the algorithm instead of the hardware complexity is proposed to reduce the cost and improve the stability of the system. Secondly, the design scheme of hardware circuit and chip selection for motor control are studied, and the design scheme of motor control and drive circuit is introduced in detail. In the aspect of torque control algorithm, vector control method is introduced to decouple the motion process of BLDCM to simplify the calculation. In the aspect of driving voltage modulation, voltage space vector (SVPWM) algorithm is introduced to improve control accuracy and power utilization efficiency. In the control strategy, the torque closed-loop control system based on PI controller is applied to the booster. The method of setting the parameters of the PI controller and the train of thought of selecting the parameters are introduced in detail to improve the control accuracy and response speed of the booster vehicle system. Finally, based on the research purpose and control requirements described above, the hardware and software experimental platform of the electric booster project is established, and the circuit test and algorithm verification are completed on the platform. From the experimental results, it can be seen that the torque closed-loop motor control system designed in this paper can meet the dynamic and steady control requirements of the electric booster project. At the same time, the system has a certain stability under the condition of normal driving (without speeding and resistance).
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：U484;TP273

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