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双语推荐：并联电机控制

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粘着控制是地铁牵引电机控制的重要组成部分,建立了全维状态观测器来观测电机负载转矩,进而计算并判断当前路况的粘着峰值点,通过牵引电机控制实现对轮轨间可用粘着的最大利用。针对动轮间轮径差异造成的牵引并联电机转矩不平衡,结合最优粘着利用控制算法,提出具有励磁补偿的并联电机控制策略。最后进行的仿真研究和试验,验证了基于最优粘着利用的地铁牵引电机并联控制策略的正确性和有效性。
Adhesion control plays an important role in metro traction motor driving. To perform the maximum utilization of adhesion, a full state observer is built to obtain the motor load torque. Then the adhesion coefficient is calculated to find the adhesion peak zone. The difference between two wheels in one bogie can cause unbalanced torque for parallel-connected motors. Meanwhile, considering the optimized adhesion utilization control, the traction motor drive control strategy with magnetic field weaken compensation is introduced. Finally, simulation and experiments are taken, and the correctness and validity are verified by the simulation and the experiments.

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多电机并联驱动系统需要多个电机能够协调运行,对电机调速性能提出了更高要求。结合多电机并联驱动系统中的平均理论,将多台并联电机的参数进行平均化处理,提出一种基于空间矢量调制的直接转矩控制的多电机并联驱动方案。该驱动系统具有转矩波动小、磁链波形平滑、电流谐波含量低、逆变器开关频率恒定等特点。仿真结果表明,在转矩误差允许范围内,多电机并联驱动系统能够高速、协调运行。
Multiple motors parallel drive system needs multiple motor coordination operation, which puts forward higher requirements on motor speed control performance. Combined with the average theory implemented in parallel-connected multi-motors system, by averaging the parameters of multi-motors based on direct torque control, a kind of multi-motors parallel-connected driving scheme was presented. The system has the advantages of small torque ripple, smooth flux waveform, lower current harmonic content and fixed switching frequency. The simulation results show that the parallel-connected multi-motors driving system can operate rapidly and coordinately in the range of allowable torque error.

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针对大功率场合下并联逆变器馈电永磁同步电机(PMSM)调速系统中存在的环流问题和电机电流谐波性能差的问题,提出一种并联逆变器馈电永磁同步电机控制策略来协调控制不同并联逆变器模块实现电机总电流波形优化,并有效地抑制并联逆变器模块间环流。分析并联逆变器馈电PMSM调速系统的电路结构及并联逆变器环流的等效电路模型,提出针对并联逆变器PMSM调速系统的移相空间矢量脉宽调制(SVPWM)技术和随机SVPWM技术,并通过在SVPWM中动态分配零矢量作用时间来抑制各逆变器模块间的环流。仿真和实验结果均验证了所提出的控制策略的有效性,采用移相SVPWM和随机SVPWM策略可改善电机电流的谐波性能,采用环流抑制环节后可以有效地消除电路中的环流。
Aiming at the circulating current and poor performance of the motor current harmonics in high-power paralleled inverters fed permanent magnet synchronous motor drive system, a new control strate-gy was proposed to optimize the motor current waveforms by collaborating operation of paralleled inverters while avoiding the possible circulating current. The system configuration and equivalent model of the par-alleled inverters fed permanent magnet synchronous motor drive system were analyzed. Based on that, a phase shifted space vector pulse width modulation ( SVPWM ) scheme and a random SVPWM were pro-posed to suppress the harmonics in motor current. An additional control loop was also designed to sup-press the possible circulating current by tuning the dwelling time of zero vectors dynamically. Simulation and experimental results have been given to validate the effectiveness of the proposed control strategies, both phase shifted SVPWM and random SVPWM strategies suppress the har

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针对多自由度超声电机应用于X-Y工作平台相对复杂的逻辑电路控制要求,提出模拟式与数字式两种驱动电路解决方案,分别从信号输出原理、逻辑控制策略及并联谐振匹配方面对比研究了各自方案的特点,并在此基础上着重讨论了并联谐振匹配各参数对电路效率的影响。研究结果表明,一方面方波占空比D对抑制谐波分量,减少输入电流起着关键作用;另一方面采用数字式驱动方案,电路逻辑控制简单,易于实现快速切换,方便控制电机在平台上做复杂轨迹运动,为多自由度超声电机的推广应用提供有价值的参考依据。
As for the complex control requirements of logical circuit in Multi-Degree-Of-Freedom ( M-DOF) Ultrasonic Motor ( USM) used on X-Y Platform, two driving circuits, the analog and digital, were proposed. The characteristics of two driving methods, considering theory of signal output, strategy of logic control and matching of parallel resonant,were analyzed respectively. And on this basis, it was focused on the effects of various parameters to the circuit efficiency of parallel resonant. The results show that the duty ratio D of the square wave suppressed the harmonic components and played a key role in decreasing the input current. With a digital driving scheme, logic circuit for Ultrasonic Motor’ s controlling is sim-ple, easy to implement fast switching and facilitates the motor do complex trajectory on X-Y platform, providing benefit reference for the popularization and application of M-DOF USM.

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研究目的：改善一种单电机并联式混合动力电动汽车的驾驶性能。 创新要点：1.建立面向控制器设计的系统模型，并且考虑系统参数的不确定性和CAN通讯延迟；2.设计基于mu综合的鲁棒控制器，减小了模式切换时车辆的冲击度，改善车辆的驾驶性能。 研究方法：1.将发动机端和电机端的控制解耦，并对其进行单独的控制设计（图5、8）；2.发动机端控制主要用于发动机调速，电机端控制主要用于补偿离合器转矩对传动系造成的干扰；3.控制器设计时采用前馈控制和鲁棒控制结合的方法。 重要结论：通过采用鲁棒控制，使得一种单电机并联式混合动力电动汽车的驾驶性得到了改善。同时，在参数的不确定性和CAN通讯延迟的干扰下，整个系统依旧稳定运行且性能良好。
For a single-motor parallel hybrid electric vehicle, during mode transitions (especially the transition from electric drive mode to engine/parallel drive mode, which requires the clutch engagement), the drivability of the vehicle will be signifi-cantly affected by a clutch torque induced disturbance, driveline oscillations and jerks which can occur without adequate controls. To improve vehicle drivability during mode transitions for a single-motor parallel hybrid electric vehicle, two controllers are proposed. The first controller is the engine-side controller for engine cranking/starting and speed synchronization. The second controller is the motor-side controller for achieving a smooth mode transition with reduced driveline oscillations and jerks under the clutch torque induced disturbance and system uncertainties. The controllers are all composed of a feed-forward control and a robust feedback control. The robust controllers are designed by using the mu synthesis method. In the desi

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针对常用的电机矢量控制系统中不考虑铁损的问题,为优化电机运行效率,提出一种基于滑模变结构的感应电机效率优化控制技术.在感应电机两相静止坐标系中建立了并联电阻型电机损耗模型;设计了基于二阶滑模的控制器,并利用超螺旋控制算法解决了相关度为1的滑模控制中抖动问题;利用李亚普诺夫稳定定理,证明了该控制系统的稳定性,同时推导出相应控制器的增益参数.Matlab Simulink仿真结果表明:基于滑模的效率优化控制方法不仅能够降低电机损耗,提高电机运行效率,而且具有很好的动态调速性能,抗干扰性好,鲁棒性强.
For the optimization of motor efficiency, a kind of control efficiency optimization of induction motor based on slid-ing mode variable structure is presented to solve the problem without considering the iron loss of motor vector con-trol system. The parallel resistance motor loss model in the two-phase stationary coordinate is set up. The con-troller is designed based on the two order sliding mode, and solves the problem of chattering of sliding mode con-trol for the correlation degree 1 by the super twisting algorithm. The stability of the control system is proved by Lyapunov stability theorem, and the gain parameter of controller is deduced. Matlab Simulink simulation shows that the efficiency optimization control method based on the sliding mode can reduce the motor loss , improve the operating efficiency of the motor, has good dynamic speed performance and good anti-interference performance and strong robustness.

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在考虑再生制动安全性和稳定性的情况下,以能量回收最大化为目标提出了一种并联再生制动控制策略.然后根据实验获取的电池、电机和无级变速器效率特性,基于传动系统效率最优的原则,优化得到再生制动过程中电机转速和无级变速器速比的最佳控制规律,并搭建整车仿真模型且在NEDC循环工况进行仿真分析.仿真结果表明,相比于常用的电机效率最优控制策略,本研究提出的控制策略能够充分利用动力部件的效率特性,进一步提高了能量回收率.
In the case of considering security and stability of regenerative braking,a parallel regenerative braking control strategy was proposed with the objective of maximizing the energy recovery.Then according to the efficiency characteristics of battery,motor and continuous variable transmission which acquired from experiment, an optimization procedure was implemented to optimize motor and CVT’s best control strategy during regenerative braking with the principle of optimal powertrain efficiency,and the vehicle simulation model was established and simulation analysis was carried out under NEDC driving cycles.The simulation result indicates that,compared with traditional optimal motor efficiency control strategy,the proposed strategy enables to take full advantage of power parts’efficiency characteristics and further improve the recover rate of regenerative braking energy.

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针对典型发电机并联供电性能的检测仍借助人工测试完成，对其进行真实的物理实验跟踪记录较为困难等问题，提出利用微增量法建立低压直流发电机的数学模型，采用平均电流均流法建立发电机并联控制模型。在Saber仿真环境下建立并联系统分别模拟飞机发电机在稳定状态、投入切除并联及突加突卸负载状态下系统的运行情况。仿真结果表明，建立的模型真实有效、仿真精度高，能为真实的电机设计提供参考。
The detection of typical generator power supply capacity is still done by means of manual tests, its actual physical experiments are difficult to keep track of.This paper establishes a mathematical model of low-voltage DC generator with the micro-increment method, and uses the average current method to establish the generator current-sharing control model.Under Saber simulating conditions, the parallel system is established to simulate the operation of aircraft generators system in states of steady, input and the sudden removal of, and load-unload.Simulation results show that the model is valid, simulation accu-racy is high, and can provides a reference for an actual generator design.

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本文中提出一种基于行驶安全性和乘坐舒适性的并联式混合动力汽车发动机辅助制动控制方法。首先通过对下坡路段车辆行驶特性的分析,选择了发动机辅助制动的接入时机;分析了发动机接入过程中起动电机与离合器的动态协调过程;接着为保持发动机接入过程中的车速稳定,提出了发动机辅助制动接入过程中驱动电机的协调控制;最后通过实车实验对所提出的策略进行了验证,结果表明,该策略不仅可以提高并联式混合动力汽车在下坡路段的行驶安全和传动系部件的使用寿命,而且可以明显改善乘员的乘坐舒适性。
A control method of the engine auxiliary braking of parallel hybrid electric vehicles for driving safety and ride comfort is proposed in this paper. Firstly, through an analysis on vehicle driving characteristics on downhill section, the proper timing of bring in engine auxiliary braking is chosen, and the dynamic coordination processes of starting motor and clutch during the bring-in process of engine auxiliary braking are analyzed. Then in order to keep vehicle speed stable during the process, a coordinated control strategy for driving motor in the process is put forward. Finally the strategy is verified by real vehicle tests. The results show that the proposed method can not only enhance the driving safety of vehicle in downhill section and the service life of drive-train components, but also evidently improve the ride comfort of occupants.

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随着工业自动化水平的提高,工业上对机械手的需求量越来越大。应用欧姆龙NJ系列运动控制器设计两轴并联机械手控制系统。系统由NJ运动控制器、触摸屏、伺服驱动器、伺服电机等硬件组成,NJ控制器通过EtherCAT网络通信进行运动控制,实现了两轴并联机械手的协调动作,达到特定运动轨迹。该控制系统具有响应速度快、定位准确、稳定性强、误差小、调速方便等特点。NJ控制器在运动控制方面表现出极高的优越性。
With the improvement of IndustriaI automation IeveI,industriaI demand for manipuIator is becoming bigger and bigger. Use Omron NJ series motion controI er to design two axis paraI eI manipuIator controI system.The system is composed of NJ motion controI er,touch paneI,servo driver,servo motor and other hardware components,NJ controI er through EtherCAT network communication for motion controI,reaIized the harmonious action of two axis paraI eI manipuIator,in order to achieve the purpose of impIement specific trajectory.

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