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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2021, Vol. 55 Issue (1): 195-202    DOI: 10.3785/j.issn.1008-973X.2021.01.023
    
Constant torque flux-weakening control strategy of hub motor for electric drive vehicle
Qi-jin ZHAO1(),Zi-li LIAO1,*(),Cheng-lin MIAO2,Chun-guang LIU1,Jian-yi XIE1,Li-chun CAI1
1. Weapons and Control Department, Army Academy of Armored Forces, Beijing 100072, China
2. Troop No. 96901 of PLA, Beijing 100089, China
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Abstract  

The advanced vector control scheme was analyzed in order to realize the high-performance control of hub motor for electric drive armored vehicle. The torque control mode was adopted and an electromagnetic torque estimation method based on full-order sliding mode observer was proposed in order to obtain good dynamic performance of torque and speed. The maximum torque per ampere (MTPA) control strategy was used below the base speed in the driving system. When the speed is above the base speed, a novel current compensation flux-weakening control scheme combining constant torque feedforward with voltage feedback was proposed according to the control requirements of hub motor. The experiment was conducted based on a 90 kW interior permanent magnet synchronous motor (IPMSM). The experimental results showed that the designed torque observer ensured high observation accuracy and the error was controlled within 5 N·m. The motor’s torque following performance was good and the error was kept within 5%. The motor can smoothly transit from MTPA to flux-weakening mode, and strictly run according to the planned flux-weakening route. The motor has good torque following and fast speed response during operation, which can meet the control requirements of electric drive vehicles.

Key words： hub motor      torque control      full-order sliding mode observer      torque estimation      constant torque flux-weakening     
Received: 07 September 2019      Published: 27 January 2021
CLC:  TM 301  
  TJ 810  
Corresponding Authors: Zi-li LIAO     E-mail: zqj563954008@163.com;ljzjbxy_@sohu.com
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Qi-jin ZHAO
Zi-li LIAO
Cheng-lin MIAO
Chun-guang LIU
Jian-yi XIE
Li-chun CAI
Cite this article:

Qi-jin ZHAO,Zi-li LIAO,Cheng-lin MIAO,Chun-guang LIU,Jian-yi XIE,Li-chun CAI. Constant torque flux-weakening control strategy of hub motor for electric drive vehicle. Journal of ZheJiang University (Engineering Science), 2021, 55(1): 195-202.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.01.023     OR     http://www.zjujournals.com/eng/Y2021/V55/I1/195


电传动车辆轮毂电机恒转矩弱磁控制策略

为了实现电传动装甲车用轮毂电机的高性能控制，开展先进的矢量控制方案研究. 为了获得良好的转矩、转速动态性能，采用转矩控制模式，设计基于全阶滑模观测器的电磁转矩估计方法. 基速以下，驱动系统采用最大转矩电流比（MTPA）控制策略，当转速大于基速时，结合轮毂电机的控制需求，提出并设计新颖的恒转矩前馈结合电压反馈的电流补偿弱磁控制方案. 基于90 kW内置式永磁同步电机（IPMSM）开展实验研究. 结果表明，所设计的转矩观测器能够保证较高的观测精度，误差基本小于5 N·m；电机转矩的跟随性能较好，动态误差小于5%；电机能够由MTPA运行模式平滑过渡到弱磁模式，严格按照所规划的弱磁路线运行. 在运行过程中，轮毂电机的转矩控制性能良好，转速响应快，能够满足电传动车辆的控制需求.


关键词： 轮毂电机,  转矩控制,  全阶滑模观测器,  转矩估计,  恒转矩弱磁 
Fig.1 Control trajectory diagram of flux-weakening control when characteristic current value is less than limit value
Fig.2 Control trajectory diagram of flux-weakening control when characteristic current value is greater than limit value
参数 数值 参数 数值
Pe /kW 90 Rs /mΩ 6.56
ulim /V 750 pn 6
ilim /A 490 Te /（ ${\rm{N}} \cdot {\rm{m}}$） 350
ne /（r·min?1） 2 400 Tmax /（ ${\rm{N}} \cdot {\rm{m}}$） 1 100
Ld /mH 0.28 $\psi _{\rm{f} }$/Wb 0.185 61
Lq /mH 0.7 J /（ ${\rm{kg}} \cdot {{\rm{m}}^2}$） 2
Tab.1 Main parameters of hub motor for an electric drive armored vehicle
Fig.3 Track map of MTPA combined with flux-weakening control for hub motor
Fig.4 Principle block diagram of flux weakening control strategy for hub motor
Fig.5 block diagram of flux weakening control system for hub motor
Fig.6 Physical map of hub motor driving system
Fig.7 Experimental waveform under MTPA control mode
Fig.8 Experimental waveform under flux weakening control mode
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