陆轨两用电动汽车驱动控制系统设计
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摘 要
随着我国城市规模和经济建设的快速发展，城市人口急剧增加，城市交通供
需矛盾日趋紧张，所以大力发展轨道交通事业是我国各大城市实现可持续发展的
基本策略。现有轨道检修车无法快速移至抢修点的弊端给线路检修、抢修带来困
难，因此改善现有轨道检修车，设计出一种能在轨道与站台间快速转换的陆轨两
用车已成为一项崭新课题。本文研究的陆轨两用电动汽车驱动控制系统是陆轨两
用车的关键，对于整车的顺利开发和可靠使用具有重要意义。
本文首先介绍了我国以及世界主要城市轨道交通发展现状，本课题的研究背
景及意义，并根据电动汽车驱动电机的特性和要求对几种电机进行比较，最后确
定选用无刷直流电机作为陆轨两用车的主驱动电机。
其次介绍了无刷直流电机的基本结构，阐述了无刷直流电机的工作原理并建
立了其数学模型，确定其调速控制策略，对无刷直流电机的双闭环控制系统采用
模糊自适应 PI 控制，基于 Matlab/Simulink 平台，结合模糊自适应 PI 控制器设计，
组建了基于模糊自适应 PI 控制的无刷直流电机双闭环控制系统仿真模型，将利用
模糊自适应 PI 控制器和常规 PI 控制器的调速系统性能作了分析和比较。
最后从无刷直流电机控制系统的硬件组成出发，对以 DSP 为核心的控制回路
和以 IPM 为核心的主电路设计作了详细介绍，给出了系统硬件结构图和各个部分
的组成原理图，主要包括控制系统 DSP 的外围电路设计、IPM 电路设计、电压和
电流检测电路设计，转子位置检测电路设计以及监控显示电路设计。控制系统软
件设计主要由主程序和中断服务子程序组成，主程序主要完成 DSP 控制系统初始
化，中断服务程序主要设计了电流调节程序和速度模糊自适应 PI 调节程序。另外
还简单介绍了陆轨两用车电池的选择以及其陆轨转换系统，并设计了相应的硬件
电路。
关键词：轨道交通 陆轨转换系统 无刷直流电机 模糊自适应 PI 控制
ABSTRACT
As China's urban scale and the rapid development of economic construction, urban
population increased dramatically, urban traffic supply and demand becoming more
intense, so to develop rail transport services in major cities of China is a basic strategy
for achieving sustainable development. Existing rail maintenance repair car can not be
quickly moved to point of the shortcomings take difficult for the line maintenance and
repair ,therefor improving the existing rail maintenance vehicles, to design a site in the
track and the land can quickly convert between two rail cars has been as a new subject.
In this paper, the drive control system is the key of the land-rail dual intelligent vehicle,
is important for the smooth development and the reliability use of the vehicle.
First this paper describes the development of urban rail transport, the world's major
urban rail transport development status, the subject of the research’s background and
significance, for the drive motor characteristics and requirements of the electric vehicle
and the choice for the electric drive motor vehicles, choose the brushless DC motor as
the main drive motor for the two rail cars.
Second, mian introduces the mathematical model and the basic components of the
brushless DC motor, describes the working principle of the brushless DC motor,confirm
the control strategy and speed control method of the brushless DC motor: the brushless
DC motor using fuzzy adaptive PI control for the dual closed-loop control system. In
the Matlab / Simulink window to establish a brushless DC motor speed control system
simulation model, and combined with design content of the fuzzy adaptive PI controller,
built a brushless DC motor dual closed loop control system based on fuzzy adaptive PI
control, analysis of different response curves of the motor starting, running, under
sudden load changes, in final comparative analysis the performance comparison of the
adaptive PI controller using fuzzy controller and conventional PI speed control system.
Finally, from the hardware components of the brushless DC motor control system,
starting introduces in detailly the core of the control loop on the DSP and the core of the
IPM main circuit design, gives the system of the hardware structure and composition
and the principle map of the various parts, Details of the control system of DSP
peripheral circuit design, IPM circuit design, voltage and current sensing circuit design,
the rotor position circuit design and the detection control circuit design. The Control
system software design mainly composed of main program and interrupt service
routines, the main program mainly to complete DSP control system initialization, the
interrupt service routine the main design of the current reconciliation process and speed
blur adaptive PI controller program. Also briefly introduced the choice of battery of the
two land-rail vehicles and the introduction of the land-rail dual conversion system, and
the design of the corresponding hardware circuit.
Key Word:Rail transport,Land track conversion system,Brushless DC
motor,Fuzzy adaptive PI control
目 录
中文摘要
ABSTRACT
第一章 绪 论 ...................................................................................................................1
§1.1 城市轨道交通概述 ...........................................................................................1
§1.1.1 我国城市轨道交通发展现状 .................................................................1
§1.1.2 目前世界主要城市轨道交通发展概况 .................................................2
§1.2 本课题研究的背景及意义 ...............................................................................2
§1.3 陆轨两用电动汽车驱动电机的特性和要求 ...................................................3
§1.3.1 电机特性 .................................................................................................3
§1.3.2 电机要求 .................................................................................................3
§1.4 陆轨两用电动汽车驱动电机的选择 ...............................................................4
§1.5 论文内容安排 ...................................................................................................5
第二章 无刷直流电机数学模型及控制系统分析 .........................................................7
§2.1 无刷直流电机的数学模型 ...............................................................................7
§2.1.1 无刷直流电机的微分方程模型 .............................................................7
§2.1.2 无刷直流电机的传递函数模型 .............................................................9
§2.2 无刷直流电机基本原理 .................................................................................11
§2.2.1 无刷直流电机的基本结构 ...................................................................11
§2.2.2 无刷直流电机的工作原理 ...................................................................12
§2.3 无刷直流电机控制策略 .................................................................................13
§2.4 本章小结 .........................................................................................................14
第三章 自适应模糊 PI 控制器设计 ............................................................................. 15
§3.1 无刷直流电机调速系统控制器设计 .............................................................15
§3.2 模糊控制基本原理 .........................................................................................15
§3.2.1 模糊控制器的组成 ...............................................................................15
§3.2.2 模糊控制器的设计步骤 .......................................................................15
§3.2.3 模糊自适应整定 PI 控制器原理 ......................................................... 17
§3.3 模糊 PI 控制器设计 ....................................................................................... 18
§3.3.1 变量的模糊化及隶属函数确定 ...........................................................18
§3.3.2 模糊控制规则表 ...................................................................................18
§3.3.3 模糊推理及模糊判决 ...........................................................................21
§3.4 本章小结 .........................................................................................................21
第四章 无刷直流电机调速系统仿真 ...........................................................................22
§4.1 模糊自适应 PI 控制器的无刷直流电机调速系统仿真 ............................... 22
§4.1.1 无刷直流电机本体模块 .......................................................................22
§4.1.2 转子位置传感器模块 ...........................................................................26
§4.1.3 三相电压逆变器模块 ...........................................................................26
§4.1.4 电流控制器模块 ...................................................................................28
§4.1.5 速度控制器模块 ...................................................................................31
§4.1.6 检测模块 ...............................................................................................31
§4.1.7 系统仿真结果分析 ...............................................................................32
§4.2 本章小结 .........................................................................................................35
第五章 无刷直流电机的调速系统软硬件设计 ...........................................................36
§5.1 调速系统的总体设计 .....................................................................................36
§5.2 调速系统的硬件电路设计 .............................................................................36
§5.2.1 TMS320F2812 控制器的介绍 .............................................................. 36
§5.2.2 PWM 信号的产生 ................................................................................. 37
§5.2.3 F2812 外围电路设计 ............................................................................ 39
§5.2.4 功率变换电路设计 ...............................................................................40
§5.2.5 电流、电压检测电路设计 ...................................................................42
§5.2.6 转子位置检测电路设计 .......................................................................44
§5.2.7 监控电路设计 .......................................................................................45
§5.3 调速系统软件设计 .........................................................................................46
§5.3.1 调速系统软件总体控制结构 ...............................................................46
§5.3.2 位置信号检测 .......................................................................................47
§5.3.3 速度计算与调节 ...................................................................................48
§5.3.4 电流调节 ...............................................................................................51
§5.4 本章小结 .........................................................................................................53
第六章 陆轨两用车电池选择和陆轨转换系统介绍 ...................................................55
§6.1 陆轨两用电动汽车车用电池的选择 .............................................................55
§6.1.1 锂电池的工作原理与特点 ...................................................................55
§6.1.2 陆轨两用电动汽车的电池充电介绍 ...................................................56
§6.2 陆轨两用电动汽车陆轨转换系统 .................................................................57
§6.2.1 陆轨两用电动汽车路轨转换系统介绍 ...............................................57
§6.2.2 陆轨两用电动汽车路轨转换系统的液压系统 ...................................59
§6.3 本章小结 .........................................................................................................61
第七章 总结与展望 .......................................................................................................62
§7.1 总结 .................................................................................................................62
§7.2 展望 .................................................................................................................62
参考文献 .........................................................................................................................64
在读期间公开发表的论文和承担科研项目及取得成果 .............................................67
致 谢 ...............................................................................................................................68
摘要：
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摘要随着我国城市规模和经济建设的快速发展，城市人口急剧增加，城市交通供需矛盾日趋紧张，所以大力发展轨道交通事业是我国各大城市实现可持续发展的基本策略。现有轨道检修车无法快速移至抢修点的弊端给线路检修、抢修带来困难，因此改善现有轨道检修车，设计出一种能在轨道与站台间快速转换的陆轨两用车已成为一项崭新课题。本文研究的陆轨两用电动汽车驱动控制系统是陆轨两用车的关键，对于整车的顺利开发和可靠使用具有重要意义。本文首先介绍了我国以及世界主要城市轨道交通发展现状，本课题的研究背景及意义，并根据电动汽车驱动电机的特性和要求对几种电机进行比较，最后确定选用无刷直流电机作为陆轨两用车的主驱动电机。其次介绍了无刷...
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作者：高德中
分类：高等教育资料
价格：15积分
属性：72 页
大小：3.81MB
格式：PDF
时间：2024-11-19
