电动自行车用开关磁阻电机驱动系统的研究与实践

华中科技大学硕士学位论文电动自行车用开关磁阻电机驱动系统的研究与实践姓名：周涛申请学位级别：硕士专业：电机与电器指导教师：詹琼华20060326II908636/8AVRATmega8+GAL20V8PWMAPCMATLABAVRATmega8GAL20V8SRM,,,ATmega8,PWM,APCIIABSTRACTEnvironmentalprotectionandenergyconservationaretwoextrudetopicsofthe21stcentury.Accordingly,differentkindsofgreenvehiclesriseinresponsetopropertime.Electricbicycleisaperfectgreenvehicle,whichhascharacteristicsofnon-pollution,lownoise,simplicityofoperationandmoderatevelocity.Itgrowsrapidlyincompanywiththeenhancementofbatteryperformance.Correlativeproductsareexploitedathomeandabroad.Electricbicyclehasextraordinarymarketprospect.Asanewtypeofspeedcontrolsystem,switchedreluctancedrive(SRD)ischaracterizedbyitscompactness,robustness,flexiblecontrolmethodanditseemstobeoneoftheexcellentsolutionsfortheelectricvehicles.Thethesisfocusesondesigningalow-priceelectricbicyclewithpedalassistanceusingswitchedreluctancedrive.A6/8polelowspeedswitchedreluctancewheelmotorisadoptedintermsofits'applicativefeature.ThewholecontrolsystemisfinishedwithAVRchipmicroprocessorATmega8andGAL20V8.Firstly,basedonoverviewofthedevelopmentofelectricbicycleandswitchedreluctancedrivesystemathomeandabroad,itisconcludedthatitisagoodtrytoapplyswitchedreluctancedrivesystemtoelectricbicycle.Sincehighperformance-priceratioandreliabilityarerequiredforelectricbicycle,sotheschemeofswitchedreluctancedrivesystemisputforwardbyconsideringthetypeofmotor,controlstrategy,powerconverterandcontrolkernelsynthetically.Secondly,compoundcontrolstrategyofPWMandAPC(AnglePositionControl)arestudied.Withprototype'snon-linearmodel,steadystatesimulationiscarriedoutinMATLAB/SIMULINKenvironment.Thesimulationresultsuppliescorrelativecontrolparametersandcontrollawforangleoptimizationcontrolofswitchedreluctancemotor.Eventually,hardwareandsoftwaredesignofthecontrolsystemarefinishedwithAVRchipmicroprocessorATmega8andGAL20V8.Reliablitydesignofsystemarealsodiscussed.Theexperimentiscarriedoutandtheresultsshowthatthesystemhasgoodperformance.Electricbicycleusingthisdrivesystemhashighperformance-priceratioandprodigiouspotentialapplication.Keywords:switchedreluctancemotor,electricbicycle,microprocessor,ATmega8,PWM,APC______111.11.1.1507019932000700020051.5200560.05[1]7COHCNOx1.1.21881821933[1]2060[2][3][4]90901994DaimlerChrysle()70[5]19931013[6]20801.1.3[7][8](40kg)(20km/h)(2000-3000)()()42%WTO41.21.2.1[9][10]2002[11][12]()(1/6)4019962059010[13]1.2.2[7][14][15]6[11]YAMAHAPAS(PowerAssistSystem)[16]112001220033[17]SMD()1.2.3‹[18][19][20]PWM‹‹117‹EABS(ElectricAssistantBrakingSystem)‹BikeLab1.3SwitchedReluctanceMotor,SRM1970Leeds197210W1kW197550kW1980SRDLtd.SwitchedReluctanceDrive,SRD1983SRDLtd.SRDOULTON1984TASCSRDLtd.1986500km[18][19][21][22]SRDSRDSRD25000r/min90kWSRD1985SRDSRDSRDSRD[23]8SRDSRDSRDSR[24][25][26][27][28][29][30][31][32][33][34][35][36][37][38][39][40]SRSRD1-1SRMSRD1-1SRD1.4SRD[41][42][43]‹‹9‹SRM‹TTCiφ=PWM‹SRM‹‹‹‹101.5102000AVRATmega8GAL20V81.2.3.4.AVRATmega8GAL20V85.1122.1SRSRDSRSRSRSR[18]DC+1D2D1S2SsUCA1A2B1C1B2C2Aao2-16/8SRM122-16/8SR366A1A2AB1B2BC1C2C81S2S1D2DCsUAAOAOa1S2SAOAOaAOA15OAOaAAS1S2BABB6015ABCAABCAABCAACBAACBA2.2()132.2.1SRSR[18][19]‹kkkkURiddtψ=+21kU—kkR—kki—kkψ—kkψkiθ(,)kkkiψψθ=22(,)kkkkLiiψθ=‹ddtθω=23eLdJTTdtωαω=−−⋅24J—eT—LT—α—ω—‹14emmecdWdWdW=+25edWdtmdWdtmecdWdtmWψix),(xiψψ=),(xiWWmm=(,)(,)eixixdWeidtididxidixiψψψ∂∂=−==+∂∂26(,)(,)mmmWixWixdWdxdixi∂∂=+∂∂27mecemdWfdx=2826272825()()0mmemWWidiifdxiixxψψ∂∂∂∂−+−−=∂∂∂∂29didx29didxmemWfixxψ∂∂=−∂∂210210'()()mmmemWiWWifxxxxψψ∂∂−∂∂=−==∂∂∂∂211xθemfT'kkkconsticonstWWTψθθ==∂∂==−∂∂212'0iWdiψ=∫0Widψψ=∫151mekkTT==∑213mxremfrf2.2.2SRM1Li2345rωSRM‹θ2-11θ2θ3θ4θ5θ1θθ2-1sβrβθ()16θ0minLrτmaxL()LθmaxLminL()LθSRMmin12min223max34max445()()()LLKLLLKθθθθθθθθθθθθθθθθθ≤≤+−≤≤=≤≤−−≤≤214maxmin32maxmin()()()sKLLLLθθβ=−−=−‹iRddtψsrddddUdtddtdψψθψωθθ±===i215sU+sU−rω00ψ=0onθθ=onoff()()(2)2sonoffrsoffonoffonrUUθθθθθωψθθθθθθθθω−≤≤=−−≤≤−216onθoffθ216srUωoffθθ=maxψsrUω17‹215srddidLdidLULiLidtdtdtdtdψωθ±==+=+217diLdtrdLidωθSRMonθoffθ1.SRM12θθ∼12onθθθ23θθ∼23offθθθ(214)()iθ112θθθ≤min()sonrUiLθθθω−=⋅2182-18onθ(0)dLdθ22offθθθ≤≤2222minminmini()=)(()()onronrUsdiUsdKKKLLLθωθωθθθθθθθθ−−−−+++⋅=⋅219SRM182192min/onLKθθ−/0didtonθ2θ2min/onLKθθ=−/0didt=2min/onLKθθ−onθ2θ/0didtonθ33offθθθmin2()2()offonrLKUsiθθθθωθθ+−−=⋅−220SRMoffθoffθ3θonθ2offθ3θonθ2434θθθ≤max2()offonsrUiLθθθθω−−=⋅2212212offonθθθ=−542offonθθθ≥−45θθθ≤≤()0iθ=42offonθθθ−45θθθ≤≤19max22()()offonsrUiLKθθθθωθθ−−=⋅−−222()()srUifθθω=2232.SRMSRMdLdθ02-242offonθθθ≥−SRM'onθ'offθO'(2)onroffonθτθθ=−−224'offroffθτθ=−2252-2SRM20onoffθθ∼(2)onoffonθθθ−∼''onoffθθ∼'6offθθ∼‹'20(())12iiconsticonstLidiWdLTidθθθθ==∂∂===∂∂∫2262261232.3223226/rseUFTω=227F21()2Lfθθ∂∂onθoffθ227SR211sU2onθoffθFsUonθoffθ227SR2/erTkω=228/rPkω=229SRSRmaxsUmaxψmaxibω()SR0bωω≤≤maxψmaxisUscωbscωωω≤≤onθoffθscωω2-12-1SR2.46/8Tbωscωω0223ABCABCB3.13.1.1dtmTjTη=31dTjtηmT/(/2)ddFTD=32Dm23123412234cos(123)cos()/21.25sin(123)sin(123)dzzdwindFFFFFFFFMfgmmmfgFCAVVFMgmmmgFMammmaθθθθ==+++==++=+==++==++33zF1F2F3F4F,NM,1m2m3m,kgf0.014g29.8/msdC0.6A0.552mVwindV/kmhθa2/ms3