摘要
为获取良好的路感模拟执行器响应性能,从提高路感模拟用永磁同步电机的动态电流响应速度和降低稳态时的电流波动角度出发,针对数字电机控制固有延时问题和逆变器输出饱和问题应用三步非线性方法设计了一种电流控制(TSPCC)算法。三步非线性方法具有对参数不过分敏感和易于离散系统工程实现的优点,将逆变器的输出饱和转化成基于模型的动态饱和限制引入到动态前馈控制和误差反馈控制中以获得最优的电流响应速度,用下一拍电流预测值代替当前传感器采集值以降低由于延时引起的电流超调和波动。仿真和试验结果表明:该算法可显著提高电流响应速度和降低稳态时的电流波动,适合用于实现平滑的手感和实时的路感。
To get better response performance of a road feeling simulation actuator,a current control(Triple-step saturation prediction current control,TSPCC)algorithm is designed using the triple-step nonlinear method to solve the problems of the inherent delay of digital motor control and the output saturation of the inverter.The objectives are to improve the current response speed and reduce the current oscillation of permanent magnet synchronous motor of the road feeling simulation system.The triple-step nonlinear method has the advantages of being less sensitive to parameters and easy to implement in engineering.By transforming the inverter output saturation into model-based dynamic saturation limit,the dynamic feedforward control law and error feedback control law can obtain the optimal current response speed.The next step predicted current value is used to reduce overshoot and oscillation of the current due to delay.Simulation and experimental results demonstrate that the proposed algorithm can significantly increase the response speed of the current and reduce the current fluctuations in the steady state,and is suitable for smooth touch feeling and real-time road feeling.
作者
张博
张建伟
郭孔辉
丁海涛
褚洪庆
ZHANG Bo;ZHANG Jian-wei;GUO Kong-hui;DING Hai-tao;CHU Hong-qing(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2019年第5期1405-1413,共9页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金联合基金项目(U1664257)
关键词
车辆工程
路感模拟
电流控制
逆变器输出饱和
延时
三步非线性方法
vehicle engineering
road feeling simulation
current control
inverter output saturation
delay
triple-step nonlinear method
