An electric vehicle climbing multi-motor position-sensorless synchronous control method comprises the following steps: estimating an extended counter electromotive force based on a static coordinate system, namely an alpha-beta coordinate system, constructing a self-adaptive sliding-mode observer, adopting a phase-locked loop (PLL) to replace arc tangent calculation to track a rotor position, and constructing a current loop active-disturbance-rejection controller according to given current and estimated current, comprising the following steps: step 1, designing a self-adaptive sliding-mode observer to obtain a rotor position estimation value; 2, constructing a current loop active-disturbance-rejection controller based on the estimated current and a current given value, wherein the current loop active-disturbance-rejection controller comprises a tracking differentiator TD, an extended state observer ESO and a nonlinear state error feedback control law NLSEF; the rotating speed estimation precision and the rotor position estimation precision are improved; and the influence of torque fluctuation is reduced.
电动汽车爬坡多电机无位置传感器同步控制方法,基于静止坐标系即αβ坐标系估计扩展反电势,构造自适应滑模观测器,采用锁相环PLL代替反正切计算进行转子位置跟踪,根据给定电流和估计电流搭建电流环自抗扰控制器,包括以下步骤:步骤1,设计自适应滑模观测器,获得转子位置估计值;步骤2,基于估计的电流以及电流给定值构建电流环自抗扰控制器,包括跟踪微分器TD、扩张状态观测器ESO以及非线性状态误差反馈控制律NLSEF;提升转速估计精度、转子位置估计精度并减小转矩波动的影响。
Multi-motor position-sensorless synchronous control method for climbing of electric automobile
电动汽车爬坡多电机无位置传感器同步控制方法
2022-04-15
Patent
Electronic Resource
Chinese
IPC: | H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |