EHB用无刷直流电机齿槽转矩电流补偿控制策略研究

刘金刚; 张聪悦; 傅兵; 孟步敏; 胡余良

doi:10.13433/j.cnki.1003-8728.20200485

EHB用无刷直流电机齿槽转矩电流补偿控制策略研究

doi: 10.13433/j.cnki.1003-8728.20200485

1.
湘潭大学机械工程与力学学院，湖南湘潭　411105
2.
湘潭大学自动化与电子信息学院，湖南湘潭　411105
3.
佛山市一为制动技术有限公司，广东佛山　528000

基金项目: 国家自然科学基金项目（52075465）、湖南省自然科学基金杰出青年基金项目（2019JJ20015）及湖南省科技创新计划（2020RC4038）

详细信息

作者简介:
刘金刚（1979−），教授，博士生导师，研究方向为机电液传动与控制，liujingang@xtu.edu.cn

中图分类号: TM351
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- 被引次数: 0
出版历程
- 收稿日期: 2020-11-11
- 刊出日期: 2022-09-05

Exploring Current Compensation Control Strategy for Reducing Cogging Torque of Brushless DC Motor in EHB

1.
School of Mechanical Engineering and Mechanics, Xiangtan University, Xiangtan 411105, Hu'nan, China
2.
School of Automation and Electronic Information, Xiangtan University, Xiangtan 411105, Hu'nan, China
3.
Foshan Yiwei Braking Technology Co., Ltd., Foshan 528000, Guangdong, China

摘要

摘要: 电子液压制动系统现已普遍使用无刷直流电机，但其齿槽转矩会影响电机伺服控制品质，进而阻碍EHB综合性能的提升。为此，开展EHB用无刷直流电机齿槽转矩的电流补偿控制策略研究。首先，通过解析分析和有限元方法获取齿槽转矩变化规律；其次，根据齿槽转矩与转子位置的映射关系，提出基于电机位置信号的转矩实时电流补偿控制策略；最后，搭建电机的控制模型和有限元模型，并进行联合仿真。研究结果表明：加入电流补偿控制策略后，电机转速和转矩波动明显降低，位置伺服精度得到提升，有效抑制了齿槽转矩对电机伺服控制品质的影响。
- 电子液压制动系统 /
- 无刷直流电机 /
- 齿槽转矩 /
- 电流补偿
Abstract: The brushless DC motor (BLDCM) is widely used in an electronic hydraulic braking system (EHB), but its cogging torque affects its servo control quality, thereby hindering the improvement of the EHB's comprehensive performance. For this reason, the research on thecurrentcompensation control strategy for reducing the cogging torque of the BLDCM in the EHB is carried out in this paper. Firstly, the cogging torque variation law is obtainedwith the analytical method and the finite element method. Secondly, based on the mapping relationship between cogging torque and rotor position, a control strategy for the real-time current compensation of the cogging torque based on the motor position signal is proposed. Finally, the control model and the finite element model of the BLDCM are built and their simulations are jointly conducted. The research results show that after the current compensation control strategy is used, the motor speed and torque fluctuation are significantly reduced, the position servo accuracy is improved, and the influence of cogging torque on the quality of motor servo control is effectively suppressed.
- electro-hydraulic brake system /
- brushless DC motor /
- cogging torque /
- current compensation

HTML全文

图 1 EHB系统组成架构

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图 2 无刷直流电机三维模型

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图 3 无刷直流电机磁通密度云图

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图 4 BLDCM齿槽转矩波形图

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图 5 BLDCM单元电机的等效物理模型

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图 6 基于齿槽转矩的EHB用无刷直流电机电流补偿控制策略

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图 7 联合仿真架构

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图 8 电机转速和转矩响应（400 r/min，0.2 Nm）

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图 9 电机转速和转矩响应（600 r/min，0.8 Nm）

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图 10 电机转速波动对比

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图 11 电机位置伺服响应

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图 12 电机稳态误差对比

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表 1 EHB用无刷直流电机主要参数

参数名称	数值	参数名称	数值
额定电压/V	12	转子外径/mm	44.8
额定功率/W	300	转子内径/mm	15
额定转速/（r·min⁻¹）	2000	轴线长度/mm	55
额定转矩/Nm	1.5	永磁体厚度/mm	2.45
定子外径/mm	90	极对数	4
定子内径/mm	47	定子槽数	12

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表 2 EHB用电动助力器部分参数

参数名称	数值	参数名称	数值
助力比	2	滚珠丝杠导程/m	0.005
主缸横截面积/m²	0.00035	滚珠丝杠效率	0.95

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