3 5 018 10 Vol. 3 No. 5 JOURNAL OF HARBIN UNIVERSITY OF SCIENCE AND TECHNOLOGY Oct. 018 150080 Matlab /Simulink DOI 10. 15938 /j. jhust. 018. 05. 011 TM35 A 100-683 018 05-006- 06 Stator Harmonic Optimal Control of Permanent Magnet Synchronous Motor in Electric Vehicle WANG ShuoWANG Xu-dongJIN Ning-zhiLIU Yu-boXIE Rui School of Electrical and Electronic Engineering Harbin University of Science and Technology Harbin 150080 China Abstract For the problem of harmonics in the motor stator current under the traditional control strategy of the permanent magnet synchronous motor PMSM an improved control method of suppressing current distortion by voltage compensation is proposed. Under the premise of the traditional dual feedback control framethe high-order harmonic component is extracted and the harmonic feedback is added to realize the optimization of the stator current the torque ripple is restrained and the smoothness of electric vehicle running is improved. By analyzing the high harmonic current waveform and torque waveform under the Matlab / Simulink environment simulation experimentconfirmed that the method significantly inhibited the motor stator current harmonics and validate the effectiveness of the proposed control algorithm. Keywords permanent magnet synchronous motor voltage feedback harmonic optimization torque ripple 0 IPMSM 016-1 - 515004 016RAQXJ018. 1958 1980. 199 E-mail 4601046@ qq. com.
5 63 3 u d = R s i d - ωl q i q u q = R s i q + ωl d i d + ωψ 1 u d u q d-q i d i q d q L d L q d q ψ f R s ω 4 5-5 - 6 i 1 i 5th i th 5 θ 1 θ θ 3 5 5 i a i b i c 5 d-q d-q i d = i d1 + 槡 3 i 5thcos -6ωt + θ 5 + 槡 3 i thcos 6ωt + θ +... i q = i q1 + 槡 3 i 5thsin -6ωt + θ 5 + 槡 3 i thsin 6ωt + θ +... 4 1 d-q u a u b u c u d = u d1 + d-q 槡 3 u 5thcos -6ωt + θ 5 + 槡 3 u thcos 6ωt + θ +... u q = u q1 + 16 槡 3 u 5thsin -6ωt + θ 5 + 槡 3 u thsin 6ωt + θ +... 1 5 di d u d = R s i d + L d dt - ωl qi q di d u q = R s i q + L d dt + ωl di d + ωψ f 1 f 8-5 11 13 5 10 10 SVPWM 5 5ω 11-1 ω 1 i a = i 1 sin ωt + θ 1 + i 5th sin -5ωt + θ + 13-14 i th sin ωt + θ 3 +... d-q 6 i b = i 1 sin ωt + θ 1 - PI 3 π + i 5thsin -5ωt + θ - 3 π + 15 i th sin ωt + θ 3-3 π +... 3 id = 0 i c = i 1 sin ωt + θ 1 + 3 π + i 5thsin -5ωt + θ + 3 π + i th sin ωt + θ 3 + 3 π +... 45 u d1 u q1 i d1 i q1 d-q d-q u 5th u th i 5th i th 5 θ 5 θ 5
64 3. 1 ω ωψ f1 18 4 5 d-q 45 5 19 d-q u d = R s i d1 - ωl q i q1 + 5 d-q 5 槡 3 ωl qi 5th sin -6ωt + θ 5 + 槡 3 R si 5th cos -6ωt + θ 5-3 4 d-q 槡 3 ωl qi th sin -6ωt + θ + 槡 3 R si th cos -6ωt + θ +... 6 5 d-q u q = R s i q1 + ωl d i d1 + ωψ f1-5 6 d-q 5 d-q 5 槡 3 ωl qi 5th cos -6ωt + θ 5 + 槡 3 R si 5th sin -6ωt + θ 5 + d-q d-q 槡 3 ωl di th cos 6ωt + θ + 槡 3 R si th sin 6ωt + θ +... 8 u d = R s i d1 cos -6ωt + θ 5 - ωl q i q1 sin -6ωt + θ 5 + 5ωL q i 5th + R s i 5th + ωψ f1 sin -6θ 5 - 槡 3 ωl qi th sin 1ωt + θ + 槡 3 R si th cos 1ωt + θ +... u q = R s i q1 sin 6ωt + θ 5 + ωl d i d1 cos 6ωt + θ 5-5ωL d i d5th + R s i q5th + ωψ f1 cos -6θ 5 + 1 d-q 5 d-q cos - 6θ sin - 6θ 槡 3 C dq 5thdq = [ - sin - 6θ cos - 6θ ] di th cos 1ωt + θ + 槡 3 R si th sin 1ωt + θ +... 6 9 cos 6θ sin 6θ 5 d-q C dq th dq = [ - sin 6θ cos 6θ ] 5 5 d-q 5 i d5th i q5th i dth i qth 5 d q u d5th = R s i d - 5ωL q i q5th 10. ψ f1 6 8 d-q 5 d-q u q5th = R s i q5th - 5ωL d i d5 th 8 d-q d-q d-q u d5th u q5th u dth u qth 5 u dth = R s i d - ωl q i q5th 11 u qth = R s i qth + ωl d i d PMSM d-q 10 5 11 d q u d u q th
5 65 ωl q i q ωl d i d PI 5 1011 PI 3 IGBT μs 1 R S /Ω. 85 J / kg m 0. 00815 L d /mh 4. 5 p 4 L q /mh 13. 5 T m / N m U dc /V 30 n / r /min 1500 0 5 5 5 5 6 3 5 5 d-q 4 MTPA IPMSM 5 Simulink 5 6 Simulink 4 MTPA IPMSM Matlab /Simulink ode45 3 1e-6s 10 s a A Matlab / Simulink A 1 b c
66 3 d 5 ce df 5 5 8 A 33 Hz 8 a 3. 65 A THD 13. 5% 5 165 Hz 9. 91% 0. 36 A 31 Hz 8. 4 0. 31 A 8 b 5 3. 601 A THD. % 5 165 Hz 0. % 0. 01 A 31 Hz 0. 41% 0. 015 A 11 8 FFT 9 N m 9 a. 3 N m b
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