Research On Composite Sliding Mode Control/deadbeat Predictive Control Of Permanent Magnet Synchronous Hub Motors

Due to the prominent problems of energy security and environmental pollution,the new energy vehicle industry plays an important role in energy saving and promoting new energy research,etc.Therefore,its development strategy is a strategic opportunity for China and even the world.No matter what specific form new energy vehicles take,the motor is the core technology in the vehicle system as well as its control schemes.Permanent magnet synchronous hub motor(PMSHM)is directly placed at the Hub by distributed drive,where a permanent magnet synchronous motor(PMSM)is adopted.The use of this distributed drive can reduce the number of mechanical transmission mechanisms including reducer and drive shaft,thus greatly improving energy efficiency and improving vehicle handling performance.PMSM is extensively adopted in hub motors because of its merits including firm structure,stable torque,high peak efficiency and wider speed range.Therefore,it is very important to explore the high performance control scheme of PMSHM to improve the driving performance of the vehicle.This thesis is supported by the National Natural Science Foundation of China51875261,the Natural Science Foundation of Jiangsu Province BK20180046,and the Graduate Research and Practice Innovation Program of Jiangsu Province SJCX19＿0574.For new energy vehicles performance requirements of the permanent magnet hub motor control technology,starting from the basic theory and its mathematical model,the new types of permanent magnet hub motor control methods have been presented.Based on dSPACE rapid control prototyping platform complete control method validation,the key is based on modern control theory to improve the control method of permanent magnet wheel motor.The main research contents include:1.The basic principle and structure type of PMSHM have been expounded,the advantages of PMSHM relative to other types of motor have been analyzed,the mathematical models of PMSHM have been deduced in different coordinate systems,and how to obtain the control voltage vector of motor through space vector pulse width modulation technology has been revealed.The magnetic field-oriented control scheme has been further simulated and verified.2.A composite sliding mode control strategy has been proposed for speed control of PMSHM.The method is constitutive of a novel hybrid reaching law-based speed control and a sliding mode mechanical disturbance observer(SMMDO)to enhance control property.Compared with the conventional constant plus proportional rate reaching law(CPRL),the HRL can effectively suppress the chattering and reduce the reaching time.The SMMDO can estimate the extra chattering produced by the drive system’s lumped disturbance and compensate for the controller’s output.Based on the proposed new HRL andSMMDO,an anti-disturbance composite sliding mode speed controller is designed to improve the performance of PMSHM drive systems.The performance of the proposed method has been validated experimentally.3.Based on stator current and lumping disturbance sliding mode electrical disturbance observer(SMEDO),an improved deadbeat predictive current control method(DBPC)has been proposed.In order to evaluate the relationship between the current response and the three parameter mismatches,the parameter sensitivity analysis has been primarily performed.Then a SMEDO based on stator current and lumped disturbance was designed to estimate the future current value and lumped disturbance caused by parameter mismatching,which effectively eliminating the influence of parameter mismatching.In addition,considering the effects of calculation and sampling delay,the discrete expression of the SMEDO was used to estimate the current and replace the sampling value to compensate for the one-step delay.Both simulation and experimental properties of the improved method have been verified.And the results show the superiority of the improved predictive current control based on the SMEDO.4.A prototype development platform of PMSHM rapid control based on dSPACE has been established.The V-shaped development process of PMSHM control algorithm development through software was introduced,including the testing steps of model-inloop,software-in-loop,processor-in-loop and hardware-in-loop.Then the circuit design,power supply circuit design,and bus voltage protection circuit design have been expounded and the software design process has been described.The proposed PMSHM sliding mode control based on the new reaching rate and the deadbeat predictive control enhanced by the disturbance voltage compensation have been experimentally verified with the rapid control prototype platform.Experimental results indicate that the chattering of the sliding mode velocity controller can be effectively suppressed by the hybrid reaching law introduced into the controller.While the sliding mode electrical disturbance observer based on stator current and lumped disturbance can effectively eliminate the influence of parameter mismatch.