基于PID搜索算法的永磁同步电机振动抑制研究

Research on Vibration Suppression of Permanent Magnet Synchronous Motor Based on PID Search Algorithm

针对某款新能源汽车永磁同步电机在急加减速、扭矩突变等工况下,引起的噪声增大及转速变化等影响驾驶及乘坐舒适性的指标进行研究。通过对永磁同步电机进行运动及动力学建模,列出动力学方程并对其进行坐标变换及简化,得到简化及单一控制变量。基于PID搜索算法(PSA)对永磁同步电机的变频器输出电流进行控制。设计电机测试及采集设备,并通过在电机上布置的加速度传感器采集永磁同步电机阶跃载荷及冲击载荷振动加速度信号,布置在电机周围的麦克风采集电机的噪声信号,通过测功机采集转速信号,对加速度及噪声信号时域到频域进行变换。试验结果表明PSA控制方法相对于传统PID控制方法,永磁同步电机振动加速度、转速及噪声均有明显的改善,在电机3000 r/min时加载100 N·m的阶跃扭矩时,其平均噪声由68.7 dB(A)降低到62.5 dB(A);最大加速度由0.645 m/s^(2)降低到0.247 m/s^(2),降低了61.7%,速度波动最小值由2675 r/min升高到2740 r/min,最大值由3255 r/min降低到3155 r/min。其他转速及扭矩下均有同等的改善效果,验证了该控制方法及控制模型对永磁同步电机振动抑制及噪声有明显的改善效果。

Focusing on the indicators that affect driving and riding comfort,such as increased noise and changes in rotational speed,caused by a certain new energy vehicle's permanent magnet synchronous motor under operating conditions such as rapid acceleration and deceleration and sudden torque changes.Through the motion and dynamics modeling of the permanent magnet synchronous motor,the dynamic equations are listed and subjected to coordinate transformation and simplification to obtain simplified and single control variables.The output current of the inverter of the permanent magnet synchronous motor is controlled using the PID search algorithm(PSA).The motor testing and acquisition equipment is designed,and the vibration acceleration signals of the permanent magnet synchronous motor under step load and impact load are collected by the acceleration sensor arranged on the motor,the noise signals of the motor are collected by the microphones placed around the motor,and the rotational speed signals are collected by the dynamometer.The transformation from the time domain to the frequency domain of the acceleration and noise signals is conducted.The experimental results indicate that compared with the traditional PID control method,the PSA control method has significant improvements in the vibration acceleration,rotational speed,and noise of the permanent magnet synchronous motor.The average noise is reduced from 68.7dB(A)to 62.5 dB(A)when a 100 N·m step torque is applied at 3000 r/min;the maximum acceleration is reduced from 0.645 m/s^(2) to 0.247 m/s^(2),a reduction of 61.7%,and the minimum speed fluctuation is increased from 2675 r/min to 2740 r/min,while the maximum speed fluctuation is reduced from 3255 r/min to 3155 r/min.There are similar improvement effects at other speeds and torques,whichverifies that this control method and control model have obvious improvement effects on the vibration suppression and noise reduction of the permanent magnet synchronous motor.