考虑空载损耗的IPMSM半实物实时仿真测试*

黄苏融，李良威，高瑾，黄洋

(上海大学 机电工程与自动化学院，上海200072)

摘要：提出了一种基于数字化虚拟电机的半实物实时仿真测试方法。利用FPGA构建了考虑空载损耗的内置式永磁同步电机(IPMSM)以及基于同步状态机的逆变器的虚拟电机系统。虚拟电机系统的仿真步长为1μs，逼近真实工况。采用dSPACE作为控制器，搭建了基于IPMSM虚拟电机系统的硬件在环(HIL)实时仿真平台。在四象限运行的车用电机实物平台上进行了电机的空载、负载工况下的矢量控制试验。通过与HIL试验结果的对比，验证了虚拟永磁同步电机系统的有效性和准确性。

关键词：虚拟内置式永磁同步电机系统； 空载损耗； 硬件在环； 半实物实时仿真

基金项目：* 国家863计划项目(2012AA111302)；上海市科委项目(11511100503)

通讯作者：黄苏融

中图分类号：TM 301文献标志码： A

收稿日期：2014-01-31

Semi-Physical Real-Time Simulation and Test of

IPMSM Considering Noload Loss Effect

HUANGSurong，LILiangwei，GAOJin，HUANGYang

(School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China)

Abstract：A real-time hardware in loop simulation test method of digital virtual motor was proposed. A virtual IPMSM system model close to the real conditions was established based on FPGA， the simulation step of which was 1μs, including IPMSM model considering no-load loss and inverter model based on synchronous state machine. Using dSPACE as the controller, a hardware in the loop (HIL) simulation platform of virtual IPMSM system based on FPGA was set up. The vector control experiments of no-load and load conditions had been done in the four quadrant operation physical platform of IPMSM for electric vehicles. By comparing HIL experimental results with physical platform results, the validity and accuracy of the virtual IPMSM system had been verified.

Key words： virtual interior permanent magnet synchronous motor system; noload loss; hardware-in-the-loop; semi-physical real-time simulation

0引言

永磁同步电机(Permanent Magnet Synchron-ous Motor, PMSM)具有体积小、效率高、能量密度大等优势,在电动汽车中得到了广泛应用。电动汽车PMSM的损耗和效率一直是研究的热点，建立考虑铁耗的PMSMd-q模型是在控制领域分析电机的损耗并研究效率提升的先决条件[1]。这些模型基于如下假设： (1) 只考虑可控的损耗、铁耗和铜耗；(2) 铁耗用等效的损耗电阻来表示。目前常用的d-q模型有两种： 一种是Roy S. Colby在1987年提出的在电感和旋转磁动势支路上并联等效铁耗电阻的数学模型[2]，其能量流程分析类似于异步电机，电磁转矩计算复杂，要同时考虑铁耗电流和转矩电流分量；……