CN1191670C - DC motor control system of electric vehicle - Google Patents
DC motor control system of electric vehicle Download PDFInfo
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- CN1191670C CN1191670C CNB001103156A CN00110315A CN1191670C CN 1191670 C CN1191670 C CN 1191670C CN B001103156 A CNB001103156 A CN B001103156A CN 00110315 A CN00110315 A CN 00110315A CN 1191670 C CN1191670 C CN 1191670C
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The present invention relates to a DC motor control system of an electric vehicle. Accumulator voltage is modulated by a PWM chopper voltage regulator with fixed frequency formed by C, IGBT, D, and then is added on both ends of a DC motor M. A grid electrode of the IGBT is controlled by nine feet of the output end of an integrated controller TL494 of a switching power supply. A control command signal is added on four feet of the control end of the dead time of the integrated controller TL494 of a switching power supply. A Hall current sensor HCS in a main circuit is connected with a foot of the TL494 to form a current limiting regulator. The present invention regulates the rotary speed of the DC motor by an original acceleration pedal, and the electric vehicle has good starting and acceleration performance.
Description
Technical field
The present invention relates to vehicle technology, provide a kind of especially and regulated motor speed, make electric motor car have the good starting and the DC motor control system of electric vehicle of acceleration performance by former throttle pedal.
Background technology
At present, electric motor car research is in the starting stage, and its corresponding electric machine control system does not appear in the newspapers.The drive controlling of modern DC motor all adopts crystal amplifier to realize, the crystal amplifier system can be divided into two types of linear amplifier and switching amplifiers.Linear amplifier has linear control characteristic, does not have the obvious control hysteresis, and speed control range is wide.But just because of work in the linear amplification state, the loss of power device is big, efficient low (the highest be no more than 50%).Therefore, linear amplifier is generally only used in low power occasion to some extent, and what adopt in a large number is switching amplifier.Switching amplifier always is in conducting or off-state, and during conducting, tube voltage drop is very little, and electric current is approximately zero when disconnecting, so, no matter be on-off, transistorized power consumption is all very little, and this has just improved the efficient of switching mode power amplifier greatly.Pulse-width modulation (PWM) mode is adopted in the driving of switching amplifier more, and promptly the amplifier operating frequency is fixed, and by changing the width (angle of flow) of conducting pulse, changes the average voltage level that is added in the load.As DC motor control system of electric vehicle, its load is high power DC electric machine (rated power 25～45KW, rated voltage 180～240V, rated current 140～200A), armature resistance is very little, in starting and speed when very low, electric current will be very big, and excessive electric current will produce excessive electromagnetic torque, make motor damage, also can produce excessive armature reaction, cause the permanent demagnetization of motor.In addition, the capacity of power device all has certain limitation in the control Driver Circuit, excessive electric current can burn out these devices, therefore, for electric motor car high power motor drive system, should produce response fast to control command, make electric motor car have good starting and acceleration performance, the dynamic operational behaviour that guarantees the switching mode power device again is within its safe handling scope (SOA).To this, existing direct current machine Driving technique is difficult in the requirement that aspects such as speed governing and dynamic protection satisfy electric motor car.
Summary of the invention
The object of the present invention is to provide a kind of DC motor control system of electric vehicle, it can regulate motor speed by former throttle pedal, and makes electric motor car have good starting and acceleration performance.
The invention provides a kind of DC motor control system of electric vehicle, it is characterized in that: this system is added to the motor M two ends by the direct voltage Us of battery after through the fixed-frequency PWM chopper control device modulation that is made of storage capacitor C, insulated gate bipolar transistor IGBT, sustained diode; The grid of IGBT is by the output 9 foot control systems of Switching Power Supply integrated manipulator TL494; Control command signal is added on Dead Time control end 4 pin of Switching Power Supply integrated manipulator TL494, and the Hall current sensor HCS in the major loop connects and composes current limiting regulator by 1 pin of low-pass filtering, signal amplifier and TL494.
Add noninductive resistance Rs, noninductive capacitor C s and fast recovery type diode Ds to constitute surge voltage absorbing circuit at the two ends of switching device IGBT and sustained diode among the present invention.Output 9 pin of TL494 are by the grid of integrated isolated drive circuit M57962L control IGBT.
The present invention adopt high pressure, at a high speed, high-power switch device IGBT (igbt) constitutes PWM chopper control device, control command signal (as displacement transducer, pressure sensor, potentiometer etc.) is converted to the Dead Time control end that is added to Switching Power Supply integrated manipulator (as TL494, SG3525, MC34060, UC3842 etc.) behind the voltage signal, by regulating the pulse duration of pwm signal, reach the purpose of regulating the output average voltage.Utilize error amplifier that the Switching Power Supply integrated manipulator includes as current limiting regulator, with the peak value of load current in the restriction major loop in addition.And adopt the gate isolation drive circuit of the special-purpose integrated isolated drive circuit M57962L of mixing of IGBT as IGBT.Adopt noninductive resistance, noninductive electric capacity and fast recovery type diode to constitute surge voltage absorbing circuit, the overvoltage that causes because of the major loop stray inductance on limit switch device IGBT and the fly-wheel diode is impacted.
Switching Power Supply integrated manipulator TL494 is a kind of PWM-type (PWM) Switching Power Supply integral control circuit, comprise the required whole control circuits of switching power supply, error amplifier, oscillator, pulse width modulator, pulse generator, output switching tube and current foldback circuit are wherein arranged, can be used to produce pwm control signal; Chip includes two error amplifiers, can be designed to have the fixedly voltage stabilizing value switching power source control circuit of pressure limiting, current-limiting function.The present invention is by analyzing the internal control principle of TL494, its Dead Time controlled function is used for output voltage regulates, work out the adjustable controlling circuit of voltage regulation of voltage, use it in the electric motor car, the driver can regulate motor speed by former throttle pedal, reaches the purpose of speed governing; Utilize one of them error amplifier as current limiting regulator, peak value with load current in the restriction major loop, and its ratio-integration (PI) link, in order to the electrical characteristic of coordinated control system and the mechanical property of motor-load system, the switching mode power device is operated within the safe range (SOA), can reach quick response, thereby make electric motor car have good starting and acceleration performance.The present invention has important and using value widely in addition, according to this principle, can design power output control of the continuously adjustable voltage-stabilizing switch power source of various constant voltages, constant-current device such as voltage, adjustable high accuracy constant voltage or constant current charger, induction heating equipment etc.Below by embodiment in detail the present invention is described in detail.
Description of drawings
Accompanying drawing 1 is a system architecture diagram
Accompanying drawing 2 is the waveform of armature terminal voltage Um
Accompanying drawing 3 is the function equivalent circuit diagram of TL494
Accompanying drawing 4 is a PWM waveform generation schematic diagram
Accompanying drawing 5 is the control circuit block diagram
Accompanying drawing 6 is a practical circuit
Embodiment
System architecture diagram as shown in Figure 1.Battery adopts 120 series connection of Ni-MH 60Ah battery to use, and voltage U s is 144V.After modulating, fixed frequency (20KHz) the PWM chopper control device that the direct voltage Us of battery constitutes through IGBT is added to the motor M two ends.The waveform of armature terminal voltage Um as shown in Figure 2.Motor speed is determined by average voltage Ua.Change the conducting width (t) of IGBT in a switch periods (T), can change the size of average voltage Ua, thereby control rotating speed of motor.D is a fly-wheel diode, and in power device IGBT procedures of turn-off, the self induction electromotive force of motor makes the fly-wheel diode forward conduction, provides a continuous current circuit to load current, simultaneously with IGBT terminal voltage clamper in supply voltage Us.V1 select for use the high pressure of MIT, at a high speed, large power semiconductor device IGBT (CM300HA-12H), its rated current is 300A, rated voltage is 600V.Rs, Cs, Ds are surge voltage absorbing circuit, suppress the switching abnormal voltage on IGBT and the sustained diode.Rs, Cs are that noninductive resistance and first electrification hold, and Ds is the fast recovery type diode.Electrochemical capacitor C is a storage capacitor, and the auxiliary discharge electric current is provided when the IGBT conducting.FUSE is a fuse, and the load short circuits protection is provided.HCS is the Hall current instrument transformer, for control circuit provides current signal.Motor is selected permanent magnet DC motor for use, and its rated power is 25KW, and rated speed is 3000rpm, and rated voltage is 180V, and rated current is 147A.
Fig. 3 is the function equivalent circuit diagram of TL494.4 pin of error amplifier A1 wherein and the output of A2 (A, B) and TL494 after the diode parallel connection by three equivalences, are compared with the sawtooth waveforms that oscillator produces and are produced the PWM ripple.PWM waveform generation schematic diagram is seen Fig. 4, right figure as seen, the pulse duration of the voltage comparator A3 of TL494 output (C) is by voltage soprano decision among A, B and the 4 pin threes.Usually, 4 pin of TL494 are used for control of soft, dead band control and protection control, and amplifier A1 or A2 are used for constant voltage or constant flow regulation.The 5V reference voltage output end that 14 pin provide for inside, 13 pin are way of output control end, and the decision out drive stage is complementary output (high level is effective), still output (low level is effective) synchronously.Just because of the pulse duration of PWM waveform is subjected to the 4 foot control systems of TL494, therefore can reach the purpose of regulating PWM output average voltage by regulating 4 pin voltages.And utilize one of them error amplifier as current limiting regulator, with the peak value of load current in the restriction major loop.
Fig. 5 is the control circuit block diagram.By the load current signal in the Hall current sensor collection major loop, behind the low pass filter filters out radio-frequency component, become level and smooth direct current signal, the current feedback signal that becomes suitable amplitude again after signal amplifier amplifies is added in the pwm signal generation and control circuit that is made of TL494, its output pwm control signal is after the M57962L isolation drive, be added on the grid of IGBT, reach into the PWM control loop.
Practical circuit is seen Fig. 6.The current signal of Hall current sensor (HCS) M end output is transformed to voltage signal through resistance R 1, on the second-order low-pass filter through being added to R2, C1, R3, C2, R4, R5 formation after the potentiometer P1 sampling, on in-phase end 3 pin of output direct current signal through being added to amplifier CA3 140 after R4, the R5 dividing potential drop, its end of oppisite phase 2 is connected to ratio and regulates resistor network (R6, R7, R8, P2), direct current signal after the amplification is exported 1 pin (being the in-phase end of internal error amplifier A1) that is added to TL494 through 6 pin, forms current feedback signal.The 5V reference voltage of 14 pin output is added to 2 pin (being the end of oppisite phase of error amplifier A1) through resistance R 9, so that the reference voltage of comparison to be provided after R14, P3 dividing potential drop.Resistance R 10 between 2 pin, 3 pin, R11 and capacitor C 4 and resistance R 9 compositions-integration (PI) adjuster.5 pin, 6 pin connect timing element (capacitor C 6 and resistance R 12), to constitute fixing PWM frequency of oscillation (f=1.1/Rt*Ct).Its 13 pin ground connection forms single-ended output.By regulator potentiometer P4, regulate the terminal voltage of TL4944 pin, thereby regulate the pulse duration of pwm signal.C5 is a filter capacitor, and R13 is a divider resistance, in order to limit the terminal voltage of 4 pin.The PWM modulation signal that TL494 produces is exported by 9 pin, is added to control end 14 pin of M57962L through resistance R 16.M57962L mixes integrated isolated drive circuit for the IGBT module-specific, and its 5 pin output drive signal is added to through resistance R 18 on the grid G of IGBT.Z1, Z2, Z3 are the voltage-stabiliser tube that protection device is used, and D1 is a fast recovery diode, and in order to the over-current detection of IGBT, 8 LED light that pin connects are the over-current signal indication.
Repack Toyota's VANNETE minibus into electric motor car, car body weight is 1500Kg; Motor is selected the Nd-Fe-B permanent magnet DC motor for use, and motor rated power is 25KW, and rated speed is 3000rpm, and rated voltage is 180V.Battery adopts 120 series connection of Ni-MH 60Ah battery to use, and voltage is 144V.Alignment circuit adopts power device IGBT module to constitute the PWM chopper and regulates electric moter voltage.Control circuit can stepless speed regulation and is had overcurrent protection function, can limit maximum starting current, and contingent at any time motor overload current peak in the driving process.The performance index that car load can reach are:
1, F-Zero: 70Km/h
2, continual mileage: the 90Km (40Km/h constant speed drive) that once charges
3, acceleration performance: (0～40Km/h)＜30s
4, max. climb slope: 10 °
Claims (3)
1, a kind of DC motor control system of electric vehicle is characterized in that: this system is added to motor (M) two ends after being modulated through the fixed frequency pulse width modulated chopper control device that is made of storage capacitor (C), igbt (IGBT), fly-wheel diode (D) by the direct voltage (Us) of battery; The grid of igbt (IGBT) is by output the 9th pin (9) control of Switching Power Supply integrated manipulator (TL494); Control command signal is added on Dead Time control end the 4th pin (4) of Switching Power Supply integrated manipulator (TL494), and the Hall current sensor in the major loop (HCS) connects and composes current limiting regulator by first pin (1) of low-pass filtering, signal amplifier and Switching Power Supply integrated manipulator (TL494).
2, according to the described DC motor control system of electric vehicle of claim 1, it is characterized in that: the two ends that noninductive resistance (Rs), noninductive electric capacity (Cs) and fast recovery type diode (Ds) are added in switching device igbt (IGBT) and fly-wheel diode (D) respectively constitute surge voltage absorbing circuit.
3, according to the described DC motor control system of electric vehicle of claim 1, it is characterized in that: output the 9th pin (9) of Switching Power Supply integrated manipulator (TL494) is by the grid of integrated isolated drive circuit (M57962L) control igbt (IGBT).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001103156A CN1191670C (en) | 2000-04-12 | 2000-04-12 | DC motor control system of electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB001103156A CN1191670C (en) | 2000-04-12 | 2000-04-12 | DC motor control system of electric vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN1317421A CN1317421A (en) | 2001-10-17 |
| CN1191670C true CN1191670C (en) | 2005-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB001103156A Expired - Fee Related CN1191670C (en) | 2000-04-12 | 2000-04-12 | DC motor control system of electric vehicle |
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| CN (1) | CN1191670C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7800331B2 (en) * | 2007-11-27 | 2010-09-21 | Gm Global Technology Operations, Inc. | Method and system for operating an electric motor coupled to multiple power supplies |
| CN101615878B (en) * | 2009-05-14 | 2012-05-23 | 漳州维德焊接技术开发有限公司 | Compensation control circuit of direct current motor |
| CN101814727B (en) * | 2010-05-18 | 2012-08-08 | 福州欣联达电子科技有限公司 | Permanent magnet motor high rotating speed current limiting circuit |
| CN102009599B (en) * | 2010-12-03 | 2013-01-09 | 湖北泰戈电动汽车开发有限公司 | Electric automobile and control system thereof |
| CN104811096A (en) * | 2015-05-14 | 2015-07-29 | 张晓冬 | Soft starting system for fuel oil automobile |
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- 2000-04-12 CN CNB001103156A patent/CN1191670C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN1317421A (en) | 2001-10-17 |
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