盘式永磁同步电机直接驱动独立车轮及导向控制技术  

Disc PMSM Directly Driven Independently Rotating Wheel and Steering Control Method

作　　者：孙效杰[1] 陆正刚[1] 张劲[1] 

机构地区：[1]同济大学铁道与城市轨道交通研究院,上海200331

出　　处：《中国铁道科学》2013年第6期93-98,共6页China Railway Science

基　　金：科技部科技支撑计划项目(2009BAG11B02)

摘　　要：为解决低地板轻轨车辆所用传统电机体积大、能效低等问题,提出架悬盘式永磁同步电机(PMSM)解决方案。PMSM通过弹性万向节直接驱动低地板轻轨车辆的独立车轮;以滑模观测器获得的PMSM转子位置角和角速度的估计值作为控制依据,实现无位置传感器的PMSM矢量控制;转向架同一侧的2个电机采用偏差耦合控制,以保持纵向转速同步;对左右两侧的电机,根据反馈的其转速差估计值进行控制,以保证车辆在直线上行驶时左右车轮同步,在曲线上行驶时左右车轮转速差合理。根据采用独立车轮的低地板轻轨车辆动力学方程,运用MATLAB/Simulink软件建模对该方案进行仿真验证。结果表明:采用该方案的车辆在直线上行驶时左右车轮同步,而且具有恢复自导向的能力;在曲线上行驶时通过控制左右车轮的转速差,能够使轮对几乎沿轨道中心线运行,横移量小于1mm,冲角接近于0,且因导向控制而消耗的电机功率不超过250W。The conventional motors in low floor LRV （Light Rail Vehicle） are larger in size and low in energy efficiency. To solve these problems, the frame-mounted disc Permanent Magnet Synchronous Motor （PMSM） was proposed. An elastic cardan joint had been installed to directly drive the independently rotating wheels of low floor LRV by PMSM. The sensorless vector control of PMSM had been achieved based on the estimated rotor angular position and rotating speed from sliding mode observer. The two motors at the same side of bogie could synchronize in the longitudinal direction under deviation coupling control. The motors at left and right sides of bogie would control rotating speed difference, which were got from esti- mated value via sliding mode observer. The steering control strategies of wheelsets included synchronous control on straight track and relative rotating speed control on curve track. According to the system dy- namic equation, the model of low floor LRV with independently rotating wheels had been set up by MAT- I.AB/Simulink to check the control method. The simulation results indicate that vehicle owns self-steering performance under synchronous control while running on straight track. Meanwhile, the wheelsets can almost run along the central line under relative speed difference control on curve track. The lateral displacement of wheelsets is less than 1 ram, and the attack angle is close to zero. The power consumption of motor is no more than 250 W due to steering control.

关 键 词：永磁同步电机 架悬式 盘式 直接驱动 独立车轮 导向控制 轻轨车辆 

分 类 号：U266.2[机械工程—车辆工程] U264.4[交通运输工程—载运工具运用工程]