Multi-motor position-sensorless synchronous control method for climbing of electric automobile

Abstract

An electric vehicle climbing multi-motor position-sensorless synchronous control method comprises the following steps: estimating an extended counter electromotive force based on a static coordinate system, namely an alpha-beta coordinate system, constructing a self-adaptive sliding-mode observer, adopting a phase-locked loop (PLL) to replace arc tangent calculation to track a rotor position, and constructing a current loop active-disturbance-rejection controller according to given current and estimated current, comprising the following steps: step 1, designing a self-adaptive sliding-mode observer to obtain a rotor position estimation value; 2, constructing a current loop active-disturbance-rejection controller based on the estimated current and a current given value, wherein the current loop active-disturbance-rejection controller comprises a tracking differentiator TD, an extended state observer ESO and a nonlinear state error feedback control law NLSEF; the rotating speed estimation precision and the rotor position estimation precision are improved; and the influence of torque fluctuation is reduced.

Description

technical field [0001] The invention belongs to the technical field of transmission control of AC motors, and in particular relates to a synchronous control method for electric vehicles with multiple motors for climbing slopes without position sensors. Background technique [0002] At present, electric vehicles using motors as traction power sources have received extensive attention and vigorous development. On the one hand, electric vehicles have the advantages of low noise, low vibration, energy saving and environmental protection, which can not only get rid of dependence on oil, but also reduce carbon dioxide emissions, effectively alleviating energy and environmental crises. On the other hand, PMSM (surface-mounted permanent magnet synchronous motor) has the advantages of high efficiency, high power density, simple structure, low noise and small size, and is very suitable for use as a traction motor in electric vehicles. However, the existing electric vehicle traction s...

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Problems solved by technology

And this kind of sudden torque fluctuation will lead to the deviation of the initial position estimation of the rotor in the position sensorless control of the permanent magnet synchronous motor, which will affect the control performance of the permanent magnet synchronous motor without a position sensor and cause the startup failure of the motor under high torque output. When the control accuracy of a single motor is damaged, the tracking error and synchronization error of multi-motor cooperative control will also increase, affecting the driving performance of electric vehicles

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