叉车用直流电机高效驱动系统及传导干扰的分析与抑制
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摘要
电动叉车作为物流机械的重要工具,正在逐步地取代传统的汽油式和柴油式叉车,近几年来随着新能源汽车的快速发展,进一步促进了电动叉车行业的发展,与此同时,人们对叉车用电机驱动控制系统的性能和效率提出了更高的要求,目前这种高性能的电机驱动控制系统主要依赖进口,针对这一现状,研发高效率、低电磁干扰的叉车用直流电机驱动控制系统具有重要意义。本文在设计高效驱动控制器的同时深入分析驱动控制系统的电磁干扰源和传播路径机理,并在此基础上建立了高频干扰模型,提出了一种前馈型有源电磁干扰(EMI)滤波器,并对高频模型和滤波器的结构、参数、性能等进行了详尽和系统的分析。
电动叉车用电机驱动控制系统的效率不仅关系到节能减排,而且它还直接影响到叉车的有效作业时间和电池的使用寿命。为提高叉车用电机驱动控制系统的效率,本文从两个方面来降低功耗,一方面在叉车用他励直流电机驱动控制器中采用同步续流技术来有效降低功耗;另一方面,针对电机工作在起动、制动、堵转等特殊工况下回路电流过大引起的功耗问题,提出了蚁群神经网络整定PID的控制策略。采用蚁群神经网络整定PID的控制策略不仅可以降低功耗而且还可以解决系统由于参数摄动、非线性和外界扰动对系统控制性能的影响,实现叉车快速起动、平稳运行的目的。
电机驱动控制系统的电磁兼容性直接影响到整车的可靠性。本文针对直流电机驱动控制系统的传导电磁干扰问题,首先建立了直流电机驱动控制系统的高频传导干扰模型,然后基于模型提出了有效的抑制措施。目前电机驱动控制系统传导干扰模型的参数大多是根据经验估算得到,不能作为电机驱动系统传导干扰整个频段的模型参数来分析。为准确建立系统高频干扰模型,本文提出了蚁群算法进行电路模型参数自动寻优的方案,建立电机侧和驱动控制器侧的高频电磁干扰模型,利用PSPICE电路仿真软件进行频谱分析,并与线性阻抗稳定网络的共模传导干扰的分析结果进行对比,优化系统整体模型,最后根据模型提出了采用前馈型有源EMI滤波器来抑制他励直流电机驱动控制系统的共模传导电磁干扰。
本文针对叉车用直流电机驱动控制系统的性能和共模传导电磁干扰做了大量的实验研究,实验结果表明该驱动控制系统可以有效降低功耗,提高效率;设计的EMI滤波电路,结构简单,同时不需要额外的供电电源,可以有效抑制系统的共模电磁干扰,完全满足国际电磁干扰的B类标准。
Electric forklift as an important tool for the logistics machinery has gradually taken the place of gasoline or diesel forklift. With the rapid growth of new energy vehicles, electric forklift will enjoy greater development. Meanwhile, people set stricter requirement on performance and efficiency of motor driving control system in forklift. Now, high property motor driving control system depends mainly on import. So it’s important to research DC motor driving control system with high efficiency and low electromagnetic interference(EMI). In this dissertation, build up the high frequency interference model and propose an active forward feedback EMI filter while analyze the electromagnetic interference source and propagation path in depth, then intensively and systematically analyze high frequency model and structure, parameters, performance of the filter.
The efficiency of DC motor driving control system in electric forklift relates to conserve energy and it will influence operation time of forklift and service life of cell. In order to achieve high efficiency, this dissertation reduces power dissipation in two ways. On the one hand, used the synchronous continuous current technology in separately excited DC motor driving controllers to effectively reduce power dissipation. On the other hand, for power dissipation problems caused by excessive loop current when the motor is in starting process, braking, blocking and other special conditions, this dissertation proposed ant colony neural network PID tuning control strategy, which not only could reduce power dissipation but also could solve the control performance problem which is caused by parameter perturbation, nonlinearity and external disturbance, to realize that forklift is fast started and smoothly operated. Electromagnetic Compatibility(EMC) of DC motor driving control system influences the whole electric forklift reliability. For conducted EMI problems of DC motor driving control system, the first is to build up accurate high-frequency conducted interference model of this system, then propose the effective suppression measures based on this model. The current parameters of conducted interference model of motor driving control system are mostly estimated by experience which is unsuitable as the model parameters of the whole conducted interference band to be analyzed. In order to build up accurate high-frequency interference model, this dissertation presents ant colony algorithm with auto-optimization to find the model parameters on motor side and controller side. Then use PSPICE circuit simulation software to analyze the spectrum and compare the result with common mode conducted interference of line impedance stabilizing network to optimize the model. Finally, use the active forward feedback EMI filter to suppress the common mode conducted EMI.
The large numbers of experiment research on performance and common mode conducted EMI of DC motor driving control system was made, and the results showed that this driving control system could effectively reduce power dissipation and improve efficiency. The structure of designed EMI filter is simple and it doesn’t require any extra power supply. It could effectively suppress common mode EMI and qualify to B class regulation of international EMI.
电动叉车用电机驱动控制系统的效率不仅关系到节能减排,而且它还直接影响到叉车的有效作业时间和电池的使用寿命。为提高叉车用电机驱动控制系统的效率,本文从两个方面来降低功耗,一方面在叉车用他励直流电机驱动控制器中采用同步续流技术来有效降低功耗;另一方面,针对电机工作在起动、制动、堵转等特殊工况下回路电流过大引起的功耗问题,提出了蚁群神经网络整定PID的控制策略。采用蚁群神经网络整定PID的控制策略不仅可以降低功耗而且还可以解决系统由于参数摄动、非线性和外界扰动对系统控制性能的影响,实现叉车快速起动、平稳运行的目的。
电机驱动控制系统的电磁兼容性直接影响到整车的可靠性。本文针对直流电机驱动控制系统的传导电磁干扰问题,首先建立了直流电机驱动控制系统的高频传导干扰模型,然后基于模型提出了有效的抑制措施。目前电机驱动控制系统传导干扰模型的参数大多是根据经验估算得到,不能作为电机驱动系统传导干扰整个频段的模型参数来分析。为准确建立系统高频干扰模型,本文提出了蚁群算法进行电路模型参数自动寻优的方案,建立电机侧和驱动控制器侧的高频电磁干扰模型,利用PSPICE电路仿真软件进行频谱分析,并与线性阻抗稳定网络的共模传导干扰的分析结果进行对比,优化系统整体模型,最后根据模型提出了采用前馈型有源EMI滤波器来抑制他励直流电机驱动控制系统的共模传导电磁干扰。
本文针对叉车用直流电机驱动控制系统的性能和共模传导电磁干扰做了大量的实验研究,实验结果表明该驱动控制系统可以有效降低功耗,提高效率;设计的EMI滤波电路,结构简单,同时不需要额外的供电电源,可以有效抑制系统的共模电磁干扰,完全满足国际电磁干扰的B类标准。
Electric forklift as an important tool for the logistics machinery has gradually taken the place of gasoline or diesel forklift. With the rapid growth of new energy vehicles, electric forklift will enjoy greater development. Meanwhile, people set stricter requirement on performance and efficiency of motor driving control system in forklift. Now, high property motor driving control system depends mainly on import. So it’s important to research DC motor driving control system with high efficiency and low electromagnetic interference(EMI). In this dissertation, build up the high frequency interference model and propose an active forward feedback EMI filter while analyze the electromagnetic interference source and propagation path in depth, then intensively and systematically analyze high frequency model and structure, parameters, performance of the filter.
The efficiency of DC motor driving control system in electric forklift relates to conserve energy and it will influence operation time of forklift and service life of cell. In order to achieve high efficiency, this dissertation reduces power dissipation in two ways. On the one hand, used the synchronous continuous current technology in separately excited DC motor driving controllers to effectively reduce power dissipation. On the other hand, for power dissipation problems caused by excessive loop current when the motor is in starting process, braking, blocking and other special conditions, this dissertation proposed ant colony neural network PID tuning control strategy, which not only could reduce power dissipation but also could solve the control performance problem which is caused by parameter perturbation, nonlinearity and external disturbance, to realize that forklift is fast started and smoothly operated. Electromagnetic Compatibility(EMC) of DC motor driving control system influences the whole electric forklift reliability. For conducted EMI problems of DC motor driving control system, the first is to build up accurate high-frequency conducted interference model of this system, then propose the effective suppression measures based on this model. The current parameters of conducted interference model of motor driving control system are mostly estimated by experience which is unsuitable as the model parameters of the whole conducted interference band to be analyzed. In order to build up accurate high-frequency interference model, this dissertation presents ant colony algorithm with auto-optimization to find the model parameters on motor side and controller side. Then use PSPICE circuit simulation software to analyze the spectrum and compare the result with common mode conducted interference of line impedance stabilizing network to optimize the model. Finally, use the active forward feedback EMI filter to suppress the common mode conducted EMI.
The large numbers of experiment research on performance and common mode conducted EMI of DC motor driving control system was made, and the results showed that this driving control system could effectively reduce power dissipation and improve efficiency. The structure of designed EMI filter is simple and it doesn’t require any extra power supply. It could effectively suppress common mode EMI and qualify to B class regulation of international EMI.
引文
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