车用大功率柴电机组机电耦合动力学特性及控制

doi:10.12382/bgxb.2024.0397

摘要/Abstract

摘要：

大功率柴电机组是重型串联式混合动力车辆的供电单元,受多缸柴油机曲轴谐振转矩冲击和发电机电磁转矩脉动耦合作用的影响,系统扭转振动现象突出,动力学品质较差。针对上述问题,建立考虑机电耦合效应的发动机-发电机组动力学模型,分析机电耦合效应对系统固有特性的影响,揭示扭转振动特性随电磁刚度、转子偏心率、扭转减振器刚度等参数变化的规律,分析系统在发动机和电机联合激励作用下动力学响应特性,明确了主响应的阶次。为解决低频扭转振动响应过大的问题,提出基于双回路解耦的扭转振动控制总体框架,针对发动机主谐次扰动抑制设计面向启停机过程的独立模态空间最优控制器和面向稳态运行工况的自适应滤波补偿控制器,并进行仿真验证。研究结果表明,所设计的扭转振动主动控制算法能够在发动机全速域内实现对主谐次扭转振动的有效抑制。

关键词: 柴电机组, 机电耦合, 动力学模型, 振动控制

Abstract:

The high-power diesel generator set for vehicles is the power supply unit of heavy-duty series hybrid electric vehicles.Due to the coupling effect of the torque impact of multi-cylinder diesel engine crankshaft and the electromagnetic torque pulsation of generator,the system torsional vibration phenomenon is prominent,and the dynamic quality is poor.A dynamic model of engine-generator set considering the electromechanical coupling effect is established,and the influence of electromechanical coupling effect on the inherent characteristics of the system is analyzed.The law of variation of torsional vibration characteristics with the parameters,such as electromagnetic stiffness,rotor eccentricity and torsional damper stiffness,is revealed.The dynamic response characteristics of the system under the combined excitation of engine and motor are analyzed,and the order of the main response is clarified.A torsional vibration control overall framework based on dual loop decoupling is proposed to solve the problem of excessive low-frequency torsional vibration response.An independent modal space optimal controller for the start stop process and an adaptive filtering compensating controller for steady-state operating conditions are designed for the suppression of engine main harmonic disturbances,and are verified through simulation.The results show that the proposed torsional vibration active control algorithm can achieve the suppression of main harmonic torsional vibration in the full speed domain of the engine.

Key words: diesel generator set, electromechanical coupling, dynamic model, vibration control

中图分类号:

U461

韩政达, 吴云豪, 张伟, 刘翼, 刘金刚, 朱卫国. 车用大功率柴电机组机电耦合动力学特性及控制[J]. 兵工学报, 2025, 46(4): 240397-.

HAN Zhengda, WU Yunhao, ZHANG Wei, LIU Yi, LIU Jingang, ZHU Weiguo. Research on Electromechanical Coupling Dynamic Characteristics and Control of High-power Diesel Generator Set for Vehicle[J]. Acta Armamentarii, 2025, 46(4): 240397-.

图/表 37

图1 车用柴电机组系统组成框图

Fig.1 Component block diagram of diesel generator set for vehicles

图2 发动机输出转矩特性(曲轴转速:1800r/min)

Fig.2 Engine output torque characteristics (crankshaft speed:1800r/min)

图3 发电机输出转矩特性

Fig.3 Generator output torque characteristics

图4 柴电机组扭转振动模型

Fig.4 Torsional vibration model of diesel generator set

表1 模型各集中质量编号及含义

Table 1 Comparisons of groove sizes set

编号	部件	编号	部件	编号	部件	编号	部件
1	减振器被动端	7	气缸3	13	气缸7	19	气缸11
2	减振器主动端	8	气缸4	14	气缸8	20	气缸12
3	轴颈1	9	轴颈3	15	轴颈5	21	轴颈7
4	气缸1	10	气缸5	16	气缸9	22	飞轮
5	气缸2	11	气缸6	17	气缸10	23	增速齿轮副
6	轴颈2	12	轴颈4	18	轴颈6	24	发电机

表2 电机磁场对系统固有频率的影响

Table 2 Effect of generator field on natural frequency of system Hz

耦合条件	1阶	2阶	3阶	4阶	5阶
考虑机电耦合	45.5	97.4	113.6	274.4	425.1
忽略机电耦合	61.6	97.4	260.7	274.4	533.7

图5 第1~第4阶固有振型对比

Fig.5 Comparison of the 1st to 4th-order natural vibration modes

图6 内功率因素角对系统振动特性的影响

Fig.6 The influence of internal power factor angle on system vibration characteristics

图7 电机电枢电流对系统的影响

Fig.7 The influence of motor armature current on the system

图8 电机转子偏心率对系统的影响

Fig.8 The influence of eccentricity of motor rotor on the system

图9 空载工况下增速排-发电机轴段转矩响应

Fig.9 Generator shaft torque response under no-load condition

图10 空载工况下发电机转子扭转振动角位移响应

Fig.10 Response of torsional vibration angular displacement under no-load condition

图11 空载工况下扭转振动角加速度时域曲线

Fig.11 Torsional vibration angular acceleration-time curve under no-load conditions

图12 加速度三维谱图(空载)

Fig.12 Three-dimensional spectrum of unloaded acceleration

图13 加载工况增速排-发电机轴段转矩频谱

Fig.13 Frequency spectrum of shaft torque during loading

图14 发电机转子扭转振动角位移频谱

Fig.14 Vibration angle displacement spectrum of generator rotor

图15 解耦型双回路控制结构图

Fig.15 Decoupling type dual loop control structure diagram

图16 发动机-发电机组主副控制器解耦条件

Fig.16 Decoupling conditions for main and auxiliary controllers

图17 独立模态空间控制框图

Fig.17 Block diagram of independent modal space control

图18 不同气缸激励下发动机到J1处响应

Fig.18 J1 response to cylinder excitation

图19 不同气缸激励下发动机到J2处响应

Fig.19 J2 response to cylinder excitation

图20 不同气缸激励下发动机到J3处响应

Fig.20 J3 response to cylinder excitation

图21 不同气缸激励下发动机到J9处响应

Fig.21 J9 response to cylinder excitation

图22 不同气缸激励下发动机到J10处响应

Fig.22 J10 response to cylinder excitation

图23 不同气缸激励下发动机到J11处响应

Fig.23 J11 response to cylinder excitation

图24 扭转减振器从动端和发电机端转速波动

Fig.24 Speed fluctuation at torsion damper driven endand generator end

图25 转速波动

Fig.25 Speed fluctuation at torsion damper driven end and generator end

图26 转速波动

Fig.26 Rotation speed fluctuation

图27 自适应扭转振动抑制控制框图

Fig.27 Block diagram of adaptive torsional vibration control

图28 控制强度σ

Fig.28 Control level σ

图29 电机轴转速波动(稳态工况)

Fig.29 Output shaft speed fluctuation(steady condition)

图30 发动机转速

Fig.30 Engine speed

图31 电机轴转速波动(动态工况)

Fig.31 Output shaft speed fluctuation(dynamic condition)

图32 硬件在环测试平台实物图

Fig.32 Hardware in the loop testing platform

图33 硬件在环仿真测试结果

Fig.33 Simulated results of hardware in the loop test

图34 电机轴转矩(测试转速:1400r/min)

Fig 34 Motor shaft torque (test speed:1400r/min)

图35 电机轴转矩(测试转速:1800r/min)

Fig 35 Motor shaft torque (test speed:1800r/min)

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