船舶电力推进六相同步电动机控制系统研究
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摘要
船舶电力推进是一种先进的推进方式,近几十年达到了空前繁荣。推进电动机及其控制技术是船舶电力推进的关键技术之一,船舶电力推进系统由推进电动机、推进电机逆变器、船舶推进器和控制装置构成。本论文所研究的船舶电力推进系统各个组成部分分别是:双Y移30°六相电励磁同步电动机、二极管嵌位式三电平逆变器、定距螺旋桨船舶推进器和采用基于气隙磁场定向矢量控制策略的电力推进系统控制装置。
本课题来源于“舰船综合电力技术”国家重点实验室建设和研究课题“舰船综合电力推进系统计算机仿真研究”。
在综合分析国内外船舶电力推进系统研究和发展形势的基础上,本文对船舶电力推进系统进行了深入探讨,重点针对基于三电平多相电励磁同步电动机的控制策略及其船舶电力推进电动机控制系统进行研究,并针对该控制系统所涉及的问题寻求改进措施。全文主要包括以下一些内容:
针对多相电动机的高次谐波情况和电磁关系进行研究。基于派克变换的思想获得dq旋转坐标系下的多相电励磁同步电动机数学模型;并提出了对多相电机通用的简化数学模型;以双Y移30°六相电励磁同步电动机为研究对象进行了仿真研究。
针对多电平逆变器的仿真与实现进行了研究。建立了基于空间电压矢量控制算法的仿真模型;仿真研究中采用对偶小矢量搭配改善中点电位波动的问题;针对多个开关状态对应同一待选矢量的问题引入“循边原则”确定被选择的开关状态;对过调制问题进行了相应的处理:结合二极管嵌位式三电平逆变器和五电平逆变器进行了仿真分析和硬件实现。
针对电励磁六相同步电动机的特点,建立了与之匹配的基于气隙磁场定向的矢量控制系统并进行了研究。建立了矢量控制各个环节的数学模型;采用针对电压方程不解耦部分进行电压前馈控制的方法来实现MT轴电流的独立控制:在简化模型的基础上,通过工程设计法获得调节器的控制参数;在三相电励磁同步电动机磁链观测器的基础上设计了六相电动机的磁链观测器;根据三种磁链观测方法的优缺点,确定采用电压、电流混合模型作为磁链观测器模型;为了使基于隐极电机的矢量控制方法适合凸极电机使用,结合同步电机的双反应理论对凸极电机进行等效处理,获得等效隐极电机的数学模型;对基于气隙磁场定向矢量控制六相电励磁同步电动机控制系统的运行性能进行了仿真研究。
针对船舶推进器螺旋桨负载进行研究。在船舶的空间运动模型和螺旋桨四象限模型的基础上,综合考虑船舶和螺旋桨地相互作用,建立了船桨一体化的运动模型,并结合六相同步电功机控制系统仿真研究船舶电力推进六相同步电动机控制系统典型工况下的运行性能。
针对负载扰动和参数摄动等不确定因素,结合鲁棒控制理论对船舶电力推进六相同步电动机控制系统的抗扰性能进行了改进。本文将螺旋桨负载、螺旋桨缠绕和螺旋桨破损的影响作为负载扰动,磁场等参数变化对数学模型的影响作为参数摄动来考虑,获得了只考虑转矩电流分量的船舶电力推进系统的转速闭环运动模型;将电力推进系统的H_∞控制器的设计归结为混合灵敏度问题,结合对混合灵敏度问题的研究,针对船舶电力推进系统这一控制对象,分析了模型的不确定性,选择了加权函数,建立了电力推进系统广义对象的数学模型:通过求解“2-Riccati方程”,获得H_∞控制器的传递函数,将H_∞控制器应用到船舶电力推进六相同步电动机控制系统进行仿真研究,验证所设计鲁棒控制器具备提升了电力推进系统鲁棒性的能力,成功解决了船舶电力推进系统干扰抑制的问题和参数摄动的问题。
Ship electric propulsion is an advanced way of propulsion, which has achieved unprecedentedly prosperity in the resent decades. The control technique of propulsion motor is one of the key technologies of ship electric propulsion. The ship electric propulsion system is composed of propulsion motor, inverter of propulsion motor, ship propeller and control devices. The ship electric propulsion system that we are going to discuss consists of the following parts: six-phase double Y winding shifted by 30°synchronous motor, diode clamped three-level inverter, fixed pitch propeller and control installment of electric propulsion systems based on air-gap-field orientation vector control.
This subject derives from the construction of national key laboratory on ship integrated electric power technology and simulation research on ship electric propulsion system.
After comprehensive analysis of the researches and development about ship electric propulsion system from both domestic and foreign, this paper introduces a deep discussion about ship electric propulsion system, putting much emphasize on control strategies of three level multi-phase electrically excited synchronous motor and its ship electric propulsion system. And also some improvement measures are come up to the problems in the control system. The contents are as follows.
In order to investigate high harmonics and electromagnetic relationship of multi-phase motor, the mathematical model of multi-phase electrically excited synchronous motor is used in the dq rotating coordinate system based on Park transform. A universal simplified model for multi-phase motor is proposed. A simulation research is conducted on the example of six-phase double star winding shifted by 30°synchronous motor.
In order to investigate the control algorithm of multilevel inverter , high harmonics as well as its problems, a mathematical model of the control algorithm based on the voltage space vector is built. For the first time, the principle along boundary is introduced to confirm the chosen switch state when many switch states are corresponding to the same vector. Simulation analysis and hardware realization are conducted with the combination of diode clamped three-level inverter and five-level inverter.
In accordance with the characteristics of electrically excited six-phase synchronous motor, the control system based on air-gap-field orientation vector control is adopted in this paper. The mathematical models of every stage in the vector control are built. A voltage feed-forward method is used to realize the independent control of the current in the MT shaft. On the basis of simplified models, the controlling parameters of the adjuster are gained through engineering design method. A flux observer of six-phase motor is designed based on the flux observer of three-phase electrically excited synchronous motor. According to the advantages and disadvantages of flux observing method, this paper adopts a mixed voltage-current model as the flux observer model. In order to make the vector control method based on non-salient pole synchronous motor fit for salient pole synchronous motor, the equivalent mathematical model of non-salient pole motor is gained after the equivalent substitute of salient pole motor with the theory of two reaction theory of synchronous motor. Simulation research is conducted on the performance of six-phase electrically excited synchronous motor control system based on gap motor flux oriented vector control.
According to the study of ship propeller load, a motion model of integrative model of the ship and propeller is built on the basis of propeller properties across four quadrants and the interaction between the propeller and ship. Relative simulation study is done.
In view of the uncertain load disturbances and parameter variations and so on, the disturbance restraint performance of the six-phase synchronism motor control system for the ship electric propulsion is improved under the robust control theory. The propeller load, disturbance of current and wave on the sea are treated as load disturbance in this paper, and the field influence is treated as a kind of parameter variation. Then a closed-loop motion model of speed is set up in the ship electric propulsion system only considering the torque current component. The design of H_∞controller in the ship electric propulsion system is summed up as the problem of mixed sensitivity. According to the uncertainty analysis of the model, a weighed function is chosen and a generalized mathematical model of the marine electric propulsion system is established .The transfer function of H_∞controller is gained by virtue of solving the "2-Riccati" equation. Simulation result proves that the designed robust controllor has improved the robustness of the electric propulsion system, and successfully solve the problem of disturbance resistance and parameter variation in the ship electric propulsion system.
本课题来源于“舰船综合电力技术”国家重点实验室建设和研究课题“舰船综合电力推进系统计算机仿真研究”。
在综合分析国内外船舶电力推进系统研究和发展形势的基础上,本文对船舶电力推进系统进行了深入探讨,重点针对基于三电平多相电励磁同步电动机的控制策略及其船舶电力推进电动机控制系统进行研究,并针对该控制系统所涉及的问题寻求改进措施。全文主要包括以下一些内容:
针对多相电动机的高次谐波情况和电磁关系进行研究。基于派克变换的思想获得dq旋转坐标系下的多相电励磁同步电动机数学模型;并提出了对多相电机通用的简化数学模型;以双Y移30°六相电励磁同步电动机为研究对象进行了仿真研究。
针对多电平逆变器的仿真与实现进行了研究。建立了基于空间电压矢量控制算法的仿真模型;仿真研究中采用对偶小矢量搭配改善中点电位波动的问题;针对多个开关状态对应同一待选矢量的问题引入“循边原则”确定被选择的开关状态;对过调制问题进行了相应的处理:结合二极管嵌位式三电平逆变器和五电平逆变器进行了仿真分析和硬件实现。
针对电励磁六相同步电动机的特点,建立了与之匹配的基于气隙磁场定向的矢量控制系统并进行了研究。建立了矢量控制各个环节的数学模型;采用针对电压方程不解耦部分进行电压前馈控制的方法来实现MT轴电流的独立控制:在简化模型的基础上,通过工程设计法获得调节器的控制参数;在三相电励磁同步电动机磁链观测器的基础上设计了六相电动机的磁链观测器;根据三种磁链观测方法的优缺点,确定采用电压、电流混合模型作为磁链观测器模型;为了使基于隐极电机的矢量控制方法适合凸极电机使用,结合同步电机的双反应理论对凸极电机进行等效处理,获得等效隐极电机的数学模型;对基于气隙磁场定向矢量控制六相电励磁同步电动机控制系统的运行性能进行了仿真研究。
针对船舶推进器螺旋桨负载进行研究。在船舶的空间运动模型和螺旋桨四象限模型的基础上,综合考虑船舶和螺旋桨地相互作用,建立了船桨一体化的运动模型,并结合六相同步电功机控制系统仿真研究船舶电力推进六相同步电动机控制系统典型工况下的运行性能。
针对负载扰动和参数摄动等不确定因素,结合鲁棒控制理论对船舶电力推进六相同步电动机控制系统的抗扰性能进行了改进。本文将螺旋桨负载、螺旋桨缠绕和螺旋桨破损的影响作为负载扰动,磁场等参数变化对数学模型的影响作为参数摄动来考虑,获得了只考虑转矩电流分量的船舶电力推进系统的转速闭环运动模型;将电力推进系统的H_∞控制器的设计归结为混合灵敏度问题,结合对混合灵敏度问题的研究,针对船舶电力推进系统这一控制对象,分析了模型的不确定性,选择了加权函数,建立了电力推进系统广义对象的数学模型:通过求解“2-Riccati方程”,获得H_∞控制器的传递函数,将H_∞控制器应用到船舶电力推进六相同步电动机控制系统进行仿真研究,验证所设计鲁棒控制器具备提升了电力推进系统鲁棒性的能力,成功解决了船舶电力推进系统干扰抑制的问题和参数摄动的问题。
Ship electric propulsion is an advanced way of propulsion, which has achieved unprecedentedly prosperity in the resent decades. The control technique of propulsion motor is one of the key technologies of ship electric propulsion. The ship electric propulsion system is composed of propulsion motor, inverter of propulsion motor, ship propeller and control devices. The ship electric propulsion system that we are going to discuss consists of the following parts: six-phase double Y winding shifted by 30°synchronous motor, diode clamped three-level inverter, fixed pitch propeller and control installment of electric propulsion systems based on air-gap-field orientation vector control.
This subject derives from the construction of national key laboratory on ship integrated electric power technology and simulation research on ship electric propulsion system.
After comprehensive analysis of the researches and development about ship electric propulsion system from both domestic and foreign, this paper introduces a deep discussion about ship electric propulsion system, putting much emphasize on control strategies of three level multi-phase electrically excited synchronous motor and its ship electric propulsion system. And also some improvement measures are come up to the problems in the control system. The contents are as follows.
In order to investigate high harmonics and electromagnetic relationship of multi-phase motor, the mathematical model of multi-phase electrically excited synchronous motor is used in the dq rotating coordinate system based on Park transform. A universal simplified model for multi-phase motor is proposed. A simulation research is conducted on the example of six-phase double star winding shifted by 30°synchronous motor.
In order to investigate the control algorithm of multilevel inverter , high harmonics as well as its problems, a mathematical model of the control algorithm based on the voltage space vector is built. For the first time, the principle along boundary is introduced to confirm the chosen switch state when many switch states are corresponding to the same vector. Simulation analysis and hardware realization are conducted with the combination of diode clamped three-level inverter and five-level inverter.
In accordance with the characteristics of electrically excited six-phase synchronous motor, the control system based on air-gap-field orientation vector control is adopted in this paper. The mathematical models of every stage in the vector control are built. A voltage feed-forward method is used to realize the independent control of the current in the MT shaft. On the basis of simplified models, the controlling parameters of the adjuster are gained through engineering design method. A flux observer of six-phase motor is designed based on the flux observer of three-phase electrically excited synchronous motor. According to the advantages and disadvantages of flux observing method, this paper adopts a mixed voltage-current model as the flux observer model. In order to make the vector control method based on non-salient pole synchronous motor fit for salient pole synchronous motor, the equivalent mathematical model of non-salient pole motor is gained after the equivalent substitute of salient pole motor with the theory of two reaction theory of synchronous motor. Simulation research is conducted on the performance of six-phase electrically excited synchronous motor control system based on gap motor flux oriented vector control.
According to the study of ship propeller load, a motion model of integrative model of the ship and propeller is built on the basis of propeller properties across four quadrants and the interaction between the propeller and ship. Relative simulation study is done.
In view of the uncertain load disturbances and parameter variations and so on, the disturbance restraint performance of the six-phase synchronism motor control system for the ship electric propulsion is improved under the robust control theory. The propeller load, disturbance of current and wave on the sea are treated as load disturbance in this paper, and the field influence is treated as a kind of parameter variation. Then a closed-loop motion model of speed is set up in the ship electric propulsion system only considering the torque current component. The design of H_∞controller in the ship electric propulsion system is summed up as the problem of mixed sensitivity. According to the uncertainty analysis of the model, a weighed function is chosen and a generalized mathematical model of the marine electric propulsion system is established .The transfer function of H_∞controller is gained by virtue of solving the "2-Riccati" equation. Simulation result proves that the designed robust controllor has improved the robustness of the electric propulsion system, and successfully solve the problem of disturbance resistance and parameter variation in the ship electric propulsion system.
引文
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