直接转矩控制系统低速性能的研究
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摘要
直接转矩控制(DTC)理论于20世纪80年代由德国学者M.Depenbrok和日本学者1.Takahashi针对异步电机提出。由于其具有控制结构简洁、转矩动态响应快、鲁棒性好等优点,目前发展十分迅速。但是,直接转矩控制系统低速运行时转速转矩脉动大,即低速性能差,这一弱点阻碍该控制法在技术上的良好实现。
本文在介绍异步电机工作原理基础上分析传统直接转矩控制低速脉动的原因,并根据磁链观测不准和开关频率低这两大原因,提出一种模糊直接转矩控制新方案。该方案针对磁链观测不准问题,提出一种新的磁链观测器——改进的无PI调节器的自适应积分器,传统自适应积分器含PI调节器和非线性饱和环节,调试起来难度很大,为改变这一状况,本文在传统自适应积分器结构上做了适当的调整修改,去掉PI调节器且无非线性饱和环节；另一方面,新方案用模糊控制器代替传统的双阈值滞环控制器来选择最优空间电压矢量,把磁链转矩误差分区处理,避免传统帮帮控制中因对不同误差采取相同控制策略带来的转矩转速脉动,开关频率也将提高。在模糊直接转矩控制系统中,本文还根据圆形磁链扇区有一定对称性的特点定义了一个磁链角度映射,把整个360°区间都映射到第一扇区当做模糊输入量,该映射大大减少了模糊控制规则数量,提高了模糊推理速度。
最后,本文采用Matlab软件中Simulink、SimPowersystem及Fuzzy Logic Toolbox三个工具箱对传统直接转矩控制系统和基于模糊控制的直接转矩控制系统进行低速建模仿真。仿真结果表明改进的磁链观测器没有直流偏移和初始相位问题,新方案能明显减小转矩脉动,稳定转速,且系统响应速度大大加快。这说明本文为提高直接转矩控制系统低速性能所做的工作是正确与合理的。
Direct torque control (DTC) was first proposed by German scholar M.Depenbrok and Japanese scholar I.Takahashi for induction motor in the 1980s. Currently, it's develops very rapidly because of the simple control structure, good torque dynamic response and good robustness. However, the torque ripples are large at a low speed, and this poor low-speed performance makes hard to achieve the method in reality.
This paper analyzes the reasons of the torque ripples at a low speed base on introduce the operation principle for the induction motor, besides, propose a new scheme fuzzy direct torque control according to these reasons the inaccurate flux observe and low switching frequency. And in the new scheme a new flux observer is designed—modified adaptive integrator without PI controller to resolve the inaccurate problem. Traditional adaptive integrator within a PI regulator and the nonlinear saturation link, and it's difficult to debug, this paper makes appropriate modifications to settle that problem—remove the PI regulator. On the other hand, the new scheme use fuzzy controller instead of the hysteresis controller to select the optimal space voltage vector, improve the switching frequency through to divide the torque error into different intervals and give different control voltages for each of them. In the fuzzy DTC system, a stator flux angle mapping technique which mapping the entire 360°range to the first sector has been defined to reduce the size of the rules base on the symmetric characteristics of the circular flux, so that the fuzzy reasoning speed increases greatly.
Finally, the paper use Simulink toolbox, SimPowersystem toolbox and Fuzzy Logic Toolbox of Matlab software to build up the model of classic DTC system and fuzzy DTC system and simulation. The simulation results show that modified adaptive integrator is not having the issue of DC offset and the initial phase, the new strategy can significantly reduce the torque ripple and stabilize the speed, and the response of the fuzzy DTC is faster obviously. All this shows that the work in the paper for improving low-speed performance of DTC system is correct and reasonable.
本文在介绍异步电机工作原理基础上分析传统直接转矩控制低速脉动的原因,并根据磁链观测不准和开关频率低这两大原因,提出一种模糊直接转矩控制新方案。该方案针对磁链观测不准问题,提出一种新的磁链观测器——改进的无PI调节器的自适应积分器,传统自适应积分器含PI调节器和非线性饱和环节,调试起来难度很大,为改变这一状况,本文在传统自适应积分器结构上做了适当的调整修改,去掉PI调节器且无非线性饱和环节；另一方面,新方案用模糊控制器代替传统的双阈值滞环控制器来选择最优空间电压矢量,把磁链转矩误差分区处理,避免传统帮帮控制中因对不同误差采取相同控制策略带来的转矩转速脉动,开关频率也将提高。在模糊直接转矩控制系统中,本文还根据圆形磁链扇区有一定对称性的特点定义了一个磁链角度映射,把整个360°区间都映射到第一扇区当做模糊输入量,该映射大大减少了模糊控制规则数量,提高了模糊推理速度。
最后,本文采用Matlab软件中Simulink、SimPowersystem及Fuzzy Logic Toolbox三个工具箱对传统直接转矩控制系统和基于模糊控制的直接转矩控制系统进行低速建模仿真。仿真结果表明改进的磁链观测器没有直流偏移和初始相位问题,新方案能明显减小转矩脉动,稳定转速,且系统响应速度大大加快。这说明本文为提高直接转矩控制系统低速性能所做的工作是正确与合理的。
Direct torque control (DTC) was first proposed by German scholar M.Depenbrok and Japanese scholar I.Takahashi for induction motor in the 1980s. Currently, it's develops very rapidly because of the simple control structure, good torque dynamic response and good robustness. However, the torque ripples are large at a low speed, and this poor low-speed performance makes hard to achieve the method in reality.
This paper analyzes the reasons of the torque ripples at a low speed base on introduce the operation principle for the induction motor, besides, propose a new scheme fuzzy direct torque control according to these reasons the inaccurate flux observe and low switching frequency. And in the new scheme a new flux observer is designed—modified adaptive integrator without PI controller to resolve the inaccurate problem. Traditional adaptive integrator within a PI regulator and the nonlinear saturation link, and it's difficult to debug, this paper makes appropriate modifications to settle that problem—remove the PI regulator. On the other hand, the new scheme use fuzzy controller instead of the hysteresis controller to select the optimal space voltage vector, improve the switching frequency through to divide the torque error into different intervals and give different control voltages for each of them. In the fuzzy DTC system, a stator flux angle mapping technique which mapping the entire 360°range to the first sector has been defined to reduce the size of the rules base on the symmetric characteristics of the circular flux, so that the fuzzy reasoning speed increases greatly.
Finally, the paper use Simulink toolbox, SimPowersystem toolbox and Fuzzy Logic Toolbox of Matlab software to build up the model of classic DTC system and fuzzy DTC system and simulation. The simulation results show that modified adaptive integrator is not having the issue of DC offset and the initial phase, the new strategy can significantly reduce the torque ripple and stabilize the speed, and the response of the fuzzy DTC is faster obviously. All this shows that the work in the paper for improving low-speed performance of DTC system is correct and reasonable.
引文
[1]李华德.交流调速控制系统.北京：电子工业出版社,2007：1-2
[2]王丽萍.交流电机调速方法.机械管理开发,2009,24(4)：40-41
[3]佟纯厚.近代交流调速.冶金自动化,1990,14(6)：46-47
[4]林琪,李志强.我国直接转矩控制技术低速性能研究综述.科技信息,2008,29：7-8
[5]周杨忠,胡育温.交流电动机直接转矩控制.北京：机械工业出版社,2010：4-12
[6]孙笑辉.基于直接转矩控制的感应电动机转矩脉动最小化方法研究.中国电机工程学报,2002,22(8)：109-112
[7]Lai Yen-Shin, Wang Wen-Ke, Chen Yen-Chang. Novel switching techniques for reducing the speed ripple of AC drives with direct torque control. IEEE Transactions on industrial electronics,2004, 51(4):768-775
[8]Casadei D. Improvement of direct torque control performance by using a discrete SVM technique. PESE'98,1998:997-1003
[9]Casadei D. Implementation of direct torque control algorithm for induction motors based on discrete space vector modulation. PESE'98,1998:997-1003. IEEE Transactions on power electronics,2000, 15(4):769-777
[10]Li Liang-bing, A variable-voltage direct torque control based on DSP in PM synchronous motor drives.TENCONO2, Proceedings,2002 IEEE Region 10 Conference on Computers, Communication, Control and Power Engineering,2002:2065-2068
[11]Casadei D. FOC and DTC:Two viable schemes for induction motor torque control. IEEE Transactions on power electronics,2002,17(5):779-787
[12]Kyo-Beum. Torque ripple reduction in DTC of induction motors driven by three-level cascaded inverter with low switching frequency. IEEE Transactions on power electronics,2002,17(2):255-263
[13]Jose Rodriguez. Direct torque control with imposed switching frequency in an 11-level cascaded inverter. IEEE Transactions on industrial electronics,2004.51(4):827-833
[14]Casadei D. The use of matrix converters in direct torque control of induction machines.IECON'98. Proceedings of 24th annual conference of the IEEE,744-749
[15]Casadei D. The use of matrix converters in direct torque control of induction machines. IEEE Transactions on industrial electronics,2001,48(6):1057-1064
[16]Casadei D, Serra G and Tani A. Constant frequency operation of a DTC induction motor drive for electric vehicle. Proc. ICEM 96,1996(3):224-229
[17]Giuseppe S. Buja. Direct torque control of PWM inverter-Fed AC motors-A survey. IEEE Transactions on industrial electronics,2004,51(4):744-757
[18]Domenico Cassadei, Giovanni Serra, Angelo Tani. et al. Performance analysis of a speed-sensorless induction motor drive based on a constant-switching-frequency DTC scheme. IEEE Transactions on industrial applications,2003,39(2):476-484
[19]周扬忠,胡育文,黄文新等.阻尼绕组对直接转矩控制同步电动机动态行为的信箱.航空学报,2005,26(4)：476-481
[20]周扬忠,胡育文,黄文新.地主安居磁链脉动型电励磁同步电机直接转矩驱动系统的研究.中国电机工程学报,2006,26(7)：152-157
[21]Liu Qinghua, Ashwin M. Khambadkone, et al. Direct flux control of interior permanent magnet synchronous motor drives for wide-speed operation. Power Electronics and Drive Systems,2003.PEDS 2003:1680-1685
[22]Cristian Lascu, Ion Boldea. A modified direct torque control for induction motor sensorless drive. IEEE Transactions on industry applications,2000,36(1):122-130
[23]Damien Grenier, Sam Yala. Direct torque control of PM AC motor with non-sinusoidal flux distribution using state-feedback linearization techniques. IEEE IECON'98:1515-1520
[24]王焕刚,徐文立.一种新型的感应电动机直接转矩控制.中国电机工程学报,2004,24(1)：107-111
[25]Yang Xia, Oghanna W. Fuzzy direct torque control of induction motor with stator flux estimation compensation. IECON'97:505-510
[26]Grabowski PZ, Kazmierkowski MP. Bose BK, et al. A simple direct-torque neuro-fuzzy control of PWM-inverter-Fed induction motor drive. IEEE Transactions on industrial electronics,2004,51(4):863-870
[27]Chen Lin, Fang Kang-Ling, A novel direct torque control for dual-three-phase induction motor. IEEE Proceedings of the second international conference on machine learning and cybernetics, Xi'an,2003:876-881
[28]朱震莲.现代交流调速系统.西安：西北工业大学出版社,1994：46-47
[29]刘凤君.正弦波逆变器.北京：科学出版社,2002：39-60
[30]唐浦华,黎亚元,刘飞.基于圆形磁链轨迹的感应电机直接转矩控制分析.电气传动和自动控制.2007,29(6)：17-20
[31]许峻峰,徐英雷,冯江华等.基于改进积分器的永磁同步电机直接转矩控制.电工技术学报2004：19(7)：77-80
[32]Hu J,Wu B. New integration algorithms for estimating motor flux over a wide speed range. IEEE Transactionson Power Electronics.1998:13(5):969—977
[33]闻新,周露,李东江等MATLAB模糊逻辑工具箱的分心于应用.北京：科学出版社,2001：46-60
[34]章卫国,杨向忠.模糊控制理论与应用.西安：西北工业大学出版社,2004：49-60
[35]袁登科,徐国卿,胡波等.直接转矩控制交流调速系统转矩调节器的设计研究.机电一体化.2008(10)：47-50
[36]黄祯祥,郭延文,廖剑霞等.直接转矩控制系统磁链区间细分控制的应用.电力系统及自动化学报.2008：20(1)：61-65
[37]孙丹,贺益康,智大为等.基于模糊逻辑的永磁同步电动机直接转矩控制.电工技术学报.2003：18(1)：33-38
[38]周博,邓福军等.模糊控制在异步电机直接转矩控制中的应用.变频器世界.(已录用)
[39]刘金琨.先进PID控制及其MATLAB仿真.北京：电子工业出版社.2002：1-2
[2]王丽萍.交流电机调速方法.机械管理开发,2009,24(4)：40-41
[3]佟纯厚.近代交流调速.冶金自动化,1990,14(6)：46-47
[4]林琪,李志强.我国直接转矩控制技术低速性能研究综述.科技信息,2008,29：7-8
[5]周杨忠,胡育温.交流电动机直接转矩控制.北京：机械工业出版社,2010：4-12
[6]孙笑辉.基于直接转矩控制的感应电动机转矩脉动最小化方法研究.中国电机工程学报,2002,22(8)：109-112
[7]Lai Yen-Shin, Wang Wen-Ke, Chen Yen-Chang. Novel switching techniques for reducing the speed ripple of AC drives with direct torque control. IEEE Transactions on industrial electronics,2004, 51(4):768-775
[8]Casadei D. Improvement of direct torque control performance by using a discrete SVM technique. PESE'98,1998:997-1003
[9]Casadei D. Implementation of direct torque control algorithm for induction motors based on discrete space vector modulation. PESE'98,1998:997-1003. IEEE Transactions on power electronics,2000, 15(4):769-777
[10]Li Liang-bing, A variable-voltage direct torque control based on DSP in PM synchronous motor drives.TENCONO2, Proceedings,2002 IEEE Region 10 Conference on Computers, Communication, Control and Power Engineering,2002:2065-2068
[11]Casadei D. FOC and DTC:Two viable schemes for induction motor torque control. IEEE Transactions on power electronics,2002,17(5):779-787
[12]Kyo-Beum. Torque ripple reduction in DTC of induction motors driven by three-level cascaded inverter with low switching frequency. IEEE Transactions on power electronics,2002,17(2):255-263
[13]Jose Rodriguez. Direct torque control with imposed switching frequency in an 11-level cascaded inverter. IEEE Transactions on industrial electronics,2004.51(4):827-833
[14]Casadei D. The use of matrix converters in direct torque control of induction machines.IECON'98. Proceedings of 24th annual conference of the IEEE,744-749
[15]Casadei D. The use of matrix converters in direct torque control of induction machines. IEEE Transactions on industrial electronics,2001,48(6):1057-1064
[16]Casadei D, Serra G and Tani A. Constant frequency operation of a DTC induction motor drive for electric vehicle. Proc. ICEM 96,1996(3):224-229
[17]Giuseppe S. Buja. Direct torque control of PWM inverter-Fed AC motors-A survey. IEEE Transactions on industrial electronics,2004,51(4):744-757
[18]Domenico Cassadei, Giovanni Serra, Angelo Tani. et al. Performance analysis of a speed-sensorless induction motor drive based on a constant-switching-frequency DTC scheme. IEEE Transactions on industrial applications,2003,39(2):476-484
[19]周扬忠,胡育文,黄文新等.阻尼绕组对直接转矩控制同步电动机动态行为的信箱.航空学报,2005,26(4)：476-481
[20]周扬忠,胡育文,黄文新.地主安居磁链脉动型电励磁同步电机直接转矩驱动系统的研究.中国电机工程学报,2006,26(7)：152-157
[21]Liu Qinghua, Ashwin M. Khambadkone, et al. Direct flux control of interior permanent magnet synchronous motor drives for wide-speed operation. Power Electronics and Drive Systems,2003.PEDS 2003:1680-1685
[22]Cristian Lascu, Ion Boldea. A modified direct torque control for induction motor sensorless drive. IEEE Transactions on industry applications,2000,36(1):122-130
[23]Damien Grenier, Sam Yala. Direct torque control of PM AC motor with non-sinusoidal flux distribution using state-feedback linearization techniques. IEEE IECON'98:1515-1520
[24]王焕刚,徐文立.一种新型的感应电动机直接转矩控制.中国电机工程学报,2004,24(1)：107-111
[25]Yang Xia, Oghanna W. Fuzzy direct torque control of induction motor with stator flux estimation compensation. IECON'97:505-510
[26]Grabowski PZ, Kazmierkowski MP. Bose BK, et al. A simple direct-torque neuro-fuzzy control of PWM-inverter-Fed induction motor drive. IEEE Transactions on industrial electronics,2004,51(4):863-870
[27]Chen Lin, Fang Kang-Ling, A novel direct torque control for dual-three-phase induction motor. IEEE Proceedings of the second international conference on machine learning and cybernetics, Xi'an,2003:876-881
[28]朱震莲.现代交流调速系统.西安：西北工业大学出版社,1994：46-47
[29]刘凤君.正弦波逆变器.北京：科学出版社,2002：39-60
[30]唐浦华,黎亚元,刘飞.基于圆形磁链轨迹的感应电机直接转矩控制分析.电气传动和自动控制.2007,29(6)：17-20
[31]许峻峰,徐英雷,冯江华等.基于改进积分器的永磁同步电机直接转矩控制.电工技术学报2004：19(7)：77-80
[32]Hu J,Wu B. New integration algorithms for estimating motor flux over a wide speed range. IEEE Transactionson Power Electronics.1998:13(5):969—977
[33]闻新,周露,李东江等MATLAB模糊逻辑工具箱的分心于应用.北京：科学出版社,2001：46-60
[34]章卫国,杨向忠.模糊控制理论与应用.西安：西北工业大学出版社,2004：49-60
[35]袁登科,徐国卿,胡波等.直接转矩控制交流调速系统转矩调节器的设计研究.机电一体化.2008(10)：47-50
[36]黄祯祥,郭延文,廖剑霞等.直接转矩控制系统磁链区间细分控制的应用.电力系统及自动化学报.2008：20(1)：61-65
[37]孙丹,贺益康,智大为等.基于模糊逻辑的永磁同步电动机直接转矩控制.电工技术学报.2003：18(1)：33-38
[38]周博,邓福军等.模糊控制在异步电机直接转矩控制中的应用.变频器世界.(已录用)
[39]刘金琨.先进PID控制及其MATLAB仿真.北京：电子工业出版社.2002：1-2
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