大型异步电机无速度传感器控制的研究
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摘要
交流调速正逐步取代直流调速,在电气传动领域占据主导地位。无速度传感器直接转矩控制技术能够提高交流传动系统的简便性、廉价性和可靠性,得到了很大的发展。本文应用直接转矩控制理论,对无速度传感器直接转矩控制策略进行了深入研究,主要研究工作有:
本文绪论部分针对国内外高压大容量多电平变换技术和交流传动控制技术作了简要综述,着重分析了多电平拓扑结构的发展和研究现状,讨论了交流调速的发展和直接转矩控制技术的特点,指出本文选题的目的和意义。
论文详细论述了三电平逆变器中点电压波动的原因,为中点电压平衡控制提供了理论基础。分析了一种基于合成矢量的三电平异步电动机直接转矩控制(DTC)方法,不但有效地控制了三电平逆变器的中点电压,并抑制了输出电压的跳变;而且具有转矩输出高频脉动小,转子转速波动较小的优点。针对大功率电机控制中逆变器开关频率较低的情况,提出了在电机高速运行中采用十二边形磁链来近似圆形磁链的方式。
研究了基于异步电机数学模型直接推导的定子磁链估算方法,并对其估算性能进行了深入分析。分析了以定子电流、定子磁链为状态变量构成异步电机全阶状态观测器的方案,系统地给出了这种全阶状态观测器的设计方法。并根据李雅普诺夫稳定性原理推导了基于自适应全阶观测器的速度辨识算法,所采用的全阶观测器方案在准确观测电机磁链的同时可实现高性能的无速度传感器运行。
Multilevel inverters are very suitable for high-voltage and high power conversion applications, for they have the advantages such as low voltage stresses for power devices and absence of voltage evenness of power devices compared with the topology of series connection. And the space voltage vector control of induction motors has been widely used in recent years because of its simple methods and high stable/transient performance.
This thesis comprehensively describes the development future and the present development condition of multilevel inverter. And then present the development of direct torque control algorithms for induction motors fed by three-level diode-clamped inverter (neutral-point clamped, NPC) .
On the basis of theory of direct torque control, this thesis system analyses the inherent property of three-level inner vectors. and introduced the application of fixing vector compound. Based on the way of keeping neutral point balancing and reducing the pulsation torque. Aimed at high power induction motor, this thesis brought forward a way to form 12-borders stator magnetic field, it can reduce the frequency of switch.
This thesis adopted MRAS way to observe the speed of motor. then this control way can remove the speed sensors in motor drivers.
Finally, this thesis simulates algorithm proposed with MATLAB.
本文绪论部分针对国内外高压大容量多电平变换技术和交流传动控制技术作了简要综述,着重分析了多电平拓扑结构的发展和研究现状,讨论了交流调速的发展和直接转矩控制技术的特点,指出本文选题的目的和意义。
论文详细论述了三电平逆变器中点电压波动的原因,为中点电压平衡控制提供了理论基础。分析了一种基于合成矢量的三电平异步电动机直接转矩控制(DTC)方法,不但有效地控制了三电平逆变器的中点电压,并抑制了输出电压的跳变;而且具有转矩输出高频脉动小,转子转速波动较小的优点。针对大功率电机控制中逆变器开关频率较低的情况,提出了在电机高速运行中采用十二边形磁链来近似圆形磁链的方式。
研究了基于异步电机数学模型直接推导的定子磁链估算方法,并对其估算性能进行了深入分析。分析了以定子电流、定子磁链为状态变量构成异步电机全阶状态观测器的方案,系统地给出了这种全阶状态观测器的设计方法。并根据李雅普诺夫稳定性原理推导了基于自适应全阶观测器的速度辨识算法,所采用的全阶观测器方案在准确观测电机磁链的同时可实现高性能的无速度传感器运行。
Multilevel inverters are very suitable for high-voltage and high power conversion applications, for they have the advantages such as low voltage stresses for power devices and absence of voltage evenness of power devices compared with the topology of series connection. And the space voltage vector control of induction motors has been widely used in recent years because of its simple methods and high stable/transient performance.
This thesis comprehensively describes the development future and the present development condition of multilevel inverter. And then present the development of direct torque control algorithms for induction motors fed by three-level diode-clamped inverter (neutral-point clamped, NPC) .
On the basis of theory of direct torque control, this thesis system analyses the inherent property of three-level inner vectors. and introduced the application of fixing vector compound. Based on the way of keeping neutral point balancing and reducing the pulsation torque. Aimed at high power induction motor, this thesis brought forward a way to form 12-borders stator magnetic field, it can reduce the frequency of switch.
This thesis adopted MRAS way to observe the speed of motor. then this control way can remove the speed sensors in motor drivers.
Finally, this thesis simulates algorithm proposed with MATLAB.
引文
[1]李永东,肖曦,高跃.大容量多电甲变换器.北京:科学出版社,2005
[2]林渭勋.现代电力电子电路.浙江大学出版社,2002
[3]Steffen Bernet.Recent developments of high power converters for industry and traction application.IEEE Trans,on Power Electronics,2000,15(6):1102-1117
[4]M.Gonbu.Paraller operation techniques of GTO inverter sets for large motor drives.1983,IEEE,19(2):198-205.
[5]冯垛生,曾岳南.无速度传感器矢量控制原理与实践.北京:机械工业出版社,1996,3-8
[6]D.W.Chung.Unified Voltage Modulation Technique for Real-Time Three-Phase Power Conversion.IEEE.Trans.Applicat,Vol.34,1998:374-380
[7]许大中等.电机控制.杭州:浙江大学出版社,2002.7
[8]M.Gonbu.Paraller operation techniques of GTO inverter sets for large motor drives.1983,IEEE,19(2):198-205.
[9]Dae-Woong,Joohn-Sheok,Kim and Seungp-Ki SUI.Unified Voltage Modulation Technique for Real-Time Three-phase Power Conversion.IEEE Trans.IA,Vol.34,pp374-380.
[10]谭永辉.基于DSP的三电平SVPWM逆变器的研究.湖南大学硕士学位论文.2004.5
[11]余明锋,刘志明,苗春晖.一种三电平逆变器空间矢量PWM控制算法.电力电子技术,2005.2
[12]桂红云,姚文熙,吕征宇.基于控制因子三电平空间矢量方法的研究.电力电子技术,2005.2
[13]李先祥,肖红军,黄道甲.三电平矢量控制的永磁同步伺服电动机调速系统.电工技术学报.19,4(2004):28-31
[14]宋文祥,陈国呈.三电平中点钳位式逆变器SVPWM方法的研究.电工电能新技术.23,4(2004):30-33
[15]杨志.三电平变频器系统建模、仿真和设计.清华大学工学硕士学位论文.北京,清华大学(2004):25-30
[16]谭永辉,欧阳红林,周马山,刘亮,彭国庆.三电平SVPWM逆变器中点电压平衡的研究.机床电器.2(2004):10-14
[17]Y.H.Lee,B.S.Suh,and D.S.Hyun.A novel PWM scheme for a three-level voltage source inverter with GTO thyristors.IEEE Trans.Ind.Applicat.vol.32,no.2 pp.260-268,March/April 1996.
[18]H.Tajima,Y.Hori.Speed sensorless field-orientationcontrol of the induction machine.IEEE Trans.IA.1993,29(1):175-180
[19]U.Baader,M.Depenbrock.Direct self control of inverter-fed induction machine:A basis for speed control without speed measurement.IEEE Trans.IA 1992,28(3):581-588
[20]I.Miyashita,Y.Ohmori.A new speed observer for an induction motor using the speed estimation technique.Conf.Rec.EPE'93.1993:349-353
[21].S.Tamai,etal.Speed sensorless vector control of induction motor with model reference adaption system.IEEE IAS,1987,23:189-195
[22]C.Schauder.Adaptive speed identification for vector control of induction motors without rotational transducers.IEEE Trans.IA,1992,28(5):1054-1061
[23]H.Kubota,K.Matsuse,T.Nakano.New adaptive flux observer of induction motor for wide speed range motor drives.In Conf.Rec.IEEE IECON' 90,1990:921-926
[24]H.Kubota,K.Matsuse,T.Nakano.Dsp-based speed adaptive flux observer of induction motor.IEEE Trans.IA.1993,29(2):344-348
[25]H.Kubota,K.Matsuse.Speed sensor-less field oriented control of induction motor with rotor resistance adaptation.IEEE Trans.IA.1994,30(5):1219-1224
[26]Geng Yang,Tung-Hai Chin.Adaptive speed identification scheme for vector controlled speed sensor-less inverter-induction motor drive.IEEE Trans.IA.1993,29(4):820-825
[27]金舜.一种“中点控制十窄脉冲消除十死区补偿”的三电平控制算法.西安理工大学硕士学位论文.2003.3
[28]肖庆恩,何礼高.三电平逆变器SVPWM控制的一种简化算法.电力电了技术,2004,26(5):21-24.
[29]Jae Hyeong Seo,Chang Ho Choi,and Dong Seok Hyun.A New Simplifed Space-Vector PWM Method for Three-Level Inverters.IEEE Trans.Power Electron,VOL.16,July 2001.
[30]薛定宇,陈阳泉.基于Matlab/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002
[31]姜建国.电力电子学与变频传动技术和应用徐州:中国矿业大学出版社,1999
[32]陈伯时.电力拖动自动控制系统北京:机械工业出版社,1992
[33]冯垛生,曾岳南.无速度传感器矢量控制原理与实践北京:机械工业出版社,1997
[34]T.Ohtani and H.Takasaki.High performance vector control of induction motor using torque-producing current,in IPEC Conference Record,1990,pp.84-90.
[35]Kubota H.Matsuse K.DSP-based Speed Adaptive Flux Observer of Induction Motor.IEEE Traps.,1993,IAS 22(2):344-348
[36]Kubota H.Matsuse K.Speed Sensorless Field-oriented Control of Induction Motor with Rotor Resistance Adaptation.IEEE Traps.1994 1AS vol.23,no.5,pp.1219-1223
[37]Yang G.,Chin T.H.Adaptive Speed Identification Scheme for Vector Controlled Speed Sensor-less Inverter induction Motor Drive.IEEE Traps.1993,IAS,vol.229,no.4,pp.820-825
[38]Z.Tan,Y.Li,and Y.Zeng.A three-level speed sensor-less DTC drive of induction motor based on a full-order flux observer.Proceedings of Power Con.2002,Vol.2,13-17,Oct.2002,pp.1054-1058
[39]Jehudi Maes,Jan A.Melkebeek.Speed sensorless Direct Torque Control of Induction Motors Using an Adaptive Flux Observer.IEEE.Traps.on Industry Applications,2000,36(3):778-785
[40]桂武鸣,刘予建等.异步电动机直接转矩控制系统的仿真.电力机车技术,2002,25(3):11-14
[41]陈特放,刘子建.基于MATLAB/SIMULINK的异步电动机直接转矩控制系统的建模和仿真.机车电传动,1998,(2):7-11
[42]张桂新.异步电动机直接转矩控制系统的建模与仿真.中小型电机,2001,28(1):25-27
[43]夏宙等.大功率系统的直接转矩控制新方法.同济大学学报,1998,26(6):697-700
[44]夏雷等.直接转矩控制的工SR方法.电力电子技术,1998,(4):26-29
[45]李磊,胡育文.一种新型的磁链与速度观测器在异步电机直接转矩控制系统中的应用.电气传动,2001,(3):26-28
[46]刘铁湘,陈林康.无速度传感器异步电机矢量控制方法.现代电了技术,2003,(10):21-22
[47]杨耕,陈伯时.交流感应电动机无速度传感器的高动态性能控制方法综述.电气传动,2001,(3):3-8
[48]余功军等.无速度传感器矢量控制系统的研究.电力电子技术,1999,(5):41-46
[49]崔江霞,张爱玲.感应电动机直接转矩控制系统的模型参考自适应辨识。太原理工大学学报,2004,35(2):137-140
[2]林渭勋.现代电力电子电路.浙江大学出版社,2002
[3]Steffen Bernet.Recent developments of high power converters for industry and traction application.IEEE Trans,on Power Electronics,2000,15(6):1102-1117
[4]M.Gonbu.Paraller operation techniques of GTO inverter sets for large motor drives.1983,IEEE,19(2):198-205.
[5]冯垛生,曾岳南.无速度传感器矢量控制原理与实践.北京:机械工业出版社,1996,3-8
[6]D.W.Chung.Unified Voltage Modulation Technique for Real-Time Three-Phase Power Conversion.IEEE.Trans.Applicat,Vol.34,1998:374-380
[7]许大中等.电机控制.杭州:浙江大学出版社,2002.7
[8]M.Gonbu.Paraller operation techniques of GTO inverter sets for large motor drives.1983,IEEE,19(2):198-205.
[9]Dae-Woong,Joohn-Sheok,Kim and Seungp-Ki SUI.Unified Voltage Modulation Technique for Real-Time Three-phase Power Conversion.IEEE Trans.IA,Vol.34,pp374-380.
[10]谭永辉.基于DSP的三电平SVPWM逆变器的研究.湖南大学硕士学位论文.2004.5
[11]余明锋,刘志明,苗春晖.一种三电平逆变器空间矢量PWM控制算法.电力电子技术,2005.2
[12]桂红云,姚文熙,吕征宇.基于控制因子三电平空间矢量方法的研究.电力电子技术,2005.2
[13]李先祥,肖红军,黄道甲.三电平矢量控制的永磁同步伺服电动机调速系统.电工技术学报.19,4(2004):28-31
[14]宋文祥,陈国呈.三电平中点钳位式逆变器SVPWM方法的研究.电工电能新技术.23,4(2004):30-33
[15]杨志.三电平变频器系统建模、仿真和设计.清华大学工学硕士学位论文.北京,清华大学(2004):25-30
[16]谭永辉,欧阳红林,周马山,刘亮,彭国庆.三电平SVPWM逆变器中点电压平衡的研究.机床电器.2(2004):10-14
[17]Y.H.Lee,B.S.Suh,and D.S.Hyun.A novel PWM scheme for a three-level voltage source inverter with GTO thyristors.IEEE Trans.Ind.Applicat.vol.32,no.2 pp.260-268,March/April 1996.
[18]H.Tajima,Y.Hori.Speed sensorless field-orientationcontrol of the induction machine.IEEE Trans.IA.1993,29(1):175-180
[19]U.Baader,M.Depenbrock.Direct self control of inverter-fed induction machine:A basis for speed control without speed measurement.IEEE Trans.IA 1992,28(3):581-588
[20]I.Miyashita,Y.Ohmori.A new speed observer for an induction motor using the speed estimation technique.Conf.Rec.EPE'93.1993:349-353
[21].S.Tamai,etal.Speed sensorless vector control of induction motor with model reference adaption system.IEEE IAS,1987,23:189-195
[22]C.Schauder.Adaptive speed identification for vector control of induction motors without rotational transducers.IEEE Trans.IA,1992,28(5):1054-1061
[23]H.Kubota,K.Matsuse,T.Nakano.New adaptive flux observer of induction motor for wide speed range motor drives.In Conf.Rec.IEEE IECON' 90,1990:921-926
[24]H.Kubota,K.Matsuse,T.Nakano.Dsp-based speed adaptive flux observer of induction motor.IEEE Trans.IA.1993,29(2):344-348
[25]H.Kubota,K.Matsuse.Speed sensor-less field oriented control of induction motor with rotor resistance adaptation.IEEE Trans.IA.1994,30(5):1219-1224
[26]Geng Yang,Tung-Hai Chin.Adaptive speed identification scheme for vector controlled speed sensor-less inverter-induction motor drive.IEEE Trans.IA.1993,29(4):820-825
[27]金舜.一种“中点控制十窄脉冲消除十死区补偿”的三电平控制算法.西安理工大学硕士学位论文.2003.3
[28]肖庆恩,何礼高.三电平逆变器SVPWM控制的一种简化算法.电力电了技术,2004,26(5):21-24.
[29]Jae Hyeong Seo,Chang Ho Choi,and Dong Seok Hyun.A New Simplifed Space-Vector PWM Method for Three-Level Inverters.IEEE Trans.Power Electron,VOL.16,July 2001.
[30]薛定宇,陈阳泉.基于Matlab/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002
[31]姜建国.电力电子学与变频传动技术和应用徐州:中国矿业大学出版社,1999
[32]陈伯时.电力拖动自动控制系统北京:机械工业出版社,1992
[33]冯垛生,曾岳南.无速度传感器矢量控制原理与实践北京:机械工业出版社,1997
[34]T.Ohtani and H.Takasaki.High performance vector control of induction motor using torque-producing current,in IPEC Conference Record,1990,pp.84-90.
[35]Kubota H.Matsuse K.DSP-based Speed Adaptive Flux Observer of Induction Motor.IEEE Traps.,1993,IAS 22(2):344-348
[36]Kubota H.Matsuse K.Speed Sensorless Field-oriented Control of Induction Motor with Rotor Resistance Adaptation.IEEE Traps.1994 1AS vol.23,no.5,pp.1219-1223
[37]Yang G.,Chin T.H.Adaptive Speed Identification Scheme for Vector Controlled Speed Sensor-less Inverter induction Motor Drive.IEEE Traps.1993,IAS,vol.229,no.4,pp.820-825
[38]Z.Tan,Y.Li,and Y.Zeng.A three-level speed sensor-less DTC drive of induction motor based on a full-order flux observer.Proceedings of Power Con.2002,Vol.2,13-17,Oct.2002,pp.1054-1058
[39]Jehudi Maes,Jan A.Melkebeek.Speed sensorless Direct Torque Control of Induction Motors Using an Adaptive Flux Observer.IEEE.Traps.on Industry Applications,2000,36(3):778-785
[40]桂武鸣,刘予建等.异步电动机直接转矩控制系统的仿真.电力机车技术,2002,25(3):11-14
[41]陈特放,刘子建.基于MATLAB/SIMULINK的异步电动机直接转矩控制系统的建模和仿真.机车电传动,1998,(2):7-11
[42]张桂新.异步电动机直接转矩控制系统的建模与仿真.中小型电机,2001,28(1):25-27
[43]夏宙等.大功率系统的直接转矩控制新方法.同济大学学报,1998,26(6):697-700
[44]夏雷等.直接转矩控制的工SR方法.电力电子技术,1998,(4):26-29
[45]李磊,胡育文.一种新型的磁链与速度观测器在异步电机直接转矩控制系统中的应用.电气传动,2001,(3):26-28
[46]刘铁湘,陈林康.无速度传感器异步电机矢量控制方法.现代电了技术,2003,(10):21-22
[47]杨耕,陈伯时.交流感应电动机无速度传感器的高动态性能控制方法综述.电气传动,2001,(3):3-8
[48]余功军等.无速度传感器矢量控制系统的研究.电力电子技术,1999,(5):41-46
[49]崔江霞,张爱玲.感应电动机直接转矩控制系统的模型参考自适应辨识。太原理工大学学报,2004,35(2):137-140