牵引电机无速度传感器间接定子量控制研究
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摘要
我国轨道交通建设正进入高速发展的高峰期,轨道交通车辆市场有着广阔的前景,牵引系统是轨道交通车辆的核心部分,直接决定着车辆运行性能,关系到车辆的安全性、运行质量以及对能源的消耗。在我国自主知识产权轨道交通车辆交流传动系统中,传统的直接转矩控制还是存在转矩脉动较大,电流谐波较大等缺点,特别是在直流供电的地铁牵引系统中,容易引起直流侧电流及电压振荡等问题,需要对电机控制策略进行进一步优化改进。另外,由于速度传感器安装和维护都非常不便,并且由于其工作环境恶劣,是引起车辆故障的主要根源,因此研究无速度传感器电力牵引控制系统具有十分重要的理论和现实意义。本论文从这两方面入手对轨道交通电力牵引交流传动关键技术进行了深入研究。
首先回顾了电机控制策略的发展,总结分析了无速度传感器控制技术的发展现状,并介绍了轨道交通电力牵引传动系统的概况。从异步电机的数学模型出发,阐述了异步电机的T-和Γ-型等效电路、逆变器的数学模型和电压空间矢量的概念以及电压空间矢量调制(SVPWM)相关理论。
针对轨道交通车辆交流传动系统中传统直接转矩控制方法存在的缺点,对全速度范围牵引电机间接定子量控制进行研究,提出了一种能同时准确观测异步电机定子和转子磁链的全阶磁链观测器,提出了两种弱磁控制方法,提出了一种便于工程实现的过调制方法,提出了一种基于时间的死区补偿方法,成功的将间接定子量控制拓宽到全速度范围,且通过了仿真和实验验证。仿真结果表明采用全速度范围间接定子量控制可以获得高动态响应并能达到抑制谐波的效果,且能解决目前城轨地铁牵引系统主回路振荡问题,为该方法在城轨地铁牵引系统中的应用奠定了良好的基础。
针对无速度传感器技术中应用最广泛的基于观测器的模型参考自适应速度辨识方法进行了深入研究。从传统的利用极点配置选取观测器增益的方法入手,针对工程应用提出了基于定子磁链U-N模型的速度自适应辨识方法,并分析了其与传统基于观测器的速度辨识方法异同。针对目前多数速度辨识方法低速范围速度辨识不准确的特点,分析了其不稳定的原因,提出了一种新型无速度传感器方法,应用鲁棒控制理论、利用Matlab的LMI工具箱通过求解两个双线性矩阵不等式(BMIs)得到观测器的增益矩阵,并结合Lyapunov稳定性理论推出速度自适应律。并将该速度辨识方法应用到牵引电机直接转矩控制系统和间接定子量控制系统中,进行了Matlab仿真和实验验证,仿真和实验结果表明该方法在全速度范围各种工况下都能稳定工作,准确辨识转速,解决了多种速度辨识方法在低速发电时的不稳定问题。最后,对这种基于观测器的新型无速度传感器方法进行扩展,提出了一种基于观测器的定子电阻辨识方法,实现了转速和定子电阻的同时辨识。
研制了城轨地铁交流传动系统半实物仿真平台,介绍了半实物仿真平台组成结构、软硬件平台和被控对象实时仿真建模方法,并通过多个地铁应用项目验证并完善了该仿真平台。基于该平台,完成了无速度传感器间接定子量控制系统的DSP软件编制与调试工作。
The construction of China's rail transit is entering the peak period of rapid development, the market of rail transit vehicle has broad prospects. As the key of mass transit vehicles, traction system determines the vehicle's performance directly, which relates to the safety of vehicles, operation quality and energy consumption. In our own independent intellectual property of the rail transit vehicle AC drive system, there are some defects in the traditional direct torque control system, such as large torque ripple,high current harmonics。Particularly in metro traction system of DC power supply, it's easy to cause a large DC current and voltage oscillations problems. The control strategies of motor need to be further optimized and improved. In addition, because the speed sensors are very inconvenient to install and maintain, and their working environment is bad, which are the major source of vehicle failure. Therefore, the study of speed sensorless of electric traction control system is of great theoretical and practical significance. The key technology of rail transit traction power AC drive is studied deeply from these two aspects in this paper.
Firstly, the development of AC motor control strategy is reviewed, the development Status of sensorless control technology is summarized and analyzed, and overview of rail electric traction drive system is introduced. T-andΓ-type equivalent circuit of asynchronous motor, mathematical model of inverter, the concept of voltage space vector, and the theory of voltage space vector modulation (SVPWM) are clarified based on mathematical model of asynchronous motor.
According to the defects of the traditional method of direct torque control in rail transit vehicle AC drive system, indirect stator quantities control of full range of speed traction motor is studied. A full order flux observer is proposed, which can observe stator and rotor flux of asynchronous motor accurately. Two methods of Flux-weakening control are presented, and a method of over-modulation which can be easy to implement is provided. Also, a time-based deadtime compensation method is proposed. Indirect stator quantities control has been expand to full speed range successfully, which have been verified by simulation and experiment. Simulation results show that the whole speed range of indirect stator quantities control can obtain high dynamic response and suppress the effects of harmonics, it can also solve oscillation of main circuit of mass transit metro rail traction system, which lay a good foundation for the method to apply for the traction of mass transit metro rail system.
An in-depth study is carried out for the method of model reference adaptive speed estimation based on Observer, which is widely used in speed sensorless. Starting from traditional method of select the observer gain by using pole placement, a method of model based on the stator flux speed of U-N adaptive identification is proposed for engineering application, and similarities and differences from traditional observer-based speed estimation method are analyzed. According to the characteristic of identification of low speed range is not accurate for the majority speed estimation method at present, the causes of its instability are analyzed, and a new method of speed sensorless is proposed, Which adopts robust control theory to obtain observer gain matrix by solving two bilinear matrix inequalities (BMIs) with MATLAB's LMI toolbox, and Lyapunov stability theory is combined to derive the speed adaptive law. The speed estimation method is applied to direct torque control system and the indirect stator quantities control system of traction motor, MATLAB simulation and experiment are carried out, which show that there are some advantages of this approach, such as system with good stability in the whole range of different conditions, speed can be identified accurately, and the problem of instability in variety of speed estimation method in the low power generation are solved. Finally, the new observer-based speed sensorless method is expended. A observer-based stator resistance identification method is proposed to achieve the speed and stator resistance identification at the same time.
Hardware-in-loop (HIL) simulation platform of AC drive of urban rail metro is developed. The composition of the HIL simulation platform, software and hardware platforms, and the method of establishing the real time simulation model of the controlled object are introduced. The simulation platform is verified and improved by some metro application projects. DSP software of speed sensorless indirect stator quantities control system is established and debugged completely based on this platform.
首先回顾了电机控制策略的发展,总结分析了无速度传感器控制技术的发展现状,并介绍了轨道交通电力牵引传动系统的概况。从异步电机的数学模型出发,阐述了异步电机的T-和Γ-型等效电路、逆变器的数学模型和电压空间矢量的概念以及电压空间矢量调制(SVPWM)相关理论。
针对轨道交通车辆交流传动系统中传统直接转矩控制方法存在的缺点,对全速度范围牵引电机间接定子量控制进行研究,提出了一种能同时准确观测异步电机定子和转子磁链的全阶磁链观测器,提出了两种弱磁控制方法,提出了一种便于工程实现的过调制方法,提出了一种基于时间的死区补偿方法,成功的将间接定子量控制拓宽到全速度范围,且通过了仿真和实验验证。仿真结果表明采用全速度范围间接定子量控制可以获得高动态响应并能达到抑制谐波的效果,且能解决目前城轨地铁牵引系统主回路振荡问题,为该方法在城轨地铁牵引系统中的应用奠定了良好的基础。
针对无速度传感器技术中应用最广泛的基于观测器的模型参考自适应速度辨识方法进行了深入研究。从传统的利用极点配置选取观测器增益的方法入手,针对工程应用提出了基于定子磁链U-N模型的速度自适应辨识方法,并分析了其与传统基于观测器的速度辨识方法异同。针对目前多数速度辨识方法低速范围速度辨识不准确的特点,分析了其不稳定的原因,提出了一种新型无速度传感器方法,应用鲁棒控制理论、利用Matlab的LMI工具箱通过求解两个双线性矩阵不等式(BMIs)得到观测器的增益矩阵,并结合Lyapunov稳定性理论推出速度自适应律。并将该速度辨识方法应用到牵引电机直接转矩控制系统和间接定子量控制系统中,进行了Matlab仿真和实验验证,仿真和实验结果表明该方法在全速度范围各种工况下都能稳定工作,准确辨识转速,解决了多种速度辨识方法在低速发电时的不稳定问题。最后,对这种基于观测器的新型无速度传感器方法进行扩展,提出了一种基于观测器的定子电阻辨识方法,实现了转速和定子电阻的同时辨识。
研制了城轨地铁交流传动系统半实物仿真平台,介绍了半实物仿真平台组成结构、软硬件平台和被控对象实时仿真建模方法,并通过多个地铁应用项目验证并完善了该仿真平台。基于该平台,完成了无速度传感器间接定子量控制系统的DSP软件编制与调试工作。
The construction of China's rail transit is entering the peak period of rapid development, the market of rail transit vehicle has broad prospects. As the key of mass transit vehicles, traction system determines the vehicle's performance directly, which relates to the safety of vehicles, operation quality and energy consumption. In our own independent intellectual property of the rail transit vehicle AC drive system, there are some defects in the traditional direct torque control system, such as large torque ripple,high current harmonics。Particularly in metro traction system of DC power supply, it's easy to cause a large DC current and voltage oscillations problems. The control strategies of motor need to be further optimized and improved. In addition, because the speed sensors are very inconvenient to install and maintain, and their working environment is bad, which are the major source of vehicle failure. Therefore, the study of speed sensorless of electric traction control system is of great theoretical and practical significance. The key technology of rail transit traction power AC drive is studied deeply from these two aspects in this paper.
Firstly, the development of AC motor control strategy is reviewed, the development Status of sensorless control technology is summarized and analyzed, and overview of rail electric traction drive system is introduced. T-andΓ-type equivalent circuit of asynchronous motor, mathematical model of inverter, the concept of voltage space vector, and the theory of voltage space vector modulation (SVPWM) are clarified based on mathematical model of asynchronous motor.
According to the defects of the traditional method of direct torque control in rail transit vehicle AC drive system, indirect stator quantities control of full range of speed traction motor is studied. A full order flux observer is proposed, which can observe stator and rotor flux of asynchronous motor accurately. Two methods of Flux-weakening control are presented, and a method of over-modulation which can be easy to implement is provided. Also, a time-based deadtime compensation method is proposed. Indirect stator quantities control has been expand to full speed range successfully, which have been verified by simulation and experiment. Simulation results show that the whole speed range of indirect stator quantities control can obtain high dynamic response and suppress the effects of harmonics, it can also solve oscillation of main circuit of mass transit metro rail traction system, which lay a good foundation for the method to apply for the traction of mass transit metro rail system.
An in-depth study is carried out for the method of model reference adaptive speed estimation based on Observer, which is widely used in speed sensorless. Starting from traditional method of select the observer gain by using pole placement, a method of model based on the stator flux speed of U-N adaptive identification is proposed for engineering application, and similarities and differences from traditional observer-based speed estimation method are analyzed. According to the characteristic of identification of low speed range is not accurate for the majority speed estimation method at present, the causes of its instability are analyzed, and a new method of speed sensorless is proposed, Which adopts robust control theory to obtain observer gain matrix by solving two bilinear matrix inequalities (BMIs) with MATLAB's LMI toolbox, and Lyapunov stability theory is combined to derive the speed adaptive law. The speed estimation method is applied to direct torque control system and the indirect stator quantities control system of traction motor, MATLAB simulation and experiment are carried out, which show that there are some advantages of this approach, such as system with good stability in the whole range of different conditions, speed can be identified accurately, and the problem of instability in variety of speed estimation method in the low power generation are solved. Finally, the new observer-based speed sensorless method is expended. A observer-based stator resistance identification method is proposed to achieve the speed and stator resistance identification at the same time.
Hardware-in-loop (HIL) simulation platform of AC drive of urban rail metro is developed. The composition of the HIL simulation platform, software and hardware platforms, and the method of establishing the real time simulation model of the controlled object are introduced. The simulation platform is verified and improved by some metro application projects. DSP software of speed sensorless indirect stator quantities control system is established and debugged completely based on this platform.
引文
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