电力推进负载模拟系统研究
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摘要
船舶电力推进是电气传动领域的重要应用之一,其负载模拟系统为研发考核中降低成本、减小风险起着重要的作用。论文在全面总结前人工作的基础上,对目前国内交通领域重大工程和实验需求进行了分析,提出一种新型高性能节能型负载模拟系统方案,对电力推进负载模拟系统的数学建模、系统仿真和稳定性分析等问题进行了系统而深入的研究,获得了以下重要成果。
详细推导了电力推进负载模拟系统的实现原理,分析了模拟系统的动态调节规律;提出一种采用MATLAB实时仿真工具RTW和多功能数据采集卡结合的负载转矩外环控制方案,实现了负载模型和模拟变流系统的控制,建立了完整的小比例硬件模拟系统,具有较好的系统柔性,大大简化了实现方式,加快了仿真速度,提高了效率。
采用简单开关函数建立了整个模拟系统三相静止坐标系和同步旋转坐标系下的数学模型,对模拟系统的控制策略和动态调节进行了深入研究和全面的仿真分析,为进一步研究打下了良好的基础。
针对负载模拟电机参数变化对间接矢量控制下电磁转矩和磁链解耦控制的影响,提出了一种解耦控制参数敏感性的数学分析方法,借助MATLAB工具进行了深入分析,归纳出参数敏感性的变化规律。
通过系统仿真和转矩控制闭环传递函数的频域比较分析,研究负载模型的控制时间延迟对转矩控制准确性和稳定性的影响,提出一种修正闭环增益的方法,对系统时延环节进行了有效补偿,仿真验证该方法达到了较为理想的控制效果。
采用偏微法对整个模拟系统的数学模型进行了线性化处理,基于Lyapunov稳定性理论对整个系统进行了稳定性分析,得到系统主要设计参数变化时系统的稳定性变化规律。引入大信号干扰概念,对模拟系统固有的非线性因素引起的稳定性问题进行了阐述,提出了提高大信号干扰稳定性的有效措施,完善了模拟系统的稳定性策略。
所建立的电力推进负载模拟系统具有很强的通用性,可推广到铁路运输、城市轨道交通、矿井提升装置、轧钢机械等交通和工业领域的传动技术研究。
Marine electric propulsion is one of the most important application fields of electric drive and widely used, its simulation system plays a so important role, for it can reduce the cost and risk during R & D and system test time. Based on overall review of previous work, this paper deeply researches domestic need of the key projects and experiments for transportation, and introduces a novel high performance and energy-save programme, the system mathematic modeling, digital simulation and stability analysis are studied in detail, and gets the following achievements.
The dissertation deeply analyzes the simulation theory and its dynamic regulation procedure. In order to realize the ship-propeller model(SPM) and design the complete simulation system hardware, a method combined MATALB real time simulation tool RTW and data acquisition card(DAC) PCI-1711 for outer load torque control has been introduced, which makes the SPM much more conveniently and efficiency.
Based on simple switching function(SF), this paper models the whole simulation system for the first time, including the stationary and synchronous rotating frame models, and the control strategies are further studied. Variable step and simplify method are used for the whole system simulation, to reduce the simulation time consumption, but without any loss of simulation precise.
This paper describes the parameter sensitivity of electric torque and rotor flux linkage decoupling control in the torque producing step of indirect vector control, the mathematical expression is deduced and some useful results are achieved, and the regulation principle is summarized by using MATLAB tools.
For the pure time delay from SPM to simulation converter will affect the stability of simulation motor, even propulsion system, this paper modifies the close loop gain to compensate the time delay affection, through the analysis from Bode or Nichols curves. Simulation result indicates its ideal control effect.
In order to study the whole system stability when system parameters changes, based on small signal disturbance theory, the dissertation uses partial differentiation to linear the simulation system's state space model, and then the first Lyapunov theory is used to analyze the stability. The large signal stability is also used to describe the inherent nonlinear stability problem, and some methods to increase the stability are given, which completes the simulation system stability analysis.
The simulation system designed by this paper, and these research results have so strong generality that can also be used for other transportation and industrial AC drive systems research, such as mainline railway, urban rail transit, mine lifting apparatus, steel rolling, etc..
详细推导了电力推进负载模拟系统的实现原理,分析了模拟系统的动态调节规律;提出一种采用MATLAB实时仿真工具RTW和多功能数据采集卡结合的负载转矩外环控制方案,实现了负载模型和模拟变流系统的控制,建立了完整的小比例硬件模拟系统,具有较好的系统柔性,大大简化了实现方式,加快了仿真速度,提高了效率。
采用简单开关函数建立了整个模拟系统三相静止坐标系和同步旋转坐标系下的数学模型,对模拟系统的控制策略和动态调节进行了深入研究和全面的仿真分析,为进一步研究打下了良好的基础。
针对负载模拟电机参数变化对间接矢量控制下电磁转矩和磁链解耦控制的影响,提出了一种解耦控制参数敏感性的数学分析方法,借助MATLAB工具进行了深入分析,归纳出参数敏感性的变化规律。
通过系统仿真和转矩控制闭环传递函数的频域比较分析,研究负载模型的控制时间延迟对转矩控制准确性和稳定性的影响,提出一种修正闭环增益的方法,对系统时延环节进行了有效补偿,仿真验证该方法达到了较为理想的控制效果。
采用偏微法对整个模拟系统的数学模型进行了线性化处理,基于Lyapunov稳定性理论对整个系统进行了稳定性分析,得到系统主要设计参数变化时系统的稳定性变化规律。引入大信号干扰概念,对模拟系统固有的非线性因素引起的稳定性问题进行了阐述,提出了提高大信号干扰稳定性的有效措施,完善了模拟系统的稳定性策略。
所建立的电力推进负载模拟系统具有很强的通用性,可推广到铁路运输、城市轨道交通、矿井提升装置、轧钢机械等交通和工业领域的传动技术研究。
Marine electric propulsion is one of the most important application fields of electric drive and widely used, its simulation system plays a so important role, for it can reduce the cost and risk during R & D and system test time. Based on overall review of previous work, this paper deeply researches domestic need of the key projects and experiments for transportation, and introduces a novel high performance and energy-save programme, the system mathematic modeling, digital simulation and stability analysis are studied in detail, and gets the following achievements.
The dissertation deeply analyzes the simulation theory and its dynamic regulation procedure. In order to realize the ship-propeller model(SPM) and design the complete simulation system hardware, a method combined MATALB real time simulation tool RTW and data acquisition card(DAC) PCI-1711 for outer load torque control has been introduced, which makes the SPM much more conveniently and efficiency.
Based on simple switching function(SF), this paper models the whole simulation system for the first time, including the stationary and synchronous rotating frame models, and the control strategies are further studied. Variable step and simplify method are used for the whole system simulation, to reduce the simulation time consumption, but without any loss of simulation precise.
This paper describes the parameter sensitivity of electric torque and rotor flux linkage decoupling control in the torque producing step of indirect vector control, the mathematical expression is deduced and some useful results are achieved, and the regulation principle is summarized by using MATLAB tools.
For the pure time delay from SPM to simulation converter will affect the stability of simulation motor, even propulsion system, this paper modifies the close loop gain to compensate the time delay affection, through the analysis from Bode or Nichols curves. Simulation result indicates its ideal control effect.
In order to study the whole system stability when system parameters changes, based on small signal disturbance theory, the dissertation uses partial differentiation to linear the simulation system's state space model, and then the first Lyapunov theory is used to analyze the stability. The large signal stability is also used to describe the inherent nonlinear stability problem, and some methods to increase the stability are given, which completes the simulation system stability analysis.
The simulation system designed by this paper, and these research results have so strong generality that can also be used for other transportation and industrial AC drive systems research, such as mainline railway, urban rail transit, mine lifting apparatus, steel rolling, etc..
引文
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