基于变频调速技术的电动执行器驱动电源的研究与设计
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摘要
变频驱动电源是电动执行器的重要组成部分,在运行过程中由于电机的频繁启动,使得变频驱动电源故障率偏高,矢量控制作为变频调速技术的一种先进控制策略,可以有效地解决这一问题。矢量控制是通过坐标变换将异步电机模型转化为直流电机模型,然后将定子电流矢量分解为按转子磁场定向的两个直流分量从而加以控制,达到直流电机的控制效果。结合导师“进口SIPOS电动执行器的国产化研究及系统整合”的科研项目,设计了以SVPWM控制方式为基础的电动执行器驱动电源系统,能够有效地提高驱动电源的性能,降低故障率。
本课题所做具体工作如下:
(1)介绍了电动执行器、变频调速技术的国内外发展现状。比较并分析了等脉宽调制、正弦波调制、电流跟踪调制以及直接转矩调制PWM控制算法的优缺点。
(2)采用SVPWM脉宽调制控制算法,结合单片机SAF-C161PI-LM,产生了高质量的PWM波。通过对空间磁链矢量幅值和相位的控制以调节电机转速,减小逆变器输出电流的谐波,降低了脉动转矩,提高了电源的利用率。
(3)设计了驱动电源系统的硬件电路,包括交-直-交变频主电路、EMI滤波电路、IGBT门极驱动电路、高频变压器、开关电源模块、电源监控、过流检测、过压检测等模块。提高了对电机的保护作用。
(4)利用PSIM仿真软件,结合矢量控制的基本原理和硬件设计,对变频调速系统的SVPWM控制算法进行了仿真与分析,给出了仿真波形,理论验证了系统的正确性和可应用性,对样机的研制提供了强有力的指导作用。并在理论分析的基础上,编写了系统软件程序。
(5)通过一系列的实验对产品样机、逆变器控制策略、变频调速等进行了验证,并进行现场考验,08年3月至今实现无故障运行,证明该电源系统的高可靠性。
Variable frequency(VF) driving power supply as an important part of electric actuator, which has high fault rate because of frequently on-off in operation. Space vector control as an advanced control strategy of VF speed regulation technology can effectively resolve it. Its main concept is to transform the model of AC motor to DC motor via coordinate transformation, and further to decompose the stator current into two DC parts of oriented the rotor direction of the magnetic field and achieve an effect of DC motor control. With the supervisor's research project (The localization research and system integration of the imports SIPOS electronic actuator), we designed a electric actuator driving power supply system based on space vector pulse width modulation (SVPWM) control technique and improve the power performance, reduce the fault rate.
The major contribution of this paper is summarized as follows:
( 1 ) Introduce the development of electric actuator and VF speed regulation technique at home and abroad. Many control algorithms as equivalent PWM, SPWM, current tracking PWM and direct torque control PWM are compared. And it is analyzed advantages and disadvantages in this paper.
(2) Using the converter vector control algorithm based on SVPWM and the singlechip SAF-C161PI-LM improved the quality of the PWM wave. The algorithm of SVPWM that is adopted by the system implements speed regulation by control of magnitude and phase of space flux linkage and can generate less harmonics of inverter output current, reduce ripple torque, and increase availability of voltage.
(3) It is designed the hardware circuit of this power supply system, including main circuit topology of AC-DC-AC VF system, Electro magnetic Interference (EMI) filter circuit, Insulated-gate Bipolar Transistor (IGBT) gate driving circuit, high frequency transformer, switching power supply module, power supply monitoring, overcurrent detection and overvoltage detection etc. It is greatly improved the protection of the motor.
(4) It is simulated and analyzed SVPWM vector control algorithm of this VF speed regulation system combined basic principle of vector control and hardware design and PSIM simulation software. It is presented simulation waveform, validated correctness and applicability of system theory, and provided guidance of making the sample. It is written system software program based on theory analysis.
(5) Through a series experiment of the sample, inverter control strategy, VF speed regulation, and Field tests achieved trouble-free operation from march 2008 to now , that proved highly reliability of the power system.
本课题所做具体工作如下:
(1)介绍了电动执行器、变频调速技术的国内外发展现状。比较并分析了等脉宽调制、正弦波调制、电流跟踪调制以及直接转矩调制PWM控制算法的优缺点。
(2)采用SVPWM脉宽调制控制算法,结合单片机SAF-C161PI-LM,产生了高质量的PWM波。通过对空间磁链矢量幅值和相位的控制以调节电机转速,减小逆变器输出电流的谐波,降低了脉动转矩,提高了电源的利用率。
(3)设计了驱动电源系统的硬件电路,包括交-直-交变频主电路、EMI滤波电路、IGBT门极驱动电路、高频变压器、开关电源模块、电源监控、过流检测、过压检测等模块。提高了对电机的保护作用。
(4)利用PSIM仿真软件,结合矢量控制的基本原理和硬件设计,对变频调速系统的SVPWM控制算法进行了仿真与分析,给出了仿真波形,理论验证了系统的正确性和可应用性,对样机的研制提供了强有力的指导作用。并在理论分析的基础上,编写了系统软件程序。
(5)通过一系列的实验对产品样机、逆变器控制策略、变频调速等进行了验证,并进行现场考验,08年3月至今实现无故障运行,证明该电源系统的高可靠性。
Variable frequency(VF) driving power supply as an important part of electric actuator, which has high fault rate because of frequently on-off in operation. Space vector control as an advanced control strategy of VF speed regulation technology can effectively resolve it. Its main concept is to transform the model of AC motor to DC motor via coordinate transformation, and further to decompose the stator current into two DC parts of oriented the rotor direction of the magnetic field and achieve an effect of DC motor control. With the supervisor's research project (The localization research and system integration of the imports SIPOS electronic actuator), we designed a electric actuator driving power supply system based on space vector pulse width modulation (SVPWM) control technique and improve the power performance, reduce the fault rate.
The major contribution of this paper is summarized as follows:
( 1 ) Introduce the development of electric actuator and VF speed regulation technique at home and abroad. Many control algorithms as equivalent PWM, SPWM, current tracking PWM and direct torque control PWM are compared. And it is analyzed advantages and disadvantages in this paper.
(2) Using the converter vector control algorithm based on SVPWM and the singlechip SAF-C161PI-LM improved the quality of the PWM wave. The algorithm of SVPWM that is adopted by the system implements speed regulation by control of magnitude and phase of space flux linkage and can generate less harmonics of inverter output current, reduce ripple torque, and increase availability of voltage.
(3) It is designed the hardware circuit of this power supply system, including main circuit topology of AC-DC-AC VF system, Electro magnetic Interference (EMI) filter circuit, Insulated-gate Bipolar Transistor (IGBT) gate driving circuit, high frequency transformer, switching power supply module, power supply monitoring, overcurrent detection and overvoltage detection etc. It is greatly improved the protection of the motor.
(4) It is simulated and analyzed SVPWM vector control algorithm of this VF speed regulation system combined basic principle of vector control and hardware design and PSIM simulation software. It is presented simulation waveform, validated correctness and applicability of system theory, and provided guidance of making the sample. It is written system software program based on theory analysis.
(5) Through a series experiment of the sample, inverter control strategy, VF speed regulation, and Field tests achieved trouble-free operation from march 2008 to now , that proved highly reliability of the power system.
引文
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[3]陈永辉,高名园,陈永红.我国执行器的现状及发展趋势[J].电力建设,2001,22(11):46-51.
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[5]余君兰.全数字电动执行器的研究与开发[D].广州:中南大学,2002.
[6]许鸣宇.智能化阀门电动执行器调速装置的研究与开发[D].大连:大连理工大学,2000.
[7]李国.永磁同步电动机步进控制的电动执行器的研究[D].河北:河北工业大学,2004.
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[10]B.Jayant,Baliga.Modern power devices[M].New York:Wiley-interscience,1987.167-190.
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[15]王浩,胡冬青,吴郁,等.一种新结构IGBT—内透明集电极IGBT的仿真[J].半导体学报,2008,29(2):348-351.
[16]陈元招.IPM在弧焊机逆变器中的应用[J].电气技术,2007(5):34-37.
[17]张燕宾.SPWM变频调速应用技术[M].北京:机械工业出版社,2002.
[18]蒋永华,余愚,孙海山.变频调速技术的行业现状与发展趋势[J].工业仪表与自动化装置,2007(1):11-14.
[19]陈伯时.电力拖动自动控制系统[M].北京:机械工业出版社,2003.
[20]李永东.交流电机数字控制系统[M].北京:机械工业出版社,2002.
[21]M.M.Angeles,L.G.Jose,RG.Ramon,etc.A novel space-vector algorithm for multilever converters based on geometrical considerations using a new sequence control technique[J].Journal of Circuits,Systems,and Computers,2004,13(4):845-861.
[22]C.Lascu,I.Boldea,F.Blaabjerg.A modified direct torque control for induction motor sensorlessdrive[J].Industry Applications,IEEE Transactionson,2000,1(36):122-130.
[23]J.Rodriguez,L.Moran,J.Pontt,etc.A high-performance vector control of an 11-level inverter[J].Industrial Electronics,IEEE Transactions on,2003,50(1):80-85.
[24]T.G.Habetler,F.Profumo,M.Pastorelli,etc.Direct torque control of induction machines using space vectormodulation[J].Industry Applications Society Annual Meeting,Conference Record of the 1991IEEE,1991(I):428-436.
[25]王树.变频调速系统设计与应用[M].北京:机械工业出版社,2006,30-31.
[26]Ziogas,D.Khan Phoivos,I.Shahidul Rashid,ect.Analysis and design of Forced Commutated Cycloconverter structures with improved transfer characteristics[J].Annual Power Electronics Specialists Conference,1986,33(3):271-280.
[27]周志敏.中压变频器主流技术发展动向[J].冶金动力,2000,82(6):63-65.
[28]王军.电流型变频器PWM控制方法的微机实现[J].四川工业学院学报,1992,11(2):136-45.
[29]王青松.一种关于电压型变频器直流环节滤波电容的计算方法[J].电源技术应用,2006,9(6):41-43.
[30]王涛,赵文承.电压型变频器的PWM控制策略[J].鞍钢技术,2004(2):33-35.
[31]Keliang Zhou,Danwei Wang.Relationship between space-vector modulation and three-phasecarrier-based PWM:a comprehensive nanlysis[three-phase inverters][J].Industrial Electronics,IEEE Transactions on,2002,49(1):186-196.
[32]赵相宾,年培新.谈我国变调速技术的发展和应用[J].电气传动,2000(2):76-78.
[33]F.Profumo,A.Boglietti,G.Griva,etc.Space vector and sinusoidal PWM techniques comparison keeping inaccount the secondary effects[J].AFRICON '92 Proceedings.,3rd AFRICON Conference,1992(9):394-399.
[34]P.K.Jain,J.R.Espinoza,S.B.Dewan.Self-started voltage-source series-resonant converter for highpower induction heating and melting applications[J].Industry applications confrerence,1997,2(5):1653-1660.
[35]Xunwei Zhou,Bo Yang,L.Lee Amoroso,etc.A novel high-input-voltage,high efficiency and past transientvoltage regulator module-push-pull forward converter[J].A pplied Power Electronics Conference and Exposition,1999(1):279-283.
[36]K.Thiyagarajah,V.T.Ranganathan,B.S.R.Iyengar.A high switching frequency IGBT PWM rectifier/inverter system for AC motor drives operating from single phase supply[J].Power Electronics,IEEE Transactions on,1991,6(4):576-584.
[37]李扶中,熊蕊.一种新型的不对称规则SPWM采样法[J].电力电子技术,2007,41(4):93-95.
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