六相永磁同步电机矢量控制系统的研究
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摘要
永磁电机具有高功率密度、高效率等优点,在工农业生产、航空航天、国防等领域得到了广泛应用。在此基础上研制的多相永磁电机,除上述优点外,还具有高可靠性的优点,其控制系统的研究近年来逐渐地引起了电气传动领域的关注。本文围绕多相永磁同步电机矢量控制系统的设计及改进展开工作,主要研究成果有:
首先,通过坐标变换建立了双Y移30°六相永磁同步电机矢量控制系统的数学模型,以i_d=0控制为电流控制策略,并在Matlab/Simulink环境下构建了其仿真系统,仿真结果表明了其有效性。
其次,开发了以DSP芯片TMS320LF2407为核心的控制电路,系统采用SVPWM控制方式。本文对其硬件系统的设计作了详细的说明,并进行了相关的实验,取得了较好的控制效果。
再次,针对电机参数漂移问题,提出了模糊控制与传统PID控制相结合的矢量控制方法,在建立的六相系统上进行了仿真研究,使得控制的效果更加理想。建立了神经网络与PID控制相结合的控制方法。本文采用BP神经网络与PID控制相结合的永磁同步电机调速系统,调速效果很好。上述二种智能控制方法有着比传统PID更好的性能,采用这些智能控制方法的系统响应快、无超调、具有良好的动、静态性能和鲁棒性能。
Permanent-magnet synchronous motor (PMSM) has many prominent characteristics such as high power density, high efficiency and so on. PMSM is broadly applied in agriculture, Aeronautics and Astronautics, national defence. On this basis multi-phase permanent magnet motor is developed, In addition to the above advantages multi-phase PMSM Also has the advantages of high reliability, it is becoming one of the emphases in electric drive fields and its controlled means is also attentive focus. This paper is about the design and the improvement of vector control system of multi-phase permanent magnet synchronous motor, the main research results are shown as follows:
Firstly, set up a mathematical model about vector control system of 30°double-Y-shift six-phase permanent magnet synchronous motor through the coordinate transformation. i_d=0 is the control strategy and build the simulation system in Matlab/Simulink environment, the simulation results show the effectiveness.
Secondly, develop a control circuit which core is DSP chip--TMS320LF2407 and SVPWM is the control mode. In this paper, the design of hardware system is detailed description and the related experiment is conducted together with good control effect.
Thirdly, in connection with the drift problem of Electrical parameters, Propose a combination vector control methods of fuzzy control and traditional PID control. At the established six-phase systems, simulation research is carried out and the controlled effect is more ideal. In this paper, permanent magnet synchronous motor speed control system adopts the BP neural network combined with PID control, the effect of velocity modulation is better. The two intelligent control systems have better performance over traditional PID control. By applying the intelligent control methods, the system has quick response, no over shoot and good dynamic and static behaviors as well as robustness.
首先,通过坐标变换建立了双Y移30°六相永磁同步电机矢量控制系统的数学模型,以i_d=0控制为电流控制策略,并在Matlab/Simulink环境下构建了其仿真系统,仿真结果表明了其有效性。
其次,开发了以DSP芯片TMS320LF2407为核心的控制电路,系统采用SVPWM控制方式。本文对其硬件系统的设计作了详细的说明,并进行了相关的实验,取得了较好的控制效果。
再次,针对电机参数漂移问题,提出了模糊控制与传统PID控制相结合的矢量控制方法,在建立的六相系统上进行了仿真研究,使得控制的效果更加理想。建立了神经网络与PID控制相结合的控制方法。本文采用BP神经网络与PID控制相结合的永磁同步电机调速系统,调速效果很好。上述二种智能控制方法有着比传统PID更好的性能,采用这些智能控制方法的系统响应快、无超调、具有良好的动、静态性能和鲁棒性能。
Permanent-magnet synchronous motor (PMSM) has many prominent characteristics such as high power density, high efficiency and so on. PMSM is broadly applied in agriculture, Aeronautics and Astronautics, national defence. On this basis multi-phase permanent magnet motor is developed, In addition to the above advantages multi-phase PMSM Also has the advantages of high reliability, it is becoming one of the emphases in electric drive fields and its controlled means is also attentive focus. This paper is about the design and the improvement of vector control system of multi-phase permanent magnet synchronous motor, the main research results are shown as follows:
Firstly, set up a mathematical model about vector control system of 30°double-Y-shift six-phase permanent magnet synchronous motor through the coordinate transformation. i_d=0 is the control strategy and build the simulation system in Matlab/Simulink environment, the simulation results show the effectiveness.
Secondly, develop a control circuit which core is DSP chip--TMS320LF2407 and SVPWM is the control mode. In this paper, the design of hardware system is detailed description and the related experiment is conducted together with good control effect.
Thirdly, in connection with the drift problem of Electrical parameters, Propose a combination vector control methods of fuzzy control and traditional PID control. At the established six-phase systems, simulation research is carried out and the controlled effect is more ideal. In this paper, permanent magnet synchronous motor speed control system adopts the BP neural network combined with PID control, the effect of velocity modulation is better. The two intelligent control systems have better performance over traditional PID control. By applying the intelligent control methods, the system has quick response, no over shoot and good dynamic and static behaviors as well as robustness.
引文
[1]唐任远.现代永磁电机理论与设计.北京:机械工业出版社,1997.
[2]张伟.无转速传感器异步电机矢量控系统控制方法的研究:(博士学位论文).杭州:浙江大学,2001.
[3]Bimal K.Bose.Expert System,Fuzzy Logic,and Neural Network Applications in Power Electronics and Motion Control.Proceedings of the IEEE,1994,82(8):1303-1323.
[4]陈林.十五相感应电机定子绕组多相开路的稳态特性.电工技术学报,2004,19(11):14-19.
[5]李建春.多相化无刷直流电机系统模型、运行控制与容错的研究.(博士学位论文).哈尔滨:哈尔滨工业大学,1997.
[6]许实章.交流电机绕组理论.北京:机械工业出版社,1985.
[7]欧阳红林.多相永磁同步电动机调速系统控制方法的研究.(博士学位论文).长沙:湖南大学,2005.
[8]欧阳红林,成兰仙.多相永磁同步电机模糊神经网络控制调速系统.电机与控制学报,2007,11(2):111-115.
[9]薛山,温旭辉,王又珑.多相永磁同步电机多维控制技术.电工技术学报,2008,23(9):65-69.
[10]薛山.多相永磁同步电机驱动技术研究.(博士学位论文).北京:中国科学院研究生院,2005.
[11]E.A.Klingshirn.High Phase Induction Motor Prat Ⅰ Description and Theoretical,Considerations.IEEE Transaction on Power Apparatus and Systems,1993,102(1):47-53.
[12]E.A.Klingshirn.High Phase Induction Motor Prat Ⅱ Experimental Results.IEEE Trans on Power Apparatus and Systems,1993,102(1):54-59.
[13]R.H.Nelson,P.C.Krause.Induction Machine Analysis for Arbitrary Displacement between Multiple Winding Sets.IEEE Transaction on Power Apparatus and Systems,1999,5:841-848.
[14]J.Dente,Induction Motor Current Source Inverter Systems with Phase Number Greater Than 3.EPE85,1985,Vol3:143-147.
[15]Mohamed A.Abbas,Roland Christen,Thomas M.Jahns.Six-Phase Voltage Source InverterDriven Induction Motor.IEEE Transactions on Industry Applications,1984,20(2):1251-1259.
[16]H.A.Toliyat,S.P.Waikar,T.A.Lipo.Analysis and Simulation of Five-Phase Synchronous Reluctance Machines Including Third Harmonics ofAirgap MMF.IEEE Transactions on Industry Applications,1998,134(2):332-339.
[17]H.A.Toliyat,Longya Xu,T.A.Lpio.A Five-Phase Reluctance Motor with High Spdcific Torque.IEEET ransactionson IndustryApp lications,1992,128(3):659-667.
[18]Longya Xu,Baoguo Wang.Comparison Study of Rotor Structures for Five-Phase Synchronous Reluctance Machines.Conference Record of the 1999 IEEE IAS Annual Meeting.1999Vol2:846-853.
[19]R.Bojoi,F.Farina,G.Griva,F.Profumo,A.Tenconi,Direct torque control for dual-three phase induction motor drives.Conference Record-IAS Annual Meeting(IEEE Industry Applications Society),2004,p1342-1349.
[20]Bojoi R,Lazzari M,Profumo F.Digital Field-Oriented Control for Dual Three-Phase Induction Motor Drives[J].IEEE Transactions on Industry Applications,2003,39(3):752-760.
[21]Parsa,Leila,Toliyat,Hamid A.Multi-Phase Permanent Magnet Motor Drives,Conference Record-IAS Annual Meeting(IEEE Industry Applications Society).2003,p 401-408.
[22]Lyra,R.O.C,Lipo,T.A.Torque density improvement in a six-phase induction motor with third harmonic current injection.Conference Record-IAS Annual Meeting(IEEE Industry Applications Society),v 3,2001,p 1779-1786.
[23]Kianinezhad.B.Nahid,F.Betin,G.A.Capolino.A new field orientation control of dual there phase induction machines.2004 IEEE International Conference on Industrial Technology(ICIT),2004,187-196.
[24]Oguchi K,Kawaguchi.A Novel Six-Phase Inverter System With 60-Step Output Voltage For High-Power Motor Dirves[J].IEEE Trans.On IA,1999,35(5):1141-1149.
[25]Y.Zhao,Lipo T.A.Space Vector PWM Control Of Dual Three Phase Induction Machine Using Vector[J].IEEE Trans.Ind.Applicat,1995,31(5):1100-1108.
[26]Y.Zhao,Lipo T.A.Modeling and Control of a Multi-phase Induction Machine with Structural Unbalance,Part I:Machine Modeling and Multi-Dimensional Current Regulation.IEEE Trans.On Energy Conversion,1996,11(3):570-577.
[27]Y Zhao,Lipo TA.Model and Control of a Multi-phase Induction Machine with Structural Unbalance,Part Ⅱ:Field-Oriented Control and Experimental Verification.IEEE Trans.On Energy Conversion,1996,11(3):578-584.
[28]Bowes S.R,Lai Y.S.The Relationship Between Space Vector Modulation and Regular-Sampled PWM[J].IEEE Trans.Ind.Electron.,1997,44(5):670-679.
[29]Gopakumar K,Ranganathan VT.Operation of Split-Phase Induction Motor Operation From Pwm Voltage Source Inverter[J].IEEE,Trans.Ind.Applicat,1993,29(5):927-932.
[30]Tong Liu,Iqbal Husain,Malik Elbuluk.Torque Ripple Minimization withOn-line Parameter Estimation Using Neural Networks in Permanent Magnet Synchronous Motors.In:Ind.App.Conference of IEEE.St.louis.MO,1998,12(5):35-40.
[31]Bimal K.Bose.Expert System,Fuzzy Logic,and Neural Network ApplicationsIn Power Electronics and Motion Control.Proceedings of the IEEE,1994,82(8):1303-1323.
[32]Joachim Holtz,Lother Springob.Identification and Compensation of Torque Ripple in High Precision Permanent Magnet Motor Drives.IEEE Tran.on Industrial Electronics,1996,43(2):309-320.
[33]Hung,J.Y,Mo-Yuen Chow.Optimal Excitation of a Permanent Magnet Synchronous Motor Having an Open-circuit Phase.In:Proceeding of IECON'02,Sevilla,2002,9(4):1130-1133.
[34]Bin Zhang,Yaohua Li,Yansheng Zuo.A DSP-Based Fully Digital PMSM ServoDrive Using On-Line Self-Tuning PI Controller.In:Power Electronics and Motion Control Conference.Beijing,2000,2:1012-1017.
[35]Wang Chengyuan,Li Haodong,Xiajiakuan.Study of Intelligent Vector ControlSystem based on TMS320F240.In:Proceedings of the Fifth International Conference On Electrical Machine and Systems.Shenyang,2001,2(1):550-553.
[36]Toliyat H.A.,Shi R,Huangsheng Xu.A DSP-Based Vector Control of Five-phase Synchronous Reluctance Motor.In.Tndustry Applications Conference IEEE.Rome,2000,3:1759-1765.
[37]候立军,苏彦民,陈林等．多相感应电机调速系统的发展现状和应用前景．微电机,2001,3 (5):42-44.
[38]侯立军,苏彦民,陈林,马挺.六相异步电机的绕组结构及其仿真研究.中小型电机2004,31(2):5-9.
[39]乔鸣忠,张晓锋,任修明.多相永磁同步电动机突然对称短路的分析[J].电工技术学报,2004.19(4):17-22.
[40]吴红星,谢宗武,张强.基于DSP的电动机控制技术.北京:中国电力出版社,2008.
[41]周志敏,周纪海,纪爱华.IGBT和IPM及其应用电路.北京:人民邮电出版社,2006.
[42]Gabriclc Grandi,Gionanni Scrra,Angclo Tani.General Analysis of Multi-Phase Systems Based on Spase Vector Approach.IEEE Transactions on Industry Applications 2006,834-835.
[2]张伟.无转速传感器异步电机矢量控系统控制方法的研究:(博士学位论文).杭州:浙江大学,2001.
[3]Bimal K.Bose.Expert System,Fuzzy Logic,and Neural Network Applications in Power Electronics and Motion Control.Proceedings of the IEEE,1994,82(8):1303-1323.
[4]陈林.十五相感应电机定子绕组多相开路的稳态特性.电工技术学报,2004,19(11):14-19.
[5]李建春.多相化无刷直流电机系统模型、运行控制与容错的研究.(博士学位论文).哈尔滨:哈尔滨工业大学,1997.
[6]许实章.交流电机绕组理论.北京:机械工业出版社,1985.
[7]欧阳红林.多相永磁同步电动机调速系统控制方法的研究.(博士学位论文).长沙:湖南大学,2005.
[8]欧阳红林,成兰仙.多相永磁同步电机模糊神经网络控制调速系统.电机与控制学报,2007,11(2):111-115.
[9]薛山,温旭辉,王又珑.多相永磁同步电机多维控制技术.电工技术学报,2008,23(9):65-69.
[10]薛山.多相永磁同步电机驱动技术研究.(博士学位论文).北京:中国科学院研究生院,2005.
[11]E.A.Klingshirn.High Phase Induction Motor Prat Ⅰ Description and Theoretical,Considerations.IEEE Transaction on Power Apparatus and Systems,1993,102(1):47-53.
[12]E.A.Klingshirn.High Phase Induction Motor Prat Ⅱ Experimental Results.IEEE Trans on Power Apparatus and Systems,1993,102(1):54-59.
[13]R.H.Nelson,P.C.Krause.Induction Machine Analysis for Arbitrary Displacement between Multiple Winding Sets.IEEE Transaction on Power Apparatus and Systems,1999,5:841-848.
[14]J.Dente,Induction Motor Current Source Inverter Systems with Phase Number Greater Than 3.EPE85,1985,Vol3:143-147.
[15]Mohamed A.Abbas,Roland Christen,Thomas M.Jahns.Six-Phase Voltage Source InverterDriven Induction Motor.IEEE Transactions on Industry Applications,1984,20(2):1251-1259.
[16]H.A.Toliyat,S.P.Waikar,T.A.Lipo.Analysis and Simulation of Five-Phase Synchronous Reluctance Machines Including Third Harmonics ofAirgap MMF.IEEE Transactions on Industry Applications,1998,134(2):332-339.
[17]H.A.Toliyat,Longya Xu,T.A.Lpio.A Five-Phase Reluctance Motor with High Spdcific Torque.IEEET ransactionson IndustryApp lications,1992,128(3):659-667.
[18]Longya Xu,Baoguo Wang.Comparison Study of Rotor Structures for Five-Phase Synchronous Reluctance Machines.Conference Record of the 1999 IEEE IAS Annual Meeting.1999Vol2:846-853.
[19]R.Bojoi,F.Farina,G.Griva,F.Profumo,A.Tenconi,Direct torque control for dual-three phase induction motor drives.Conference Record-IAS Annual Meeting(IEEE Industry Applications Society),2004,p1342-1349.
[20]Bojoi R,Lazzari M,Profumo F.Digital Field-Oriented Control for Dual Three-Phase Induction Motor Drives[J].IEEE Transactions on Industry Applications,2003,39(3):752-760.
[21]Parsa,Leila,Toliyat,Hamid A.Multi-Phase Permanent Magnet Motor Drives,Conference Record-IAS Annual Meeting(IEEE Industry Applications Society).2003,p 401-408.
[22]Lyra,R.O.C,Lipo,T.A.Torque density improvement in a six-phase induction motor with third harmonic current injection.Conference Record-IAS Annual Meeting(IEEE Industry Applications Society),v 3,2001,p 1779-1786.
[23]Kianinezhad.B.Nahid,F.Betin,G.A.Capolino.A new field orientation control of dual there phase induction machines.2004 IEEE International Conference on Industrial Technology(ICIT),2004,187-196.
[24]Oguchi K,Kawaguchi.A Novel Six-Phase Inverter System With 60-Step Output Voltage For High-Power Motor Dirves[J].IEEE Trans.On IA,1999,35(5):1141-1149.
[25]Y.Zhao,Lipo T.A.Space Vector PWM Control Of Dual Three Phase Induction Machine Using Vector[J].IEEE Trans.Ind.Applicat,1995,31(5):1100-1108.
[26]Y.Zhao,Lipo T.A.Modeling and Control of a Multi-phase Induction Machine with Structural Unbalance,Part I:Machine Modeling and Multi-Dimensional Current Regulation.IEEE Trans.On Energy Conversion,1996,11(3):570-577.
[27]Y Zhao,Lipo TA.Model and Control of a Multi-phase Induction Machine with Structural Unbalance,Part Ⅱ:Field-Oriented Control and Experimental Verification.IEEE Trans.On Energy Conversion,1996,11(3):578-584.
[28]Bowes S.R,Lai Y.S.The Relationship Between Space Vector Modulation and Regular-Sampled PWM[J].IEEE Trans.Ind.Electron.,1997,44(5):670-679.
[29]Gopakumar K,Ranganathan VT.Operation of Split-Phase Induction Motor Operation From Pwm Voltage Source Inverter[J].IEEE,Trans.Ind.Applicat,1993,29(5):927-932.
[30]Tong Liu,Iqbal Husain,Malik Elbuluk.Torque Ripple Minimization withOn-line Parameter Estimation Using Neural Networks in Permanent Magnet Synchronous Motors.In:Ind.App.Conference of IEEE.St.louis.MO,1998,12(5):35-40.
[31]Bimal K.Bose.Expert System,Fuzzy Logic,and Neural Network ApplicationsIn Power Electronics and Motion Control.Proceedings of the IEEE,1994,82(8):1303-1323.
[32]Joachim Holtz,Lother Springob.Identification and Compensation of Torque Ripple in High Precision Permanent Magnet Motor Drives.IEEE Tran.on Industrial Electronics,1996,43(2):309-320.
[33]Hung,J.Y,Mo-Yuen Chow.Optimal Excitation of a Permanent Magnet Synchronous Motor Having an Open-circuit Phase.In:Proceeding of IECON'02,Sevilla,2002,9(4):1130-1133.
[34]Bin Zhang,Yaohua Li,Yansheng Zuo.A DSP-Based Fully Digital PMSM ServoDrive Using On-Line Self-Tuning PI Controller.In:Power Electronics and Motion Control Conference.Beijing,2000,2:1012-1017.
[35]Wang Chengyuan,Li Haodong,Xiajiakuan.Study of Intelligent Vector ControlSystem based on TMS320F240.In:Proceedings of the Fifth International Conference On Electrical Machine and Systems.Shenyang,2001,2(1):550-553.
[36]Toliyat H.A.,Shi R,Huangsheng Xu.A DSP-Based Vector Control of Five-phase Synchronous Reluctance Motor.In.Tndustry Applications Conference IEEE.Rome,2000,3:1759-1765.
[37]候立军,苏彦民,陈林等．多相感应电机调速系统的发展现状和应用前景．微电机,2001,3 (5):42-44.
[38]侯立军,苏彦民,陈林,马挺.六相异步电机的绕组结构及其仿真研究.中小型电机2004,31(2):5-9.
[39]乔鸣忠,张晓锋,任修明.多相永磁同步电动机突然对称短路的分析[J].电工技术学报,2004.19(4):17-22.
[40]吴红星,谢宗武,张强.基于DSP的电动机控制技术.北京:中国电力出版社,2008.
[41]周志敏,周纪海,纪爱华.IGBT和IPM及其应用电路.北京:人民邮电出版社,2006.
[42]Gabriclc Grandi,Gionanni Scrra,Angclo Tani.General Analysis of Multi-Phase Systems Based on Spase Vector Approach.IEEE Transactions on Industry Applications 2006,834-835.