高性能智能化感应电机变频调速系统研究
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摘要
本文重点研究了高性能智能化感应电机变频调速系统这一涉及学科范围广泛的课题中一个极为重要的方面——矢量控制系统的全数字实现。本文在分析感应电机数学模型的基础上，详细讨论了转子磁场定向矢量控制理论和空间矢量脉宽调制技术原理，提出了SVPWM的软件实现方法。在系统实现上，重点描述了基于DSP的全数字感应电机矢量控制系统的软硬件实现。在硬件实现中，重点讨论了电流、电压、速度检测单元以及PWM发生单元和系统保护功能等。在软件方面，重点论述了适合于定点DSP的系统变量数字表述形式、电流模型模块和软件空间矢量模块的设计以及PC机控制对象参数预置和修改的在线实现。在分析可能影响全数字调速系统低速性能的软硬件因素之后，给出了改善系统低速性能的对策。同时通过以此控制系统为控制器的系统试验，我们论证了使用高速数字信号处理芯片，在提高控制系统实时性，提高控制系统运行性能以及可靠性和稳定性等方面的可行性。最后，在常规带速度传感器矢量控制系统实现的基础上，本文讨论了无速度传感器矢量控制的仿真实现，提出了一种神经网络与模型参考自适应相结合的转子转速辨识方法。仿真研究表明，应用该神经网络速度估计器的无速度传感器矢量控制系统获得了较为理想的效果。
This paper focuses its emphasis on the digital control of induction motor, one of the most important aspects of the high-performance variable-frequency variable-speed system of induction motor. Based on the mathematical model of induction motor, this paper discusses the rotor-field-orientated control principium and the space vector pulse width modulation principle. Subsequently the software design of SVPWM is put forward. The software and hardware design of the DSP-based digital induction motor vector control system are always expounded in the chapter of system realization. The hardware design includes these main circuits such as current sensing, DC bus voltage sensing, space-vector PWM waveform generation, the system protection and so on. In the design of system software, we take account of the numerical format considering a fixed-point DSP TMS320F240, the software designs of the current model and software SVPWM model, and the online realization of parameters setting and changing in PC. After analyzing the software and hardware reasons which can affect the system performance when rotor speed is low, accordingly the improving methods are advanced. According to the system experimentation, it can be concluded that the reliability and stability of the system are all improved by using high-speed digital signals processor. Furthermore, the dynamic performance of the controller is more satisfying. Considering that only the conventional sensored vector control is realized in our system owing to the limitation of the hardware, this paper also discusses the speed-sensorless vector control in virtue of MATLAB/SIMULINK. In that chapter, a estimating method of rotor speed combining the neural network and the model reference adaptive system is brought out. The simulation result indicates that the speed-sensorless vector control system of induction motor using designed neural network estimator can get better performance.
This paper focuses its emphasis on the digital control of induction motor, one of the most important aspects of the high-performance variable-frequency variable-speed system of induction motor. Based on the mathematical model of induction motor, this paper discusses the rotor-field-orientated control principium and the space vector pulse width modulation principle. Subsequently the software design of SVPWM is put forward. The software and hardware design of the DSP-based digital induction motor vector control system are always expounded in the chapter of system realization. The hardware design includes these main circuits such as current sensing, DC bus voltage sensing, space-vector PWM waveform generation, the system protection and so on. In the design of system software, we take account of the numerical format considering a fixed-point DSP TMS320F240, the software designs of the current model and software SVPWM model, and the online realization of parameters setting and changing in PC. After analyzing the software and hardware reasons which can affect the system performance when rotor speed is low, accordingly the improving methods are advanced. According to the system experimentation, it can be concluded that the reliability and stability of the system are all improved by using high-speed digital signals processor. Furthermore, the dynamic performance of the controller is more satisfying. Considering that only the conventional sensored vector control is realized in our system owing to the limitation of the hardware, this paper also discusses the speed-sensorless vector control in virtue of MATLAB/SIMULINK. In that chapter, a estimating method of rotor speed combining the neural network and the model reference adaptive system is brought out. The simulation result indicates that the speed-sensorless vector control system of induction motor using designed neural network estimator can get better performance.
引文
[1] 冯垛生，曾岳南著．无速度传感器矢量控制原理与实践．第一版．北京：机械工业出版社，2001
[2] 李永东著．交流电机数字控制系统．第一版．北京：机械工业出版社，2002
[3] Bose B. K. High Performance Control and Estimation in AC Drives. Industrial Electronics, Control and Instrumentation, 1997(2):377～385
[4] 陈伯时编．电力拖动自动控制系统．第二版．北京：机械工业出版社，1992
[5] Tajimax H ex. A1. Speed Sensor-less Vector Control Method for an Induction Drive System. Conf. Rec. IEEE PCC. Yokobama, 1995:1023～1039
[6] 李夙编．异步电动机直接转矩控制．第一版，北京：机械工业出版社，2000
[7] 张雄伟著．DSP芯片的原理与开发应用．第一版．北京：电子工业出版社，2000
[8] Xu X, Novotary D.W. Implement of Direct Stator Flux Orientation Control on a DSP Based System. IEEE IAS-27,1991 (4): 694～700
[9] Kulkarni, Amol Sudhakar. Application of computational intelligence to high-performance electric drives. PhD Paper, UNIVERSITY OF WASHINGTON, 1999
[10] Cristan Lascu, Ion Boldea. A Modified Direct Torque Control for induction Motor Sensorless Drive. IEEE Trans. on Industry Applications, 2000(1): 122～130
[11] 丛爽编．神经网络、模糊系统及其在运动控制中的应用．第一版．合肥：中国科学技术大学出版社，2001
[12] 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
[13] 赵乃霞，徐展．空间向量脉宽调制原理及实现．电气传动，2001(1)：16～18
[14] Seong-Hwan Kim, Tae-Sik Park. Speed-Sensorless Vector Control of an Induction Motor Using Neural Network Speed Estimation. IEEE Transactions on Industrial Electronics, 2001, 48(3):609～614
[15] 胡崇岳编著．现代交流调速技术．第一版．北京：机械工业出版社，1998
[16] 纪志成．异步电机无速度传感器矢量控制系统速度辨识方法．无锡轻工大学学报，1998(4)：93～98
[17] 陈伯时编著．电力拖动自动控制系统．第一版．北京：机械工业出版社，1992
[18] E. J. Lin, R. J. Wai, P. C. Lin. Robust Speed Sensofiess Induction Motor Drive. IEEE,Trans. Aerosp, Electron. Syst., 1997,35(5):566～578
[19] H. Tamia, Y. Hori. Speed sensofiess Field-Orientation Control of the Induction Machine.IEEE Trans. Ind. Applicat., 1993, 29(7): 175～180
[20] TMS320F24X高速数字信号处理器原理与应用．北京闻亭科技发展有限责任公司
[21] 许实章编．电机学．第三版．北京：机械工业出版社，1996
[22] Dig. Cont. Group. Implementation of a Speed Field Orientated Control of Three Phase AC Induction Motor using TMS320F240. Literature Number: BPRA076, Texas Instruments Europe, 1998
[23] 王耀南著．智能控制系统—模糊控制·专家系统·神经网络控制．第一版．长沙：湖南大学出版社，1996
[24] 闻新著．神经网络应用设计．第一版．北京：科学出版社，2000
[25] 张伟，黄进，基于神经网络的异步电机无速度传感器矢量控制．模式识别与人工智能，2000(12)：37～42
[26] 陈伯时，陈敏逊编著．交流调速系统．第一版．北京：机械工业出版社，1998
[27] Li Zhen, Longya Xu. Sensorless Field Orientation Control of Inducton Machines Based on a Mutual MRAS Scheme. IEEE Trans. on Industrial Electronics, 1998, 45(5):824～830
[28] Dehauder C. Adaptive Speed Identification for Vector Control of Induction Motor without Rotational Transducers, in Conf. Rec. IEEE-IAS Annu. Meteting, 1989: 493～499
[29] Simoes M. Cz, Bose B. K. Neural Network Based Estimation of Feedback Signals for a Vector Controlled Induction Motor Drive. IEEE Trans. On Industry Application, 1995,31 (3):620～629
[30] Wishart M. T., Harley T. Cz. Identification and Control of Induction Machines Using Artificial Neural Network, IEEE Trans. On Industry Applications, 1995, 31(3):612～619
[31] T. Ohtani, N. Takada, and K. Takada. Vector Control of Induction Motor without
Shaft Encoder, in Conf. Rec. IEEE-IAS Annu. Meteting, 1989:500～507
[32] K.S. Narendra and K. Parthasarathy. Identification and control of Dynamical System using Neural Network, IEEE,Trans. Neural Networks, 1995, 1(1):791～801
[33] 夏超英著．交直流传动系统的自适应控制．第一版．北京：机械工业出版社，1999
[34] 陈多磊，戴义保，张同新．无速度传感器矢量控制系统中转速估计的研究．电气自动化，2000(3)：15～16
[35] 王焕钢，徐文立，杨耕．感应电机无速度传感器的自适应转速估计．电气传动，2002(1)：6～9
[36] 邱阿瑞．基于DSP的无速度传感器异步电机矢量控制系统．清华大学学报，2001，41(3)：21～24
[37] Ha J. H., Sul S. K. Sensofiess Field-orientation Control of an Induction Machine by High-frequency Signal Injection, IEEE Trans. Ind. Applicat. 1999,35(1):45～51
[38] TMS320C24xDSP Controllers Reference Set, TEXAS INSTRUMENTS
[39] Implementation of a Speed Field Orientated Control of Three Phase AC Induction Motor Using TMS320F240, TEXAS INSTRUMENTS
[40] Hsin His Chin. An Adaptive Training Algorithm forBackpropagation Neural Network. IEEE Trans. on Systems, Man, and Cybernetics, 1995,25 (3): 512～514
[41] James N. Nash, Direct Torque Control ,Induction Motor Vector Control without an Encoder, IEEE Trans. on Industry Applicat. 1997,33(2): 333～341
[42] Kim Y. R., Sol S. K., Park M. H., Speed Sensor-less Vector Controlm of an Induction Motors Using an Extended Kalman Filters, Conf. Rec. IEEE-lAS, 1992: 594～599
[43] Chin-Min Lin, and Chun-Fei Hsu, Neural-Network-Based Adaptive Control for Induction Servomotor Drive System, IEEE Trans. on Industry Electronics, 2002, 49(1):115～123
[44] 邱阿瑞，尹雁，王光辉等．基于DSP的无速度传感器异步电机矢量控制系统．清华大学学报，2001，11(3)：21～24
[45] 王成元，周美文，郭庆鼎．矢量控制交流伺服驱动电动机．第一版．北京：机械工业出版社，1995
[46] M. Godoy Simoes, and Bimal K. Bose. Neural Network Based Estimation of Feedback Signals for a Vector Control led Induction Motor Drive, IEEE Trans. on Ind. Applicat. 1995, 31(3):620～628
[47] A. K. P. Toh, E. P. Nowicki, E Ashrafzadeh. a Flux Estimator for Field Oriented Control of an Induction Motor Using an Artificial Neural Network, in Conf. Rec. IEEE Ind. Applicat. Soc. ANNU. Meeting, Oct. 1994:585～592
[48] 纪志成，沈艳霞，范茂兴．异步电机无速度传感器矢量控制系统速度辨识方法．无锡轻工大学学报，2001，17(4)：93～98
[49] 喻辉洁，东伟，李永东．无速度传感器交流调速系统速度估计策略分析．电工电能新技术，1997(2)：23～26
[50] 胡虎，吴浩列，李永东．基于DSP的全数字无速度传感器直接转矩控制．贵州工业大学学报，2000，29(3)：20～25
[51] Nikola Langovsky, M. David Kankam. Design and Implementation of a Closed-Loop Observer and Adaptive Controller for Induction Motor Drives,IEEE Trans. on Ind. Applicat. 1998, 34(3):435～443
[52] Hisao Kubota, Kouki Matsuse, Takayoshi Nakano. DSP-Based Speed Adaptive Flux Observer of Induction Motor, IEEE Trans. on Ind. Applicat. 1993,29(2):344～348
[53] Wang Dazh, Gu Shusheng, Wang kenan. A Neural-Network-Based Adaptive Estimator for Speed-Sensorless Control of Induction Motor, in Conf. Rec.4th WCICA, 2002:2812～2816
[54] Surapong Suwankawin, Somboon Sangwongwanich. A Speed-Sensorless IM Drive With Decouping Control and Stability Analysis of Speed Estimation, IEEE Trans. on Ins. Elec. 2002, 49(2):444～455
[55] 邱阿瑞，孙健．用人工神经网络实现对感应电机转速的估计．清华大学学报，1999，39(9)：41～43
[56] 邱阿瑞，孙健．基于神经网络的感应电机矢量控制系统．清华大学学报，1999，39(9)：29～32
[57] 周友，黄立培，陈杰．异步电机转子磁场定向无速度传感器矢量控制方法．清华大学学报，1999，39(3)：84～87
[2] 李永东著．交流电机数字控制系统．第一版．北京：机械工业出版社，2002
[3] Bose B. K. High Performance Control and Estimation in AC Drives. Industrial Electronics, Control and Instrumentation, 1997(2):377～385
[4] 陈伯时编．电力拖动自动控制系统．第二版．北京：机械工业出版社，1992
[5] Tajimax H ex. A1. Speed Sensor-less Vector Control Method for an Induction Drive System. Conf. Rec. IEEE PCC. Yokobama, 1995:1023～1039
[6] 李夙编．异步电动机直接转矩控制．第一版，北京：机械工业出版社，2000
[7] 张雄伟著．DSP芯片的原理与开发应用．第一版．北京：电子工业出版社，2000
[8] Xu X, Novotary D.W. Implement of Direct Stator Flux Orientation Control on a DSP Based System. IEEE IAS-27,1991 (4): 694～700
[9] Kulkarni, Amol Sudhakar. Application of computational intelligence to high-performance electric drives. PhD Paper, UNIVERSITY OF WASHINGTON, 1999
[10] Cristan Lascu, Ion Boldea. A Modified Direct Torque Control for induction Motor Sensorless Drive. IEEE Trans. on Industry Applications, 2000(1): 122～130
[11] 丛爽编．神经网络、模糊系统及其在运动控制中的应用．第一版．合肥：中国科学技术大学出版社，2001
[12] 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
[13] 赵乃霞，徐展．空间向量脉宽调制原理及实现．电气传动，2001(1)：16～18
[14] Seong-Hwan Kim, Tae-Sik Park. Speed-Sensorless Vector Control of an Induction Motor Using Neural Network Speed Estimation. IEEE Transactions on Industrial Electronics, 2001, 48(3):609～614
[15] 胡崇岳编著．现代交流调速技术．第一版．北京：机械工业出版社，1998
[16] 纪志成．异步电机无速度传感器矢量控制系统速度辨识方法．无锡轻工大学学报，1998(4)：93～98
[17] 陈伯时编著．电力拖动自动控制系统．第一版．北京：机械工业出版社，1992
[18] E. J. Lin, R. J. Wai, P. C. Lin. Robust Speed Sensofiess Induction Motor Drive. IEEE,Trans. Aerosp, Electron. Syst., 1997,35(5):566～578
[19] H. Tamia, Y. Hori. Speed sensofiess Field-Orientation Control of the Induction Machine.IEEE Trans. Ind. Applicat., 1993, 29(7): 175～180
[20] TMS320F24X高速数字信号处理器原理与应用．北京闻亭科技发展有限责任公司
[21] 许实章编．电机学．第三版．北京：机械工业出版社，1996
[22] Dig. Cont. Group. Implementation of a Speed Field Orientated Control of Three Phase AC Induction Motor using TMS320F240. Literature Number: BPRA076, Texas Instruments Europe, 1998
[23] 王耀南著．智能控制系统—模糊控制·专家系统·神经网络控制．第一版．长沙：湖南大学出版社，1996
[24] 闻新著．神经网络应用设计．第一版．北京：科学出版社，2000
[25] 张伟，黄进，基于神经网络的异步电机无速度传感器矢量控制．模式识别与人工智能，2000(12)：37～42
[26] 陈伯时，陈敏逊编著．交流调速系统．第一版．北京：机械工业出版社，1998
[27] Li Zhen, Longya Xu. Sensorless Field Orientation Control of Inducton Machines Based on a Mutual MRAS Scheme. IEEE Trans. on Industrial Electronics, 1998, 45(5):824～830
[28] Dehauder C. Adaptive Speed Identification for Vector Control of Induction Motor without Rotational Transducers, in Conf. Rec. IEEE-IAS Annu. Meteting, 1989: 493～499
[29] Simoes M. Cz, Bose B. K. Neural Network Based Estimation of Feedback Signals for a Vector Controlled Induction Motor Drive. IEEE Trans. On Industry Application, 1995,31 (3):620～629
[30] Wishart M. T., Harley T. Cz. Identification and Control of Induction Machines Using Artificial Neural Network, IEEE Trans. On Industry Applications, 1995, 31(3):612～619
[31] T. Ohtani, N. Takada, and K. Takada. Vector Control of Induction Motor without
Shaft Encoder, in Conf. Rec. IEEE-IAS Annu. Meteting, 1989:500～507
[32] K.S. Narendra and K. Parthasarathy. Identification and control of Dynamical System using Neural Network, IEEE,Trans. Neural Networks, 1995, 1(1):791～801
[33] 夏超英著．交直流传动系统的自适应控制．第一版．北京：机械工业出版社，1999
[34] 陈多磊，戴义保，张同新．无速度传感器矢量控制系统中转速估计的研究．电气自动化，2000(3)：15～16
[35] 王焕钢，徐文立，杨耕．感应电机无速度传感器的自适应转速估计．电气传动，2002(1)：6～9
[36] 邱阿瑞．基于DSP的无速度传感器异步电机矢量控制系统．清华大学学报，2001，41(3)：21～24
[37] Ha J. H., Sul S. K. Sensofiess Field-orientation Control of an Induction Machine by High-frequency Signal Injection, IEEE Trans. Ind. Applicat. 1999,35(1):45～51
[38] TMS320C24xDSP Controllers Reference Set, TEXAS INSTRUMENTS
[39] Implementation of a Speed Field Orientated Control of Three Phase AC Induction Motor Using TMS320F240, TEXAS INSTRUMENTS
[40] Hsin His Chin. An Adaptive Training Algorithm forBackpropagation Neural Network. IEEE Trans. on Systems, Man, and Cybernetics, 1995,25 (3): 512～514
[41] James N. Nash, Direct Torque Control ,Induction Motor Vector Control without an Encoder, IEEE Trans. on Industry Applicat. 1997,33(2): 333～341
[42] Kim Y. R., Sol S. K., Park M. H., Speed Sensor-less Vector Controlm of an Induction Motors Using an Extended Kalman Filters, Conf. Rec. IEEE-lAS, 1992: 594～599
[43] Chin-Min Lin, and Chun-Fei Hsu, Neural-Network-Based Adaptive Control for Induction Servomotor Drive System, IEEE Trans. on Industry Electronics, 2002, 49(1):115～123
[44] 邱阿瑞，尹雁，王光辉等．基于DSP的无速度传感器异步电机矢量控制系统．清华大学学报，2001，11(3)：21～24
[45] 王成元，周美文，郭庆鼎．矢量控制交流伺服驱动电动机．第一版．北京：机械工业出版社，1995
[46] M. Godoy Simoes, and Bimal K. Bose. Neural Network Based Estimation of Feedback Signals for a Vector Control led Induction Motor Drive, IEEE Trans. on Ind. Applicat. 1995, 31(3):620～628
[47] A. K. P. Toh, E. P. Nowicki, E Ashrafzadeh. a Flux Estimator for Field Oriented Control of an Induction Motor Using an Artificial Neural Network, in Conf. Rec. IEEE Ind. Applicat. Soc. ANNU. Meeting, Oct. 1994:585～592
[48] 纪志成，沈艳霞，范茂兴．异步电机无速度传感器矢量控制系统速度辨识方法．无锡轻工大学学报，2001，17(4)：93～98
[49] 喻辉洁，东伟，李永东．无速度传感器交流调速系统速度估计策略分析．电工电能新技术，1997(2)：23～26
[50] 胡虎，吴浩列，李永东．基于DSP的全数字无速度传感器直接转矩控制．贵州工业大学学报，2000，29(3)：20～25
[51] Nikola Langovsky, M. David Kankam. Design and Implementation of a Closed-Loop Observer and Adaptive Controller for Induction Motor Drives,IEEE Trans. on Ind. Applicat. 1998, 34(3):435～443
[52] Hisao Kubota, Kouki Matsuse, Takayoshi Nakano. DSP-Based Speed Adaptive Flux Observer of Induction Motor, IEEE Trans. on Ind. Applicat. 1993,29(2):344～348
[53] Wang Dazh, Gu Shusheng, Wang kenan. A Neural-Network-Based Adaptive Estimator for Speed-Sensorless Control of Induction Motor, in Conf. Rec.4th WCICA, 2002:2812～2816
[54] Surapong Suwankawin, Somboon Sangwongwanich. A Speed-Sensorless IM Drive With Decouping Control and Stability Analysis of Speed Estimation, IEEE Trans. on Ins. Elec. 2002, 49(2):444～455
[55] 邱阿瑞，孙健．用人工神经网络实现对感应电机转速的估计．清华大学学报，1999，39(9)：41～43
[56] 邱阿瑞，孙健．基于神经网络的感应电机矢量控制系统．清华大学学报，1999，39(9)：29～32
[57] 周友，黄立培，陈杰．异步电机转子磁场定向无速度传感器矢量控制方法．清华大学学报，1999，39(3)：84～87