飞轮电池控制策略研究及其应用
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摘要
飞轮电池是一种具有高储能、无污染、高效率的新型机电能量转换与储能装置,它可应用于不间断电源(Uninterruptible Power Supple, UPS)、混合动力机车、电力系统及卫星双姿态控制等多个领域,是实现能源高效利用、减少环境污染的一个重要方向。本文针对我国尚无飞轮电池市场产品、国外产品价格昂贵、制约了相关技术发展的现状,以科技部专项资金支持项目“内燃机电站旋转不间断电源”(2008EG199144)为依托,对飞轮电池充放电过程的能量转换、动态建模以及控制策略等进行了系统的研究,并构建了内燃机电站旋转不间断电源模拟实验平台。主要工作包括：
1)在对飞轮电池能量转换系统多种电力电子装置实现方案以及双向可逆电机选择方案深入分析、对比研究的基础上,确定了以双PWM变流器作为能量转换装置及永磁同步电机驱动飞轮的系统方案；并在此方案下对飞轮电池充/放电过程的能量转换、动态关系进行了研究。建立了飞轮电池在dq轴系下的数学模型,进而构建了其在充/放电过程中的等效电路模型,为后续系统控制策略的研究奠定了基础。
2)针对飞轮电池在充电整流环节中,整流装置易造成对电网“污染”的问题,研究了一种直接电流控制的滞环控制策略,实现了PWM整流器网侧电流的正弦化及单位功率因数运行,减小了对电网的“污染”；同时考虑飞轮电池具有大惯性、时变、非线性等特点,在充电逆变环节速度环采用常规PI或PID调节器,动态平稳性不尽人意致使飞轮电机振动较大,且易受扰动和系统参数变化影响等问题,结合空间矢量PWM控制技术,设计了一种指数趋近律滑模变结构控制器,该控制器通过对控制量的切换使系统状态沿着滑模面滑动,在受到外部扰动和参数摄动时具有不变性,从而改善了飞轮电池的动态平稳性、降低了电机振动、提高了鲁棒性。
3)针对飞轮电池在放电整流环节中,传统的整流控制设计方法易造成对飞轮电池“污染”的问题,研究了一种前馈解耦控制策略,即通过对电流的矢量控制和前馈补偿,实现了PWM整流器飞轮电池侧电流正弦化且功率因数的单位化,减小了整流装置对飞轮电机的“污染”；考虑飞轮电池负载的复杂性和多样性,在放电逆变环节输出电压环采用常规PI或PID调节器,对负载适应能力不尽满意的问题,设计了一种紧格式无模型自适应控制器,该控制器无需建立系统的数学模型,仅依据受控系统输入输出数据,增强了飞轮电池对各类负载的适应能力,降低了由现代负载引起的输出电压波形畸变,从而提高了供电品质。
4)在对飞轮电池能量转换动态关系建模、控制策略研究以及仿真结果验证的基础上,通过分析内燃机电站旋转不间断电源的结构、工作原理及流程,搭建了以微处理器dsPIC30F3011、S7-200(CPU224)可编程控制器为控制核心、功率为3kW的模拟实验平台,并开发了以以太网为通信媒介、VB为平台的上位机集中监控系统；进而对其中的关键子系统飞轮电池侧PWM整流器充放电控制进行了实验研究,进一步验证了论文系统方案、控制策略的可行性及工程可用性。
Flywheel battery is a new type of energy conversion and storage device equipped with high energy, non-pollution and high efficiency, which can be applied to multiple areas such as uninterruptible power supply (UPS), hybrid electric vehicles, electric power system and satellite dual attitude control. It has become an important direction to achieve efficient use of energy and reduce environmental pollution. Aiming at the current situation of unavailable flywheel battery products in China market, the high price of foreign products and the restriction in the development of related technology, the thesis carried out the research on energy conversion, dynamic modeling and control strategy in the processes of charging and discharging. Meanwhile, a power plant simulation platform was build for internal combustion engine rotary uninterruptible power system. This work was supported by the special funds of Ministry of Science and Technology " Electric Power Plant with Internal Combustion Engine Rotary Uninterruptible Power System"(2008EG19914-4). The major research works were carried out by follows:
1) Based on the in-depth analysis and comparative study of the scheme about many kinds of power electronic device in flywheel battery energy conversion system and two-way reversible motor selection, the system scheme was designed with dual PWM converter as energy conversion device and the permanent-magnet synchronous as motor drive for flywheel. Based on this scheme, the research was carried out on energy conversion, dynamic modeling and control strategy in the processes of charging and discharging. The mathematical model in d-and q-axes system of flywheel battery was built, and an equivalent circuit model of flywheel battery in charging and discharging has also been presented. These works provided the support for following research.
2) On the issues of "pollution" to power grid from flywheel battery rectifier in the charging rectifying link, hysteresis control strategy by direct current control was presented to achieve sinusoidal current of the PWM rectifier side of the flywheel battery and unitization of power factor. In the meantime, considering the large inertia, time-varying, nonlinear characteristics of flywheel battery, a conventional PI or PID controller for speed loop was not satisfied in dynamic stability and susceptible disturbance and impact from system parameter change. Combined with space vector PWM control technology, a kind of exponential reaching law sliding mode variable structure controller was designed. The controller made the system state slide along the sliding surface by switching controlled quantity. It was insured the invariance subjected to an external disturbance and parameter perturbation, improved the dynamic stability and the robustness, and reduced the vibration of the motor.
3) On account of the "pollution" to flywheel battery from rectifier in the discharge rectifying link, a feed-forward decoupling control strategy was studied. By means of controlling the current vector and feed-forward compensation, it can realize sinusoidal current of the PWM rectifier side of the flywheel battery and unitization of power factor, as well as reduce the "pollution" to flywheel motor from rectification device. Considering the complexity and diversity of flywheel battery load, conventional PI or PID controller for output voltage loop was not content. A compact format model-free adaptive controller was designed, which depended only on the input and output data from controlled system and without mathematic model. This strategy enhanced the flywheel battery's adaptability to all kinds of load and reduced output voltage waveform distortion caused by modern load, and improved the quality of power supply.
4) Based on the energy conversion dynamic relationship modeling, research of control strategy and verification of simulation results of the flywheel battery, through the analysis of the structure and working principle of the internal combustion engine power station rotating uninterrupted power supply, a power of3kW simulation experiment platform was built by microprocessor dsPIC30F3011and programmable controller S7-200(CUP224) as core components. And the PC centralized monitoring system has also been developed with Ethernet as the communication medium and VB as a programming tool. The critical proposed control theories about the flywheel battery side PWM rectifier charging/discharging have been carried out on the platform. The experiments further validated the feasibility, effectiveness and engineering usability of system scheme and control strategy.
1)在对飞轮电池能量转换系统多种电力电子装置实现方案以及双向可逆电机选择方案深入分析、对比研究的基础上,确定了以双PWM变流器作为能量转换装置及永磁同步电机驱动飞轮的系统方案；并在此方案下对飞轮电池充/放电过程的能量转换、动态关系进行了研究。建立了飞轮电池在dq轴系下的数学模型,进而构建了其在充/放电过程中的等效电路模型,为后续系统控制策略的研究奠定了基础。
2)针对飞轮电池在充电整流环节中,整流装置易造成对电网“污染”的问题,研究了一种直接电流控制的滞环控制策略,实现了PWM整流器网侧电流的正弦化及单位功率因数运行,减小了对电网的“污染”；同时考虑飞轮电池具有大惯性、时变、非线性等特点,在充电逆变环节速度环采用常规PI或PID调节器,动态平稳性不尽人意致使飞轮电机振动较大,且易受扰动和系统参数变化影响等问题,结合空间矢量PWM控制技术,设计了一种指数趋近律滑模变结构控制器,该控制器通过对控制量的切换使系统状态沿着滑模面滑动,在受到外部扰动和参数摄动时具有不变性,从而改善了飞轮电池的动态平稳性、降低了电机振动、提高了鲁棒性。
3)针对飞轮电池在放电整流环节中,传统的整流控制设计方法易造成对飞轮电池“污染”的问题,研究了一种前馈解耦控制策略,即通过对电流的矢量控制和前馈补偿,实现了PWM整流器飞轮电池侧电流正弦化且功率因数的单位化,减小了整流装置对飞轮电机的“污染”；考虑飞轮电池负载的复杂性和多样性,在放电逆变环节输出电压环采用常规PI或PID调节器,对负载适应能力不尽满意的问题,设计了一种紧格式无模型自适应控制器,该控制器无需建立系统的数学模型,仅依据受控系统输入输出数据,增强了飞轮电池对各类负载的适应能力,降低了由现代负载引起的输出电压波形畸变,从而提高了供电品质。
4)在对飞轮电池能量转换动态关系建模、控制策略研究以及仿真结果验证的基础上,通过分析内燃机电站旋转不间断电源的结构、工作原理及流程,搭建了以微处理器dsPIC30F3011、S7-200(CPU224)可编程控制器为控制核心、功率为3kW的模拟实验平台,并开发了以以太网为通信媒介、VB为平台的上位机集中监控系统；进而对其中的关键子系统飞轮电池侧PWM整流器充放电控制进行了实验研究,进一步验证了论文系统方案、控制策略的可行性及工程可用性。
Flywheel battery is a new type of energy conversion and storage device equipped with high energy, non-pollution and high efficiency, which can be applied to multiple areas such as uninterruptible power supply (UPS), hybrid electric vehicles, electric power system and satellite dual attitude control. It has become an important direction to achieve efficient use of energy and reduce environmental pollution. Aiming at the current situation of unavailable flywheel battery products in China market, the high price of foreign products and the restriction in the development of related technology, the thesis carried out the research on energy conversion, dynamic modeling and control strategy in the processes of charging and discharging. Meanwhile, a power plant simulation platform was build for internal combustion engine rotary uninterruptible power system. This work was supported by the special funds of Ministry of Science and Technology " Electric Power Plant with Internal Combustion Engine Rotary Uninterruptible Power System"(2008EG19914-4). The major research works were carried out by follows:
1) Based on the in-depth analysis and comparative study of the scheme about many kinds of power electronic device in flywheel battery energy conversion system and two-way reversible motor selection, the system scheme was designed with dual PWM converter as energy conversion device and the permanent-magnet synchronous as motor drive for flywheel. Based on this scheme, the research was carried out on energy conversion, dynamic modeling and control strategy in the processes of charging and discharging. The mathematical model in d-and q-axes system of flywheel battery was built, and an equivalent circuit model of flywheel battery in charging and discharging has also been presented. These works provided the support for following research.
2) On the issues of "pollution" to power grid from flywheel battery rectifier in the charging rectifying link, hysteresis control strategy by direct current control was presented to achieve sinusoidal current of the PWM rectifier side of the flywheel battery and unitization of power factor. In the meantime, considering the large inertia, time-varying, nonlinear characteristics of flywheel battery, a conventional PI or PID controller for speed loop was not satisfied in dynamic stability and susceptible disturbance and impact from system parameter change. Combined with space vector PWM control technology, a kind of exponential reaching law sliding mode variable structure controller was designed. The controller made the system state slide along the sliding surface by switching controlled quantity. It was insured the invariance subjected to an external disturbance and parameter perturbation, improved the dynamic stability and the robustness, and reduced the vibration of the motor.
3) On account of the "pollution" to flywheel battery from rectifier in the discharge rectifying link, a feed-forward decoupling control strategy was studied. By means of controlling the current vector and feed-forward compensation, it can realize sinusoidal current of the PWM rectifier side of the flywheel battery and unitization of power factor, as well as reduce the "pollution" to flywheel motor from rectification device. Considering the complexity and diversity of flywheel battery load, conventional PI or PID controller for output voltage loop was not content. A compact format model-free adaptive controller was designed, which depended only on the input and output data from controlled system and without mathematic model. This strategy enhanced the flywheel battery's adaptability to all kinds of load and reduced output voltage waveform distortion caused by modern load, and improved the quality of power supply.
4) Based on the energy conversion dynamic relationship modeling, research of control strategy and verification of simulation results of the flywheel battery, through the analysis of the structure and working principle of the internal combustion engine power station rotating uninterrupted power supply, a power of3kW simulation experiment platform was built by microprocessor dsPIC30F3011and programmable controller S7-200(CUP224) as core components. And the PC centralized monitoring system has also been developed with Ethernet as the communication medium and VB as a programming tool. The critical proposed control theories about the flywheel battery side PWM rectifier charging/discharging have been carried out on the platform. The experiments further validated the feasibility, effectiveness and engineering usability of system scheme and control strategy.
引文
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