基于改进模型参考自适应法的矿用电机车调速
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摘要
针对矿用电机车永磁同步电动机调速采用无传感器控制时存在转子位置角估计精度低、计算量大、稳定性和抗扰动性差等问题,提出了一种改进模型参考自适应法。该方法根据直轴电流为零简化自适应律,降低计算复杂程度;采用滑模控制器替代PI调节器来控制转速环,减少扰动影响。仿真和试验结果表明,该方法能准确估计转子位置角,减小转速波动,具有很好的稳定性和抗扰动能力。
In view of problems of low accuracy of rotor position angle estimation,large computation,poor stability and anti-disturbance performance when sensorless control was used in speed regulation of permanent magnet synchronous motor of mine-used electric locomotive,an improved model reference adaptive system was proposed.Adaptive law is simplified according to zero direct axis current,so as to reduce complexity of calculation.Sliding mode controller is used instead of PI regulator to control speed loop,so as to reduce disturbance influence.The simulation and experimental results show that the method can accurately estimate rotor position angle,reduce speed fluctuation,and has good stability and antidisturbance ability.
In view of problems of low accuracy of rotor position angle estimation,large computation,poor stability and anti-disturbance performance when sensorless control was used in speed regulation of permanent magnet synchronous motor of mine-used electric locomotive,an improved model reference adaptive system was proposed.Adaptive law is simplified according to zero direct axis current,so as to reduce complexity of calculation.Sliding mode controller is used instead of PI regulator to control speed loop,so as to reduce disturbance influence.The simulation and experimental results show that the method can accurately estimate rotor position angle,reduce speed fluctuation,and has good stability and antidisturbance ability.
引文
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[15]陈名辉,阮毅,宗剑,等.无速度传感器在矿用电机车矢量控制系统中的应用[J].电机与控制应用,2012,39(2):17-20.CHEN Minghui,RUAN Yi,ZONG Jian,et al.Vector control system for electric mine locomotive applied by speed sensorless[J].Electric Machines&Control Application,2012,39(2):17-20.
[16]刘小俊,张广明,梅磊,等.基于模型参考自适应的永磁同步电机速度观测器中PI参数调节方法[J].电机与控制应用,2016,43(7):1-6.LIU Xiaojun,ZHANG Guangming,MEI Lei,et al.Method of adjusting PI parameters for permanent magnet synchronous motor speed observer based on model reference adaptive[J].Electric Machines&Control Application,2016,43(7):1-6.
[2]郑昌陆.矿用电机车的永磁同步电机控制关键技术研究[D].上海:上海大学,2013.
[3]张俊卿,梅奕,黄友锐,等.基于永磁同步电动机的矿用电机车调速系统设计[J].工矿自动化,2014,40(2):45-48.ZHANG Junqing,MEI Yi,HUANG Yourui,et al.Design of speed regulation system of mine-used electric locomotive based on permanent magnet synchronousmotor[J].IndustryandMine Automation,2014,40(2):45-48.
[4]祝龙记,黄琦.矿用电机车永磁同步电动机无位置传感器低速稳定控制[J].工矿自动化,2018,44(4):80-85.ZHU Longji,HUANG Qi.Stable sensorless control for permanent magnet synchronous motor of mineused electric locomotive at low speed stage[J].Industry and Mine Automation,2018,44(4):80-85.
[5]李玉东,葛敬涛,易庚.矿用电机车无速度传感器控制变频驱动装置系统[J].控制工程,2016,23(9):1412-1417.LI Yudong,GE Jingtao,YI Geng.The variable frequency driving control system based on speed sensorless control for mining locomotives[J].Control Engineering of China,2016,23(9):1412-1417.
[6]栗忠魁,阮毅,宗剑,等.直流架线式矿用电机车变频调速控制系统的设计[J].电机与控制应用,2011,38(5):27-30.LI Zhongkui,RUAN Yi,ZONG Jian,et al.Design of variable frequency speed regulation control system for DC stringing electric mine locomotive[J].Electric Machines&Control Application,2011,38(5):27-30.
[7]董晨露,陈涛.电机车IPMSM高频脉振电压注入法转子位置检测[J].电机与控制应用,2015,42(8):67-71.DONG Chenlu,CHEN Tao.Motor vehicle IPMSM rotor position detection based on high frequency pulsating voltage injection[J].Electric Machines&Control Application,2015,42(8):67-71.
[8]潘森林,高瑾.永磁同步电机无速度传感器控制技术综述[J].微电机,2018,51(3):62-69.PAN Senlin,GAO Jin.Summarization of sensorless control technology for permanent magnet synchronous motor[J].Micromotors,2018,51(3):62-69.
[9]施大发,王辉,张华.永磁同步电机无传感器控制研究[J].电力电子技术,2010,44(9):52-54.SHI Dafa,WANG Hui,ZHANG Hua.Research on sensorless control method of permanent magnet synchronous motor[J].Power Electronics,2010,44(9):52-54.
[10]王悍枭,刘凌,吴华伟.改进型滑模观测器的永磁同步电机无传感器控制策略[J].西安交通大学学报,2016,50(6):104-109.WANG Hanxiao, LIULing, WUHuawei. A sensorless permanent magnet synchronous motor control strategy for improved sliding mode observers with stator parameters identification[J].Journal of Xi'an Jiaotong University,2016,50(6):104-109.
[11]朱喜华,李颖晖,张敬.基于一种新型滑模观测器的永磁同步电机无传感器控制[J].电力系统保护与控制,2010,38(13):6-10.ZHU Xihua,LI Yinghui,ZHANG Jing.Senorless control of PMSM based on a novel sliding mode observer[J].Power System Protection and Control,2010,38(13):6-10.
[12]邹薇.基于扩展卡尔曼滤波PMSM无位置传感器矢量控制[D].长沙:湖南大学,2017.
[13]王孟.基于MRAS的永磁同步电机无传感器矢量控制系统的研究[D].广州:华南理工大学,2018.
[14]韦汉培,魏海峰,张懿.模型参考自适应下的永磁同步电机无传感器矢量控制[J].江苏科技大学学报(自然科学版),2018,32(2):224-231.WEI Hanpei,WEI Haifeng,ZHANG Yi.Sensorless vector control of permanent magnet synchronous motor based on model reference adaptive system[J].Journal of Jiangsu University of Science and Technology(Natural Science Edition),2018,32(2):224-231.
[15]陈名辉,阮毅,宗剑,等.无速度传感器在矿用电机车矢量控制系统中的应用[J].电机与控制应用,2012,39(2):17-20.CHEN Minghui,RUAN Yi,ZONG Jian,et al.Vector control system for electric mine locomotive applied by speed sensorless[J].Electric Machines&Control Application,2012,39(2):17-20.
[16]刘小俊,张广明,梅磊,等.基于模型参考自适应的永磁同步电机速度观测器中PI参数调节方法[J].电机与控制应用,2016,43(7):1-6.LIU Xiaojun,ZHANG Guangming,MEI Lei,et al.Method of adjusting PI parameters for permanent magnet synchronous motor speed observer based on model reference adaptive[J].Electric Machines&Control Application,2016,43(7):1-6.