电梯能馈系统及其电能质量控制方法研究
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摘要
随着我国经济的高速发展,电梯在大型公用建筑和民用住宅楼房中的应用越来越广泛,由此带来的巨大用电量不容忽视,特别是能源日益紧张的今天。电梯节能技术的研究势在必行,研究电梯能量回馈技术逐步成为行业内一个新的技术亮点。
本文针对我国广泛使用的变压变频(Variable Voltge Variable Freuency,VVVF)电梯进行改造,设计具有能量回馈和有源滤波双重功能的并联型电梯能馈系统,采用具有能量双向流动的三相电压型PWM整流器作为外挂的能量回馈器,对其中的电力电子技术及控制方法进行深入研究,并取得了一些创新性的成果。
本论文的主要研究内容包括以下几点：
(1)设计电梯能馈系统。外挂的PWM整流器并联于电梯入线电网侧,取代了电梯变频器的二极管整流电路构成能量回馈通路,将再生电能逆变回馈到交流电网。无再生能量回馈时,可作有源滤波器用来消除非线性负载产生的谐波,改善电梯能馈系统网侧的电能质量。
(2)研究并联的三相PWM整流器的直接电流控制方法(Direct Current Control, DCC),建立数学模型并设计了电流内环、电压外环的双闭环控制结构,采用空间矢量脉宽调制(SVPWM)方法实现开关信号的调制。为了提高双闭环PI控制性能,设计了负载扰动前馈补偿器,显著提高PWM整流器抗负载扰动动态性能。另外,电流环PI控制器中加入并联的重复控制器,用于抑制周期性死区扰动,以提高电流稳态精度。在理论分析的基础上,采用Matlab/Simulink软件构建了电梯能馈系统的仿真模型,仿真结果验证了理论分析的可行性,指导实验样机的设计与实验。
(3)本文基于网侧电流检测控制方式提出了一种直接功率模糊控制(Direct Power Fuzzy Control, DPFC)方法。该控制结构无需进行负载电流检测和谐波电流提取,简单有效,同时也解决了传统的直接功率控制方法中开关频率与滞环宽度之间的矛盾。该方法将瞬时有功功率和无功功率与参考值的差值分别作为模糊控制变量送入模糊规则库,由模糊规则选择电压开关矢量,产生开关状态信号,不使用传统的预置开关表,省去功率滞环比较器,控制更加灵活有效。仿真实验表明,采用直接功率模糊控制方法的电梯能馈系统具有良好的动、静态特性,能够实现网侧电流正弦化和功率因数单位化,电能质量进一步得到优化,其控制效果优于DCC控制方法和传统的直接功率控制(DirectPower Control, DPC)方法。
(4)本文采用分数阶比例积分PIλ控制器进行直流侧电压的稳定控制。根据瞬时功率理论建立了功率控制系统数学模型,采用频域设计方法设计了相应的分数阶PIλ控制器参数。仿真和分析证明了分数阶PIλ控制具有良好的动态性能和更强的鲁棒性,在负载扰动和电压闪变的情况下直流侧电压仍然稳定,响应速度更快,控制结果更精确,有效稳定了直流侧电压,提高了系统的工作性能,优于传统PI控制方法。
(5)本文从扇区划分和开关表出发,提出了基于18扇区的直接功率控制方法。该方法基于功率数学模型,分析扇区划分的理论基础,将电压矢量扇区平均划分为18个扇区,根据电压开关矢量对有功和无功功率在各个扇区的影响,设计了新的开关表。仿真结果表明,基于18扇区的DPC对无功功率的调节更加有效,无功变化进一步得到约束,网侧电流的正弦度更好。提出基于18扇区的直接功率模糊控制方法,设计了详细的模糊逻辑规则,仿真结果证明该方法提高了网侧电流的正弦度,省去功率滞环比较器,采用模糊规则实现开关矢量选择,仿真结果说明其控制效果较采用滞环比较器更优。
(6)在实验室搭建了电梯能馈系统的硬件电路,开发实验样机。在主电路基础上,开发了以DSP为主控芯片的电梯能馈系统的控制电路,通过软硬件设计与实现得到实验波形,证明了该系统设计合理,可以有效实现能量回馈功能,有利于改善现有电梯的工作性能,不仅节约了电能而且绿化了电网。样机的节能测试结果也证明了课题研究对象的可行性。
Elevators are used more and more in large public buildings and residential buildings, with the development of national economic. The huge power consumption cannot be ignored because of the shortage of energy, nowadays. Elevator energy-feedback technology has been becoming a new technical innovation in elevator industry, and the research of the correlation technique of energy-saving is imperative.
To modify the VVVF (Variable Voltage Variable Frequency) elevators, which are popular used in our country, a parallel-structure elevator feedback system which has the function of energy-feedback and active power filter is presented. A three-phase voltage PWM converter, which is connected in parallel, is designed as the parallel energy-feedback device. Some innovative achievements are gained with the deep research of the power electronics technology and the control methods. The main research contents are as follows:
(1) A circuit of elevator system with energy feedback is designed after analyzing the working principle. The plug-in PWM converter is paralleled to the grid-side, to build an energy feedback pathway. The regenerated energy will be fedback to the grid timely. In the absence of regenerated energy to feedback, the plug-in PWM converter works as an active power filter to eliminate the harmonics brought by nonlinear load and improve the power quality of the grid-side of the elevator system.
(2) Research the DCC (Direct Current Control) method of the parallel three-phase PWM converter, a double closed-loop control structure is designed, in which current loop is considered as inner-loop and voltage loop is considered as outer-loop. SVPWM (Space Vector Pulse Width Modulation) method is used to modulate the switching signal. In order to increase the dynamic control performance of resisting load disturbance of the PWM rectifier, the load disturbance feed forward compensator is brought in the double closed-loop PI control structure. In addition, PI controller and repetitive controller are mixed used in the current control loop. The repetitive controller is used to restrain the periodic dead disturbance, to improve the accuracy of the steady state of the current. On the basis of theoretical analysis, simulation model of the elevator energy feedback system is built by using Matlab/Simulink software. Simulation results validate the feasibility of the theoretical analysis, guiding us to design and make an experimental prototype.
(3) DPFC (Direct Power Fuzzy Control) method is proposed based on grid current detection. Grid current detection does not need load current detection and harmonic current extraction, is more simple and effective to solve the contradiction between the switch frequency and the width of hysteresis comparator in the traditional DPC(Direct Power Control) method. The errors of instantaneous active power and reactive power with their reference values are sent into fuzzy rule base as fuzzy variables. The switch signals are generated by fuzzy rules. This control method is more flexible and effective, without predefined switch table and hysteresis comparator. The simulation results show that the designed elevator system has excellent steady and dynamic performance. Sinusoidal grid current and unit power factor can be achieved. And the power quality is also improved. The novel DPC based on fuzzy control is better than DCC method and traditional DPC.
(4) This thesis proposed a fractional-order PIλ controller to realize stability control of DC-side voltage. The fractional-order PIλ controller is designed with the frequency-domain method with the mathematical model of the power control system based on instantaneous power theory. The simulation results show that fractional-order PIλ controller has good dynamic and robust performance, and the DC-side voltage is still stable when there has impulse-voltage and load-changing. The DC-side voltage stabilized at the given value quickly and accurately. The new control strategy is better than the traditional PI control strategy.
(5) A novel DPC method based on18sectors partition is proposed, in which the space voltage vector is divided into18average sectors, based on the influence between the voltage vectors and the active and reactive power in each sector. And then, new switch table is designed. Simulation results of the novel DPC based on the18sectors is more effective on the regulation of reactive power, grid current is better sinusoidal. DPFC based on18sectors partition is proposed, detail fuzzy logic rule-base is designed, and the simulation proves that this method improves the sinusoidal of the grid current, the control effect is better than that of using hysteresis comparator.
(6) The hardware circuit of the elevator energy feedback system is designed in laboratory, using DSP as main control chip, to develop an experimental prototype. Experiments are carried on the design and development of the hardware and software, to obtain the experimental waveforms. The experimental results show that the system design is reasonable and effective, can effectively achieve the energy feedback function, is good to improve the work performance of the existing elevators, not only savinng the electrical energy but also achieving green power grid. The energy-saving test results can prove the research is viability.
本文针对我国广泛使用的变压变频(Variable Voltge Variable Freuency,VVVF)电梯进行改造,设计具有能量回馈和有源滤波双重功能的并联型电梯能馈系统,采用具有能量双向流动的三相电压型PWM整流器作为外挂的能量回馈器,对其中的电力电子技术及控制方法进行深入研究,并取得了一些创新性的成果。
本论文的主要研究内容包括以下几点：
(1)设计电梯能馈系统。外挂的PWM整流器并联于电梯入线电网侧,取代了电梯变频器的二极管整流电路构成能量回馈通路,将再生电能逆变回馈到交流电网。无再生能量回馈时,可作有源滤波器用来消除非线性负载产生的谐波,改善电梯能馈系统网侧的电能质量。
(2)研究并联的三相PWM整流器的直接电流控制方法(Direct Current Control, DCC),建立数学模型并设计了电流内环、电压外环的双闭环控制结构,采用空间矢量脉宽调制(SVPWM)方法实现开关信号的调制。为了提高双闭环PI控制性能,设计了负载扰动前馈补偿器,显著提高PWM整流器抗负载扰动动态性能。另外,电流环PI控制器中加入并联的重复控制器,用于抑制周期性死区扰动,以提高电流稳态精度。在理论分析的基础上,采用Matlab/Simulink软件构建了电梯能馈系统的仿真模型,仿真结果验证了理论分析的可行性,指导实验样机的设计与实验。
(3)本文基于网侧电流检测控制方式提出了一种直接功率模糊控制(Direct Power Fuzzy Control, DPFC)方法。该控制结构无需进行负载电流检测和谐波电流提取,简单有效,同时也解决了传统的直接功率控制方法中开关频率与滞环宽度之间的矛盾。该方法将瞬时有功功率和无功功率与参考值的差值分别作为模糊控制变量送入模糊规则库,由模糊规则选择电压开关矢量,产生开关状态信号,不使用传统的预置开关表,省去功率滞环比较器,控制更加灵活有效。仿真实验表明,采用直接功率模糊控制方法的电梯能馈系统具有良好的动、静态特性,能够实现网侧电流正弦化和功率因数单位化,电能质量进一步得到优化,其控制效果优于DCC控制方法和传统的直接功率控制(DirectPower Control, DPC)方法。
(4)本文采用分数阶比例积分PIλ控制器进行直流侧电压的稳定控制。根据瞬时功率理论建立了功率控制系统数学模型,采用频域设计方法设计了相应的分数阶PIλ控制器参数。仿真和分析证明了分数阶PIλ控制具有良好的动态性能和更强的鲁棒性,在负载扰动和电压闪变的情况下直流侧电压仍然稳定,响应速度更快,控制结果更精确,有效稳定了直流侧电压,提高了系统的工作性能,优于传统PI控制方法。
(5)本文从扇区划分和开关表出发,提出了基于18扇区的直接功率控制方法。该方法基于功率数学模型,分析扇区划分的理论基础,将电压矢量扇区平均划分为18个扇区,根据电压开关矢量对有功和无功功率在各个扇区的影响,设计了新的开关表。仿真结果表明,基于18扇区的DPC对无功功率的调节更加有效,无功变化进一步得到约束,网侧电流的正弦度更好。提出基于18扇区的直接功率模糊控制方法,设计了详细的模糊逻辑规则,仿真结果证明该方法提高了网侧电流的正弦度,省去功率滞环比较器,采用模糊规则实现开关矢量选择,仿真结果说明其控制效果较采用滞环比较器更优。
(6)在实验室搭建了电梯能馈系统的硬件电路,开发实验样机。在主电路基础上,开发了以DSP为主控芯片的电梯能馈系统的控制电路,通过软硬件设计与实现得到实验波形,证明了该系统设计合理,可以有效实现能量回馈功能,有利于改善现有电梯的工作性能,不仅节约了电能而且绿化了电网。样机的节能测试结果也证明了课题研究对象的可行性。
Elevators are used more and more in large public buildings and residential buildings, with the development of national economic. The huge power consumption cannot be ignored because of the shortage of energy, nowadays. Elevator energy-feedback technology has been becoming a new technical innovation in elevator industry, and the research of the correlation technique of energy-saving is imperative.
To modify the VVVF (Variable Voltage Variable Frequency) elevators, which are popular used in our country, a parallel-structure elevator feedback system which has the function of energy-feedback and active power filter is presented. A three-phase voltage PWM converter, which is connected in parallel, is designed as the parallel energy-feedback device. Some innovative achievements are gained with the deep research of the power electronics technology and the control methods. The main research contents are as follows:
(1) A circuit of elevator system with energy feedback is designed after analyzing the working principle. The plug-in PWM converter is paralleled to the grid-side, to build an energy feedback pathway. The regenerated energy will be fedback to the grid timely. In the absence of regenerated energy to feedback, the plug-in PWM converter works as an active power filter to eliminate the harmonics brought by nonlinear load and improve the power quality of the grid-side of the elevator system.
(2) Research the DCC (Direct Current Control) method of the parallel three-phase PWM converter, a double closed-loop control structure is designed, in which current loop is considered as inner-loop and voltage loop is considered as outer-loop. SVPWM (Space Vector Pulse Width Modulation) method is used to modulate the switching signal. In order to increase the dynamic control performance of resisting load disturbance of the PWM rectifier, the load disturbance feed forward compensator is brought in the double closed-loop PI control structure. In addition, PI controller and repetitive controller are mixed used in the current control loop. The repetitive controller is used to restrain the periodic dead disturbance, to improve the accuracy of the steady state of the current. On the basis of theoretical analysis, simulation model of the elevator energy feedback system is built by using Matlab/Simulink software. Simulation results validate the feasibility of the theoretical analysis, guiding us to design and make an experimental prototype.
(3) DPFC (Direct Power Fuzzy Control) method is proposed based on grid current detection. Grid current detection does not need load current detection and harmonic current extraction, is more simple and effective to solve the contradiction between the switch frequency and the width of hysteresis comparator in the traditional DPC(Direct Power Control) method. The errors of instantaneous active power and reactive power with their reference values are sent into fuzzy rule base as fuzzy variables. The switch signals are generated by fuzzy rules. This control method is more flexible and effective, without predefined switch table and hysteresis comparator. The simulation results show that the designed elevator system has excellent steady and dynamic performance. Sinusoidal grid current and unit power factor can be achieved. And the power quality is also improved. The novel DPC based on fuzzy control is better than DCC method and traditional DPC.
(4) This thesis proposed a fractional-order PIλ controller to realize stability control of DC-side voltage. The fractional-order PIλ controller is designed with the frequency-domain method with the mathematical model of the power control system based on instantaneous power theory. The simulation results show that fractional-order PIλ controller has good dynamic and robust performance, and the DC-side voltage is still stable when there has impulse-voltage and load-changing. The DC-side voltage stabilized at the given value quickly and accurately. The new control strategy is better than the traditional PI control strategy.
(5) A novel DPC method based on18sectors partition is proposed, in which the space voltage vector is divided into18average sectors, based on the influence between the voltage vectors and the active and reactive power in each sector. And then, new switch table is designed. Simulation results of the novel DPC based on the18sectors is more effective on the regulation of reactive power, grid current is better sinusoidal. DPFC based on18sectors partition is proposed, detail fuzzy logic rule-base is designed, and the simulation proves that this method improves the sinusoidal of the grid current, the control effect is better than that of using hysteresis comparator.
(6) The hardware circuit of the elevator energy feedback system is designed in laboratory, using DSP as main control chip, to develop an experimental prototype. Experiments are carried on the design and development of the hardware and software, to obtain the experimental waveforms. The experimental results show that the system design is reasonable and effective, can effectively achieve the energy feedback function, is good to improve the work performance of the existing elevators, not only savinng the electrical energy but also achieving green power grid. The energy-saving test results can prove the research is viability.
引文
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