地铁牵引电传动系统关键控制技术及性能优化研究
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摘要
牵引电传动系统是地铁车辆装备的核心与难点。本文着重针对异步电机矢量控制技术、车辆防滑／防空转控制技术以及地铁牵引电传动系统稳定性控制技术分别展开研究,并通过大量的模型仿真及地面、现场实验对研究成果进行了验证。
面向地铁牵引变流器低开关频率约束条件,根据异步电机复矢量模型极点分布规律以及基于Frobenius矩阵范数的离散化误差函数,指出了常规离散全阶转子磁链观测器的问题和局限性；提出了一种基于状态空间拆分重组的改进型离散全阶转子磁链观测器,其在有限迭代计算频率下,电机运行全速度范围内观测结果稳定收敛、离散化误差较小且计算简单；同时,设计了反馈增益矩阵对观测器进行极点优化配置,提高了观测结果的收敛速度并改善了观测器的电机参数敏感性；通过基于q轴磁链误差补偿的磁场定向实时校正策略,保证了异步电机转子磁场的准确定向。
归纳总结了异步电机内在耦合因素,指出了现有电流环数字控制时延对异步电机解耦控制的影响；利用系统耦合度函数,分析了传统电流控制器的解耦性能,通过研究耦合效应与电流环极点分布规律之间的关系,提出了一种基于零极点对消原理的改进型电流控制器,同时引入双线性离散化方法完成其数字化实现,使电流环系统在有限的控制频率下,不仅具有良好的动态响应,而且消除了定子电流励磁分量与转矩分量之间的耦合效应。
根据地铁车辆轮轨黏着分析,将架控双轴模型等效为单轴模型完成了车体动力学模型的建立；引入了一阶扰动观测器以获取当前路面黏着系数及其导数值信息,通过研究黏着特性曲线峰值点特征,结合车辆逻辑控制,提出了一种以PI调节器为核心、转矩微调函数C(t)辅助的基于最优黏着利用的地铁车辆防滑／防空转控制策略,从而有效防止车辆空转／打滑现象的发生,并实现恶劣轮轨接触条件下的最优黏着利用。
针对地铁牵引电传动系统主电路进行了详细分析,建立了系统综合线性化模型；利用基于级联电气系统环路增益的稳定性分析方法,深入研究了直流侧滤波器参数设计与异步电机矢量控制对系统稳定性的影响；提出了一种基于阻抗匹配的稳定性控制策略,通过实时调整牵引变流器-异步电机系统输入阻抗模型,实现了牵引电传动系统在全速度范围内、任何工况下的稳定运行。
Electric traction drive system is the coral and difficult part of metro vehicle. The vector control technology for induction motor, anti-skid/anti-slip control technology for vehicle and stability control technology for electric traction drive system are researched in this paper, then amounts of simulations, ground tests and field trails are carried out to verify the theoretical research results.
Under low switching frequency of metro traction converter constraint condition, according to the pole map of induction motor based on complex model and the discretization error function based on matrix frobenbius-norm, the problems and application limitations of conventional discrete full-order rotor flux observer are pointed out; a novel discrete full-order rotor flux observer based on re-organization of state space is proposed, which has stable and convergent observed result, minimal discretization error and small computation with limited frequency calculation in full speed range; meanwhile, in order to optimal assigning the poles, the feedback gain matrix are designed, which not only increases the rate of convergence, but also improves motor parameter sensitivity; using observed result to propose an accurate rotor flux orientation correction strategy based on error compensation to flux q axis component, which insures the veracity of rotor flux orientation for induction motor.
Internal coupling factors of induction motor are concluded and summarized, then the effects of digital control delay are pointed out based on existing timing of digital controlled closed-loop current; by making use of system coupling function, this paper analyzes the decoupling performance of conventional current controller, an inproved current controller based on pole zero cancellation is proposed by researching the relation between coupling effect and pole distribution of current loop system, at the same time, Tustin is introduced so as to complete the digitalization of the inproved current controller, which not only has good dynamic response, but also realizes the decoupling control of stator current excitation and torque variable.
According to adhesive analysis for metro vehicle, this paper finishes the establishment of vehicle dynamics model by converting the model from double axle to single axis; the first order disturbance observer is introduced in order to obtain the current road's adhesion coefficient and its derivative value, an anti-skid/anti-slip control technology for metro vehicle based on PI regulator and torque adjustment function is proposed by means of researching the characteristic of peaks of adhesive characteristic curve and combining with logic control for metro vehicle, which not only prevents skid/slip phenomenon, but also realizes optimized adhesion utilization under the condition of dirty road.
Based on analysis of main circuit of electric traction drive system for metro vehicle, comprehensive linear model of system is established; the influence of DC input filter parameters and vector control technology for induction motor on system stability is studied using the analyze method based on loop gain of cascade electrical system; in order to insure the stability of electric traction drive system of metro vehicle in full speed range and any operating condition, an improved stability control strategy based on impedance matching is proposed, which can timely adjust the input impedance model of traction converter-induction motor system.
面向地铁牵引变流器低开关频率约束条件,根据异步电机复矢量模型极点分布规律以及基于Frobenius矩阵范数的离散化误差函数,指出了常规离散全阶转子磁链观测器的问题和局限性；提出了一种基于状态空间拆分重组的改进型离散全阶转子磁链观测器,其在有限迭代计算频率下,电机运行全速度范围内观测结果稳定收敛、离散化误差较小且计算简单；同时,设计了反馈增益矩阵对观测器进行极点优化配置,提高了观测结果的收敛速度并改善了观测器的电机参数敏感性；通过基于q轴磁链误差补偿的磁场定向实时校正策略,保证了异步电机转子磁场的准确定向。
归纳总结了异步电机内在耦合因素,指出了现有电流环数字控制时延对异步电机解耦控制的影响；利用系统耦合度函数,分析了传统电流控制器的解耦性能,通过研究耦合效应与电流环极点分布规律之间的关系,提出了一种基于零极点对消原理的改进型电流控制器,同时引入双线性离散化方法完成其数字化实现,使电流环系统在有限的控制频率下,不仅具有良好的动态响应,而且消除了定子电流励磁分量与转矩分量之间的耦合效应。
根据地铁车辆轮轨黏着分析,将架控双轴模型等效为单轴模型完成了车体动力学模型的建立；引入了一阶扰动观测器以获取当前路面黏着系数及其导数值信息,通过研究黏着特性曲线峰值点特征,结合车辆逻辑控制,提出了一种以PI调节器为核心、转矩微调函数C(t)辅助的基于最优黏着利用的地铁车辆防滑／防空转控制策略,从而有效防止车辆空转／打滑现象的发生,并实现恶劣轮轨接触条件下的最优黏着利用。
针对地铁牵引电传动系统主电路进行了详细分析,建立了系统综合线性化模型；利用基于级联电气系统环路增益的稳定性分析方法,深入研究了直流侧滤波器参数设计与异步电机矢量控制对系统稳定性的影响；提出了一种基于阻抗匹配的稳定性控制策略,通过实时调整牵引变流器-异步电机系统输入阻抗模型,实现了牵引电传动系统在全速度范围内、任何工况下的稳定运行。
Electric traction drive system is the coral and difficult part of metro vehicle. The vector control technology for induction motor, anti-skid/anti-slip control technology for vehicle and stability control technology for electric traction drive system are researched in this paper, then amounts of simulations, ground tests and field trails are carried out to verify the theoretical research results.
Under low switching frequency of metro traction converter constraint condition, according to the pole map of induction motor based on complex model and the discretization error function based on matrix frobenbius-norm, the problems and application limitations of conventional discrete full-order rotor flux observer are pointed out; a novel discrete full-order rotor flux observer based on re-organization of state space is proposed, which has stable and convergent observed result, minimal discretization error and small computation with limited frequency calculation in full speed range; meanwhile, in order to optimal assigning the poles, the feedback gain matrix are designed, which not only increases the rate of convergence, but also improves motor parameter sensitivity; using observed result to propose an accurate rotor flux orientation correction strategy based on error compensation to flux q axis component, which insures the veracity of rotor flux orientation for induction motor.
Internal coupling factors of induction motor are concluded and summarized, then the effects of digital control delay are pointed out based on existing timing of digital controlled closed-loop current; by making use of system coupling function, this paper analyzes the decoupling performance of conventional current controller, an inproved current controller based on pole zero cancellation is proposed by researching the relation between coupling effect and pole distribution of current loop system, at the same time, Tustin is introduced so as to complete the digitalization of the inproved current controller, which not only has good dynamic response, but also realizes the decoupling control of stator current excitation and torque variable.
According to adhesive analysis for metro vehicle, this paper finishes the establishment of vehicle dynamics model by converting the model from double axle to single axis; the first order disturbance observer is introduced in order to obtain the current road's adhesion coefficient and its derivative value, an anti-skid/anti-slip control technology for metro vehicle based on PI regulator and torque adjustment function is proposed by means of researching the characteristic of peaks of adhesive characteristic curve and combining with logic control for metro vehicle, which not only prevents skid/slip phenomenon, but also realizes optimized adhesion utilization under the condition of dirty road.
Based on analysis of main circuit of electric traction drive system for metro vehicle, comprehensive linear model of system is established; the influence of DC input filter parameters and vector control technology for induction motor on system stability is studied using the analyze method based on loop gain of cascade electrical system; in order to insure the stability of electric traction drive system of metro vehicle in full speed range and any operating condition, an improved stability control strategy based on impedance matching is proposed, which can timely adjust the input impedance model of traction converter-induction motor system.
引文
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