交流电机驱动矿用自卸车矢量控制系统设计与研究
|
摘要
矿用电动轮自卸车以其效率高、运量大、经济性好而成为年开采量千万吨级以上露天矿山、大型水利建设工程的理想运输工具。
本文主要研究矿用电动轮自卸车交流驱动控制系统,以高性能的嵌入式微处理器为核心,采用异步电机矢量控制算法,设计了一种基于DSP的矿用电动轮自卸车交流驱动电机控制器。主要研究内容如下:
在分析异步电动机数学模型、综述矢量控制理论及其解耦性质的基础上,将异步电动机三相静止坐标系下的各变量变换到两相旋转坐标系下,再利用转子磁场定向技术,使得定子绕组电流磁场分量和转矩分量得到解耦,从而,异步电机的调速性能大大提高。另外,结合电流模型法给出了矢量控制系统结构框图,为构建SVPWM矢量控制系统平台提供了理论依据。
研究了矿用电动轮自卸车驱动力和相应驱动电机功率的计算,并结合矿用电动轮自卸车的实际要求,实现了牵引、制动、恒速下坡、向前、向后等五个速度挡位控制及油门输入控制等。在Matlab环境中建立了仿真系统,验证这些控制算法,取得了较好的效果。
以一台22KW鼠笼式异步变频电机作控制对象,设计了矿用自卸车交流电机矢量控制系统。该系统由以TMS320LF2407A型DSP为核心的弱电电路和以IPM模块为主的强电电路组成,并进行了交流电机控制实验,试验结果验证了硬件电路和程序的可靠性。
通过对矿用电动轮自卸车交流电机驱动系统的研究,将矢量控制方案与DSP控制技术有机的结合,实现了全数字化的矿用自卸车矢量控制系统。通过试验表明了该系统初级阶段设计成果的有效性。
Mine-use Electrical Wheels Autonomous Dump Truck is the deal conveyance tool in the mine mountain of ten million ton per year and the construct engineering of large water with the high efficiency, the great carrying capacity and the good economy.
This paper studies the drive and control of Autonomous Dump Truck which is with the high performance microprocessor as the core. It utilizes the vector control theory. Specially, the project develops a new kind of EV drive and control system. Main research achievement is as fellows:
The vector control theory and its decoupling are introduced on the foundation of the mathematical model of asynchronous motor The variables in 2-Phase static coordinates are converted into the variables in rotating coordinates and the components between torque and magnetic field of stator winding current are decoupled which uses the rotor-field-oriented technology. thus, the speed regulating performance of the asynchronous motor is improved highly. The structure diagram of vector control system which combines the current model of motor is given and provides the theoretical basis for the design of vector control system platform.
The thesis also introduce calculation of drive and power of induction motor based on the factual requirement of Mine-use Electrical Wheels Autonomous Dump Truck control, different speed gears and accelerator input are realized. Intimation system is established in the environment of MATLAB to validate these control arithmetic.
A 22kw squirrel-cage IM is used to verify our method and a system of FOC control is designed. The system is made up of circuit cored around DSP(LF2407A) and circuit cored around IPM,By experimentation,the system has proved its good anti-jamming Performance and validates credibility of the system.
By research of the driving system of Mine-use Electrical Wheels Autonomous Dump Truck the thesis combine the technology of FOC and DSP Perfectly ,a full digital FOC system is realized. the system proved its Enormous Practical value of application.
本文主要研究矿用电动轮自卸车交流驱动控制系统,以高性能的嵌入式微处理器为核心,采用异步电机矢量控制算法,设计了一种基于DSP的矿用电动轮自卸车交流驱动电机控制器。主要研究内容如下:
在分析异步电动机数学模型、综述矢量控制理论及其解耦性质的基础上,将异步电动机三相静止坐标系下的各变量变换到两相旋转坐标系下,再利用转子磁场定向技术,使得定子绕组电流磁场分量和转矩分量得到解耦,从而,异步电机的调速性能大大提高。另外,结合电流模型法给出了矢量控制系统结构框图,为构建SVPWM矢量控制系统平台提供了理论依据。
研究了矿用电动轮自卸车驱动力和相应驱动电机功率的计算,并结合矿用电动轮自卸车的实际要求,实现了牵引、制动、恒速下坡、向前、向后等五个速度挡位控制及油门输入控制等。在Matlab环境中建立了仿真系统,验证这些控制算法,取得了较好的效果。
以一台22KW鼠笼式异步变频电机作控制对象,设计了矿用自卸车交流电机矢量控制系统。该系统由以TMS320LF2407A型DSP为核心的弱电电路和以IPM模块为主的强电电路组成,并进行了交流电机控制实验,试验结果验证了硬件电路和程序的可靠性。
通过对矿用电动轮自卸车交流电机驱动系统的研究,将矢量控制方案与DSP控制技术有机的结合,实现了全数字化的矿用自卸车矢量控制系统。通过试验表明了该系统初级阶段设计成果的有效性。
Mine-use Electrical Wheels Autonomous Dump Truck is the deal conveyance tool in the mine mountain of ten million ton per year and the construct engineering of large water with the high efficiency, the great carrying capacity and the good economy.
This paper studies the drive and control of Autonomous Dump Truck which is with the high performance microprocessor as the core. It utilizes the vector control theory. Specially, the project develops a new kind of EV drive and control system. Main research achievement is as fellows:
The vector control theory and its decoupling are introduced on the foundation of the mathematical model of asynchronous motor The variables in 2-Phase static coordinates are converted into the variables in rotating coordinates and the components between torque and magnetic field of stator winding current are decoupled which uses the rotor-field-oriented technology. thus, the speed regulating performance of the asynchronous motor is improved highly. The structure diagram of vector control system which combines the current model of motor is given and provides the theoretical basis for the design of vector control system platform.
The thesis also introduce calculation of drive and power of induction motor based on the factual requirement of Mine-use Electrical Wheels Autonomous Dump Truck control, different speed gears and accelerator input are realized. Intimation system is established in the environment of MATLAB to validate these control arithmetic.
A 22kw squirrel-cage IM is used to verify our method and a system of FOC control is designed. The system is made up of circuit cored around DSP(LF2407A) and circuit cored around IPM,By experimentation,the system has proved its good anti-jamming Performance and validates credibility of the system.
By research of the driving system of Mine-use Electrical Wheels Autonomous Dump Truck the thesis combine the technology of FOC and DSP Perfectly ,a full digital FOC system is realized. the system proved its Enormous Practical value of application.
引文
[1]万海如,段家典.重型矿用电动轮自卸车的现状和发展趋势[J].汽车工业研究,2001(4):16-22.
[2]余水华.电传动矿用自卸车[J].矿用汽车,1995(3):5-11.
[3]宋佑川,金国栋.电动轮的类型与特点[J].城市公共交通,2004(4):16-18.
[4]周建功.108t电动轮自卸车电控系统的改造[J].包钢科技,2003,29(5):50-52.
[5]李华德.交流调速控制系统[M].北京:电子工业出版社.2003:35-38.
[6]刘国海,戴先中.感应电动机调速系统的解耦控制[J].电工技术学报,2001,6(5):30-34.
[7]张燕,孙月飞,宋立军.SVPWM变频调速系统中电流检测和矢量转换电路的设计[J]自动化信息,2007(12):45-46.
[8]赵文祥,刘国海,吉敬华.基于DSP的全数字矢量控制SVPWM变频调速系统[J].电机与控制学报,2004,8(2):175-178.
[9]吴洪洋,何湘宁.多电平载波PWM法与SVPWM法之间的本质联系及其应用(Relationshhp between multilevel carrier-based PWM and SVPWM and its applications)[J].中国电机工程学报(Proceedings of the CSEE),2002,22(5):10-15.
[10]熊健,康勇,张凯等.电压空间矢量调制与常规SPWM的比较研究[J].电力电子技术,1993,33(1):25-28.
[11]李刚,何军辉.基于DSP的SVPWM波实时生成方法[J].现代电子技术,2001(7):73-75.
[12]李维亚.蓄电池电机下交流变频调速系统的研究[D],合肥:安徽理工大学硕士论文,2007.
[13]陈建明,王征宇,郑洪涛.具有全调制范围的空间矢量调制新型数字算法[J],变流技术与电力牵引,2005,(5):37-43.
[14]熊茂.基于DSP的电动汽车交流驱动电机矢量控制研究[D],武汉:武汉理工大学硕士论文,2006.
[15]赵泽生.基于DSP的通用变频器研究[D],太原:太原理工大学硕士论文,2007.
[16]张云.大型电动轮自卸车的控制系统设计与研究[D],长沙:湖南大学硕士论文,2006.
[17]贺晓蓉.感应电机SVPWM控制系统的仿真研究[J].微计算机信息,2007,23(1):96-100.
[18]姜旭,肖湘宁,赵洋等.改进的多电平SVPWM及其广义算法研究[J].中国电机工程学报,2007,27(4):90-95.
[19]毛晓英,罗文广.基于MATLAB/SIMULINK的异步电动机矢量控制调速系统仿真[J].东北电力技术,2004,25(1):14-16.
[20]孙业树,周新云,李正明.空间矢量PWM的SIMULINK仿真[J].农机化研究,2003(2):105-106.
[21]李荣高,宁玉泉.SPWM交流调速的MATLAB仿真[J].中小型电机,2001,28(003):41-43.
[22]贾建强,韩如成.基于MATLAB/SIMULINK的交流电机调速系统建模与仿真[J].电机与控制学报,2000,4(2):91-93.
[23]尹泉,万淑芸.基于DSP的全数字交流调速系统[J].电气传动,2001,31(4):7-9.
[24]孙冠先,熊恋学.DSP数字交流调速系统的硬件设计[J].电气传动,2002,32(1):10-13.
[25]陈林,侯立军.基于DSP的变频训速系统的设计[J].电工技术杂志,2002(3):9-11.
[26]Zhang,X.,Li,Y.,Wang,W.A novel implementation of SVPWM algorithm and its application tothree-phase power converter[A].2000.
[27]屈维谦.交流调速的功率控制原理[J].华北电力大学学报,2002,29(3):39-43.
[28]马小亮.大功率交—交变频交流调速及矢量控制[M].北京:机械工业出版社,1992.
[29]Wang,K.,Chiasson,J.,Bodson,M.,etai.A nonlinear least-squares approach for identification of the induction motor parameters[J].IEEE Transactions on Automatic Controi,2005,50(10):1622-1628.
[30]Huang,K.,Wu,Q.,Turner,D.Effective identification of induction motor parameters based on fewer measure ments[J].IEEE Transaction on Energy Conversion,2002,17(1):55-60.
[31]Holtz,J.,Quan,J.Sensorless vector control of induction motors at very low speed using a nonlinearinverter model and parameter identification[J].IEEE Transactions on Industry Applications,2002,38(4):1087-1095.
[32]Cirrincione,M.,Pucci,M.,Cirrincione,G.,etaI.A new experimental application of least-squares techniques for the estimation of the induction motor parameters[C].2002.
[33]Nangsue,P.,Pillay,P.,Conry,S.Evolutionary algorithms for induction motor parameter determination[J].IEEE Transaction on Energy Conversion,1999,14(3):447-453.
[34]Pillay,P.,Nolan,R.,Haque,T.Application of genetic algorithms to motor parameter determination for transient torque calculations[J].IEEE Transactions on Industry Applications,1997.33(5),1273-1282.
[35]Stephan,J.,Bodson,M.,Chiasson,J.Real-time estimation of induction motor parameters[J].IEEE Transactions on Industry Applications,1994,30(3):746-759.
[36]DeKock,J.,Vander Merwe,F.,Vermeulen,H.Induction motor parameter estimation through an output errortechnique[J].IEEE Transaction on Energy Conversion,1994,9(1):69-76.
[37]Schauder,C.Adaptive speed identification for vector control of inductionmotors without rotational transducers[J].IEEE Transactions on Industry Applications,1992,28(5):1054-1061.
[38]Chai,H.,Acarnley,P.lnduction motor parameter estimation algorithm using spectralanalysis[J].IEE Proceedings B[see also IEE Proceedings-Electric Power Applications]Electric Power Applications,1992,139(3):165-174.
[39]Nordin,K.,Novotny,D.,Zinger,D.The influence of motor parameter deviations in feedforward field orientation drive systems[J].IEEE Transactions on Industry Applications,1985:1009-1015.
[40]Tzou,Y.,Lin,S.Fuzzy-tuning current-vector control of a three-phase PWM inverterfor high-performance AC drives[J],IEEE Transactions on industrial electronics,1998,45(5):782-791.
[2]余水华.电传动矿用自卸车[J].矿用汽车,1995(3):5-11.
[3]宋佑川,金国栋.电动轮的类型与特点[J].城市公共交通,2004(4):16-18.
[4]周建功.108t电动轮自卸车电控系统的改造[J].包钢科技,2003,29(5):50-52.
[5]李华德.交流调速控制系统[M].北京:电子工业出版社.2003:35-38.
[6]刘国海,戴先中.感应电动机调速系统的解耦控制[J].电工技术学报,2001,6(5):30-34.
[7]张燕,孙月飞,宋立军.SVPWM变频调速系统中电流检测和矢量转换电路的设计[J]自动化信息,2007(12):45-46.
[8]赵文祥,刘国海,吉敬华.基于DSP的全数字矢量控制SVPWM变频调速系统[J].电机与控制学报,2004,8(2):175-178.
[9]吴洪洋,何湘宁.多电平载波PWM法与SVPWM法之间的本质联系及其应用(Relationshhp between multilevel carrier-based PWM and SVPWM and its applications)[J].中国电机工程学报(Proceedings of the CSEE),2002,22(5):10-15.
[10]熊健,康勇,张凯等.电压空间矢量调制与常规SPWM的比较研究[J].电力电子技术,1993,33(1):25-28.
[11]李刚,何军辉.基于DSP的SVPWM波实时生成方法[J].现代电子技术,2001(7):73-75.
[12]李维亚.蓄电池电机下交流变频调速系统的研究[D],合肥:安徽理工大学硕士论文,2007.
[13]陈建明,王征宇,郑洪涛.具有全调制范围的空间矢量调制新型数字算法[J],变流技术与电力牵引,2005,(5):37-43.
[14]熊茂.基于DSP的电动汽车交流驱动电机矢量控制研究[D],武汉:武汉理工大学硕士论文,2006.
[15]赵泽生.基于DSP的通用变频器研究[D],太原:太原理工大学硕士论文,2007.
[16]张云.大型电动轮自卸车的控制系统设计与研究[D],长沙:湖南大学硕士论文,2006.
[17]贺晓蓉.感应电机SVPWM控制系统的仿真研究[J].微计算机信息,2007,23(1):96-100.
[18]姜旭,肖湘宁,赵洋等.改进的多电平SVPWM及其广义算法研究[J].中国电机工程学报,2007,27(4):90-95.
[19]毛晓英,罗文广.基于MATLAB/SIMULINK的异步电动机矢量控制调速系统仿真[J].东北电力技术,2004,25(1):14-16.
[20]孙业树,周新云,李正明.空间矢量PWM的SIMULINK仿真[J].农机化研究,2003(2):105-106.
[21]李荣高,宁玉泉.SPWM交流调速的MATLAB仿真[J].中小型电机,2001,28(003):41-43.
[22]贾建强,韩如成.基于MATLAB/SIMULINK的交流电机调速系统建模与仿真[J].电机与控制学报,2000,4(2):91-93.
[23]尹泉,万淑芸.基于DSP的全数字交流调速系统[J].电气传动,2001,31(4):7-9.
[24]孙冠先,熊恋学.DSP数字交流调速系统的硬件设计[J].电气传动,2002,32(1):10-13.
[25]陈林,侯立军.基于DSP的变频训速系统的设计[J].电工技术杂志,2002(3):9-11.
[26]Zhang,X.,Li,Y.,Wang,W.A novel implementation of SVPWM algorithm and its application tothree-phase power converter[A].2000.
[27]屈维谦.交流调速的功率控制原理[J].华北电力大学学报,2002,29(3):39-43.
[28]马小亮.大功率交—交变频交流调速及矢量控制[M].北京:机械工业出版社,1992.
[29]Wang,K.,Chiasson,J.,Bodson,M.,etai.A nonlinear least-squares approach for identification of the induction motor parameters[J].IEEE Transactions on Automatic Controi,2005,50(10):1622-1628.
[30]Huang,K.,Wu,Q.,Turner,D.Effective identification of induction motor parameters based on fewer measure ments[J].IEEE Transaction on Energy Conversion,2002,17(1):55-60.
[31]Holtz,J.,Quan,J.Sensorless vector control of induction motors at very low speed using a nonlinearinverter model and parameter identification[J].IEEE Transactions on Industry Applications,2002,38(4):1087-1095.
[32]Cirrincione,M.,Pucci,M.,Cirrincione,G.,etaI.A new experimental application of least-squares techniques for the estimation of the induction motor parameters[C].2002.
[33]Nangsue,P.,Pillay,P.,Conry,S.Evolutionary algorithms for induction motor parameter determination[J].IEEE Transaction on Energy Conversion,1999,14(3):447-453.
[34]Pillay,P.,Nolan,R.,Haque,T.Application of genetic algorithms to motor parameter determination for transient torque calculations[J].IEEE Transactions on Industry Applications,1997.33(5),1273-1282.
[35]Stephan,J.,Bodson,M.,Chiasson,J.Real-time estimation of induction motor parameters[J].IEEE Transactions on Industry Applications,1994,30(3):746-759.
[36]DeKock,J.,Vander Merwe,F.,Vermeulen,H.Induction motor parameter estimation through an output errortechnique[J].IEEE Transaction on Energy Conversion,1994,9(1):69-76.
[37]Schauder,C.Adaptive speed identification for vector control of inductionmotors without rotational transducers[J].IEEE Transactions on Industry Applications,1992,28(5):1054-1061.
[38]Chai,H.,Acarnley,P.lnduction motor parameter estimation algorithm using spectralanalysis[J].IEE Proceedings B[see also IEE Proceedings-Electric Power Applications]Electric Power Applications,1992,139(3):165-174.
[39]Nordin,K.,Novotny,D.,Zinger,D.The influence of motor parameter deviations in feedforward field orientation drive systems[J].IEEE Transactions on Industry Applications,1985:1009-1015.
[40]Tzou,Y.,Lin,S.Fuzzy-tuning current-vector control of a three-phase PWM inverterfor high-performance AC drives[J],IEEE Transactions on industrial electronics,1998,45(5):782-791.