无速度传感器定子磁链矢量控制系统研究
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摘要
本文简述了变频调速控制技术的发展和研究现状。从建立异步电机的数学模型开始，导出了矢量控制理论并分析了其不足之处。分析比较了当前主要的三种异步电机速度辨识方法。提出了一种简单而有效的电机速度辨识方案，仿真结果揭示了它的优越性。通过对定子磁链矢量控制系统的分析，可知该系统避免了矢量控制系统对转子参数的依赖，具备了直接转矩控制的实质。采用了固定步长，在开关频率不高时仍能取得较好的控制效果。但是对转子磁链估计的精度要求很高。文中应用Matlab／Simulink构造了该系统并和经典矢量控制系统作了仿真比较。验证了上述观点。
The development and the state of control technique of variable frequency speed regulation are described in this paper first.Based on the mathematic model of Induction Motor,the principle of field oriented coatrol is deduced and the drawback of FOC then discussed. Three papular approaches to IM speed identification are compared in simulation. A simple and efficient way to estimate rotor speed is proposed, Simulation results show the feasibility of the proposed strategy. This paper analyzed the Stater Flux Vector Control(SFVC) method of induction motors. Possessed the essential of DTC,SFVC is independent of rotor parameters. That is different from the FOC system. SFVC is a simple control system that works at fixed frequency and achieves good effect under low switch frequency. But it needs a high accuracy of estimation of rotor flux. The simulation results of SFVC is compared to the FOC's and verified the conclusion just mentioned.
The development and the state of control technique of variable frequency speed regulation are described in this paper first.Based on the mathematic model of Induction Motor,the principle of field oriented coatrol is deduced and the drawback of FOC then discussed. Three papular approaches to IM speed identification are compared in simulation. A simple and efficient way to estimate rotor speed is proposed, Simulation results show the feasibility of the proposed strategy. This paper analyzed the Stater Flux Vector Control(SFVC) method of induction motors. Possessed the essential of DTC,SFVC is independent of rotor parameters. That is different from the FOC system. SFVC is a simple control system that works at fixed frequency and achieves good effect under low switch frequency. But it needs a high accuracy of estimation of rotor flux. The simulation results of SFVC is compared to the FOC's and verified the conclusion just mentioned.
引文
[1] 刘宗富，二十一世纪的电气传动，电气传动自动化，1997，19(4)，3-7
[2] 葛宝明，王祥珩，苏鹏声，蒋静坪，交流传统系统控制策略综述，电气传动自动化，2001，23(4)，3-9
[3] 谢运祥，薛峰，交流电气传动的发展现状与趋势，微电机，1997，30(1)，28-30
[4] B．K．博斯 姜建国译，电力电子学与变频传动技术和应用，中国矿业大学出版社，1999
[5] 唐永哲，电力传动自动控制系统，西安电子科技大学出版社，1998
[6] 李爱文，张承慧，现代逆变技术及其应用，科学出版社，2000
[7] 韩安荣，通用变频器及其应用，机械工业出版社，2000
[8] 张燕宾，SPWM变频调速应用技术，机械工业出版社，1999
[9] 王凤翔编著，交流电机的非正弦供电，机械工业出版社，1997
[10] Creating a Sine Modulated PWM Signal Using the TMS320F240 EVM, TI, SPRA411, 1999
[11] AC Induction Motor Control Using Constant V/Hz Principle and Space Vector PWM Technique with TMS320C240, TI, SPRA284A, 1998
[12] Zhenyu Yu,Space-Vector PWM With TMS320C24x/F24x Using Hardware and Software Determined Switching Patterns TI SPRU524 1999
[13] 许强，贾正春，空间矢量PWM的快速算法，电力电子技术，2000，第3期，46-48
[14] 陈国呈，PWM变频调速及软开关电力变换技术，机械工业出版社，2002-
[15] T. Nogushi,M. Yamamoto ,S. Kondo,I. Takahashi, "High Frenquency Switching Operation of PWM Inverter for Direct Torque Control of Induction Motor",IAS1997
[16] 郭庆鼎，王成元，异步电动机的矢量变换控制原理及应用，辽宁民族出版社，1988
[17] Technical Guide No. 1-Direct Torque Control, ABB company, 1999
[18] 李夙，异步电动机直接转矩控制，机械工业出版社，1994
[19] D.Casadei,G.grandi,G.serra, A.Taxi, "Effect of flux and Torque Hysteresis Band Amplitudes in Direct Torque control of Induction Machines" ,IAS 1994
[20] Thomas G..Habetler, francessco Profumo,M.Pastorelli,L.M.Tolbert, "Direct Torque Control of Induction Machines Using space Vector Modulation",IEEE Trans.On Ind App,Vol 28
[21] L.Yongdong, S.Baojun, "Direct Torque Control of Induction Motor for low Speed Drives Considering discrete Effects of control and dead time of Inverter",IAS 1997
[22] P.Z Grabowski, "Direct Torque Neuro Fuzzy Control of Induction Motor Drive",IAS1997
[23] M.Depenbrock, Direct Self-Control(DSC) of Inverter-Fed Induction Machine, IEEE Trans. Power Electron, 1988, 3(4), 420-429
[24] Plunkett A.B, Direct Flux and Torque Regulation in a PWM inverterinduction Motor Drive, IEEE Trans on IA, 1977, (2)
[25] Fu K S, Walts M, A Heuristic Approach to Reinforcement Learning Control System, IEEE Trans Automat Control, 1965, 10(4), 390-398
[26] 姚玮，直接转矩控制系统中两种新技术的应用研究，浙江工业大学硕士学位论文，2001
[27] 陈坚，交流电机数学模型及调速系统，上海交通大学出版社，1984
[28] Clarke&Park Transforms on the TMS320C2ⅩⅩ, TI, BPRA048, 1998
[29] 臧英杰、吴守箴，交流电机的变频调速，中国铁道出版社
[30] 陈伯时，陈敏逊，交流调速系统，机械工业出版社，1998
[31] 许大中，交流电机调速理论，浙江大学出版社，1991
[32] 陈伯时，电力拖动自动控制系统，机械工业出版社，1991
[33] 苏彦民，李宏，交流调速系统的控制策略，机械工业出版社，1998
[34] Implementation of a Speed Field Orientated Control of Three Phase AC Induction Motor using TMS320F240, TI, BPRA076, 1998
[35] 胡崇岳，现代交流调速技术，机械工业出版社，1998
[36] 张晓华，朱峰，阮毅，电压空间矢量PWM逆变器—异步电机仿真模型，电气传动自动化，2001
[37] 李永东，交流电机数字控制系统，机械工业出版社，2002
[38] Uwe Baader, Manfred Depenbrock, Georg Gierse, Direct self control of inverter-fed induction machine-A basis for speed control without speed measurement, IEEE Conf on IA, 1989, 486-492
[39] Fang-Zheng Peng,Tadashi Fukao,Robust speed identification for speed-sensorless vector control of induction motors,IEEE Trans. on Industry Applications, 1994,30(5): 1234-1240
[40] James N.Nash , Direct torque control,induction motor vector control without an encoder, IEEE Trans. on Ind. Implication. 1997, 33(2), 333-341
[41] 姬志艳，李永东，司保军．无速度传感器异步电机直接转矩控制系统的研究．电工技术学报，1997，12(4)：15-19
[42] Young-Real Kim,Seung-Ki Sul,Min-Ho Park,Speed sensorless vector control of induction motor using extended Kalman filter, IEEE Trans. on Industry Applications, 1994,30(5): 1225-1233
[43] M.A. Ouhrouche ,Estimation of Speed, rotor flux and rotor Resistance in Cage Induction Motor Using the EKF algorithm. International Journal of Power and Energy Systems,2002,22(2): 103-109
[44] 陈锋，徐文立，王旭，无速度传感器基于Lyapunov稳定性的异步电机非线性控制，电气传动，2000
[45] 吴广玉，系统辨识与自适应控制，哈尔滨工业大学出版社，1987
[46] 夏超英，交直流传动系统的自适应控制，机械工业出版社，1999
[47] Jehudi Maes, Jan A. Melkebeek, Speed-sensorless direct torque control of induction motor using an adaptive flux observer, IEEE Trans on IA, 2000. 36(3), 778-785
[48] 薛峰，谢运祥等，直接转矩控制系统的转速估计模型及其参数补偿方法，电工技术学报，1998，第5期，26-30
[49] 曾岳南，异步电动机无速度传感器的矢量控制方法，变频器世界，1998
[50] 张成乾，张国强，系统辨识与参数估计，机械工业出版社，1986
[51] 宋文尧，张牙，卡尔曼滤波，科学出版社，1991
[52] Mohand A., Ouhrouche,Estimation of speed,rotor flux and rotor resistance in cage induction motor using the EKF algorithm, International Journal of Power and Energy Systems ,2002
[53] ZEIN Ismail, LORON Luc, FORGEZ Christophe,An Extended Kalman Filter and an Appropriate Model for the Real-time Estimation of the Induction Motor Variables and Parameters,2001
[54] 基于DSP的高动态直接转矩控制系统，夏雷，同济大学博士论文，1998
[55] Hao Yun Zhong, Henry P. Messinger, etal, A new microcomputer-based direct torque control system for three-phase induction motor, IEEE Trans on IA, 1991, 27(2), 294-298
[56] Isao Takahashi, Youichi Ohmori, High-performance direct torque control of an induction motor, IEEE Trans on IA, 1989, 25(20), 257-264
[57] Yanhong Xue, XingYi Xu, Thomas G.Habetler, A stator flux-oriented voltage source variable-speed drive based on dc link measurement, IEEE Trans on IA, 1991, 27(5), 962-969
[58] Jun-Koo Kang, Seung-Ki, New direct control of induction motor for minimum torque ripple and constant switch frequency, IEEE Trans on IA, 1999, 35(3), 1076-1082
[59] Anthony Purcell, Paul P. Acarnley, Enhanced inverter for fast response direct torque control, IEEE Trans on PE, 2001, 16(3),382-389
[60] Joaquim, Stator flux vector control with reference flux compensation for induction motors,Journal of Electrical Engineering,Vol.2,2002
[61] 邓智泉，严仰光，异步电机直接转矩控制中定子磁链自适应观测器的研究，航空学报，1999，第2期，130-132
[62] 张晓华，朱峰，阮毅，电压空间矢量PWM逆变器-异步电机仿真模型的分析，电气传动自动化，2001
[63] 周青苗，韩英桃等，具有补偿作用的多边形磁链轨迹模型控制，西北工业大学学报，1998，第1期，65-69
[64] 刘宇川，朗玉峰，吴家麟，一种新型直接转矩控制系统的仿真研究，上海铁道大学学报，2000，21(4)，21～27
[65] 薛定宇，控制系统计算机辅助主设计—MATLAB语言及应用[M]，北京：清华大学出版社，1996
[66] 周俊勇，金阳，南余荣，钟德钢，异步电动机速度辨识方法的研究，电气传动自动化，已录用
[2] 葛宝明，王祥珩，苏鹏声，蒋静坪，交流传统系统控制策略综述，电气传动自动化，2001，23(4)，3-9
[3] 谢运祥，薛峰，交流电气传动的发展现状与趋势，微电机，1997，30(1)，28-30
[4] B．K．博斯 姜建国译，电力电子学与变频传动技术和应用，中国矿业大学出版社，1999
[5] 唐永哲，电力传动自动控制系统，西安电子科技大学出版社，1998
[6] 李爱文，张承慧，现代逆变技术及其应用，科学出版社，2000
[7] 韩安荣，通用变频器及其应用，机械工业出版社，2000
[8] 张燕宾，SPWM变频调速应用技术，机械工业出版社，1999
[9] 王凤翔编著，交流电机的非正弦供电，机械工业出版社，1997
[10] Creating a Sine Modulated PWM Signal Using the TMS320F240 EVM, TI, SPRA411, 1999
[11] AC Induction Motor Control Using Constant V/Hz Principle and Space Vector PWM Technique with TMS320C240, TI, SPRA284A, 1998
[12] Zhenyu Yu,Space-Vector PWM With TMS320C24x/F24x Using Hardware and Software Determined Switching Patterns TI SPRU524 1999
[13] 许强，贾正春，空间矢量PWM的快速算法，电力电子技术，2000，第3期，46-48
[14] 陈国呈，PWM变频调速及软开关电力变换技术，机械工业出版社，2002-
[15] T. Nogushi,M. Yamamoto ,S. Kondo,I. Takahashi, "High Frenquency Switching Operation of PWM Inverter for Direct Torque Control of Induction Motor",IAS1997
[16] 郭庆鼎，王成元，异步电动机的矢量变换控制原理及应用，辽宁民族出版社，1988
[17] Technical Guide No. 1-Direct Torque Control, ABB company, 1999
[18] 李夙，异步电动机直接转矩控制，机械工业出版社，1994
[19] D.Casadei,G.grandi,G.serra, A.Taxi, "Effect of flux and Torque Hysteresis Band Amplitudes in Direct Torque control of Induction Machines" ,IAS 1994
[20] Thomas G..Habetler, francessco Profumo,M.Pastorelli,L.M.Tolbert, "Direct Torque Control of Induction Machines Using space Vector Modulation",IEEE Trans.On Ind App,Vol 28
[21] L.Yongdong, S.Baojun, "Direct Torque Control of Induction Motor for low Speed Drives Considering discrete Effects of control and dead time of Inverter",IAS 1997
[22] P.Z Grabowski, "Direct Torque Neuro Fuzzy Control of Induction Motor Drive",IAS1997
[23] M.Depenbrock, Direct Self-Control(DSC) of Inverter-Fed Induction Machine, IEEE Trans. Power Electron, 1988, 3(4), 420-429
[24] Plunkett A.B, Direct Flux and Torque Regulation in a PWM inverterinduction Motor Drive, IEEE Trans on IA, 1977, (2)
[25] Fu K S, Walts M, A Heuristic Approach to Reinforcement Learning Control System, IEEE Trans Automat Control, 1965, 10(4), 390-398
[26] 姚玮，直接转矩控制系统中两种新技术的应用研究，浙江工业大学硕士学位论文，2001
[27] 陈坚，交流电机数学模型及调速系统，上海交通大学出版社，1984
[28] Clarke&Park Transforms on the TMS320C2ⅩⅩ, TI, BPRA048, 1998
[29] 臧英杰、吴守箴，交流电机的变频调速，中国铁道出版社
[30] 陈伯时，陈敏逊，交流调速系统，机械工业出版社，1998
[31] 许大中，交流电机调速理论，浙江大学出版社，1991
[32] 陈伯时，电力拖动自动控制系统，机械工业出版社，1991
[33] 苏彦民，李宏，交流调速系统的控制策略，机械工业出版社，1998
[34] Implementation of a Speed Field Orientated Control of Three Phase AC Induction Motor using TMS320F240, TI, BPRA076, 1998
[35] 胡崇岳，现代交流调速技术，机械工业出版社，1998
[36] 张晓华，朱峰，阮毅，电压空间矢量PWM逆变器—异步电机仿真模型，电气传动自动化，2001
[37] 李永东，交流电机数字控制系统，机械工业出版社，2002
[38] Uwe Baader, Manfred Depenbrock, Georg Gierse, Direct self control of inverter-fed induction machine-A basis for speed control without speed measurement, IEEE Conf on IA, 1989, 486-492
[39] Fang-Zheng Peng,Tadashi Fukao,Robust speed identification for speed-sensorless vector control of induction motors,IEEE Trans. on Industry Applications, 1994,30(5): 1234-1240
[40] James N.Nash , Direct torque control,induction motor vector control without an encoder, IEEE Trans. on Ind. Implication. 1997, 33(2), 333-341
[41] 姬志艳，李永东，司保军．无速度传感器异步电机直接转矩控制系统的研究．电工技术学报，1997，12(4)：15-19
[42] Young-Real Kim,Seung-Ki Sul,Min-Ho Park,Speed sensorless vector control of induction motor using extended Kalman filter, IEEE Trans. on Industry Applications, 1994,30(5): 1225-1233
[43] M.A. Ouhrouche ,Estimation of Speed, rotor flux and rotor Resistance in Cage Induction Motor Using the EKF algorithm. International Journal of Power and Energy Systems,2002,22(2): 103-109
[44] 陈锋，徐文立，王旭，无速度传感器基于Lyapunov稳定性的异步电机非线性控制，电气传动，2000
[45] 吴广玉，系统辨识与自适应控制，哈尔滨工业大学出版社，1987
[46] 夏超英，交直流传动系统的自适应控制，机械工业出版社，1999
[47] Jehudi Maes, Jan A. Melkebeek, Speed-sensorless direct torque control of induction motor using an adaptive flux observer, IEEE Trans on IA, 2000. 36(3), 778-785
[48] 薛峰，谢运祥等，直接转矩控制系统的转速估计模型及其参数补偿方法，电工技术学报，1998，第5期，26-30
[49] 曾岳南，异步电动机无速度传感器的矢量控制方法，变频器世界，1998
[50] 张成乾，张国强，系统辨识与参数估计，机械工业出版社，1986
[51] 宋文尧，张牙，卡尔曼滤波，科学出版社，1991
[52] Mohand A., Ouhrouche,Estimation of speed,rotor flux and rotor resistance in cage induction motor using the EKF algorithm, International Journal of Power and Energy Systems ,2002
[53] ZEIN Ismail, LORON Luc, FORGEZ Christophe,An Extended Kalman Filter and an Appropriate Model for the Real-time Estimation of the Induction Motor Variables and Parameters,2001
[54] 基于DSP的高动态直接转矩控制系统，夏雷，同济大学博士论文，1998
[55] Hao Yun Zhong, Henry P. Messinger, etal, A new microcomputer-based direct torque control system for three-phase induction motor, IEEE Trans on IA, 1991, 27(2), 294-298
[56] Isao Takahashi, Youichi Ohmori, High-performance direct torque control of an induction motor, IEEE Trans on IA, 1989, 25(20), 257-264
[57] Yanhong Xue, XingYi Xu, Thomas G.Habetler, A stator flux-oriented voltage source variable-speed drive based on dc link measurement, IEEE Trans on IA, 1991, 27(5), 962-969
[58] Jun-Koo Kang, Seung-Ki, New direct control of induction motor for minimum torque ripple and constant switch frequency, IEEE Trans on IA, 1999, 35(3), 1076-1082
[59] Anthony Purcell, Paul P. Acarnley, Enhanced inverter for fast response direct torque control, IEEE Trans on PE, 2001, 16(3),382-389
[60] Joaquim, Stator flux vector control with reference flux compensation for induction motors,Journal of Electrical Engineering,Vol.2,2002
[61] 邓智泉，严仰光，异步电机直接转矩控制中定子磁链自适应观测器的研究，航空学报，1999，第2期，130-132
[62] 张晓华，朱峰，阮毅，电压空间矢量PWM逆变器-异步电机仿真模型的分析，电气传动自动化，2001
[63] 周青苗，韩英桃等，具有补偿作用的多边形磁链轨迹模型控制，西北工业大学学报，1998，第1期，65-69
[64] 刘宇川，朗玉峰，吴家麟，一种新型直接转矩控制系统的仿真研究，上海铁道大学学报，2000，21(4)，21～27
[65] 薛定宇，控制系统计算机辅助主设计—MATLAB语言及应用[M]，北京：清华大学出版社，1996
[66] 周俊勇，金阳，南余荣，钟德钢，异步电动机速度辨识方法的研究，电气传动自动化，已录用