混合动力起重机系统的研究
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摘要
随着能源短缺和环境问题的日益突出,节能与环保成为当前起重机械发展的主要方向。
轮胎式集装箱龙门起重机在工作过程中搬运的重物负载质量大,起升高度高,而且要频繁的进行起升和下放操作。另一方面,在下放过程中重物负载的重力势能无法进行回收,由系统的制动电阻消耗掉。由此可以看出轮胎式集装箱龙门起重机存在巨大的能耗并且具有良好的节能潜力。
混合动力轮胎式集装箱龙门起重机系统利用超级电容回收重物负载下放过程中释放的能量,在启动或者提升大负载的情况下超级电容提供辅助能量。这样不但达到了回收反馈能量的目的,而且可以解决直流发电机瞬时功率不足的问题,大大提高了系统的性能。
本文采用目前在汽车领域得到广泛应用的混合动力设计方案。针对起重机系统的工作特点,利用能够快速进行充放电且具有大容量的超级电容作为储能单元,可以很好的克服传统蓄电池充放电速度慢、寿命低和传统电容容量小的缺点;采用精度高、稳定性好、响应快速的DSP单元来实现超级电容充放电的控制,可以满足系统对于实时性的要求。
正文首先介绍了超级电容的基本特性、参数、充放电特性和超级电容阵列的参数配置方法。其次,分析了适用于大功率场合的移相全桥隔离型双向DC-DC变换器各个周期的工作情况和实现软开关所需要具备的条件。再次,给出了系统的具体控制策略,这是本文的关键部分。在这一部分中,分析了轮胎式集装箱龙门起重机起升和下放重物负载过程中的能量流向并计算了各个部分的能耗,然后给出了系统原理示意图和控制策略。在充电过程中,采用恒流方式,即保持充电电流为恒定值;在放电过程中,采用恒压方式,即保持直流母线电压为恒定值。采用这种控制策略,可以保证起重机的正常工作和超级电容阵列的安全。最后,对直流变换电路进行了仿真,得到了仿真波形图。由仿真波形图可以看出,该变换器有稳定的双向输出和良好的开关特性,能够满足混合动力轮胎式集装箱龙门起重机系统的需要。
As energy shortage and environment problem are increasing outstanding, energy saving and environment protection become the major development trend of lifting machinery.
During the working process, rubber-tyred container gantry crane handle loads with heavy weight and high height, lifting and laying down frequently. At the same time, the gravitational potential energy of the loads is consumed by resistance and can not be recovered. Therefore we can conclude that energy consumption of rubber-tyred container gantry crane is huge and potential of energy saving is favorable.
Hybrid power rubber-tyred container gantry crane system uses super capacitor to recover gravitational potential energy during the process of laying down loads, and provides energy when starting and the loads are heavy, which will greatly improves the system performance because the measure can not only realize the recovery of energy but also solve instantaneous power deficiency.
The dissertation adopts the design scheme of hybrid power that is widely used in automotive field. According to the characteristics of crane system, we use super capacitor with huge capacity and can be charged and discharged quickly as energy recovering unit, which can overcome the slow charging and discharging and small capacity of traditional storage battery. DSP with high precision, good stability and quickly response is as well used to control charging and discharging, just to satisfy the needs of real-time.
The dissertation analyses the basis characteristic, parameter, characteristic of charging and discharging period and parameter configuration of super capacitors at first. Then it analyzes the working process of phase-shifted full bridge isolation type DC-DC converter suitable to large power occasion, as well as the conditions of achieving soft switching. Thirdly the specific control strategy is introduced which is key part of the dissertation. In this part, energy flow and losses during lifting and laying down periods are analyzed, also the principle program and specific control strategy are introduced. To ensure the system working properly and super capacity safety, the current is kept at constant value in charging period as well as voltage is kept at constant value in discharging period. At the end of dissertation, simulation is proceeded and Waveform Graph is provided from which we can know that the DC-DC converter has steadily output and favorable switching capability that can satisfy the needs of Hybrid power rubber-tyred container gantry crane system.
轮胎式集装箱龙门起重机在工作过程中搬运的重物负载质量大,起升高度高,而且要频繁的进行起升和下放操作。另一方面,在下放过程中重物负载的重力势能无法进行回收,由系统的制动电阻消耗掉。由此可以看出轮胎式集装箱龙门起重机存在巨大的能耗并且具有良好的节能潜力。
混合动力轮胎式集装箱龙门起重机系统利用超级电容回收重物负载下放过程中释放的能量,在启动或者提升大负载的情况下超级电容提供辅助能量。这样不但达到了回收反馈能量的目的,而且可以解决直流发电机瞬时功率不足的问题,大大提高了系统的性能。
本文采用目前在汽车领域得到广泛应用的混合动力设计方案。针对起重机系统的工作特点,利用能够快速进行充放电且具有大容量的超级电容作为储能单元,可以很好的克服传统蓄电池充放电速度慢、寿命低和传统电容容量小的缺点;采用精度高、稳定性好、响应快速的DSP单元来实现超级电容充放电的控制,可以满足系统对于实时性的要求。
正文首先介绍了超级电容的基本特性、参数、充放电特性和超级电容阵列的参数配置方法。其次,分析了适用于大功率场合的移相全桥隔离型双向DC-DC变换器各个周期的工作情况和实现软开关所需要具备的条件。再次,给出了系统的具体控制策略,这是本文的关键部分。在这一部分中,分析了轮胎式集装箱龙门起重机起升和下放重物负载过程中的能量流向并计算了各个部分的能耗,然后给出了系统原理示意图和控制策略。在充电过程中,采用恒流方式,即保持充电电流为恒定值;在放电过程中,采用恒压方式,即保持直流母线电压为恒定值。采用这种控制策略,可以保证起重机的正常工作和超级电容阵列的安全。最后,对直流变换电路进行了仿真,得到了仿真波形图。由仿真波形图可以看出,该变换器有稳定的双向输出和良好的开关特性,能够满足混合动力轮胎式集装箱龙门起重机系统的需要。
As energy shortage and environment problem are increasing outstanding, energy saving and environment protection become the major development trend of lifting machinery.
During the working process, rubber-tyred container gantry crane handle loads with heavy weight and high height, lifting and laying down frequently. At the same time, the gravitational potential energy of the loads is consumed by resistance and can not be recovered. Therefore we can conclude that energy consumption of rubber-tyred container gantry crane is huge and potential of energy saving is favorable.
Hybrid power rubber-tyred container gantry crane system uses super capacitor to recover gravitational potential energy during the process of laying down loads, and provides energy when starting and the loads are heavy, which will greatly improves the system performance because the measure can not only realize the recovery of energy but also solve instantaneous power deficiency.
The dissertation adopts the design scheme of hybrid power that is widely used in automotive field. According to the characteristics of crane system, we use super capacitor with huge capacity and can be charged and discharged quickly as energy recovering unit, which can overcome the slow charging and discharging and small capacity of traditional storage battery. DSP with high precision, good stability and quickly response is as well used to control charging and discharging, just to satisfy the needs of real-time.
The dissertation analyses the basis characteristic, parameter, characteristic of charging and discharging period and parameter configuration of super capacitors at first. Then it analyzes the working process of phase-shifted full bridge isolation type DC-DC converter suitable to large power occasion, as well as the conditions of achieving soft switching. Thirdly the specific control strategy is introduced which is key part of the dissertation. In this part, energy flow and losses during lifting and laying down periods are analyzed, also the principle program and specific control strategy are introduced. To ensure the system working properly and super capacity safety, the current is kept at constant value in charging period as well as voltage is kept at constant value in discharging period. At the end of dissertation, simulation is proceeded and Waveform Graph is provided from which we can know that the DC-DC converter has steadily output and favorable switching capability that can satisfy the needs of Hybrid power rubber-tyred container gantry crane system.
引文
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[28]王夏,吕征宇.一种新型移相全桥ZVZCS PWM 变换器拓扑.电源技术应用,2006.9(7):15-18
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[2]冯洁.当今集装箱起重机的新技术.机械管理开发,2006.93(6):65-66
[3]王志冰.基于超级电容的起重机能量管理系统的研究.[硕士学位论文].武汉理工大学自动化学院,2006
[4]管彤贤.21世纪集装箱机械的技术进步.港口科技,2003.44-46
[5]王梅生,许长山.变频器在起重机起升机构中的应用.港口装卸,1998.116(2):23-25
[6]刘志祥.超级电容器相关技术研究.[硕士学位论文].哈尔滨工程大学,2002
[7]李荐,钟晖,钟海云.超级电容器应用设计.电源技术,2004.28(6):388-392
[8]张慧妍,韦统振,齐智平.超级电容储能装置研究.电网技术,2006.30(8):92-95
[9]张柄力,赵韩,张翔.超级电容在混合动力汽车中的应用.汽车研究与开发,2006.48-51
[10]陈永真,宁武.超级电容改善汽车启动性能.汽车电子,2004.10-11
[11]储军,陈杰,李忠学.电动车用超级电容充放电性能的实验研究.机械,2004.31(3):20-22
[12]刘龙江,白志峰,曹秉刚.一种电动汽车上超级电容器的设计.汽车科技,2003.13-17
[13]T.Mishima,Eiji Hiraki.A Dual Voltage Power System by Battery/Super-capacitors Hybrid Configuration.Proceeding by PESC'2005.1845-1850
[14]Woo-Jin Lee,Chong-Eun Kim,Sang-Kyoo Han.A New High Efficiency Phase Shifted Full Bridge Converter for Sustaining Power Module of Plasma Display Panel.Proceeding by PESC'2005.2630-2634
[15]陈坚.电力电子学.北京:高等教育出版社,2002.57-90
[16]周志敏,周纪海.开关电源实用技术设计与应用.北京:人民邮电出版社,2003.105-116
[17]张占松,蔡宣三.开关电源的原理与设计.北京:电子工业出版社,2005.78-90
[18]Manu Jain,Praveen K.Jain,Matteo Daniele.Analysis ofa bi-directional DC-DC converter technology for high power application.Proceeding of CCECE'97.548-551
[19]K.Venkatesan.Current mode controlled bi-direction flyback converter.Proceeding of PESC'89.835-842
[20]刘志刚.电力电子学.北京:清华大学出版社,2004.112-120
[21]严仰光.双向直流变换器.江苏:江苏科学技术出版社,2004.100-112
[22]叶慧贞,杨兴洲.新颖开关稳压电源.北京:国防工业出版社,1999.37-45
[23]刘福鑫.高压直流电源系统中DC-DC变换器的研究.[硕士学位论文].南京航空航天大学电气工程系,2004
[24]Gwan-Bon KOO.New Zero-Voltage-Switching Phase -Shift Full-Bridge Converter With Low Conduction Losses.Proceeding of IEEE Transactions On Industrial Electronics.2005.52(1):228-234
[25]Gang Chen,Dehong Xu,Youshen Wang.A New Family of Soft-switching Phase-shifted Bidirectional DC-DC Converters.Proceeding of PESC'2001.859-865
[26]张凤英,伍理勋,冯晓云等.基于移相控制的电动汽车用充电机主电路分析研究.电源技术应用,2007.10(3):5-9
[27]勒成梁,陈国柱.一种适合于宽负载条件运行的有限双极性软开关DC-DC变换器.电源技术应用,2006.9(10):1-4
[28]王夏,吕征宇.一种新型移相全桥ZVZCS PWM 变换器拓扑.电源技术应用,2006.9(7):15-18
[29]Liping Sun,Dehong Xu,Min Chen.Dynamic Modeling of a PWM Plus Phase-Shift(PPS)Controlled Active Clamping Boost to Full Bridge Bi-directional DC-DC Converter.Proceeding by PESC'2007.1258-1262
[30]Swingler,A.D,Dunford W.G.Development of a bi-directional DC-DC Converter for Inverter/Charger Applications With Consideration paid to large signal operation and quasi-linear digital control.Proceeding of PESC'2002.961-966
[31]Rongyuan Li,Andreas Pottharst,Norbert Frohleke.Analysis and Design of Improved Isolated Full-Bridge Bi-Directional DC-DC Converter.Proceeding of 2004 35th annual IEEE Power Electronics Specialists Conference.521-526
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