基于区域极点配置理论的高速列车速度估计
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摘要
现行高速列车速度通常通过速度传感器获得,然而速度传感器出现问题会引起列车故障,降低系统的可靠性,采用无速度传感器技术的全阶磁链观测器法,在不增加系统结构复杂性的前提下,根据区域极点配置理论,设计具有一定自由度的观测器增益矩阵,并依据Lyapunov稳定性理论推导出牵引电机转速自适应律,提出高速列车速度估计算法,同时给出速度估计对电机参数变化的敏感性分析,数值仿真验证了所提算法的有效性。仿真结果表明,在电机参数偏差较大的情况下,该算法仍能准确估计出列车的速度,具有较强的鲁棒性。
The speed of HST(high-speed train) is obtained by speed sensors in general.However,the failure of speed sensors can cause train fault and reduce the system reliability.In this paper,the full-order flux observer method based on speed sensorless technology was adopted to estimate the train speed.First,according to the regional pole assignment theory,an observer gain matrix with a certain degree of freedom was designed without increasing the complexity of the system structure.Then,the adaptive law of motor speed was derived based on Lyapunov stability theory,and a speed estimation algorithm for HST was proposed.In addition,the sensitivity analysis of the speed estimation on the motor parameter variation was given.Finally,the validity of the algorithm was verified by numerical simulations.The results show that the proposed algorithm can estimate the train speed accurately and has strong robustness under the condition of clear motor parameter deviation.
The speed of HST(high-speed train) is obtained by speed sensors in general.However,the failure of speed sensors can cause train fault and reduce the system reliability.In this paper,the full-order flux observer method based on speed sensorless technology was adopted to estimate the train speed.First,according to the regional pole assignment theory,an observer gain matrix with a certain degree of freedom was designed without increasing the complexity of the system structure.Then,the adaptive law of motor speed was derived based on Lyapunov stability theory,and a speed estimation algorithm for HST was proposed.In addition,the sensitivity analysis of the speed estimation on the motor parameter variation was given.Finally,the validity of the algorithm was verified by numerical simulations.The results show that the proposed algorithm can estimate the train speed accurately and has strong robustness under the condition of clear motor parameter deviation.
引文
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[8] LASCU C,BOLDEA I,BLAABJERG F.Direct Torque Control of Sensorless Induction Motor Drives:a Sliding-mode Approach[J].IEEE Transactions on Industry Applications,2004,40(2):582-590.
[9] KUBOTA H.DSP Based Speed Adaptive Flux Observer of Induction Motor[J].IEEE Transactions on Industry Applications,1993,29(2):334-348.
[10] KUBOTA H,SATO I.Regenerating-mode Low-speed Operation of Sensorless Induction Motor Drive with Adaptive Observer[J].IEEE Transactions on Industry Applications,2002,38(4):1081-1086.
[11] YANG G,CHIN T H.Adaptive-speed Identification Scheme for a Vector-contrdled Speed Sensorless Inverter-induction Motor Drive[J].IEEE Transactions on Industry Applications,1993,29(4):820-825.
[12] SUWANKAWIN S,SANGWONGWANICH S.A Speed-sensorless IM Drive with Decoupling Control and Stability Analysis of Speed Estimation[J].IEEE Transactions on Industrial Electronics,2002,49(2):444-455.
[13] SUWANKAWIN S,SANGWONGWANICH S.Design Strategy of an Adaptive Full-order-obserrer for Speed-sensorless Induction-motor Drives-tracking Performance and Stabilization[J].IEEE Transactions on Industrial Electronics,2006,53(1):96-119.
[14] 宋文祥,周杰.感应电机磁链观测及矢量控制低速发电运行控制方法综述[J].电机与控制应用,2013,40(11):1-7.SONG Wenxiang,ZHOU Jie.Overview of Flux Observations and Regenerating-mode Low-speed Operation of Sensorless Induction Motor Drives[J].Electric Machines & Control Application,2014.40(11):1-7.
[15] LIU M,JING Y W,ZHANG S Y.Robust State Observer Design Based on Regional Pole Assignment[C]//IFAC.Prague:Elesevier,2005:1263-1268.
[16] 张永昌,杨海涛.异步电机无速度传感器模型预测控制[J].中国电机工程学报,2014,34(15):2422-2429.ZHANG Yongchang,YANG Haitao.Model Predictive Control for Speed Sensorless Induction Motor Dirve[J].Proceedings of the CSEE,2014,34(15):2422-2429.
[2] 王坚,桂卫华,年晓红,等.牵引电机无速度传感器间接定子量控制系统研究[J].铁道学报,2010,32(6):17-21.WANG Jian,GUI Weihua,NIAN Xiaohong,et al.Study on Speed Sensorless Indirect Stator-quantities Control System of Traction Motor[J].Journal of the China Railway Society,2010,32(6):17-21.
[3] 丁荣军,桂卫华.无速度传感器控制技术及其在大功率牵引传动中的应用研究[J].铁道学报,2008,30(1):75-81.DING Rongjun,GUI Weihua.Research of Speed Sensorless Control Technology and Its Application in High Power AC Traction Drive[J].Journal of the China Railway Society,2008,30(1):75-81.
[4] 于泳,蒋生成,王高林,等.基于状态观测器的感应电机速度传感器故障诊断及容错控制[J].中国电机工程学报,2012,32(18):123-130.YU Yong,JIANG Shengcheng,WANG Gaolin,et al.Fault Diagnosis and Tolerant Control for Speed Sensor Based on State Observers in Induction Motor Drives[J].Proceedings of the CSEE,2012,32(18):123-130.
[5] 王伯福,张锐.日本电动车组交流传动无速度传感器矢量控制的现状与发展[J].现代城市轨道交通,2005(3):53-57.WANG Bofu,ZHANG Rui.Status and Development of Speed Sensorless Vector Control for AC Drive of EMUs in Japan[J].Modern Urban Transit,2005(3):53-57.
[6] HINKKANEN M,HARNEFORS L,LUOMI J.Reduced-order Flux Observer with Stator-resistance Adaption for Speed-sensorless Induction Motor Drives[J].IEEE Transactions on Power Electronics,2010,25(5):1173-1183.
[7] 张永昌,赵争鸣.三电平扩展卡尔曼滤波异步电机滑模控制[J].电机与控制学报,2009,13(1):45-51.ZHANG Yongchang,ZHAO Zhengming.Sensorless Control of the Three-level Inverter-fed Induction Motor Using a Kalman Filter and Sliding Mode Control[J].Electric Machines and Control,2009,13(1):45-51.
[8] LASCU C,BOLDEA I,BLAABJERG F.Direct Torque Control of Sensorless Induction Motor Drives:a Sliding-mode Approach[J].IEEE Transactions on Industry Applications,2004,40(2):582-590.
[9] KUBOTA H.DSP Based Speed Adaptive Flux Observer of Induction Motor[J].IEEE Transactions on Industry Applications,1993,29(2):334-348.
[10] KUBOTA H,SATO I.Regenerating-mode Low-speed Operation of Sensorless Induction Motor Drive with Adaptive Observer[J].IEEE Transactions on Industry Applications,2002,38(4):1081-1086.
[11] YANG G,CHIN T H.Adaptive-speed Identification Scheme for a Vector-contrdled Speed Sensorless Inverter-induction Motor Drive[J].IEEE Transactions on Industry Applications,1993,29(4):820-825.
[12] SUWANKAWIN S,SANGWONGWANICH S.A Speed-sensorless IM Drive with Decoupling Control and Stability Analysis of Speed Estimation[J].IEEE Transactions on Industrial Electronics,2002,49(2):444-455.
[13] SUWANKAWIN S,SANGWONGWANICH S.Design Strategy of an Adaptive Full-order-obserrer for Speed-sensorless Induction-motor Drives-tracking Performance and Stabilization[J].IEEE Transactions on Industrial Electronics,2006,53(1):96-119.
[14] 宋文祥,周杰.感应电机磁链观测及矢量控制低速发电运行控制方法综述[J].电机与控制应用,2013,40(11):1-7.SONG Wenxiang,ZHOU Jie.Overview of Flux Observations and Regenerating-mode Low-speed Operation of Sensorless Induction Motor Drives[J].Electric Machines & Control Application,2014.40(11):1-7.
[15] LIU M,JING Y W,ZHANG S Y.Robust State Observer Design Based on Regional Pole Assignment[C]//IFAC.Prague:Elesevier,2005:1263-1268.
[16] 张永昌,杨海涛.异步电机无速度传感器模型预测控制[J].中国电机工程学报,2014,34(15):2422-2429.ZHANG Yongchang,YANG Haitao.Model Predictive Control for Speed Sensorless Induction Motor Dirve[J].Proceedings of the CSEE,2014,34(15):2422-2429.