摘要
矢量控制调速技术在速度控制与转矩控制方面可以与直流调速系统相媲美,是异步电机变频调速技术的重要发展方向。
针对交流电机转子时间常数的变化对按转子磁场定向的矢量控制系统影响最大的特点,本文深入探讨了目前交流电机控制技术中的电机参数辨识方法,通过对各种参数辨识方法的对比分析,提出了一种基于MRAS的转子时间常数在线辨识器。在MATLAB/SIMULINK仿真平台上对该辨识器进行仿真,仿真结果表明该辨识器具有收敛速度快,辨识精度高和跟踪性能好等特点。
在转子时间常数在线辨识器理论与仿真研究的基础上,本文还采用TMS320LF2407A电机专用芯片设计了带转子时间常数在线辨识的矢量控制系统,完成了软件程序流程图的设计和进行程序编写,在建立的硬件电路上完成了主要程序的调试工作。
仿真和实验研究表明,本文所提出的基于MRAS的转子时间常数在线辨识方法应用于按转子磁场定向的矢量控制系统,可有效改善系统的控制性能和控制效果,为研究高性能交流传动系统奠定了较好的理论基础。
The vector control technique of AC motor, which can be comparable to the DC speed control system in the speed control and torque control, is the important development direction of asynchronous motor frequency conversion technology.
As a result of the exchange of rotor time constant of AC motor impacting treatly on the vector control system based on rotor Field-Oriented Control, this paper researches the identification method of motor parameter in AC motor control technology, then studies a rotor time constant observer on-line through the comparative analysis of various identification methods. After the observer simulation in Matlab platform, the results show that the observer is characteristics on fast convergence, high identification precision and good tracking performance.
Based on the theory and simulation research of the identification on-line of the rotor time constant, the paper uses the professional motor chip TMS320LF2407A to design the vector control system of rotor time constant identification , develops the software flow chart and program, then finishes the main test for the hardware.
The researches of the simulation and experiment show that the method of identification online of the rotor time constant based on MRAS, used in the vector control FOC system, can effcetively improve the performance and effcetiveness, lay a good theory foundation for the research of high performance AC drive system.
引文
[1] 赵朝会 ,王永田 ,王新威等 .现代交流调速技术的发展与现状 .中州大学学报,2004,21(2):122
[2] 张少军,杜金城.交流调速原理及应用.北京:中国电力出版社,2003:1
[3] 李华德,白晶,李志明等.交流调速控制系统.北京:电子工业出版社,2003:1
[4] Blaschke F. The principle of field orientation applied to the new trans vector closed-loop control system for rotating field machines. Siemens Review, 1972,39:2 17-220.
[5] Depenbrock M. Direkte selbstregelung (DSR) fuhrhochdy-namische Drehfeldantriebe mit Stromrichterspeisung. ETZ Archiv, 1985, Bd, 7(7) : 211-218.
[6] 张春朋,林飞,宋文超,等.基于直接反馈线性化的异步电动机非线性控制.中国电机工程学报,2003,23(2):99-102.
[7] 宋文超,林飞,张春朋.基于定子磁链模型的异步电动机反馈线性化控制切.电工技术学报,2003,18(4):85-88.
[8] Sugimoto H, Tamai S. Secondary resistance identification of an induction motor-Applied model reference adaptive system and its characteristics.IEEE Transactions on Industry Applications, 1987, 23(2):296-303.
[9] Marino R,Peresada S,Tomei P.Global Adaptive Out put Feed back Control of Induction Motors with Uncertain Rotor Resistance.IEEE Transactions on Automatic Control,1999,44(5):967-983.
[10] Park T G., Lee K S. SMC-based adaptive input-output line arising control of induction motors. IEE Proceedings-Control Theory and Applications.1998, 145(1): 55-62.
[11] Fujimoto Y, Kawamura A. Robust servo-system based on two-degree of freedom control with sliding mode. IEEE Transactions on Industrial Electronics, 1995, 42(3): 272-280.
[12] Orlowska-Kowalska T, Kowalski C T. Neural network application for flux and speed estimation in the sensorless induction motor drive. Proceedings of the IEEE International Symposium on Industrial Electronics, 1997(3): 1253-1258.
[13] Kuo-Kai Shyu, Hsin-Jang Shieh, Sheng-Shang Fu. Model reference adaptive speed control for induction motor drive using neural networks. IEEETransactions on Industrial Electronics, 1998, 45(l): 180-182.
[14] 余功军,钟彦儒,杨耕. 无速度传感器矢量控制系统中的电机参数辨识.电气传动,1999, 29(1): 7-10.
[15] 许镇琳,何启莲,李国民等. 异步机矢量控制系统的电机参数自设定. 电工技术学报,1995(1): 44- 47.
[16] 李建军,盛洁波,王翠等.异步电机定转子参数的辨识方法研究.电工技术学报.2006.1,Vol 21(1):70-74.
[17] Haithem Abu Rub,Jaroslaw Gozinski.Advanced control of induction motor based on load angle estimation.IEEE Transactions on Industrial Electronics,2004,151 (1) :5 - l4.
[18] Li-Cheng Zai, DeMarco C L, Lipo T A. An extended Kalman filter approach to rotor time constant measurement in PWM induction motor drives. IEEE Transactions on Industry Applications, Jan.-Feb. 1992 Page(s): 96 – 104.
[19] Zhu Z.Q, Zhu X; Sun P.D. Howe, D. Estimation of Winding Resistance and PM Flux-Linkage in Brushless AC Machines by Reduced-Order Extended Kalman Filter. Networking, Sensing and Control, 2007 IEEE International Conference on 15-17 April 2007 Page(s): 740 – 745.
[20] Akin B, Orguner U, Ersak A. A comparative study on Kalman filtering techniques designed for state estimation of industrial AC drive systems. Mechatronics, 2004. ICM '04. Proceedings of the IEEE International Conference on 3-5 June 2004 Page(s): 439 – 445.
[21] Haron A.R, Idris N.R.N. Simulation of MRAS-based Speed Sensorless Estimation of Induction Motor Drives using MATLAB/SIMULINK. Power and Energy Conference, 2006. PECon '06. IEEE International 28-29 Nov. 2006 Page(s):411 – 415.
[22] Comanescu Mihai, Batzel Todd. Sliding Mode MRAS Speed Estimators for Sensorless Control of Induction Machine under Improper Rotor Time Constant. Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on 4-7 June 2007 Page(s):2226 – 2231.
[23] Grzesiak L.M, Meganck V, Sobolewski J. On-line Trained Neural Speed Controller with Variable Weight Update Period for Direct-Torque-Controlled AC Drive. Power Electronics and Motion Control Conference, 2006. EPE-PEMC 2006. 12th International Aug. 2006 Page(s): 1127 – 1132.
[24] Han Shuang, Liu Yongqian,Yang Yongping. Taboo Search Algorithm Based ANN Model for Wind Speed Prediction. Industrial Electronics and Applications,2007. ICIEA 2007. 2nd IEEE Conference on 23-25 May 2007 Page(s):2599 – 2602.
[25] Abu-Rub H, Awwad A.K, Motan N. Artificial Intelligence Sensorless Control of Induction Motor. Compatibility in Power Electronics, 2007. CPE '07 May 29 2007-June 1 2007 Page(s):1 – 6.
[26] Weatherford H.H, Brice C.W. Estimation of induction motor parameters by a genetic algorithm. Pulp and Paper Industry Technical Conference, 2003. Conference Record of the 2003 Annual 16-20 June 2003 Page(s):21 – 28.
[27] Liang Zhonghua, Hu Qing, Yu Haiyan. Application of genetic algorithms in sensorless speed vector-controlled AC speed adjusting system. Electrical Machines and Systems, 2001. ICEMS 2001. Proceedings of the Fifth International Conference on Volume 2, 18-20 Aug. 2001 Page(s): 1286 - 1288 vol.2.
[28] Cirrincione M, Pucci M, Cirrincione G, Capolino G A.A new experimental application of least-squares techniques for the estimation of the induction motor parameters. IEEE Transactions on Industry Applications, 2003, 39(5): 1247-1256.
[29] Cirrincione M, Pucci M. Experimental verification of a technique for the real-time identification of induction motors based on the recursive least-squares. 2002 7th International Workshop on Advanced Motion Control, 2002: 326-334.
[30] Jaramillo R, Alvarez R, Urdenas V, et al. Identification of induction motor parameter using an extended Kalman filter.1st International Conference on Electrical and Electronics Engineering, 2004:584-588.
[31] Kataoka T, Toda S, Sato Y. On-line estimation of induction motor parameters by extended Kalman filter. Fifth European Conference on Power Electronics and Applications, 1993(4):325-329.
[32] Pires R Z, Pereira L F A, Magnus M C, et al. Adaptive control of nonlinear systems applied to the three-phase induction motor with unknown mechanical parameters. 30th Annual Conference of IEEE Industrial Electronics Society, 2004(2):1105-1110.
[33] Sun Xiaohui, Han Zengjin. Model reference adaptive identification of induction motor parameters. Proceedings of the 3rd world congress on Intelligent Control and Automation, 2000(5): 3082-3086.
[34] 金海. 三相异步电动机磁链观测器与参数辨识技术研究.[浙江大学博士学位论文].浙江:浙江大学电气工程学院,2006:2-8; 38-41
[35] 陈伯时,陈敏逊.交流调速系统(第 2 版).北京:机械工业出版社,2005:170-210
[36] 张少军,杜金城.交流调速原理及应用.北京:机械工业出版社,2003: 95-119
[37] 陈伯时.电力拖动自动控制系统(第 2 版).北京:机械工业出版社,2006:255-263
[38] 李永东.交流电机数字控制系统.北京:机械工业出版社,2002:105-108
[39] 谢宝昌 任永德 电机的 DSP 控制技术及应用.北京:北京航空航天大学出版社,2005:169
[40] 许 珲 , 吴 根 忠 . 基 于 SVPWM 的 异 步 电 机 矢 量 控 制 系 统 仿 真 . 机 电 工程,2007,24(12):22-24.
[41] Sergey Edward Lyshevski. Control of High Performance Induction Motors: Theory and Practice. Energy Conversion and Management, 2001.17(42): 887-898.
[42] 李永东,交流电机数字控制系统.机械工业出版社,2002:36
[43] 周新民.高性能变频调速系统中电机参数的实时修正. 武汉交通科技大学学报,1998,(2):45-48.
[44] L A S Ribeiro,C B Jacobina,A M N LLima.Dynamic estimation of the induction machine parameters and speed.IEEE,1995.
[45] D Fldor,G Griva,F Profumo.Compensation of parameters variations in induction motor drives using a neural network.IEEE,1995.
[46] 葛琼璇.矢量异步电机转子时间常数的实时补偿.电工电能新技术,1999,第 2期:49-53.
[47] 郑萍,王明渝.感应电机无速度传感器矢量控制的速度估算器研究.电工技术学报,2001,(5):45-48.
[48] Brandstetter Pavel, Cajka Radim, Skuta Ondrej.Rotor time constant adaptation with ANN application. Power Electronics and Applications, 2007 European Conference on 2-5 Sept. 2007:1 – 10.
[49] Ba-Razzouk A., Cheritt A., Olivier G. Artificial neural networks rotor time constant adaptation in indirect field oriented control drives. Power Electronics Specialists Conference, 1996. PESC '96 Record, 27th Annual IEEE Volume 1, 23-27 June 1996: 701 - 707 vol.1
[50]胡楷,潘孟春等.基于 MRAS 的异步电机转子时间常数实时辨识.电气传动自动化,2005,27(4):45-48.
[51] Jemli M, Boussak M, Gossa M. Rotor time constant identification in vector controlled induction motor applied flux model reference adaptive system(MRAS). Electrotechnical Conference, 1994. Proceedings. 7th Mediterranean 12-14 April 1994: 797 - 800 vol.2.
[52] Maiti Suman, Chakraborty Chandan, Sengupta, Sabyasachi. Adaptive Estimation of Speed and Rotor Time Constant for the Vector Controlled Induction Motor Drive Using Reactive Power. Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE 5-8 Nov. 2007: 286 – 291.
[53] 谢新民,丁锋. 自适应控制系统. 北京:清华大学出版社,2002:10-50.
[54] 张 葛 祥 , 李 娜 .MATLAB 仿 真 技 术 与 应 用 . 北 京 : 清 华 大 学 出 版 社 ,2003:10-53.
[55] 苏奎峰,吕强,耿庆峰,陈圣俭.TMS320LF2407 原理与开发.北京:电子工业出版社,2005,4:1-2
[56] 刘和平,严利平等.TMS320LF240xDSP 结构、原理及应用[M].北京:航空航天大学出版社,2002.
[57] 李宏.电力电子设备用器件与集成电路.北京:机械工业出版社,2001:106
[58] 孙 强 , 陶 键 . 新 型 IGBT 集 成 驱 动 模 块 2SD315A 应 用 研 究 . 现 代 电力,2003,20(3):79-80
[59] 胡晚芝.模块 2SD315AI-33 在矿用逆变焊机上的应用.科技情报开发与经济,2005,(15):280-281
[60] 孙稚,孙梅生,王磊.大功率 IGBT 驱动模块 2SD315A 的特性及其应用.现代电力电子技术, 2002,(12):72-73