双三相永磁同步电机驱动系统的研究
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摘要
多相电机驱动系统因其转矩脉动小、可靠性高、在本质上可以很好地满足大功率电气传动系统的要求成为电气传动领域的研究重点。多相电机驱动系统侧重于军事、对可靠性要求高以及大功率的应用场合,目前这类驱动系统在舰船推进系统中得到了广泛的应用。然而,作为一种新兴技术,它的控制方法在理论上和实践中仍然存在着大量值得研究和探讨的问题。
双三相永磁同步电机从电机内部看是一个绕组对称的十二相系统,从电机外部看是不对称的六相系统。因此从主电路和控制电路的设计上讲,双三相永磁同步电机是一个六相系统,只需要六个逆变桥和六条主连接电缆。但是,从内部时空谐波磁势的分布来讲,这种绕组结构消除了三相电机中的5、7次谐波磁场对电磁转矩的危害,其最低次磁势谐波是13次,与十二相电机相同。正是双三相永磁同步电机的这些特点,使之成为多相电机驱动系统中最有发展前景的结构形式之一。
本文以双三相永磁同步电机驱动系统为研究对象,对双三相永磁同步电机驱动系统的几个关键问题进行了全面、深入的研究,全文的主要内容有：
1双三相永磁同步电机的数学模型和基本控制方法
本文利用双反应理论推导出双三相永磁同步电机定子绕组的自感和互感,构建了双三相永磁同步电机的数学模型,寻找到一组由彼此正交的六维矢量组成的标准正交基,通过坐标变换得到双三相永磁同步电机在dq坐标系和αβ坐标系下的数学模型；对双三相永磁同步电机的矢量控制方法作了详细的说明,提出了一种易于工程实现的最大转矩电流比矢量控制方法；将三相永磁同步电机的无速度传感器控制方法引入双三相永磁同步电机,构建了基于滑模观测器的无速度传感器控制系统；通过仿真和实验对上述方法进行了验证。
2双三相永磁同步电机的空间矢量调制技术
本文对传统的双三相永磁同步电机空间矢量调制方法进行了简要的介绍；考虑到两矢量空间矢量调制方法会在z1-z2平面上产生不必要的谐波损耗,增加了两个基本电压矢量,通过增加的电压矢量抵消在z1-z2平面上形成的电压作用效果,并对三种四矢量的空间矢量调制方式进行了详细的说明；为了进一步提高直流电压利用率,本文提出了一种新颖的双三相永磁同步电机空间矢量过调制技术,根据调制度将过调制分为4种模式,并对输出电压的谐波成份和谐波总畸变率进行分析；通过仿真和实验对上述方法进行了验证。
3双三相永磁同步电机的直接转矩控制技术
本文首先从数学建模的角度对双三相永磁同步电机的直接转矩控制理论进行了详细的分析讨论,证明了其与普通三相永磁同步电机的磁链方程与转矩方程几乎是一致的；构建了双三相永磁同步电机的直接转矩控制系统；针对常规双三相永磁同步电机直接转矩控制中转矩脉动和存在k=6m+1(m=1,3,5...)次谐波电流问题,提出了一种基于模糊逻辑和重构电压矢量的双三相永磁同步电机直接转矩控制策略；为了增加可供选择的电压矢量数目完全补偿系统转矩和定子磁链误差,本文将SVM引入双三相永磁同步电机的直接转矩控制中,构建了基于SVM的双三相永磁同步电机的直接转矩控制系统；同时,构建了基于转子磁链观测的双三相永磁同步电机无速度传感器直接转矩控制系统；通过仿真和实验对上述方法进行了验证。
4二极管箝位式三电平双三相永磁同步电机控制系统
本文首先对二极管箝位式、飞跨电容式和全桥级联式三种多电平逆变器的拓扑结构进行了简要的介绍；提出了双三相永磁同步电机二极管箝位式三电平逆变器空间矢量调制的控制方法,并通过仿真对上述方法进行了验证。
5双三相永磁同步电机驱动系统的研制
本文给出了基于TMS320F2812的双三相永磁同步电机驱动系统的设计方案,并研制了一套双三相永磁同步电机驱动系统,实验结果表明该系统能够稳定运行。
Because of small torque ripple and high reliability, multi-phase motor drive system in essence could satisfy the requirement of high-power electric drive systems. Multi-phase motor drive system focused on the military, high-reliability requirement and high-power application, and such drive system had been widely used in the ship propulsion system. However, there were still a lot of problems in theory and in practice as an emerging technology.
Dual three-phase permanent magnet synchronous motor (PMSM) was a symmetric twelve-phase system according to motor windings and an asymmetric six-phase system by motor outside. So dual three-phase PMSM was a six-phase system toward design of main circuit and control circuit. It only needed six inverter bridges and six cables. However, it was shown that this winding configuration resulted in the elimination of all air-gap flux time harmonics of the order k=6m±l(m=1,3,5...). Consequently, all rotor copper losses were produced by these harmonics as well as all torque harmonics of the order k=6m±l(m=1,3,5...) were eliminated. It was the same as the twelve-phase motor. These advantages made dual three-phase PMSM a most promising structure.
In this paper, several key issues of dual three-phase PMSM drive system were deeply and comprehensively studied. This paper included the following contents:
1Mathematical model and basic control method for dual three-phase PMSM
This paper utilized dual-reaction theory to derive self inductance and mutual inductance of the dual three-phase PMSM, built mathematical model on natural coordinates, found a group of standard orthogonal basis consisting of six-dimensional vector as well as obtained the mathematical model on dq axises and αβ axises by coordinate transformation. Several approaches to vector control of dual three-phase PMSM were elaborated. For the convenience of engineering application, an engineering approximate algorithm for the maximum ratio of torque to current was advanced by using optimization method. Dual three-phase PMSM sensorless control system based on sliding mode observer was constructed. The simulation and experiment demonstrated the effectiveness and feasibility of the proposed method.
2Space-Vector PWM techniques for dual three-phase PMSM
In this paper, the traditional space vector modulation techniques for dual three-phase PMSM was introduced. Taking into account unnecessary harmonic losses in the z1-z2plane brought by traditional space vector modulation techniques, two basic voltage vector was increased, offsetting harmonic voltage on the z1-z2plane. Three approaches to space vector control of dual three-phase PMSM were elaborated. To further improve the utilization of DC voltage, a novel over-modulation technique for space-vector pulse-width modulation inverter was proposed. The over-modulation range was divided into four modes depending on the modulation index. Output voltage and harmonic components were analyzed by simulation. The simulation and experiment confirmed validity of these methods.
3Direct Torque Control for dual three-phase PMSM
Firstly, mathematical modeling and direct torque control theory for dual three-phase PMSM was discussed in detail. Its flux equation and torque equation was almost consistent with an ordinary three-phase PMSM. Considering the problem of torque ripples and harmonic currents with k=6m±l(m=1,3,5...), a novel direct torque control strategy, which based on fuzzy logic and rebuilding voltage vector, was proposed. In order to obtain accurate torque and flux linkage control, space vector modulation (SVM) technique was introduced to the conventional PMSM direct torque control system. Direct torque control based on SVM was established. Moreover, direct torque control PMSM system based on rotor flux observation sensorless was constituted.
4Multi-level dual three-phase PMSM control system
This paper presented the most important topologies like diode-clamped inverter (neutral-point clamped), capacitor-clamped (flying capacitor) and cascaded multicell with separate dc sources. Diode-clamped three-level inverter space vector modulation control method for dual three-phase PMSM control system was proposed. The simulation result had been verified.
5The development of dual three-phase permanent magnet synchronous motor drive system
The design of the dual three-phase permanent magnet synchronous motor drive system based on the TMS320F2812was provided and developed. The experimental results demonstrated that the system could reliably perform.
双三相永磁同步电机从电机内部看是一个绕组对称的十二相系统,从电机外部看是不对称的六相系统。因此从主电路和控制电路的设计上讲,双三相永磁同步电机是一个六相系统,只需要六个逆变桥和六条主连接电缆。但是,从内部时空谐波磁势的分布来讲,这种绕组结构消除了三相电机中的5、7次谐波磁场对电磁转矩的危害,其最低次磁势谐波是13次,与十二相电机相同。正是双三相永磁同步电机的这些特点,使之成为多相电机驱动系统中最有发展前景的结构形式之一。
本文以双三相永磁同步电机驱动系统为研究对象,对双三相永磁同步电机驱动系统的几个关键问题进行了全面、深入的研究,全文的主要内容有：
1双三相永磁同步电机的数学模型和基本控制方法
本文利用双反应理论推导出双三相永磁同步电机定子绕组的自感和互感,构建了双三相永磁同步电机的数学模型,寻找到一组由彼此正交的六维矢量组成的标准正交基,通过坐标变换得到双三相永磁同步电机在dq坐标系和αβ坐标系下的数学模型；对双三相永磁同步电机的矢量控制方法作了详细的说明,提出了一种易于工程实现的最大转矩电流比矢量控制方法；将三相永磁同步电机的无速度传感器控制方法引入双三相永磁同步电机,构建了基于滑模观测器的无速度传感器控制系统；通过仿真和实验对上述方法进行了验证。
2双三相永磁同步电机的空间矢量调制技术
本文对传统的双三相永磁同步电机空间矢量调制方法进行了简要的介绍；考虑到两矢量空间矢量调制方法会在z1-z2平面上产生不必要的谐波损耗,增加了两个基本电压矢量,通过增加的电压矢量抵消在z1-z2平面上形成的电压作用效果,并对三种四矢量的空间矢量调制方式进行了详细的说明；为了进一步提高直流电压利用率,本文提出了一种新颖的双三相永磁同步电机空间矢量过调制技术,根据调制度将过调制分为4种模式,并对输出电压的谐波成份和谐波总畸变率进行分析；通过仿真和实验对上述方法进行了验证。
3双三相永磁同步电机的直接转矩控制技术
本文首先从数学建模的角度对双三相永磁同步电机的直接转矩控制理论进行了详细的分析讨论,证明了其与普通三相永磁同步电机的磁链方程与转矩方程几乎是一致的；构建了双三相永磁同步电机的直接转矩控制系统；针对常规双三相永磁同步电机直接转矩控制中转矩脉动和存在k=6m+1(m=1,3,5...)次谐波电流问题,提出了一种基于模糊逻辑和重构电压矢量的双三相永磁同步电机直接转矩控制策略；为了增加可供选择的电压矢量数目完全补偿系统转矩和定子磁链误差,本文将SVM引入双三相永磁同步电机的直接转矩控制中,构建了基于SVM的双三相永磁同步电机的直接转矩控制系统；同时,构建了基于转子磁链观测的双三相永磁同步电机无速度传感器直接转矩控制系统；通过仿真和实验对上述方法进行了验证。
4二极管箝位式三电平双三相永磁同步电机控制系统
本文首先对二极管箝位式、飞跨电容式和全桥级联式三种多电平逆变器的拓扑结构进行了简要的介绍；提出了双三相永磁同步电机二极管箝位式三电平逆变器空间矢量调制的控制方法,并通过仿真对上述方法进行了验证。
5双三相永磁同步电机驱动系统的研制
本文给出了基于TMS320F2812的双三相永磁同步电机驱动系统的设计方案,并研制了一套双三相永磁同步电机驱动系统,实验结果表明该系统能够稳定运行。
Because of small torque ripple and high reliability, multi-phase motor drive system in essence could satisfy the requirement of high-power electric drive systems. Multi-phase motor drive system focused on the military, high-reliability requirement and high-power application, and such drive system had been widely used in the ship propulsion system. However, there were still a lot of problems in theory and in practice as an emerging technology.
Dual three-phase permanent magnet synchronous motor (PMSM) was a symmetric twelve-phase system according to motor windings and an asymmetric six-phase system by motor outside. So dual three-phase PMSM was a six-phase system toward design of main circuit and control circuit. It only needed six inverter bridges and six cables. However, it was shown that this winding configuration resulted in the elimination of all air-gap flux time harmonics of the order k=6m±l(m=1,3,5...). Consequently, all rotor copper losses were produced by these harmonics as well as all torque harmonics of the order k=6m±l(m=1,3,5...) were eliminated. It was the same as the twelve-phase motor. These advantages made dual three-phase PMSM a most promising structure.
In this paper, several key issues of dual three-phase PMSM drive system were deeply and comprehensively studied. This paper included the following contents:
1Mathematical model and basic control method for dual three-phase PMSM
This paper utilized dual-reaction theory to derive self inductance and mutual inductance of the dual three-phase PMSM, built mathematical model on natural coordinates, found a group of standard orthogonal basis consisting of six-dimensional vector as well as obtained the mathematical model on dq axises and αβ axises by coordinate transformation. Several approaches to vector control of dual three-phase PMSM were elaborated. For the convenience of engineering application, an engineering approximate algorithm for the maximum ratio of torque to current was advanced by using optimization method. Dual three-phase PMSM sensorless control system based on sliding mode observer was constructed. The simulation and experiment demonstrated the effectiveness and feasibility of the proposed method.
2Space-Vector PWM techniques for dual three-phase PMSM
In this paper, the traditional space vector modulation techniques for dual three-phase PMSM was introduced. Taking into account unnecessary harmonic losses in the z1-z2plane brought by traditional space vector modulation techniques, two basic voltage vector was increased, offsetting harmonic voltage on the z1-z2plane. Three approaches to space vector control of dual three-phase PMSM were elaborated. To further improve the utilization of DC voltage, a novel over-modulation technique for space-vector pulse-width modulation inverter was proposed. The over-modulation range was divided into four modes depending on the modulation index. Output voltage and harmonic components were analyzed by simulation. The simulation and experiment confirmed validity of these methods.
3Direct Torque Control for dual three-phase PMSM
Firstly, mathematical modeling and direct torque control theory for dual three-phase PMSM was discussed in detail. Its flux equation and torque equation was almost consistent with an ordinary three-phase PMSM. Considering the problem of torque ripples and harmonic currents with k=6m±l(m=1,3,5...), a novel direct torque control strategy, which based on fuzzy logic and rebuilding voltage vector, was proposed. In order to obtain accurate torque and flux linkage control, space vector modulation (SVM) technique was introduced to the conventional PMSM direct torque control system. Direct torque control based on SVM was established. Moreover, direct torque control PMSM system based on rotor flux observation sensorless was constituted.
4Multi-level dual three-phase PMSM control system
This paper presented the most important topologies like diode-clamped inverter (neutral-point clamped), capacitor-clamped (flying capacitor) and cascaded multicell with separate dc sources. Diode-clamped three-level inverter space vector modulation control method for dual three-phase PMSM control system was proposed. The simulation result had been verified.
5The development of dual three-phase permanent magnet synchronous motor drive system
The design of the dual three-phase permanent magnet synchronous motor drive system based on the TMS320F2812was provided and developed. The experimental results demonstrated that the system could reliably perform.
引文
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