异步化同步发电机交流励磁控制的数字信号处理器实现方法
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摘要
随着电力系统的发展，输电线路电压等级的提高，电力系统的稳定性问题日益突出。异步化同步发电机以其独特的多相绕线式转子结构，通过励磁控制可以实现无功、有功的独立调节，为提高电力系统稳定性和扩大进相运行范围提供了一条崭新的途径。
本论文在详细方案论证的基础上选择了交－直－交电压型主电路和数字信号处理器TMS320LF2407构成高性能的异步化同步发电机交流励磁系统。文中讨论了主电路、整流器控制模块、逆变器控制模块、电机转速和转子位置测量模块以及信息交换模块的组成、接口方法和控制原理，详细说明了系统中实现不同电压等级间信号电平匹配的方法、系统与上位机进行同步参数测量的方法以及实现高精度电机转速和转子位置测量的方法。在软件组织上，采用典型的前后台模式，以主程序作为后台任务，中断服务程序作为前台任务，通过对前后台任务的及时切换以及对前台任务进行优先级排序，达到及时响应系统测量、控制、显示等一系列任务。重点分析了整流器和逆变器的协调控制策略，始终保持SPWM高调制度，达到励磁电压调节的快速响应和高分辨率。通过从运行时间和占用空间等方面比较实现浮点数运算的几种方法，并选择了近似计算法作为系统控制算法浮点数运算的方法，在保证足够计算精度的前提下达到计算的快速性，实现低谐波和频率控制精度高的励磁电压。利用CAN总线构造上下位机信息传递的通道以及由液晶和触摸屏组成了人机接口界面。
整个系统通过全面的实验验证，实验结果充分说明所设计的系统产生出低谐波、调节速度快、调节范围宽和频率控制精度高的交流励磁电压，达到了预期的目标。最后论文对系统中存在的一些不足提出建议性的改进方案。
With the development of power system and enhancement of transmission line voltage, the problem of power system's stability is more and more of standing out. The asynchronized synchronous generator (ASG)'s reactive power and active power can be adjusted independently by excitation control because of ASG's special multi-phase wounded winding rotor structure, which provides a novel approach for improving power system's stability and extending generator's operating range.
The AC-DC-AC voltage source inverter (VSI) main circuit and TMS320LF2407 are selected to form high performance alternating current (AC) excitation system of ASG in this dissertation after detail schemes argumentation. The constitution, interface and control principle of main circuit, rectifier control module, inverter control module, generator's rotor speed and rotor position measuring module, information exchange module are discussed. Specially, the methods of implementing signals level match in multi-voltage system, synchronizing with PC in parameters measurement and measuring rotor speed and rotor position with high precision are explained in detail. The system software uses typical foreground/background model. The main program serves as background and interrupts' ISRs serve as foreground. System program responses all measuring, controlling, communicating and displaying tasks in time through switching between foreground and background and queuing tasks in terms of priority level. The concerted control strategy of rectifier and inverter is analyzed to keep high modulation degree of SPWM, which achieves quick response and high resolution of excitation voltage regulation. The approximate computation method is used in float point computation of system's control algorithms after comparing several methods in respect of running time and program space involved, which attains quick computation besides high precision and implements excitation voltage with low harmonic and high control precision of frequency. The information is exchanged between TMS320LF2407 and PC by CAN bus. The humancomputer interface is made up of LCD and touch screen.
The system reached control goal by experimental verification and the experimental results showed the system could produce AC excitation voltage with low harmonic, quick adjusting speed, wide adjusting range and high control precision of frequency. At the same time, the paper put forward some proposed schemes to improve system performances.
本论文在详细方案论证的基础上选择了交－直－交电压型主电路和数字信号处理器TMS320LF2407构成高性能的异步化同步发电机交流励磁系统。文中讨论了主电路、整流器控制模块、逆变器控制模块、电机转速和转子位置测量模块以及信息交换模块的组成、接口方法和控制原理，详细说明了系统中实现不同电压等级间信号电平匹配的方法、系统与上位机进行同步参数测量的方法以及实现高精度电机转速和转子位置测量的方法。在软件组织上，采用典型的前后台模式，以主程序作为后台任务，中断服务程序作为前台任务，通过对前后台任务的及时切换以及对前台任务进行优先级排序，达到及时响应系统测量、控制、显示等一系列任务。重点分析了整流器和逆变器的协调控制策略，始终保持SPWM高调制度，达到励磁电压调节的快速响应和高分辨率。通过从运行时间和占用空间等方面比较实现浮点数运算的几种方法，并选择了近似计算法作为系统控制算法浮点数运算的方法，在保证足够计算精度的前提下达到计算的快速性，实现低谐波和频率控制精度高的励磁电压。利用CAN总线构造上下位机信息传递的通道以及由液晶和触摸屏组成了人机接口界面。
整个系统通过全面的实验验证，实验结果充分说明所设计的系统产生出低谐波、调节速度快、调节范围宽和频率控制精度高的交流励磁电压，达到了预期的目标。最后论文对系统中存在的一些不足提出建议性的改进方案。
With the development of power system and enhancement of transmission line voltage, the problem of power system's stability is more and more of standing out. The asynchronized synchronous generator (ASG)'s reactive power and active power can be adjusted independently by excitation control because of ASG's special multi-phase wounded winding rotor structure, which provides a novel approach for improving power system's stability and extending generator's operating range.
The AC-DC-AC voltage source inverter (VSI) main circuit and TMS320LF2407 are selected to form high performance alternating current (AC) excitation system of ASG in this dissertation after detail schemes argumentation. The constitution, interface and control principle of main circuit, rectifier control module, inverter control module, generator's rotor speed and rotor position measuring module, information exchange module are discussed. Specially, the methods of implementing signals level match in multi-voltage system, synchronizing with PC in parameters measurement and measuring rotor speed and rotor position with high precision are explained in detail. The system software uses typical foreground/background model. The main program serves as background and interrupts' ISRs serve as foreground. System program responses all measuring, controlling, communicating and displaying tasks in time through switching between foreground and background and queuing tasks in terms of priority level. The concerted control strategy of rectifier and inverter is analyzed to keep high modulation degree of SPWM, which achieves quick response and high resolution of excitation voltage regulation. The approximate computation method is used in float point computation of system's control algorithms after comparing several methods in respect of running time and program space involved, which attains quick computation besides high precision and implements excitation voltage with low harmonic and high control precision of frequency. The information is exchanged between TMS320LF2407 and PC by CAN bus. The humancomputer interface is made up of LCD and touch screen.
The system reached control goal by experimental verification and the experimental results showed the system could produce AC excitation voltage with low harmonic, quick adjusting speed, wide adjusting range and high control precision of frequency. At the same time, the paper put forward some proposed schemes to improve system performances.
引文
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[2] 杨顺昌，许昌彪. 无刷双馈电机的稳态转矩－角特性. 电工技术学报. 1998. 8. 15~19.
[3] 欧阳红林等. 无刷双馈电机的调速原理及应用探讨. 防爆电机. 2000. 9. 1~3.
[4] Y.B.Lee, Optimal and suboptimal excitation control of dual-excited synchronous generators, PROC.IEE, Vol.123, No.10, October 1976.
[5] 颜湘武等. 异步化同步发电机交流励磁控制方法. 华北电力大学学报. 1996. 10. 43~48.
[6] 张海红等. 异步化同步发电机励磁控制系统的研制. 电工技术学报. 2000. 1. 13~15.
[7] 徐锦才. 异步化同步发电机励磁控制系统的研究. 电气传动自动化. 1995. 5. 35~38.
[8] 廖勇，杨顺昌. 交流励磁发电机励磁控制. 中国电机工程学报. 1998.3. 87~90.
[9] 廖勇，杨顺昌. 交流励磁发电机双通道励磁系统反馈系数的选择原则. 中国电机工程学报. 1999. 1. 52~55.
[10] 黄俊, 王兆安. 电力电子变流技术. 北京. 机械工业出版社. 1993.
[11] 吴安顺等. 最新实用交流调速系统. 北京. 机械工业出版社. 1998.
[12] 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. 1991.
[13] Texas Instruments. TMS320LF/LC240x DSP Controllers Reference Guide: System and Peripherals. April 2001.
[14] Texas Instruments. TMS320LF2407 DSP Controllers Data Sheet. August 2000.
[15] Texas Instruments. TMS320C2x/C2xx/C5x Optimizing C Compiler User's Guide. August 1999.
[16] Texas Instruments. TMS320C1x/C2x/C2xx/C5x Assembly Language Tools User's Guide. 1995
[17] Texas Instruments. TMS320C2xx C Source Debugger User's Guide. 1995.
[18] Texas Instruments. TMS320F20x/F24x DSP Embedded Flash Memory Technical Reference. September 1998.
[19] Texas Instruments. Code Composer User's Guide. October 1999.
[20] Texas Instruments. TMS320C2xx Simulator Getting Started Guide. April 1996.
[21] Texas Instruments. TMS320F240 On-chip Flash Programming Using XDS510 Emulator. February 1999.
[22] 周也平. DSP在高性能变频器传动系统中的应用. 电气传动自动化. 1994.9. 2~10.
[23] Texas Instruments. Sensorless Control of Three-Phase Induction Motor. September 2000.
[24] 刘和平，卓清锋. TMS320F240在电力系统低压无功补偿控制器中的应用. 单片机与嵌入式系统国际会议. 2001. 11.
[25] Texas Instruments. Implementing Triple Conversion Single-Phase On-line UPS using TMS320C240. September 1999.
[26] MOTOROLA Semiconductor. 3-Phase AC Motor Control with V/Hz Speed Closed Loop Using the DSP56F80X. April 2001.
[27] 叶晓东，朱兆达. 中值滤波的快速算法. 南京航空航天大学学报. 1997. 4. 159~161
[28] 张承学，丁书文. 一种新的微机保护交流采样快速算法. 电力系统自动化学报. 2001. 1. 24~27.
[29] 黄纯等. 电网频率的微机测量新方法. 电测与仪表. 1998.5. 16~17.
[30] Texas Instruments. Oversampling Techniques using the TMS320C24x Family. June 1998.
[31] Texas Instruments. Implementing Fast Fourier Transform Algorithms of Real-Valued Sequences with the TMS320 DSP Family. December 1997.
[32] Texas Instruments. Measuring the Period of an Input Square Wave Using the TMS320F240 EVM. January 1999.
[33] Maxim Inc. +3V/+5V, 12-Bit, Serial Voltage-Output DACs MAX5121 with Internal Reference Data Sheet. February 1999.
[34] Microchip Technology Inc. 2.7V to 5.5V Single Supply CMOS Op Amps MCP604. January 2000.
[35] 杨天怡等. 微型计算机控制技术. 重庆. 重庆大学出版社. 1998.
[36] 雷力鸣. 单片机在数字PID调节器中的应用. 兵工自动化. 1997. 3. 56~58.
[37] MOTOROLA Semiconductor. PID Routines for MC68HC11K4 and MC68HC11N4 Microcontrollers. March 1996.
[38] 符永法. 几种新型的PID调节器参数整定方法. 化工自动化及仪表. 1997. 1. 25~29.
[39] 刘镇等. PID控制参数整定方法. 电子技术应用. 1997. 5. 4~6.
[40] 曾岳南等. 新型全数字化PWM通用变频器. 电力电子技术. 1999. 6. 28~31.
[41] 刘和平，卓清锋，周小军. 基于TMS320C24X/F24X的SVPWM变换器研究. 电气自动化. 2001. 2.
[42] 张纯红，漆汉宏. 空间矢量PWM和正弦PWM的比较研究. 信息技术. 2000.5. 1~3.
[43] 唐嘉亨，关守平. 微机在线控制PWM的分析计算方法. 电力电子技术. 1994. 4. 36~40.
[44] Texas Instruments. Creating a Sine Modulated PWM Signal Using the TMS320F240 EVM. January 1999.
Analog Devices Inc. Three-Phase Sine-Wave Generation using the PWM Unit of the
[45] ADMC401. January 2000.
[46] 余功军等. 一种IGBT变频器死区时间的补偿策略. 电力电子技术. 1997.4. 7~9.
[47] 卓清锋，刘和平. 单片机式高精度转矩转速效率仪的研究. 电工技术杂志. 2000.5. 28~30.
[48] 陶时澍. 电气测量技术. 北京. 中国计量出版社. 1991.
[49] Texas Instruments. Understanding the CAN Controller on the TMS320C24x DSP Controller. December 1998.
[50] Texas Instruments. 3.3V DSP for Digital Motor Control. June 1999.
[51] 卓清锋，刘和平. 数字信号处理器与图形液晶显示模块的接口. 单片机与嵌入式系统应用. 2001.8.
[52] 北京清华蓬远科贸公司. QPYD系列液晶显示控制板使用手册. 1998.
[53] 卓清锋，刘和平. TMS320F24X与微机间多机通信的实现. 今日电子. 2000. 10.
[54] 王辛之等. 单片机应用系统抗干扰技术. 北京. 北京航空航天大学出版社. 2000.
[55] Texas Instruments. Table Look-up and Interpolation on the TMS320C2xx. December 1997.
[56] Texas Instruments. Low-Dropout Voltage Regulators TPS7333 with Integrated Delayed Reset Function Data Sheet. June 1995.
[57] Cypress Semiconductor Corp. 64K x 16 Static RAM CY7C1021BV33 Data Sheet. April 2000.
[2] 杨顺昌，许昌彪. 无刷双馈电机的稳态转矩－角特性. 电工技术学报. 1998. 8. 15~19.
[3] 欧阳红林等. 无刷双馈电机的调速原理及应用探讨. 防爆电机. 2000. 9. 1~3.
[4] Y.B.Lee, Optimal and suboptimal excitation control of dual-excited synchronous generators, PROC.IEE, Vol.123, No.10, October 1976.
[5] 颜湘武等. 异步化同步发电机交流励磁控制方法. 华北电力大学学报. 1996. 10. 43~48.
[6] 张海红等. 异步化同步发电机励磁控制系统的研制. 电工技术学报. 2000. 1. 13~15.
[7] 徐锦才. 异步化同步发电机励磁控制系统的研究. 电气传动自动化. 1995. 5. 35~38.
[8] 廖勇，杨顺昌. 交流励磁发电机励磁控制. 中国电机工程学报. 1998.3. 87~90.
[9] 廖勇，杨顺昌. 交流励磁发电机双通道励磁系统反馈系数的选择原则. 中国电机工程学报. 1999. 1. 52~55.
[10] 黄俊, 王兆安. 电力电子变流技术. 北京. 机械工业出版社. 1993.
[11] 吴安顺等. 最新实用交流调速系统. 北京. 机械工业出版社. 1998.
[12] 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. 1991.
[13] Texas Instruments. TMS320LF/LC240x DSP Controllers Reference Guide: System and Peripherals. April 2001.
[14] Texas Instruments. TMS320LF2407 DSP Controllers Data Sheet. August 2000.
[15] Texas Instruments. TMS320C2x/C2xx/C5x Optimizing C Compiler User's Guide. August 1999.
[16] Texas Instruments. TMS320C1x/C2x/C2xx/C5x Assembly Language Tools User's Guide. 1995
[17] Texas Instruments. TMS320C2xx C Source Debugger User's Guide. 1995.
[18] Texas Instruments. TMS320F20x/F24x DSP Embedded Flash Memory Technical Reference. September 1998.
[19] Texas Instruments. Code Composer User's Guide. October 1999.
[20] Texas Instruments. TMS320C2xx Simulator Getting Started Guide. April 1996.
[21] Texas Instruments. TMS320F240 On-chip Flash Programming Using XDS510 Emulator. February 1999.
[22] 周也平. DSP在高性能变频器传动系统中的应用. 电气传动自动化. 1994.9. 2~10.
[23] Texas Instruments. Sensorless Control of Three-Phase Induction Motor. September 2000.
[24] 刘和平，卓清锋. TMS320F240在电力系统低压无功补偿控制器中的应用. 单片机与嵌入式系统国际会议. 2001. 11.
[25] Texas Instruments. Implementing Triple Conversion Single-Phase On-line UPS using TMS320C240. September 1999.
[26] MOTOROLA Semiconductor. 3-Phase AC Motor Control with V/Hz Speed Closed Loop Using the DSP56F80X. April 2001.
[27] 叶晓东，朱兆达. 中值滤波的快速算法. 南京航空航天大学学报. 1997. 4. 159~161
[28] 张承学，丁书文. 一种新的微机保护交流采样快速算法. 电力系统自动化学报. 2001. 1. 24~27.
[29] 黄纯等. 电网频率的微机测量新方法. 电测与仪表. 1998.5. 16~17.
[30] Texas Instruments. Oversampling Techniques using the TMS320C24x Family. June 1998.
[31] Texas Instruments. Implementing Fast Fourier Transform Algorithms of Real-Valued Sequences with the TMS320 DSP Family. December 1997.
[32] Texas Instruments. Measuring the Period of an Input Square Wave Using the TMS320F240 EVM. January 1999.
[33] Maxim Inc. +3V/+5V, 12-Bit, Serial Voltage-Output DACs MAX5121 with Internal Reference Data Sheet. February 1999.
[34] Microchip Technology Inc. 2.7V to 5.5V Single Supply CMOS Op Amps MCP604. January 2000.
[35] 杨天怡等. 微型计算机控制技术. 重庆. 重庆大学出版社. 1998.
[36] 雷力鸣. 单片机在数字PID调节器中的应用. 兵工自动化. 1997. 3. 56~58.
[37] MOTOROLA Semiconductor. PID Routines for MC68HC11K4 and MC68HC11N4 Microcontrollers. March 1996.
[38] 符永法. 几种新型的PID调节器参数整定方法. 化工自动化及仪表. 1997. 1. 25~29.
[39] 刘镇等. PID控制参数整定方法. 电子技术应用. 1997. 5. 4~6.
[40] 曾岳南等. 新型全数字化PWM通用变频器. 电力电子技术. 1999. 6. 28~31.
[41] 刘和平，卓清锋，周小军. 基于TMS320C24X/F24X的SVPWM变换器研究. 电气自动化. 2001. 2.
[42] 张纯红，漆汉宏. 空间矢量PWM和正弦PWM的比较研究. 信息技术. 2000.5. 1~3.
[43] 唐嘉亨，关守平. 微机在线控制PWM的分析计算方法. 电力电子技术. 1994. 4. 36~40.
[44] Texas Instruments. Creating a Sine Modulated PWM Signal Using the TMS320F240 EVM. January 1999.
Analog Devices Inc. Three-Phase Sine-Wave Generation using the PWM Unit of the
[45] ADMC401. January 2000.
[46] 余功军等. 一种IGBT变频器死区时间的补偿策略. 电力电子技术. 1997.4. 7~9.
[47] 卓清锋，刘和平. 单片机式高精度转矩转速效率仪的研究. 电工技术杂志. 2000.5. 28~30.
[48] 陶时澍. 电气测量技术. 北京. 中国计量出版社. 1991.
[49] Texas Instruments. Understanding the CAN Controller on the TMS320C24x DSP Controller. December 1998.
[50] Texas Instruments. 3.3V DSP for Digital Motor Control. June 1999.
[51] 卓清锋，刘和平. 数字信号处理器与图形液晶显示模块的接口. 单片机与嵌入式系统应用. 2001.8.
[52] 北京清华蓬远科贸公司. QPYD系列液晶显示控制板使用手册. 1998.
[53] 卓清锋，刘和平. TMS320F24X与微机间多机通信的实现. 今日电子. 2000. 10.
[54] 王辛之等. 单片机应用系统抗干扰技术. 北京. 北京航空航天大学出版社. 2000.
[55] Texas Instruments. Table Look-up and Interpolation on the TMS320C2xx. December 1997.
[56] Texas Instruments. Low-Dropout Voltage Regulators TPS7333 with Integrated Delayed Reset Function Data Sheet. June 1995.
[57] Cypress Semiconductor Corp. 64K x 16 Static RAM CY7C1021BV33 Data Sheet. April 2000.