高压大功率电动机自耦磁控软起动方法及其关键技术研究
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摘要
高压大功率电动机广泛应用于交通、港口、码头、钢铁、建材、石油、化工、冶金、煤矿等行业,是这些行业内风机、水泵、提升机、皮带运输机、起重机、窑磨等大型设备拖动的原动机。随着国民经济的发展,各行业领域使用的高压电动机容量越来越大,从几百千瓦到几万千瓦。目前,高压大功率电动机的数量在几千万台以上,并且逐年递增。
高压大功率电动机直接起动时产生的大电流对电网、电动机及拖动设备危害极大,易导致继电保护误动作、自动控制失灵等故障。使用软起动装置,可以避免电动机直接起动所造成的危害及影响。因此,电动机软起动装置工作时间虽短,但作用非常重要、不可或缺。
近年来,电动机软起动技术及装置受到越来越多研究者的关注,并且有很多重要成果被报道。这些成果各具特色,不仅具有重要的理论意义,而且对软起动技术及装置的实际应用也具有指导作用。然而这些电动机软起动技术及装置的成果仍有一定的局限性：第一,目前所提出的大部分成果,应用在高压大功率电动机软起动时,产生的起动电流虽然有所减小,但对电网造成的影响仍然较大；第二,目前大部分成果仅关注电动机起动过程中功率因数的变化,忽略起动过程中无功功率的动态补偿；第三,目前大部分成果仅考虑高压大功率电动机软起动时电流幅值限制,没有考虑起动过程中起动电流与起动时间的协调优化控制。
基于以上考虑,有必要进一步研究高压大功率电动机软起动方法及关键技术。在本论文中,从综合的观点考虑,针对不同的研究问题,分别引入相应的原理和技术,提出对应的综合设计方法和控制策略,进行深入的研究。本文主要研究内容如下：
(1)针对电动机软起动限流问题,提出了自耦磁控软起动方法,构建了自耦磁控软起动器拓扑结构及等效数学模型,进一步减小了电动机起动从电网吸收的电流
本文对国内外高压大功率电动机软起动方法进行分析与比较,总结各种方法的优点与不足,立足于课题组多年的研究积累,结合自耦降压与磁控调压软起动技术优势,提出了自耦磁控软起动方法,该方法具有自耦降压与磁控调压双重特性,可进一步降低电动机起动时从电网吸收的电流。运用电磁场理论、电工理论及电机学原理,构建自耦磁控软起动器拓扑结构,建立了自耦磁控软起动器等效数学模型,研究了自耦磁控软起动器限流机理。通过对直接起动、自耦降压起动、白耦磁控起动方法的MATLAB仿真及分析,验证了自耦磁控软起动方法具有良好的限流效果。
(2)针对电动机起动过程中功率因数较低问题,提出了软起动与无功功率动态补偿一体化方法。
本文在研究电动机起动过程中功率因数变化特性的基础上,分析了电动机起动过程中功率因数较低的原因。针对功率因数较低问题,提出了软起动与无功功率动态补偿一体化方法,研究了软起动过程中无功功率动态补偿方案及实现技术。构建了自耦磁控软起动与无功功率动态补偿一体化拓扑结构、研究了无功功率补偿量的计算方法及无功补偿量最优投切策略。通过MATLAB仿真,验证了在电动机软起动过程中进行无功功率动态补偿,可有效提高软起动过程中的功率因数,降低电网压降,减小电动机起动对电网的影响。
(3)针对电动机软起动过程中限流与起动时间的协调控制问题,提出了自耦磁控软起动动态规划优化控制策略。
异步电动机起动系统是一个非线性多变量时变系统,通过对其数学模型的分析,阐述起动过程中电流及转矩振荡原因。在软起动控制过程中,常规控制策略往往只关注限制起动电流而忽略起动时间,容易因起动时间过长而引起热故障,造成起动失败。本文在分析电动机起动过程状态方程及电动机理想起动曲线的基础上,针对起动过程明显的时序性,提出了基于动态规划方法的异步电动机起动过程优化控制策略,在满足起动电流限制的前提下实现了起动时间最优控制。通过对软起动斜坡控制、恒流控制及动态规划三种控制方式的MATLAB仿真比较,验证了动态规划控制策略是可行的。
(4)高压大功率电动机自耦磁控软起动器研制与试验
本文在研究自耦磁控软起动方法理论及技术的基础上,对高压大功率自耦磁控软起动器的方案、结构及原理进行了设计,并研制出21000kW/10kV高压大功率软起动器,通过挂网试验及运行,验证了本文理论及技术研究的正确性。
最后对全文进行归纳总结,并讨论将来进一步要做的工作。
High-power and high-voltage motors are widely used in fields such as transport, ports, docks, iron, building materials, petroleum, chemnetallurgy, coal and other industries. They are prime motors to drag fans, pumpspressors, lifting machines, kiln grinders and other large equipments. With the devnent of national economy, the capacity of high voltage motors in various industrianges from tens hundreds of kilowatts to tens thousands of kilowatts. At present number of high voltage motors in all industries is more than tens of millions, a(?) increasing year by year.
When a high voltage motor is started directly, the starting cnt is so large that it can cause a sudden decline in the grid voltage. This is a sas impact on the normal operation of other adjacent equipments, such as relay mnction, automatic control malfunction and so on. If soft starter is used, the harm ampact caused by direct start can be avoided. Though soft starters operate only foshort time during motor start-up, they are very important and indispensable.
In recent years, researchers pay much attention to soft st technologies and devices, a lot of important results have been reported. These dnctive results not only have important theoretical significance, but also have a ro.n guiding the soft start technology and the practical application of the device. Neveeless, these results still have some limitations. Firstly, starting current can be reded by using those methods, but there is still large current impact on the power gd when those soft starters are used to start high-power and high-voltage motors. Sondly, most of the results are only concerned with power factor changes in startingrocess, but ignore reactive power compensation in the soft starting process. Thirdly,nost of the results only consider current amplitude limitation, but ignore coordinatd control between start current and start time in the soft starting process.
Based on the above considerations, it is necessary to further research the soft start methods and key technologies of high-power and high-volage motors. This dissertation presents an in-depth application research to deal with above limitations. The research works mainly concern soft start principles and techniques, the corresponding design method and control strategy for the soft starting of high-power and high-voltage motors. Specifically, the main contents of this dissertation are as follows.
Firstly, a new soft start method based on auto-transformer and magnetic control reactor (ATMCR) is invented to limit start current of high-power motor. Topology and equivalent circuit model of soft starter based on ATMCR are established. The design target of further reducing start current absorbed from power grid is realized.
The common soft start methods used in domestic and foreign industries are investigated, and then advantages and disadvantages of the various methods are summarized. Based on the research results achieved by my tutor's group in last many years and combined with soft start technology advantages of auto-transformer and magnetic control reactor (MCR), a new soft start method based on ATMCR is invented. The new method has dual characteristics of step-down of auto-transformer and regulation voltage of MCR and it can further reduce start current absorbed from power grid. Through the research of electromagnetic field theory, electrical theory and motor principle, topologies and equivalent circuit of soft starter based on ATMCR are established. Current-limiting mechanism is studied. Simulation results using MATLAB show that the soft start method based on ATMCR has excellent effects to limit start current.
Secondly, the integrative method of reactive power dynamic compensation with soft start based on ATMCR is proposed to deal with low power factor in starting process.
The relationship of power factor with speed changing in soft start process is studied. In order to improve the power factor, a method of reactive power dynamic compensation in soft start process is proposed. Schemes and realization technologies of the reactive power dynamic compensation are researched and integrative topologies are established. Calculation method of reactive power compensation and optimal switching strategy are studied. Simulation results from MATLAB shows that reactive power dynamic compensation can effectively improve power factor, reduce the grid voltage drop and avoid influence on the power grid in the starting process.
Thirdly, dynamic programming control algorithm for ATMCR soft starter is proposed to optimize soft start process.
Induction motor is a nonlinear, strong coupling, multivariable controlled object, and its mathematical model is analyzed to reveal the reason of current and torque oscillation. Conventional control strategies only concern the intensity of start current while ignore the span of start time. Consequently, long starting time often result in the motor coils overheating and then the motor start process fails. State equations and its solutions of induction motor are researched. According to the ideal start curve of motors and its obvious time sequence, an optimal control strategy based on dynamic programming is proposed. Soft start process is divided into different stages, each stage uses different control strategy. The optimal control strategy can realize the shortest soft start time and minimize the starting current within two times of rated current. MATLAB is employed to simulate ramp control, constant current control and dynamic programming control. And simulation results are compared to verify feasibility of the dynamic programming control algorithm.
Fourthly, soft starter based on ATMCR of high-power and high-voltage motor is developed and tested.
Based on theories and technologies of ATMCR soft start method, starter structure and operation principle based on ATMCR are designed in the dissertation. The21000kW/10kV soft starter is successfully developed. All theoretical and technical research results are evaluated through the test.
Finally, we summarize the results of the dissertation and point out some problems that are worth further study.
高压大功率电动机直接起动时产生的大电流对电网、电动机及拖动设备危害极大,易导致继电保护误动作、自动控制失灵等故障。使用软起动装置,可以避免电动机直接起动所造成的危害及影响。因此,电动机软起动装置工作时间虽短,但作用非常重要、不可或缺。
近年来,电动机软起动技术及装置受到越来越多研究者的关注,并且有很多重要成果被报道。这些成果各具特色,不仅具有重要的理论意义,而且对软起动技术及装置的实际应用也具有指导作用。然而这些电动机软起动技术及装置的成果仍有一定的局限性：第一,目前所提出的大部分成果,应用在高压大功率电动机软起动时,产生的起动电流虽然有所减小,但对电网造成的影响仍然较大；第二,目前大部分成果仅关注电动机起动过程中功率因数的变化,忽略起动过程中无功功率的动态补偿；第三,目前大部分成果仅考虑高压大功率电动机软起动时电流幅值限制,没有考虑起动过程中起动电流与起动时间的协调优化控制。
基于以上考虑,有必要进一步研究高压大功率电动机软起动方法及关键技术。在本论文中,从综合的观点考虑,针对不同的研究问题,分别引入相应的原理和技术,提出对应的综合设计方法和控制策略,进行深入的研究。本文主要研究内容如下：
(1)针对电动机软起动限流问题,提出了自耦磁控软起动方法,构建了自耦磁控软起动器拓扑结构及等效数学模型,进一步减小了电动机起动从电网吸收的电流
本文对国内外高压大功率电动机软起动方法进行分析与比较,总结各种方法的优点与不足,立足于课题组多年的研究积累,结合自耦降压与磁控调压软起动技术优势,提出了自耦磁控软起动方法,该方法具有自耦降压与磁控调压双重特性,可进一步降低电动机起动时从电网吸收的电流。运用电磁场理论、电工理论及电机学原理,构建自耦磁控软起动器拓扑结构,建立了自耦磁控软起动器等效数学模型,研究了自耦磁控软起动器限流机理。通过对直接起动、自耦降压起动、白耦磁控起动方法的MATLAB仿真及分析,验证了自耦磁控软起动方法具有良好的限流效果。
(2)针对电动机起动过程中功率因数较低问题,提出了软起动与无功功率动态补偿一体化方法。
本文在研究电动机起动过程中功率因数变化特性的基础上,分析了电动机起动过程中功率因数较低的原因。针对功率因数较低问题,提出了软起动与无功功率动态补偿一体化方法,研究了软起动过程中无功功率动态补偿方案及实现技术。构建了自耦磁控软起动与无功功率动态补偿一体化拓扑结构、研究了无功功率补偿量的计算方法及无功补偿量最优投切策略。通过MATLAB仿真,验证了在电动机软起动过程中进行无功功率动态补偿,可有效提高软起动过程中的功率因数,降低电网压降,减小电动机起动对电网的影响。
(3)针对电动机软起动过程中限流与起动时间的协调控制问题,提出了自耦磁控软起动动态规划优化控制策略。
异步电动机起动系统是一个非线性多变量时变系统,通过对其数学模型的分析,阐述起动过程中电流及转矩振荡原因。在软起动控制过程中,常规控制策略往往只关注限制起动电流而忽略起动时间,容易因起动时间过长而引起热故障,造成起动失败。本文在分析电动机起动过程状态方程及电动机理想起动曲线的基础上,针对起动过程明显的时序性,提出了基于动态规划方法的异步电动机起动过程优化控制策略,在满足起动电流限制的前提下实现了起动时间最优控制。通过对软起动斜坡控制、恒流控制及动态规划三种控制方式的MATLAB仿真比较,验证了动态规划控制策略是可行的。
(4)高压大功率电动机自耦磁控软起动器研制与试验
本文在研究自耦磁控软起动方法理论及技术的基础上,对高压大功率自耦磁控软起动器的方案、结构及原理进行了设计,并研制出21000kW/10kV高压大功率软起动器,通过挂网试验及运行,验证了本文理论及技术研究的正确性。
最后对全文进行归纳总结,并讨论将来进一步要做的工作。
High-power and high-voltage motors are widely used in fields such as transport, ports, docks, iron, building materials, petroleum, chemnetallurgy, coal and other industries. They are prime motors to drag fans, pumpspressors, lifting machines, kiln grinders and other large equipments. With the devnent of national economy, the capacity of high voltage motors in various industrianges from tens hundreds of kilowatts to tens thousands of kilowatts. At present number of high voltage motors in all industries is more than tens of millions, a(?) increasing year by year.
When a high voltage motor is started directly, the starting cnt is so large that it can cause a sudden decline in the grid voltage. This is a sas impact on the normal operation of other adjacent equipments, such as relay mnction, automatic control malfunction and so on. If soft starter is used, the harm ampact caused by direct start can be avoided. Though soft starters operate only foshort time during motor start-up, they are very important and indispensable.
In recent years, researchers pay much attention to soft st technologies and devices, a lot of important results have been reported. These dnctive results not only have important theoretical significance, but also have a ro.n guiding the soft start technology and the practical application of the device. Neveeless, these results still have some limitations. Firstly, starting current can be reded by using those methods, but there is still large current impact on the power gd when those soft starters are used to start high-power and high-voltage motors. Sondly, most of the results are only concerned with power factor changes in startingrocess, but ignore reactive power compensation in the soft starting process. Thirdly,nost of the results only consider current amplitude limitation, but ignore coordinatd control between start current and start time in the soft starting process.
Based on the above considerations, it is necessary to further research the soft start methods and key technologies of high-power and high-volage motors. This dissertation presents an in-depth application research to deal with above limitations. The research works mainly concern soft start principles and techniques, the corresponding design method and control strategy for the soft starting of high-power and high-voltage motors. Specifically, the main contents of this dissertation are as follows.
Firstly, a new soft start method based on auto-transformer and magnetic control reactor (ATMCR) is invented to limit start current of high-power motor. Topology and equivalent circuit model of soft starter based on ATMCR are established. The design target of further reducing start current absorbed from power grid is realized.
The common soft start methods used in domestic and foreign industries are investigated, and then advantages and disadvantages of the various methods are summarized. Based on the research results achieved by my tutor's group in last many years and combined with soft start technology advantages of auto-transformer and magnetic control reactor (MCR), a new soft start method based on ATMCR is invented. The new method has dual characteristics of step-down of auto-transformer and regulation voltage of MCR and it can further reduce start current absorbed from power grid. Through the research of electromagnetic field theory, electrical theory and motor principle, topologies and equivalent circuit of soft starter based on ATMCR are established. Current-limiting mechanism is studied. Simulation results using MATLAB show that the soft start method based on ATMCR has excellent effects to limit start current.
Secondly, the integrative method of reactive power dynamic compensation with soft start based on ATMCR is proposed to deal with low power factor in starting process.
The relationship of power factor with speed changing in soft start process is studied. In order to improve the power factor, a method of reactive power dynamic compensation in soft start process is proposed. Schemes and realization technologies of the reactive power dynamic compensation are researched and integrative topologies are established. Calculation method of reactive power compensation and optimal switching strategy are studied. Simulation results from MATLAB shows that reactive power dynamic compensation can effectively improve power factor, reduce the grid voltage drop and avoid influence on the power grid in the starting process.
Thirdly, dynamic programming control algorithm for ATMCR soft starter is proposed to optimize soft start process.
Induction motor is a nonlinear, strong coupling, multivariable controlled object, and its mathematical model is analyzed to reveal the reason of current and torque oscillation. Conventional control strategies only concern the intensity of start current while ignore the span of start time. Consequently, long starting time often result in the motor coils overheating and then the motor start process fails. State equations and its solutions of induction motor are researched. According to the ideal start curve of motors and its obvious time sequence, an optimal control strategy based on dynamic programming is proposed. Soft start process is divided into different stages, each stage uses different control strategy. The optimal control strategy can realize the shortest soft start time and minimize the starting current within two times of rated current. MATLAB is employed to simulate ramp control, constant current control and dynamic programming control. And simulation results are compared to verify feasibility of the dynamic programming control algorithm.
Fourthly, soft starter based on ATMCR of high-power and high-voltage motor is developed and tested.
Based on theories and technologies of ATMCR soft start method, starter structure and operation principle based on ATMCR are designed in the dissertation. The21000kW/10kV soft starter is successfully developed. All theoretical and technical research results are evaluated through the test.
Finally, we summarize the results of the dissertation and point out some problems that are worth further study.
引文
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