大扭矩盘式地面抽油机电机无速度传感器矢量控制
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摘要
常规游梁式抽油机是机械采油应用最广泛的抽油设备,在机械采油中占有举足轻重的地位。抽油机电机运行在额定负载时属于经济运行,实际上,抽油机的电机多数是在轻载运行,这是游梁式抽油机效率低的根本原因。
采用大扭矩盘式电机替代常规游梁式抽油机电机具有节省空间,启动转矩大等优点,因此研究其控制方法对于降低成本和运行安全具有十分重要的意义。在高性能的交流异步电动机矢量控制系统中,为了克服实际应用中安装速度传感器所带来的种种缺点,进一步扩大矢量控制系统的应用范围,结合油田实际露天工作状况,对无速度传感器矢量控制技术进行研究具有重要的理论和实际意义。
本文阐述了矢量控制的基本原理、坐标变换和异步电机在不同坐标系下的数学模型。以有速度传感器矢量控制系统为基础,对不同转速辨识方案进行了对比和分析,采用基于MRAS的无速度传感器转子磁场定向矢量控制方案。该方案采用脉宽调制(PWM)控制技术和磁场定向控制(FOC)算法,根据模型参考自适应原理进行速度辨识,用得到转速的估计值进行矢量控制。
针对该方案,在MATLAB/SIMULINK软件平台上,建立了无速度传感器矢量控制系统的仿真模型。仿真结果表明,该系统控制性能和精度良好,验证了系统的可行性与实用性。
根据仿真模型对系统进行了设计,给出了主电路结构及设计参数。以TI公司的数字信号处理器芯片TMS320F2812为主控单元设计了控制电路,并且设计了驱动及保护电路。详细介绍了基于DSP的全数字化无速度传感器矢量控制系统软件实现的流程,编写了各个模块的子程序。在CCS2.0软件调试环境下进行了程序的调试。
Conventional beam pumping unit is the mechanical application of the most extensive oil pumping equipment, which occupies a pivotal position in the machinery pumping unit. Pumping unit motor running at rated load is an economic operation; in fact, the majority of motor units are running at light loads, which are the root causes of beam pumping unit's low efficiency.
The use of high torque disc motor instead of conventional beam pumping unit with space-saving, large starting torque advantages, so study the control method can reduce costs and operational safety with great significance. In the high-performance AC induction motor vector control system, in order to overcome the shortcomings of installing a speed sensor of vector control system in practical application, to further expand the scope of application, combined with the actual open field working conditions, the research of speed sensorless vector control technology has important theoretical and practical significance.
In this paper, compared and analyzed different speed identification method based on speed sensor vector control system, we used MRAS-based speed sensorless rotor field-oriented vector control method. The method using pulse width modulation (PWM) control technology and field-oriented control (FOC) algorithm, in accordance with the principle of model reference adaptive speed identification, use the estimated value of speed for vector control.
In view of this method, we established a speed sensorless vector control system simulation model and simulated it in the MATLAB / SIMULINK software platform. The results of simulation shows that the performance and accuracy of system control is good, which verified the feasibility and practicality.
According to the simulation model of the system design, gives the main circuit structure and design parameters. We designed control circuit of the main control unit by TI's digital signal processor chip TMS320F2812, and designed the driver and protection circuits. This paper describes the achievement of software flow of DSP-based fully digital speed sensorless vector control system, the preparation of every module of the subroutine. We debugged the program in CCS2.0 software debugging environment.
采用大扭矩盘式电机替代常规游梁式抽油机电机具有节省空间,启动转矩大等优点,因此研究其控制方法对于降低成本和运行安全具有十分重要的意义。在高性能的交流异步电动机矢量控制系统中,为了克服实际应用中安装速度传感器所带来的种种缺点,进一步扩大矢量控制系统的应用范围,结合油田实际露天工作状况,对无速度传感器矢量控制技术进行研究具有重要的理论和实际意义。
本文阐述了矢量控制的基本原理、坐标变换和异步电机在不同坐标系下的数学模型。以有速度传感器矢量控制系统为基础,对不同转速辨识方案进行了对比和分析,采用基于MRAS的无速度传感器转子磁场定向矢量控制方案。该方案采用脉宽调制(PWM)控制技术和磁场定向控制(FOC)算法,根据模型参考自适应原理进行速度辨识,用得到转速的估计值进行矢量控制。
针对该方案,在MATLAB/SIMULINK软件平台上,建立了无速度传感器矢量控制系统的仿真模型。仿真结果表明,该系统控制性能和精度良好,验证了系统的可行性与实用性。
根据仿真模型对系统进行了设计,给出了主电路结构及设计参数。以TI公司的数字信号处理器芯片TMS320F2812为主控单元设计了控制电路,并且设计了驱动及保护电路。详细介绍了基于DSP的全数字化无速度传感器矢量控制系统软件实现的流程,编写了各个模块的子程序。在CCS2.0软件调试环境下进行了程序的调试。
Conventional beam pumping unit is the mechanical application of the most extensive oil pumping equipment, which occupies a pivotal position in the machinery pumping unit. Pumping unit motor running at rated load is an economic operation; in fact, the majority of motor units are running at light loads, which are the root causes of beam pumping unit's low efficiency.
The use of high torque disc motor instead of conventional beam pumping unit with space-saving, large starting torque advantages, so study the control method can reduce costs and operational safety with great significance. In the high-performance AC induction motor vector control system, in order to overcome the shortcomings of installing a speed sensor of vector control system in practical application, to further expand the scope of application, combined with the actual open field working conditions, the research of speed sensorless vector control technology has important theoretical and practical significance.
In this paper, compared and analyzed different speed identification method based on speed sensor vector control system, we used MRAS-based speed sensorless rotor field-oriented vector control method. The method using pulse width modulation (PWM) control technology and field-oriented control (FOC) algorithm, in accordance with the principle of model reference adaptive speed identification, use the estimated value of speed for vector control.
In view of this method, we established a speed sensorless vector control system simulation model and simulated it in the MATLAB / SIMULINK software platform. The results of simulation shows that the performance and accuracy of system control is good, which verified the feasibility and practicality.
According to the simulation model of the system design, gives the main circuit structure and design parameters. We designed control circuit of the main control unit by TI's digital signal processor chip TMS320F2812, and designed the driver and protection circuits. This paper describes the achievement of software flow of DSP-based fully digital speed sensorless vector control system, the preparation of every module of the subroutine. We debugged the program in CCS2.0 software debugging environment.
引文
[1]C.llas,Comparison of different schemes without shaft sensors for field oriented control drives,IECON,1994,15(6):1579-1588.
[2]T.Chin,Approaches for vector control of IM without speed sensor,IECON,1994,12(6):1616-1620.
[3]GM Asher,Sensorless estimation for vector controlled induction motor drives,lEE Colloquium on Vector Control Revisited,1998:6.
[4]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1999.
[5]冯垛生,无速度传感器矢量控制原理与实践.北京:机械工业出版社,1998.
[6]李永东,交流电机数字控制系统.北京:机械工业出版社,2002.
[7]高景德,王祥眼,李发海.交流电机及其系统分析.北京:清华大学出版社,1993.
[8]Kovacs,Transient Phenomena in electrical machines,Elsevier Science Publishers,Amsterdam,1994.
[9]Habetler,Performance characterization of new discrete pulse modulated current regulator,IEEE Industry Appl.Sec.Ann.Meet.,Pittsburgh,PA,1988:395-405.
[10]关恩禄,关沫.三相盘式感应电机设计要点及优化设计,沈阳工业大学学报,1999,21(6):502-505.
[11]王兆安.电力电子技术.北京:机械工业出版社,2000.
[12]陈坚.电力电子学.北京:高等教育出版社,2002.
[13]Bose,Microcomputer control of power electronics and Drives,IEEE press,New York,1987.
[14]Lawrence,Real-Time microcomputer system design,McGraw-Hill,New York,1987.
[15]J.Holts,Sensorless position control of induction motors-an emerging technology,Trans.IEEE.Ind.Applications,1995,15(2):240-247.
[16]王成元,夏加宽,孙宜标.现代电机控制技术.北京:机械工业出版社,2008.
[17]J.Cilia,Sensorless position detection for vector controlled induction motor drives using an asymmetric outer section cage,Trans.IEEE Ind.Applications,1997,(5):1162-1169.
[18]M.W.Degner,Using multiple saliencies for the estimation of flux,position and velocity in AC machines,IEEE IAS Annual Meeting,1997,12(2):760-767.
[19]G.C.Vershese,Observers for flux estimation in the induction machine,Trans.IEEE Ind.Electronics,1998,12(1):85-94.
[20]P.Jansen,A physically insightful approach to the design and accuracy assessment of flux observers for field oriented induction machined rives,Trans.lEEE Ind.Applications,1994,6(1):101-110.
[21]M.Shin,An improved stator flux estimation for speed sensorless stator control of induction motors,Trans.IEEE lnd.Applications,2000,15(2):312-317.
[22]薛定宁,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002.
[23]陈靖.基于Matlab/SimuLink的交流电机建模与仿真.兵工自动化,2003,22(2):48-50.
[24]魏吕洲,薛重德,翟红存.基于SVPWM变频渊速系统的建模与仿真.中小型电机,2005,3(6):45-48.
[25]洪乃刚.电力电子和电力拖动控制系统的MATLAB仿真.北京:机械工业出版社,2006.
[26]张志林,薛重德,李新建.无速度传感器矢量控制系统的建模与仿真.金陵科技学院学报,2006,9(3):57-61.
[27]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社,2004.
[28]张崇巍,李汉强.运动控制系统.武汉:武汉理工大学出版社,2002.
[29]李铁才,杜坤梅.电机控制技术.黑龙江:哈尔滨工业大学出版社,2000:153-161.
[30]马小亮.大功率交.交变频交流调速及欠量控制.北京:机械工业出版社,1998.
[31]陈坚.交流电机数学模型及调速系统.北京:国防工业出版社,1989.
[32]胡崇岳.现代交流调速技术.北京:机械工业出版社,1998.
[33]Andrzej M.Trzynadlowski.异步电动机的控制(李鹤轩,李样译).北京:机械工业出版社,2003
[34]李宁,陈桂.运动控制系统.北京:高等教育出版社,2004.
[35]Implementing space vector modulation with the ADMC401.AN401-17.Analog Devices Inc.January 2000:3-8.
[36]Vladimir Blasko.Analysis of a hybrid PWM based on modified space-vector and triangle-comparison method,IEEE.Trans.On Industry Application,1997,33(3):756-763.
[37]Vanja Ambrozic,Rastko Fiser,David Nedeljkovic.Direct Current Control----A new current regulation principle,IEEE Transactions On Power Electronics,2003,18,(1):495-503.
[38]翁力,韩林,赵荣祥,等.SVPWM扇区过渡的分析研究.机电工程,2003,20(3):49-51.
[39]王树.变频调速系统设计与应用.北京:机械工业出版社,2005.
[40]喻辉杰.无速度传感器交流调速系统速度估计策略分析.电工电能新技术,1997,16(2):23-27.
[41]M.G.Simoes,Neural network based estimation of feedback signals for a vector controlled induction motor drive.Trans.IEEE Ind.Applicatious.1995.18(3):620-629.
[42]孙德保.自适应控制原理.武汉:华中理工大学出版社,1991.
[43]夏超英.交直流传动系统的自适应控制.北京:机械工业出版社,1998.
[44]Geng Yang,Adaptive-speed identification scheme for a vector-controlled speed sensorless inverter-induction motor drive,IEEE Transactions on Industry Applications,1993,12(4):820-825.
[45]Lennart Harnefors,Adaptive sensorless control of induction motors for improved low-speed performance,Industry Application Conference,1996,11(2):278-285.
[46]Hisao Kubota,DSP-based speed adaptive flux observer of induction motor,Trans.IEEE Ind.Applications,1993,32(2):344-348.
[47]H.Le-Huy.Modeling and simulation of electrical drivers using Matlab/Simulink and power system blocker.the 27th Annual Conference of the IEEE.Industrial Electronics Society(IECON'01),Denver/Colorado:1603-1611.
[48]韩安太,刘峙飞,黄海.DSP控制原理及其在运动控制系统中的运用.北京:清华大学出版社,2003.
[49]范正翘.电力传动与自动控制系统.北京:北京航空航大大学出版社,2003.
[50]李华德,白晶,李志民,等.交流调速控制系统.北京:电子工业出版社,2003.
[51]R.Di Gabriele,F.Parasiliti,M.Tursini,Digital field oriented control for induction motors:implementation and experimental results,Universities Power Engineering Conference(UPEC'97).
[52]Vanja Ambrozic,Rastko Fiser,David Nedeljkovic.Direct Current Control----A new current regulation principle,IEEE Transactions On Power Electronics,2003,18,(1):495-503.
[53]Dae Wo-ong Chung,Joohn-Sheok Kim,Seung-Ki Sul.Unified coltage modulation technique for real-time three-phase power conversion.lEEE Trans.1998,34:374-380.
[54]Texas Instrument.TMS320CIX/C2X/C2XX/C5X Assembly Language Tools----User's Guide.SPRU018D,1995(3).
[55]苏奎峰,吕强,耿庆锋,等.TMS320F2812原理与开发.北京:电子工业出版社,2005.
[56]万山明.TMS320F28lxDSP原理及应用实例.北京:北京航空航天大学出版社,2007.
[2]T.Chin,Approaches for vector control of IM without speed sensor,IECON,1994,12(6):1616-1620.
[3]GM Asher,Sensorless estimation for vector controlled induction motor drives,lEE Colloquium on Vector Control Revisited,1998:6.
[4]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1999.
[5]冯垛生,无速度传感器矢量控制原理与实践.北京:机械工业出版社,1998.
[6]李永东,交流电机数字控制系统.北京:机械工业出版社,2002.
[7]高景德,王祥眼,李发海.交流电机及其系统分析.北京:清华大学出版社,1993.
[8]Kovacs,Transient Phenomena in electrical machines,Elsevier Science Publishers,Amsterdam,1994.
[9]Habetler,Performance characterization of new discrete pulse modulated current regulator,IEEE Industry Appl.Sec.Ann.Meet.,Pittsburgh,PA,1988:395-405.
[10]关恩禄,关沫.三相盘式感应电机设计要点及优化设计,沈阳工业大学学报,1999,21(6):502-505.
[11]王兆安.电力电子技术.北京:机械工业出版社,2000.
[12]陈坚.电力电子学.北京:高等教育出版社,2002.
[13]Bose,Microcomputer control of power electronics and Drives,IEEE press,New York,1987.
[14]Lawrence,Real-Time microcomputer system design,McGraw-Hill,New York,1987.
[15]J.Holts,Sensorless position control of induction motors-an emerging technology,Trans.IEEE.Ind.Applications,1995,15(2):240-247.
[16]王成元,夏加宽,孙宜标.现代电机控制技术.北京:机械工业出版社,2008.
[17]J.Cilia,Sensorless position detection for vector controlled induction motor drives using an asymmetric outer section cage,Trans.IEEE Ind.Applications,1997,(5):1162-1169.
[18]M.W.Degner,Using multiple saliencies for the estimation of flux,position and velocity in AC machines,IEEE IAS Annual Meeting,1997,12(2):760-767.
[19]G.C.Vershese,Observers for flux estimation in the induction machine,Trans.IEEE Ind.Electronics,1998,12(1):85-94.
[20]P.Jansen,A physically insightful approach to the design and accuracy assessment of flux observers for field oriented induction machined rives,Trans.lEEE Ind.Applications,1994,6(1):101-110.
[21]M.Shin,An improved stator flux estimation for speed sensorless stator control of induction motors,Trans.IEEE lnd.Applications,2000,15(2):312-317.
[22]薛定宁,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002.
[23]陈靖.基于Matlab/SimuLink的交流电机建模与仿真.兵工自动化,2003,22(2):48-50.
[24]魏吕洲,薛重德,翟红存.基于SVPWM变频渊速系统的建模与仿真.中小型电机,2005,3(6):45-48.
[25]洪乃刚.电力电子和电力拖动控制系统的MATLAB仿真.北京:机械工业出版社,2006.
[26]张志林,薛重德,李新建.无速度传感器矢量控制系统的建模与仿真.金陵科技学院学报,2006,9(3):57-61.
[27]王晓明,王玲.电动机的DSP控制.北京:北京航空航天大学出版社,2004.
[28]张崇巍,李汉强.运动控制系统.武汉:武汉理工大学出版社,2002.
[29]李铁才,杜坤梅.电机控制技术.黑龙江:哈尔滨工业大学出版社,2000:153-161.
[30]马小亮.大功率交.交变频交流调速及欠量控制.北京:机械工业出版社,1998.
[31]陈坚.交流电机数学模型及调速系统.北京:国防工业出版社,1989.
[32]胡崇岳.现代交流调速技术.北京:机械工业出版社,1998.
[33]Andrzej M.Trzynadlowski.异步电动机的控制(李鹤轩,李样译).北京:机械工业出版社,2003
[34]李宁,陈桂.运动控制系统.北京:高等教育出版社,2004.
[35]Implementing space vector modulation with the ADMC401.AN401-17.Analog Devices Inc.January 2000:3-8.
[36]Vladimir Blasko.Analysis of a hybrid PWM based on modified space-vector and triangle-comparison method,IEEE.Trans.On Industry Application,1997,33(3):756-763.
[37]Vanja Ambrozic,Rastko Fiser,David Nedeljkovic.Direct Current Control----A new current regulation principle,IEEE Transactions On Power Electronics,2003,18,(1):495-503.
[38]翁力,韩林,赵荣祥,等.SVPWM扇区过渡的分析研究.机电工程,2003,20(3):49-51.
[39]王树.变频调速系统设计与应用.北京:机械工业出版社,2005.
[40]喻辉杰.无速度传感器交流调速系统速度估计策略分析.电工电能新技术,1997,16(2):23-27.
[41]M.G.Simoes,Neural network based estimation of feedback signals for a vector controlled induction motor drive.Trans.IEEE Ind.Applicatious.1995.18(3):620-629.
[42]孙德保.自适应控制原理.武汉:华中理工大学出版社,1991.
[43]夏超英.交直流传动系统的自适应控制.北京:机械工业出版社,1998.
[44]Geng Yang,Adaptive-speed identification scheme for a vector-controlled speed sensorless inverter-induction motor drive,IEEE Transactions on Industry Applications,1993,12(4):820-825.
[45]Lennart Harnefors,Adaptive sensorless control of induction motors for improved low-speed performance,Industry Application Conference,1996,11(2):278-285.
[46]Hisao Kubota,DSP-based speed adaptive flux observer of induction motor,Trans.IEEE Ind.Applications,1993,32(2):344-348.
[47]H.Le-Huy.Modeling and simulation of electrical drivers using Matlab/Simulink and power system blocker.the 27th Annual Conference of the IEEE.Industrial Electronics Society(IECON'01),Denver/Colorado:1603-1611.
[48]韩安太,刘峙飞,黄海.DSP控制原理及其在运动控制系统中的运用.北京:清华大学出版社,2003.
[49]范正翘.电力传动与自动控制系统.北京:北京航空航大大学出版社,2003.
[50]李华德,白晶,李志民,等.交流调速控制系统.北京:电子工业出版社,2003.
[51]R.Di Gabriele,F.Parasiliti,M.Tursini,Digital field oriented control for induction motors:implementation and experimental results,Universities Power Engineering Conference(UPEC'97).
[52]Vanja Ambrozic,Rastko Fiser,David Nedeljkovic.Direct Current Control----A new current regulation principle,IEEE Transactions On Power Electronics,2003,18,(1):495-503.
[53]Dae Wo-ong Chung,Joohn-Sheok Kim,Seung-Ki Sul.Unified coltage modulation technique for real-time three-phase power conversion.lEEE Trans.1998,34:374-380.
[54]Texas Instrument.TMS320CIX/C2X/C2XX/C5X Assembly Language Tools----User's Guide.SPRU018D,1995(3).
[55]苏奎峰,吕强,耿庆锋,等.TMS320F2812原理与开发.北京:电子工业出版社,2005.
[56]万山明.TMS320F28lxDSP原理及应用实例.北京:北京航空航天大学出版社,2007.