直接转矩控制技术在交流调速系统中的应用研究
|
摘要
直接转矩控制技术，是继矢量控制技术之后出现的又一种新的控制思想，其控制手段直接，系统响应迅速，具有优良的静、动态特性，系统鲁棒性好，因而受到了普遍关注并得到了迅速发展。
本论文从交流调速技术的发展开始，分析了异步电机直接转矩控制的基本原理，推导了u-i、i-n两种磁链模型，并对这两种磁链模型的适应范围和特点进行了分析，然后推导了在全速范围都适用的u-n模型。u-n模型的特点是：低速下工作于i-n模型，高速下工作于u-i模型，高低速之间自然过渡，加之引入电流调节器对电流观测值进行补偿，大大提高了模型的观测精度。
然后以交流电力机车为例，介绍了直接转矩控制技术在交流调速系统中的应用，并根据电力机车的牵引特性，设计了不同的控制策略：
(1)低速区：采用圆形磁链的直接转矩控制；
(2)高速区：采用六边形磁链的直接转矩控制；
(3)弱磁区：通过改变磁链给定值来调节转矩，实现恒功率调节。
同时应用MATLAB／SIMULINK软件建立了直接转矩控制系统的仿真模型，并得出了仿真结果，验证了该方法的正确性。
最后介绍了无速度传感器的直接转矩控制方法，推导了基于模型参考自适应(MRAS)理论的转子转速的辨识方法，建立了转子转速的辨识模型，并得到了仿真结果。
Direct Torque Control (DTC) technology is another new control thought after vector-control technology. It has direct control methods, rapid response system, excellent static and dynamic characteristics and the system's robustness is good, so DTC has been widely studied and has achieved rapid development.
This paper presents the development of AC speed regulation technology and then analyzes the basic principle of induction motor direct torque control. It deduces u-i and i-n two kinds of flux linkage models, and the proper area and features of these two models are analyzed, then a u-n model which is suitable in the range of all speed .The u-n model features: using i-n model in the low speed and u-i model in the high speed range. The transition between low speed and high speed can be smooth, as the current regulator can compensate the observed current, the precision of the observation is raised greatly.
Then take exchange electric locomotive as the example, this paper introduced the application of direct torque control technology in the exchange velocity modulation system. Based on traction characteristics of electric locomotive, it has designed the different torque control strategies:
(1) Direct torque control with circular stator flux in the low-speed range.
(2) Direct torque control with hexagon stator flux in the high-speed range.
(3) The torque is adjusted by setting different references of the stator flux in weaken flux area. The system power is invariable.
Simultaneously with the application MATLAB/SIMULINK software, it has established the direct torque control system simulation model, has obtained the simulation result and has confirmed the accuracy of this method.
Finally, non-velocity generator direct torque control method is presented. The thesis deduces the identification method of rotor speed based on model reference adaptive system (MRAS). The simulation model is set up and the results are also given.
本论文从交流调速技术的发展开始，分析了异步电机直接转矩控制的基本原理，推导了u-i、i-n两种磁链模型，并对这两种磁链模型的适应范围和特点进行了分析，然后推导了在全速范围都适用的u-n模型。u-n模型的特点是：低速下工作于i-n模型，高速下工作于u-i模型，高低速之间自然过渡，加之引入电流调节器对电流观测值进行补偿，大大提高了模型的观测精度。
然后以交流电力机车为例，介绍了直接转矩控制技术在交流调速系统中的应用，并根据电力机车的牵引特性，设计了不同的控制策略：
(1)低速区：采用圆形磁链的直接转矩控制；
(2)高速区：采用六边形磁链的直接转矩控制；
(3)弱磁区：通过改变磁链给定值来调节转矩，实现恒功率调节。
同时应用MATLAB／SIMULINK软件建立了直接转矩控制系统的仿真模型，并得出了仿真结果，验证了该方法的正确性。
最后介绍了无速度传感器的直接转矩控制方法，推导了基于模型参考自适应(MRAS)理论的转子转速的辨识方法，建立了转子转速的辨识模型，并得到了仿真结果。
Direct Torque Control (DTC) technology is another new control thought after vector-control technology. It has direct control methods, rapid response system, excellent static and dynamic characteristics and the system's robustness is good, so DTC has been widely studied and has achieved rapid development.
This paper presents the development of AC speed regulation technology and then analyzes the basic principle of induction motor direct torque control. It deduces u-i and i-n two kinds of flux linkage models, and the proper area and features of these two models are analyzed, then a u-n model which is suitable in the range of all speed .The u-n model features: using i-n model in the low speed and u-i model in the high speed range. The transition between low speed and high speed can be smooth, as the current regulator can compensate the observed current, the precision of the observation is raised greatly.
Then take exchange electric locomotive as the example, this paper introduced the application of direct torque control technology in the exchange velocity modulation system. Based on traction characteristics of electric locomotive, it has designed the different torque control strategies:
(1) Direct torque control with circular stator flux in the low-speed range.
(2) Direct torque control with hexagon stator flux in the high-speed range.
(3) The torque is adjusted by setting different references of the stator flux in weaken flux area. The system power is invariable.
Simultaneously with the application MATLAB/SIMULINK software, it has established the direct torque control system simulation model, has obtained the simulation result and has confirmed the accuracy of this method.
Finally, non-velocity generator direct torque control method is presented. The thesis deduces the identification method of rotor speed based on model reference adaptive system (MRAS). The simulation model is set up and the results are also given.
引文
[1] 袁寿财，朱长纯．现代交流传动控制技术的回顾与展望，光机电信息．2002，No．6：25-26
[2] 王兆安，杨君．变频调速及应用，中国能源．1998，No．7：33-35
[3] 刘竟成．交流调速系统．上海交通大学出版社，1984
[4] 沈本荫．现代交流传动及其控制系统．北京，中国铁道出版社，1997
[5] 周炼，谢运祥．交流调速系统及相应电力电子技术的发展综述．微电机．1999，No．6：16-18
[6] 马洪峰．交流调速智能控制系统的研究，硕士学位论文．江南大学．2001
[7] 李永东．交流电机直接转矩控制策略综述．电力电子论坛Ⅲ，2004，45-47
[8] Zhong L, Rahman M F, Hu W Y, et al. Analysis of direct torque control in permanent magnet synchronous motor drivers. IEEE Tram. on Power Electronics, Vol. 12, No. 3, pp46-48, 1997
[9] 吴峻，潘孟春，李圣怡．直接转矩控制系统低速性能的分析与控制．电气传动．2001，No．6：26-28
[10] 郭庆鼎，王成元．异步电动机的矢量变换控制原理及应用．辽宁民族出版社，1998
[11] Domenico casadei, Giovanni Serra, et.Performance Analysis of a Speed-Sensorless Induction Motor Drive Based on a Constant-Switching-Frequency DTC Scheme [J]. IEEE Tram on IA. Vol.39, No.2, pp476-483, 2003
[12] Jun-Koo Kang, Seung-Ki Sal, Analysis and Prediction of Inverter Switching Frequency in Direct Torque Control ofInduction Machine Based on Hysteresis Bands and Machine Parameters[J]. IEEE Trans on IE Vol. 48, No. 3, pp545-553, 2001
[13] 李夙．异步电动机直接转矩控制．机械工业出版社，1994
[14] 齐永龙，冯晓云．关于异步电机直接力矩控制的研究．电气传动自动化．2002，No．4：42-45
[15] 张春梅，尔桂花．直接转矩控制研究现状与前景．微电机．2000，No．6：36-37
[16] M. Depenbroke."direct self control(DSG) of inverter-fed induction motor", IEEE Trans, Power Electronics, Vol3, No.4, pp420-429, Oct.,1998
[17] I. Takahashi and T. Noguchi. "a new quick-response and high-efficiency control strategy of induction motor", IEEE Trans, Ind. App, Vol. IA-22, No. 5, pp820-827, Sep./Oct., 1986
[18] T. G. Habetler,"Direct Torque Control of Induction Machines Using Space Vector Modultaion", IEEE Trans, Ind. App, Vol. 28, No. 5,pp645-648, Sep./Oct., 2002
[19] S. M. Elbuluk. "PI and Fuzzy Estimators for Turning the Stator Resistance in Direct Torque Control of Induction Machine", IEEE Trans, Ind. App., Vol. 13, No. 2, pp245-249, Mar./Apr., 2002
[20] T. G. Habetler. "Control Strategies for Direct Torque Control of Using Discrete Pulse Space Modulation", IEEE Trans, Ind. App, Vol. 27, No. 5, pp764-769, Sep./Oct., 2001
[21] Xing yi Xu."Implementation of Direct Stator Flux Orientation Control on a Versatile DSP Based System", IEEE Tram, Ind. App. Vol.27, No.4, pp659-665, July/Aug., 2001
[22] M. P. Kazmierkowski."Improved Direct Torque and Flux Vector Control of PWM Inverter-fed Induction Motor Driver", IEEE Trans., Ind. App, Vol.42, No.4, Aug., 2005
[23] Yanhong Xue."A Stator Flux-Oriented Voltage source Variable-Speed Drive Based on do Link Measurement", IEEE Tram, Ind. App., Vol.27, No.5, pp698-705, Sep./Oct., 2005
[24] F. Bonarnno."An Innovative Direct Self-Control Scheme for Induction Motor Drives", IEEE Tram on Power Electronics, Vol. 12 No.5, pp336-339, Sep., 2004
[25] 李永东，曹江涛等．异步电机直接转矩控制系统低速转矩特性研究及其全数字控制．电气传动．1994，No．6：20-25
[26] 司保军，李永东，姬志艳等．无速度传感器的直接转矩控制系统的研究电气传动．1996年第4期：13-16
[27] Uwe Baader. "Direct self control(DSC) of inverter-fed induction machine: A Basis for Speed Control Without Speed Measurement", IEEE Trans., Ind. App.,Vol.28, No.3, May./Jun., 1992
[28] 马宪民，桂佑林．基于DSP的直接转矩控制系统的设计与实现．电子技术应用．2002，No．2：25-29
[29] 李永东，曾毅，谭卓辉等．无速度传感器三电平逆变器异步电动机直接转矩控制系统(Ⅰ)．电工技术学报，2004年第7期：18-22
[30] 冯江华．机车交流传动控制系统的发展．机车电传动．2001，No．4：8-12
[31] 连级三．电力牵引控制系统．北京，中国铁道出版社，1994
[32] 冯江华，陈高华等．异步电动机的直接转矩控制．电工技术学报1996，No．6：33-36
[33] 徐坚翔，余明杨．异步电动机低速及弱磁环节直接转矩控制系统的建模和仿真．电力机车技术．2002，No．3：22-27
[34] 邵剑文，李永东．高性能直接转矩控制低速研究．中国第四届交流电机调速传动学术会议．
[35] 陈特放，刘子建．基于MATLAB／SIMULINK的异步电动机直接转矩控制系统的建模和仿真．机车电传动．1998，No．2：35-39
[36] 张晓华，朱峰．电压空间矢量PWM逆变器—异步电机仿真模型的分析．电气传动自动化．2001，No．10：19-22
[37] 梁兵．转子电阻变化对异步电机直接转矩控制影响的仿真分析．机车电传动．2001，No．1：12-15
[38] 李磊，胡育文．一种新型的磁链与速度观测器在异步电机直接转矩控制系统中的应用．电气传动．2001，No．3：33-35
[39] 王长江，李发海等．无速度传感器感应电动机矢量控制系统的设计．电气传动．1996，No．1：23-26
[40] 刘国海，戴先中．交流电机转速和转子磁链自适应辨识的一种新方法．电气转动．2001，No．5：40-43
[41] 王焕钢，徐文立等．感应电机无速度传感器控制的自适应转速估计．电气传动．2002，No．1：11-14
[42] 姬志艳，李永东等．应用异步电机全阶模型的无速度传感器直接转矩控制系统的仿真研究．电气自动化．1999，No．3：36-40
[43] 姬志艳，李永东等．无速度传感器异步电动机直接转矩控制系统的研究．电工技术学报．1997，No．4：45-48
[44] 时巧生，王丽敏．感应电动机调速系统中速度辨识的研究．电气转动．1996，No．2：33-37
[2] 王兆安，杨君．变频调速及应用，中国能源．1998，No．7：33-35
[3] 刘竟成．交流调速系统．上海交通大学出版社，1984
[4] 沈本荫．现代交流传动及其控制系统．北京，中国铁道出版社，1997
[5] 周炼，谢运祥．交流调速系统及相应电力电子技术的发展综述．微电机．1999，No．6：16-18
[6] 马洪峰．交流调速智能控制系统的研究，硕士学位论文．江南大学．2001
[7] 李永东．交流电机直接转矩控制策略综述．电力电子论坛Ⅲ，2004，45-47
[8] Zhong L, Rahman M F, Hu W Y, et al. Analysis of direct torque control in permanent magnet synchronous motor drivers. IEEE Tram. on Power Electronics, Vol. 12, No. 3, pp46-48, 1997
[9] 吴峻，潘孟春，李圣怡．直接转矩控制系统低速性能的分析与控制．电气传动．2001，No．6：26-28
[10] 郭庆鼎，王成元．异步电动机的矢量变换控制原理及应用．辽宁民族出版社，1998
[11] Domenico casadei, Giovanni Serra, et.Performance Analysis of a Speed-Sensorless Induction Motor Drive Based on a Constant-Switching-Frequency DTC Scheme [J]. IEEE Tram on IA. Vol.39, No.2, pp476-483, 2003
[12] Jun-Koo Kang, Seung-Ki Sal, Analysis and Prediction of Inverter Switching Frequency in Direct Torque Control ofInduction Machine Based on Hysteresis Bands and Machine Parameters[J]. IEEE Trans on IE Vol. 48, No. 3, pp545-553, 2001
[13] 李夙．异步电动机直接转矩控制．机械工业出版社，1994
[14] 齐永龙，冯晓云．关于异步电机直接力矩控制的研究．电气传动自动化．2002，No．4：42-45
[15] 张春梅，尔桂花．直接转矩控制研究现状与前景．微电机．2000，No．6：36-37
[16] M. Depenbroke."direct self control(DSG) of inverter-fed induction motor", IEEE Trans, Power Electronics, Vol3, No.4, pp420-429, Oct.,1998
[17] I. Takahashi and T. Noguchi. "a new quick-response and high-efficiency control strategy of induction motor", IEEE Trans, Ind. App, Vol. IA-22, No. 5, pp820-827, Sep./Oct., 1986
[18] T. G. Habetler,"Direct Torque Control of Induction Machines Using Space Vector Modultaion", IEEE Trans, Ind. App, Vol. 28, No. 5,pp645-648, Sep./Oct., 2002
[19] S. M. Elbuluk. "PI and Fuzzy Estimators for Turning the Stator Resistance in Direct Torque Control of Induction Machine", IEEE Trans, Ind. App., Vol. 13, No. 2, pp245-249, Mar./Apr., 2002
[20] T. G. Habetler. "Control Strategies for Direct Torque Control of Using Discrete Pulse Space Modulation", IEEE Trans, Ind. App, Vol. 27, No. 5, pp764-769, Sep./Oct., 2001
[21] Xing yi Xu."Implementation of Direct Stator Flux Orientation Control on a Versatile DSP Based System", IEEE Tram, Ind. App. Vol.27, No.4, pp659-665, July/Aug., 2001
[22] M. P. Kazmierkowski."Improved Direct Torque and Flux Vector Control of PWM Inverter-fed Induction Motor Driver", IEEE Trans., Ind. App, Vol.42, No.4, Aug., 2005
[23] Yanhong Xue."A Stator Flux-Oriented Voltage source Variable-Speed Drive Based on do Link Measurement", IEEE Tram, Ind. App., Vol.27, No.5, pp698-705, Sep./Oct., 2005
[24] F. Bonarnno."An Innovative Direct Self-Control Scheme for Induction Motor Drives", IEEE Tram on Power Electronics, Vol. 12 No.5, pp336-339, Sep., 2004
[25] 李永东，曹江涛等．异步电机直接转矩控制系统低速转矩特性研究及其全数字控制．电气传动．1994，No．6：20-25
[26] 司保军，李永东，姬志艳等．无速度传感器的直接转矩控制系统的研究电气传动．1996年第4期：13-16
[27] Uwe Baader. "Direct self control(DSC) of inverter-fed induction machine: A Basis for Speed Control Without Speed Measurement", IEEE Trans., Ind. App.,Vol.28, No.3, May./Jun., 1992
[28] 马宪民，桂佑林．基于DSP的直接转矩控制系统的设计与实现．电子技术应用．2002，No．2：25-29
[29] 李永东，曾毅，谭卓辉等．无速度传感器三电平逆变器异步电动机直接转矩控制系统(Ⅰ)．电工技术学报，2004年第7期：18-22
[30] 冯江华．机车交流传动控制系统的发展．机车电传动．2001，No．4：8-12
[31] 连级三．电力牵引控制系统．北京，中国铁道出版社，1994
[32] 冯江华，陈高华等．异步电动机的直接转矩控制．电工技术学报1996，No．6：33-36
[33] 徐坚翔，余明杨．异步电动机低速及弱磁环节直接转矩控制系统的建模和仿真．电力机车技术．2002，No．3：22-27
[34] 邵剑文，李永东．高性能直接转矩控制低速研究．中国第四届交流电机调速传动学术会议．
[35] 陈特放，刘子建．基于MATLAB／SIMULINK的异步电动机直接转矩控制系统的建模和仿真．机车电传动．1998，No．2：35-39
[36] 张晓华，朱峰．电压空间矢量PWM逆变器—异步电机仿真模型的分析．电气传动自动化．2001，No．10：19-22
[37] 梁兵．转子电阻变化对异步电机直接转矩控制影响的仿真分析．机车电传动．2001，No．1：12-15
[38] 李磊，胡育文．一种新型的磁链与速度观测器在异步电机直接转矩控制系统中的应用．电气传动．2001，No．3：33-35
[39] 王长江，李发海等．无速度传感器感应电动机矢量控制系统的设计．电气传动．1996，No．1：23-26
[40] 刘国海，戴先中．交流电机转速和转子磁链自适应辨识的一种新方法．电气转动．2001，No．5：40-43
[41] 王焕钢，徐文立等．感应电机无速度传感器控制的自适应转速估计．电气传动．2002，No．1：11-14
[42] 姬志艳，李永东等．应用异步电机全阶模型的无速度传感器直接转矩控制系统的仿真研究．电气自动化．1999，No．3：36-40
[43] 姬志艳，李永东等．无速度传感器异步电动机直接转矩控制系统的研究．电工技术学报．1997，No．4：45-48
[44] 时巧生，王丽敏．感应电动机调速系统中速度辨识的研究．电气转动．1996，No．2：33-37