基于直接转矩控制的测功机动态加载研究
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摘要
测功机是电机性能测试台、机械传动测试台、以及发动机性能测试台等试验装置中的核心设备。传统的测功机,比如磁滞测功机、电涡流测功机、机械测功机、水力测功机均是将测试中所产生的能量转化为热能而消耗掉,不仅造成能量浪费,而且还需配置散热设备。电力测功机运行时相当于一台发电机,可以将原动机输入的机械能转化为电能回馈到电网,这是其它类型测功机所不具备的。本文在直接转矩控制理论的基础上提出了一种新型的电力测功机:它采用永磁同步电机作为测功电机,可以实现负载转矩的估算,因此测试过程不需要转矩传感器,降低了系统的硬件成本;通过使用公共直流母线技术,被测电机从电网吸收能量带动测功电机旋转,测功电机通过逆变器将能量回馈到直流母线,提供给被测电机,实现了能量的循环利用,既节约了电能,又提高了测量范围。
目前国内多数测功机被用于静态加载实验,通过测量转矩-转速特性曲线、功率损耗、效率等对原动机的性能进行评估。对于电机调速系统的测试,静态加载并不能满足要求。因为动态和非线性因素对一些负载的影响是很重要的,所以用于调速系统测试的测功机应该能够进行动态测试。本文所研究的便是一种动态测功机方案,不仅可以进行静态加载,还可以使输出转矩随转速而改变,实现动态加载。本文首先在直接转矩控制理论的基础上对测功电机的控制系统进行了仿真研究,然后用这个控制系统搭建了测功机系统的模型并进行了仿真:仿真过程分为静态和动态两部分,分别研究测功机静态和动态加载的能力。仿真结果表明测功机系统在两种情况下都能实时跟踪给定转矩的变化,所以这是一种可行的方案。
在确定了理论上的可行性后,开始搭建系统实验平台。采用TI公司的DSP芯片TMS320LF2407作为处理器,对富士公司的IPM模块7MBP50RA120进行控制,驱动永磁同步电机。最后对硬件驱动电路进行了实验,结果表明所设计的驱动电路可以输出给定频率的驱动信号。
The dynamometer is core equipment of motor performance test station, mechanical drive test station and engine performance test station. Traditional dynamometers, such as hysteretic dynamometers, eddy current dynamometers, mechanic dynamometers and waterpower dynamometers, may consume lots of fuels and electrical energy while working, which causes the energy waste. Also, these dynamometers should be equipped with additional radiators to keep the dynamometers cool. Electrical dynamometer works as a generator when operating, which can convert mechanical energy to electrical energy and feed it back to the AC networks, the others do not have this function. A type of novel electrical dynamometer based on direct torque control (DTC) is presented in this dissertation. A permanent magnet synchronous motor (PMSM) is used and the load torque is estimated so as to eliminate the torque transducer which can reduce the hardware cost. The motor under test receive power from AC network and drive the load machine which feed back the energy to the DC-bus by an inverter. The common DC bus technology which achieves the circular use of power can not only save the energy cost but also improve the testing range.
Mostly, dynamometers have been used to perform static load tests. The performance is then evaluated by measuring the torque-speed characteristic, power losses, efficiency, etc. For testing variable speed electric drives, static load tests are not sufficient, because dynamic or non-linear effects in some loads can be dominant. Therefore a dynamometer for testing of drives should be able to perform dynamical tests. The dynamometer presented by this dissertation can not only used for static load test but also make the load torque change with the shaft velocity in order to be used for dynamic load test. Firstly, a variable speed drive system based on DTC is simulated, then a simulation model of dynamometer is established. The simulation consists of two parts: dynamic test and static test. The result shows that the system can track the changing torque reference, so this is a feasible strategy.
After the feasible research a experimental platform is established. Use digital signal processor (DSP) TMS320LF2407 as CPU, to control IPM 7MBP50RA120 which drive the PMSM. At last, an experiment is done to check the drive circuit. The result shows that the drive board works well and can output the needed drive signal.
目前国内多数测功机被用于静态加载实验,通过测量转矩-转速特性曲线、功率损耗、效率等对原动机的性能进行评估。对于电机调速系统的测试,静态加载并不能满足要求。因为动态和非线性因素对一些负载的影响是很重要的,所以用于调速系统测试的测功机应该能够进行动态测试。本文所研究的便是一种动态测功机方案,不仅可以进行静态加载,还可以使输出转矩随转速而改变,实现动态加载。本文首先在直接转矩控制理论的基础上对测功电机的控制系统进行了仿真研究,然后用这个控制系统搭建了测功机系统的模型并进行了仿真:仿真过程分为静态和动态两部分,分别研究测功机静态和动态加载的能力。仿真结果表明测功机系统在两种情况下都能实时跟踪给定转矩的变化,所以这是一种可行的方案。
在确定了理论上的可行性后,开始搭建系统实验平台。采用TI公司的DSP芯片TMS320LF2407作为处理器,对富士公司的IPM模块7MBP50RA120进行控制,驱动永磁同步电机。最后对硬件驱动电路进行了实验,结果表明所设计的驱动电路可以输出给定频率的驱动信号。
The dynamometer is core equipment of motor performance test station, mechanical drive test station and engine performance test station. Traditional dynamometers, such as hysteretic dynamometers, eddy current dynamometers, mechanic dynamometers and waterpower dynamometers, may consume lots of fuels and electrical energy while working, which causes the energy waste. Also, these dynamometers should be equipped with additional radiators to keep the dynamometers cool. Electrical dynamometer works as a generator when operating, which can convert mechanical energy to electrical energy and feed it back to the AC networks, the others do not have this function. A type of novel electrical dynamometer based on direct torque control (DTC) is presented in this dissertation. A permanent magnet synchronous motor (PMSM) is used and the load torque is estimated so as to eliminate the torque transducer which can reduce the hardware cost. The motor under test receive power from AC network and drive the load machine which feed back the energy to the DC-bus by an inverter. The common DC bus technology which achieves the circular use of power can not only save the energy cost but also improve the testing range.
Mostly, dynamometers have been used to perform static load tests. The performance is then evaluated by measuring the torque-speed characteristic, power losses, efficiency, etc. For testing variable speed electric drives, static load tests are not sufficient, because dynamic or non-linear effects in some loads can be dominant. Therefore a dynamometer for testing of drives should be able to perform dynamical tests. The dynamometer presented by this dissertation can not only used for static load test but also make the load torque change with the shaft velocity in order to be used for dynamic load test. Firstly, a variable speed drive system based on DTC is simulated, then a simulation model of dynamometer is established. The simulation consists of two parts: dynamic test and static test. The result shows that the system can track the changing torque reference, so this is a feasible strategy.
After the feasible research a experimental platform is established. Use digital signal processor (DSP) TMS320LF2407 as CPU, to control IPM 7MBP50RA120 which drive the PMSM. At last, an experiment is done to check the drive circuit. The result shows that the drive board works well and can output the needed drive signal.
引文
[1] 严兆大. 内燃机测试技术(修订版). 杭州. 浙江大学出版社: 1993.1-2
[2] 袁先达. 小功率测功机类型、特性国内外现况及发展. 第五届中国小电机技术研讨会论文集.北京. 中国电子学会. 2000:33-36
[3] 孙燕,王会明,尹静. 内燃机测功器的现状及发展趋势. 农机化研究. 2004. Vol.3. No.2: 44-45
[4] 杨凤珍. 动力机械测试技术. 大连. 大连理工大学出版社. 第一版. 2005.155-159
[5] 曾利权,高文捷,杨传泰. 平衡式电力测功机的精度分析. 湖南大学学报. 1989. vol.16. No.3:21-28
[6] 李方园. 浅谈变频器的能量反馈系统. 节能. 2007. Vol.294. No.1:38-41
[7] 吴隆安,赖寿宏,涂从欢. 能量回馈系统的设计与实现. 电力电子技术. 1995(2).23-25
[8] P. Santlholdt, E. Ritchie, J. K. Pedersen, R.E. Betz. A dynamometer performing dynamical emulation of loads with nonlinear friction. Industrial Electronics. 1996. ISIE '96. Proceedings of the IEEE International Symposium. 1996. Vol. 2. No. 17: 873 - 878
[9] E. R. Collins, Y. Huang. A Programmable Dynamometer for Testing Rotating Machinery Using a Three-phase Induction Machine. IEEE Transactions on Energy Conversion. 1994. Vol. 9. No. 3: 521-527
[10] Sousa.G.C.D, Errera.D.R. A high performance dynamometer for drive systems testing. Industrial Electronics. Control and Instrumentation. 1997. IECON 97. 23rd International Conference. 1997. Vol. 2. 9-14: 500 - 504
[11] I.Takahashi, T.Noguchi. A new quick-response and high-efficiency control motor. IEEE Transaction on Industry Applications. 1986. 22(5): 820-827
[12] M.Depenbrock. Direct Self-control (DSC) of Inverter-Fed Induction Machine. IEEE trans. On PE. 1988. Vol. PE-3. No. 4: 420-429
[13] Hori M.,Suzuki M.,Nomura. M.,et al. High-Performance Automotive Engine Control in Engine Tester.Thirtieth IAS Annual Meeting. IAS '95.Conference Record of the 1995 IEEE. 1995. Vol.2: 1572-1579
[14] 肖中俊. 公共直流母线系统在高速纸机中的应用. 中国造纸. 2006. Vol.25. No.12:38
[15] 李波. 公共直流母线系统在钢管生产线上的应用. 湖南冶金. 2006. Vol.34. No.2:33-35
[16] 王小明,王玲. 电动机的DSP控制-TI公司的DSP应用. 北京. 北京航空航天大学出版社. 第一版. 2004.158-164
[17] N. Urasaki, T. Senjyu, T. Kinjo, T. Funabashi, H. Sekine. Dead-time compensation strategy forpermanent magnet synchronous motor drive taking zero current clamp and parasitic capacitance effects into account,IEEE Proc.-Electr. Power Appl.. 2005. Vol. 152. No. 4: 845-853
[18] 富士电机电子设备技术株式会社. 富士 IGBT-IPM 应用手册. 2004(9).1-15
[19] 王晓光. 小功率交流电力测功器系统的研制.武汉理工大学学报(信息与管理工程版). 2001. 23(1):79-80
[20] 孙和平,白晶. M/T 法高精度数字测速器参数选择及设计. 电气传动自动化. 1998. Vol.20. No.4:82-85
[21] 齐长远,康雪艳,王爱明. 一种非接触高精度的转速测量方法.微型机与应用. 2000 (12): 21-22
[22] 刘和平,王维俊,江渝,邓力. TMS320LF240x DSP C 语言开发应用. 北京. 北京航空航天大学出版社. 第一版. 2003.262-265
[23] 曾利权等. 内燃机试验能量回收问题的探讨. 现代节能. 1989. Vol.1. No.5:18-21
[24] 张桂香,罗乾超. 交流电力测功机的方案研究. 铁道学报. 1999. Vol.21. No.1:102-104
[25] 天水电气传动研究所. 关于交流测功机及其若干问题的探讨. 电气传动技术资料. 1978.13-28
[26] Z. Hakan Akpolat, Greg M. Asher, and Jon C. Clare. Experimental Dynamometer Emulation of Nonlinear Mechanical Loads. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS. 1999. Vol. 35. No. 6: 1367-1373
[27] L. Zhong, M. F. Rahman, W. Y. Hu, and K. W. Lim. Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives. IEEE TRANSACTIONS ON POWER ELECTRONICS. 1997. Vol. 12. No. 3:528-536
[28] E.R. Collins, Y. Huang. A programmable dynamometer for testing rotating machinery using a three-phase induction machine. Energy Conversion. IEEE Transactions. 1994. Vol9. No3: 521 – 527
[29] Zhong.L, Rahman.M.F, Hu.W.Y, Lim.K.W, Rahman.M.A. A direct torque controller for permanent magnet synchronous motor drives. Energy Conversion. IEEE Transactions. 1999. Vol. 14. No. 3: 637 – 642
[30] P.Santlholdt, E.Ritchie, J.K.Pedersen, R.E. Betz. A dynamometer performing dynamical emulation of loads with nonlinear friction. Industrial Electronics. 1996. ISIE '96.. Proceedings of the IEEE International Symposium. 1996. Vol. 2. No. 20: 873 - 878
[31] Hu Yuwen, Tian Cun, Gu Yikang, You Zhiqing,Tang, L.X.,Rahman. In-depth research on direct torque control of permanent magnet synchronous. Industrial Electronics Society. IEEE 2002 28th Annual Conference. 2002. Vol. 2. No. 5: 1060 - 1065
[32] 陈鸿雁. 李山. 廖仕利. 基于直接转矩控制的交流测功机研制. 机床与液压. 2005. Vol. 3.No.4:125-127
[33] 胡嵩岳. 现代交流调速技术. 机械工业出版社. 1998.10
[34] 黄文梅等. MATLAB 语言及应用. 长沙:国防科技大学出版社. 1999.45-56
[35] 张凤生,徐松柳,张光辉. 光电式转矩测量系统. 仪表技术. 2001. vol. 4. No.5: 56-61
[36] 黄忠霖. 控制系统 MATLAB 计算及仿真. 北京. 国防工业出版社. 2001.399-416
[37] 王岗,杨青,王尚勇. 模糊PID算法在车用数字调速器中的实现. 柴油机. 2003. Vol. 2. No. 11: 26-29
[38] 王晓光. 小功率交流电力测功器系统的研制. 武汉理工大学学报. 信息与管理工程版. 2001. Vol. 23. No. 1: 78-80
[39] 田淳,胡育文. 永磁同步电机直接转矩控制系统理论及控制方案的研究. 电工技术学报. 2002. Vol. 2. No. 1: 7-11
[40] Wu.R, G. R. Slemon, A permanent magnet motor drive without a shaft sensor. IEEE Trans. Industry Applications. 1991. Vol. 27. No. 5: 1005-1011
[41] Comnac.V, Sensorless speed and direct torque control of interior permanent magnet synchronous machine based on extended Kalman filter. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on Industrial Electronics. 2002. Vol. 4. No. 2: 1142-1147
[2] 袁先达. 小功率测功机类型、特性国内外现况及发展. 第五届中国小电机技术研讨会论文集.北京. 中国电子学会. 2000:33-36
[3] 孙燕,王会明,尹静. 内燃机测功器的现状及发展趋势. 农机化研究. 2004. Vol.3. No.2: 44-45
[4] 杨凤珍. 动力机械测试技术. 大连. 大连理工大学出版社. 第一版. 2005.155-159
[5] 曾利权,高文捷,杨传泰. 平衡式电力测功机的精度分析. 湖南大学学报. 1989. vol.16. No.3:21-28
[6] 李方园. 浅谈变频器的能量反馈系统. 节能. 2007. Vol.294. No.1:38-41
[7] 吴隆安,赖寿宏,涂从欢. 能量回馈系统的设计与实现. 电力电子技术. 1995(2).23-25
[8] P. Santlholdt, E. Ritchie, J. K. Pedersen, R.E. Betz. A dynamometer performing dynamical emulation of loads with nonlinear friction. Industrial Electronics. 1996. ISIE '96. Proceedings of the IEEE International Symposium. 1996. Vol. 2. No. 17: 873 - 878
[9] E. R. Collins, Y. Huang. A Programmable Dynamometer for Testing Rotating Machinery Using a Three-phase Induction Machine. IEEE Transactions on Energy Conversion. 1994. Vol. 9. No. 3: 521-527
[10] Sousa.G.C.D, Errera.D.R. A high performance dynamometer for drive systems testing. Industrial Electronics. Control and Instrumentation. 1997. IECON 97. 23rd International Conference. 1997. Vol. 2. 9-14: 500 - 504
[11] I.Takahashi, T.Noguchi. A new quick-response and high-efficiency control motor. IEEE Transaction on Industry Applications. 1986. 22(5): 820-827
[12] M.Depenbrock. Direct Self-control (DSC) of Inverter-Fed Induction Machine. IEEE trans. On PE. 1988. Vol. PE-3. No. 4: 420-429
[13] Hori M.,Suzuki M.,Nomura. M.,et al. High-Performance Automotive Engine Control in Engine Tester.Thirtieth IAS Annual Meeting. IAS '95.Conference Record of the 1995 IEEE. 1995. Vol.2: 1572-1579
[14] 肖中俊. 公共直流母线系统在高速纸机中的应用. 中国造纸. 2006. Vol.25. No.12:38
[15] 李波. 公共直流母线系统在钢管生产线上的应用. 湖南冶金. 2006. Vol.34. No.2:33-35
[16] 王小明,王玲. 电动机的DSP控制-TI公司的DSP应用. 北京. 北京航空航天大学出版社. 第一版. 2004.158-164
[17] N. Urasaki, T. Senjyu, T. Kinjo, T. Funabashi, H. Sekine. Dead-time compensation strategy forpermanent magnet synchronous motor drive taking zero current clamp and parasitic capacitance effects into account,IEEE Proc.-Electr. Power Appl.. 2005. Vol. 152. No. 4: 845-853
[18] 富士电机电子设备技术株式会社. 富士 IGBT-IPM 应用手册. 2004(9).1-15
[19] 王晓光. 小功率交流电力测功器系统的研制.武汉理工大学学报(信息与管理工程版). 2001. 23(1):79-80
[20] 孙和平,白晶. M/T 法高精度数字测速器参数选择及设计. 电气传动自动化. 1998. Vol.20. No.4:82-85
[21] 齐长远,康雪艳,王爱明. 一种非接触高精度的转速测量方法.微型机与应用. 2000 (12): 21-22
[22] 刘和平,王维俊,江渝,邓力. TMS320LF240x DSP C 语言开发应用. 北京. 北京航空航天大学出版社. 第一版. 2003.262-265
[23] 曾利权等. 内燃机试验能量回收问题的探讨. 现代节能. 1989. Vol.1. No.5:18-21
[24] 张桂香,罗乾超. 交流电力测功机的方案研究. 铁道学报. 1999. Vol.21. No.1:102-104
[25] 天水电气传动研究所. 关于交流测功机及其若干问题的探讨. 电气传动技术资料. 1978.13-28
[26] Z. Hakan Akpolat, Greg M. Asher, and Jon C. Clare. Experimental Dynamometer Emulation of Nonlinear Mechanical Loads. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS. 1999. Vol. 35. No. 6: 1367-1373
[27] L. Zhong, M. F. Rahman, W. Y. Hu, and K. W. Lim. Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives. IEEE TRANSACTIONS ON POWER ELECTRONICS. 1997. Vol. 12. No. 3:528-536
[28] E.R. Collins, Y. Huang. A programmable dynamometer for testing rotating machinery using a three-phase induction machine. Energy Conversion. IEEE Transactions. 1994. Vol9. No3: 521 – 527
[29] Zhong.L, Rahman.M.F, Hu.W.Y, Lim.K.W, Rahman.M.A. A direct torque controller for permanent magnet synchronous motor drives. Energy Conversion. IEEE Transactions. 1999. Vol. 14. No. 3: 637 – 642
[30] P.Santlholdt, E.Ritchie, J.K.Pedersen, R.E. Betz. A dynamometer performing dynamical emulation of loads with nonlinear friction. Industrial Electronics. 1996. ISIE '96.. Proceedings of the IEEE International Symposium. 1996. Vol. 2. No. 20: 873 - 878
[31] Hu Yuwen, Tian Cun, Gu Yikang, You Zhiqing,Tang, L.X.,Rahman. In-depth research on direct torque control of permanent magnet synchronous. Industrial Electronics Society. IEEE 2002 28th Annual Conference. 2002. Vol. 2. No. 5: 1060 - 1065
[32] 陈鸿雁. 李山. 廖仕利. 基于直接转矩控制的交流测功机研制. 机床与液压. 2005. Vol. 3.No.4:125-127
[33] 胡嵩岳. 现代交流调速技术. 机械工业出版社. 1998.10
[34] 黄文梅等. MATLAB 语言及应用. 长沙:国防科技大学出版社. 1999.45-56
[35] 张凤生,徐松柳,张光辉. 光电式转矩测量系统. 仪表技术. 2001. vol. 4. No.5: 56-61
[36] 黄忠霖. 控制系统 MATLAB 计算及仿真. 北京. 国防工业出版社. 2001.399-416
[37] 王岗,杨青,王尚勇. 模糊PID算法在车用数字调速器中的实现. 柴油机. 2003. Vol. 2. No. 11: 26-29
[38] 王晓光. 小功率交流电力测功器系统的研制. 武汉理工大学学报. 信息与管理工程版. 2001. Vol. 23. No. 1: 78-80
[39] 田淳,胡育文. 永磁同步电机直接转矩控制系统理论及控制方案的研究. 电工技术学报. 2002. Vol. 2. No. 1: 7-11
[40] Wu.R, G. R. Slemon, A permanent magnet motor drive without a shaft sensor. IEEE Trans. Industry Applications. 1991. Vol. 27. No. 5: 1005-1011
[41] Comnac.V, Sensorless speed and direct torque control of interior permanent magnet synchronous machine based on extended Kalman filter. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on Industrial Electronics. 2002. Vol. 4. No. 2: 1142-1147