基于双PWM矿井提升机变频调速系统的研究
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摘要
矿井提升机作为矿山的咽喉,肩负着人员、矿产、设备等运输的重要责任,其调速性能的可靠性和安全性是至关重要的。随着电力电子技术的发展,交流调速技术得到快速的发展和应用。交流调速技术的应用,使矿井提升机的调速性能得到了较大的提高。
本文首先介绍了矿井提升机调速技术的发展现状,结合矿井提升机的运行特点和现阶段国内矿井存在的一些突出问题,提出了将双PWM变频调速技术应用到矿井提升机的调速控制上。其主电路为交-直-交电路拓扑结构,在整流侧采用PWM可逆整流,具有网侧电流单位功率因数正弦波、电能双向流动等特点,具有动态响应速度快、直流侧电压利用率高等优点,且可以解决直流侧泵升电压的问题,不需要在直流侧安装能耗制动装置,精简了变频器的结构；在逆变侧采用直接转矩控制,该方法直接在定子坐标系下计算和控制电机转矩,具有电机动态性能好、参数变化鲁棒性好等优点,进一步提高了调速系统的控制性能。
结合矿井提升机的运行特性,在理论分析的基础上利用MATLAB7.1对双PWM变频调速系统进行了仿真研究,验证了系统的可行性和正确性。最后设计了双PWM变频调速的实验装置,重点在PWM整流部分,包括主电路,采样电路,控制电路,辅助供电电源等,并使用TI公司的DSP2812完成了PWM整流装置的数字控制,得出了理想的实验结果。
通过对系统的仿真和实验研究,表明该系统调速性能好,控制精度高,能有效的提高矿井提升机的调速性能,实现提升机的节能降耗。
Mine hoist plays an important role in the mine; it assumes some responsibility of transporting human beings, mining, equipment, and other things, so the reliability and security of hoist speed performance are essential. With the development of power electronics technology and application of large-scale integrated circuits, AC speed regulation technology has been great developed and applied, so it has greatly improved the speed regulation of mine hoist.
First, this paper introduces the development of speed technology of mine hoist. Based on the operating characteristics of mine hoist and some outstanding problems of mine at current stage, a dual PWM frequency control technology applied to mine hoist was put forward. The main circuit of the dual PWM frequency control technology is the AC-DC-AC circuit topology. The rectifier sides adopt PWM rectifier, which has the advantages of reversible net side current unit power factor sine wave, power two-way flow, dynamic response speed and high efficiency of DC side; and can solve the pump problem of the DC side voltage, the braking device do not need to be installed in the DC side, so the structure of the frequency converter is simplified. In the inverter side the direct torque control is used, the method does not require the complex coordinate changes, it directly calculate torque and control motor torque on the stator coordinate, and it has good dynamic performance and good robustness, to further improve the speed regulation system control performance.
Second, a simulation model of double PWM frequency was built based on the operating characteristics of mine hoist by MATLAB 7.1, it was carried out and its feasibility and correctness were proved. Finally the dual PWM frequency control device was designed, and its PWM rectifier was detail designed. The device includes the main circuit, sampling circuit, control circuit, auxiliary power supply and so on. DSP2812 was used to finish digital control of PWM rectifier, which can get ideal result.
The simulation and experimental research show that this system has good speed performance and high control precision, it can solve the problems existing in small and medium sized mine hoist in our country.
本文首先介绍了矿井提升机调速技术的发展现状,结合矿井提升机的运行特点和现阶段国内矿井存在的一些突出问题,提出了将双PWM变频调速技术应用到矿井提升机的调速控制上。其主电路为交-直-交电路拓扑结构,在整流侧采用PWM可逆整流,具有网侧电流单位功率因数正弦波、电能双向流动等特点,具有动态响应速度快、直流侧电压利用率高等优点,且可以解决直流侧泵升电压的问题,不需要在直流侧安装能耗制动装置,精简了变频器的结构；在逆变侧采用直接转矩控制,该方法直接在定子坐标系下计算和控制电机转矩,具有电机动态性能好、参数变化鲁棒性好等优点,进一步提高了调速系统的控制性能。
结合矿井提升机的运行特性,在理论分析的基础上利用MATLAB7.1对双PWM变频调速系统进行了仿真研究,验证了系统的可行性和正确性。最后设计了双PWM变频调速的实验装置,重点在PWM整流部分,包括主电路,采样电路,控制电路,辅助供电电源等,并使用TI公司的DSP2812完成了PWM整流装置的数字控制,得出了理想的实验结果。
通过对系统的仿真和实验研究,表明该系统调速性能好,控制精度高,能有效的提高矿井提升机的调速性能,实现提升机的节能降耗。
Mine hoist plays an important role in the mine; it assumes some responsibility of transporting human beings, mining, equipment, and other things, so the reliability and security of hoist speed performance are essential. With the development of power electronics technology and application of large-scale integrated circuits, AC speed regulation technology has been great developed and applied, so it has greatly improved the speed regulation of mine hoist.
First, this paper introduces the development of speed technology of mine hoist. Based on the operating characteristics of mine hoist and some outstanding problems of mine at current stage, a dual PWM frequency control technology applied to mine hoist was put forward. The main circuit of the dual PWM frequency control technology is the AC-DC-AC circuit topology. The rectifier sides adopt PWM rectifier, which has the advantages of reversible net side current unit power factor sine wave, power two-way flow, dynamic response speed and high efficiency of DC side; and can solve the pump problem of the DC side voltage, the braking device do not need to be installed in the DC side, so the structure of the frequency converter is simplified. In the inverter side the direct torque control is used, the method does not require the complex coordinate changes, it directly calculate torque and control motor torque on the stator coordinate, and it has good dynamic performance and good robustness, to further improve the speed regulation system control performance.
Second, a simulation model of double PWM frequency was built based on the operating characteristics of mine hoist by MATLAB 7.1, it was carried out and its feasibility and correctness were proved. Finally the dual PWM frequency control device was designed, and its PWM rectifier was detail designed. The device includes the main circuit, sampling circuit, control circuit, auxiliary power supply and so on. DSP2812 was used to finish digital control of PWM rectifier, which can get ideal result.
The simulation and experimental research show that this system has good speed performance and high control precision, it can solve the problems existing in small and medium sized mine hoist in our country.
引文
[1]祝龙记.直接转矩控制变频调速系统的研究与应用[D].北京：中国矿业大学,2005
[2]过希文.矿井提升机三电平逆变器变频调速系统的研究[D].淮南：安徽理工大学,2008
[3]曹大鹏.矿井提升机交-直-交可逆调速系统的研究[D].淮南：安徽理工大学,2006
[4]徐志国.电力节能降耗技术的研究[D].南京：东南大学,2007
[5]谢军.矿井提升机交流电机斩波串调系统的研究[D].淮南：安徽理工大学,2005
[6]卢燕.矿井提升机电力拖动与控制[M].北京：冶金工业出版社,2001
[7]王清灵,龚幼民.现代矿井提升机电控系统[M].北京：机械工业出版社,1996
[8]王兆安,杨君,刘进军.谐波抑制和无功功率补偿[M].北京：机械工业出版社,1998
[9]王兆安,黄俊.电力电子技术(第4版)[M].北京机械工业出版社,2001
[10]赵振波.三相电压型PWM整流器及其控制策略研究[D].保定：华北电力大学,2002
[11]邱涛.基于DSP的双PWM变频调速系统研究[D].广州：广东工业大学,2006
[12]史伟伟,蒋全,胡敏强等.三相电压型PWM整流器的数学模型和主电路设计[J].东南大学学报,2002,50-55
[13]张晓峰,许伯强.基于双PWM技术的变频调速系统的设计[J].大功率变流技术,2009,40-43
[14]吕宝良.基于DSP的三相电压型PWM整流器的设计.哈尔滨：哈尔滨理工大学,2007
[15]张崇巍,张兴.PWM整流器及其控制[M].北京：机械工业出版社,2003
[16]李莹.双PWM变流器的建模与控制[D].长春：东北电力大学,2008
[17]Wenyi Zhang;Yuye Wang;Weiming Tong; Huiming Xu; Lemin Yang. Study of Voltage-Source PWM Inverter Based on State Combination Method, Transmisson and Distribution Conference and Exhibition[J]; Asia and Pacific,2005IEEE/PES, Vol, Iss,2005
[18]郑颖楠,王炎等.单位功率因数可逆变流器数学模型.电子学报,1999(5),115-117
[19]Ye Y, Kazerani M, Quintana V H.A novel modeling and control method for three-phase PWMconverters.PESC.2001 IEEE 32th Annual.2001,1:102-107
[20]薛超.PWM整流器控制系统的研究[D].哈尔滨：哈尔滨工程大学,2006
[21]徐小品.三相PWM整流器的研究[D].杭州：浙江大学,2004
[22]田亚菲,何继爱等.电压空间矢量脉宽调制(SVPWM)算法仿真实现及分析[J].电力系统及其自动化学报,第4期：68-71,2004
[23]肖春燕.电压空间矢量脉宽调制技术的研究及实现.南昌：南昌大学,2005
[24]李永东.高性能大容量交流电机调速技术的现状及展望[J].北京：电工技术学报,2005,20(2)
[25]李夙.异步电动机直接转矩控制[M].北京：机械工业出版社,1998.4
[26]李永东.交流电机数字控制系统[M].北京：机械工业出版社,2002.5
[27]康宁.基于DSP的异步电机直接转矩控制系统的研究[D].辽宁工程技术大学,2005
[28]周扬忠,胡育文.交流电动机直接转矩控制[M].北京：机械工业出版社,2009
[29]I.Takahashi, T.Noguchi.A new quick-response and high-efficiency control strategy of an induction motor [J].IEEE Transaction on Industry Applications,1986,22 (5):820-827.
[30]M.Depenbrock..Direct self-control (DSC) of inverter-fed induction machine [J].IEEE transactions on industrial electronics.1998,3 (4):420-429.
[31]Andreas Steimel, Senior Member.Direct self-control and synchronous pluse techniques for high-power traction inverters in comparison [J].IEEE transactions on industrial electronics.2004,51 (4):810-820
[32]Jun Hu and Bin Wu.New Integration Algorithms for Estimating Motor Flux over a Wide Speed Range [J], IEEE trans, Power Electro.1998,13 (5):969-977.
[33]H.Kubota, K.Matsuse, and T.Nakano.DSP-based speed adaptive flux observer of induction motor [J].IEEE Trans., Ind.Appl.,1992,28:1054-1061.
[34]Y.R.Kim, S.K.Sul and M.H.Park.Speed sensorless vector control of iduction motor using extended Kalman filter [J].IEEE Trans.Ind.Appl.,1994,30:1225-1233.
[35]王正林,王胜开等MATLAB/Simulink与控制系统仿真[M].北京：电子工业出版社,2006
[36]何衍庆,姜捷等.控制系统分析、设计和应用[M].北京：化学工业出版社,2003
[37]洪乃刚等.电力电子与电力传动控制系统的MATLAB仿真[M].北京：机械工业出版社,2006
[38]季建强.电压型PWM整流器_VSR_不平衡控制策略研究[D].合肥：合肥工业大学,2004
[39]杨家强.基于PWM整流器和异步电机直接转矩控制的交流变频动态电力测功机的研究[D].杭州：浙江大学,2004
[40]三恒星科技TMS320F2812 DSP原理与应用实例[M].北京：电子工业出版社,2009.
[41]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术[M].北京：电子工业出版社,2003.
[42]刘胜利.现代高频开关电源实用技术[M].北京：电子工业出版社,2001
[43]倪海东,蒋玉萍.高频开关电源集成控制器[M].北京：机械工业出版社,2005
[44]刘胜利,李龙文.高频开关电源新技术应用[M].北京：中国电力出版社,2008
[45]刘卫俊.基于DSP的异步电机SVPWM矢量控制系统的研究[D].杭州：浙江工业大学,2005
[46]吴莹.基于DSP的SPWM波设计与实现[J].DSP开发与应用,2008(11-2)：187-189
[47]任辉,吴观茂.基于DSP的SPWM调制实现[J].煤矿机械,2006(9)：183-185
[2]过希文.矿井提升机三电平逆变器变频调速系统的研究[D].淮南：安徽理工大学,2008
[3]曹大鹏.矿井提升机交-直-交可逆调速系统的研究[D].淮南：安徽理工大学,2006
[4]徐志国.电力节能降耗技术的研究[D].南京：东南大学,2007
[5]谢军.矿井提升机交流电机斩波串调系统的研究[D].淮南：安徽理工大学,2005
[6]卢燕.矿井提升机电力拖动与控制[M].北京：冶金工业出版社,2001
[7]王清灵,龚幼民.现代矿井提升机电控系统[M].北京：机械工业出版社,1996
[8]王兆安,杨君,刘进军.谐波抑制和无功功率补偿[M].北京：机械工业出版社,1998
[9]王兆安,黄俊.电力电子技术(第4版)[M].北京机械工业出版社,2001
[10]赵振波.三相电压型PWM整流器及其控制策略研究[D].保定：华北电力大学,2002
[11]邱涛.基于DSP的双PWM变频调速系统研究[D].广州：广东工业大学,2006
[12]史伟伟,蒋全,胡敏强等.三相电压型PWM整流器的数学模型和主电路设计[J].东南大学学报,2002,50-55
[13]张晓峰,许伯强.基于双PWM技术的变频调速系统的设计[J].大功率变流技术,2009,40-43
[14]吕宝良.基于DSP的三相电压型PWM整流器的设计.哈尔滨：哈尔滨理工大学,2007
[15]张崇巍,张兴.PWM整流器及其控制[M].北京：机械工业出版社,2003
[16]李莹.双PWM变流器的建模与控制[D].长春：东北电力大学,2008
[17]Wenyi Zhang;Yuye Wang;Weiming Tong; Huiming Xu; Lemin Yang. Study of Voltage-Source PWM Inverter Based on State Combination Method, Transmisson and Distribution Conference and Exhibition[J]; Asia and Pacific,2005IEEE/PES, Vol, Iss,2005
[18]郑颖楠,王炎等.单位功率因数可逆变流器数学模型.电子学报,1999(5),115-117
[19]Ye Y, Kazerani M, Quintana V H.A novel modeling and control method for three-phase PWMconverters.PESC.2001 IEEE 32th Annual.2001,1:102-107
[20]薛超.PWM整流器控制系统的研究[D].哈尔滨：哈尔滨工程大学,2006
[21]徐小品.三相PWM整流器的研究[D].杭州：浙江大学,2004
[22]田亚菲,何继爱等.电压空间矢量脉宽调制(SVPWM)算法仿真实现及分析[J].电力系统及其自动化学报,第4期：68-71,2004
[23]肖春燕.电压空间矢量脉宽调制技术的研究及实现.南昌：南昌大学,2005
[24]李永东.高性能大容量交流电机调速技术的现状及展望[J].北京：电工技术学报,2005,20(2)
[25]李夙.异步电动机直接转矩控制[M].北京：机械工业出版社,1998.4
[26]李永东.交流电机数字控制系统[M].北京：机械工业出版社,2002.5
[27]康宁.基于DSP的异步电机直接转矩控制系统的研究[D].辽宁工程技术大学,2005
[28]周扬忠,胡育文.交流电动机直接转矩控制[M].北京：机械工业出版社,2009
[29]I.Takahashi, T.Noguchi.A new quick-response and high-efficiency control strategy of an induction motor [J].IEEE Transaction on Industry Applications,1986,22 (5):820-827.
[30]M.Depenbrock..Direct self-control (DSC) of inverter-fed induction machine [J].IEEE transactions on industrial electronics.1998,3 (4):420-429.
[31]Andreas Steimel, Senior Member.Direct self-control and synchronous pluse techniques for high-power traction inverters in comparison [J].IEEE transactions on industrial electronics.2004,51 (4):810-820
[32]Jun Hu and Bin Wu.New Integration Algorithms for Estimating Motor Flux over a Wide Speed Range [J], IEEE trans, Power Electro.1998,13 (5):969-977.
[33]H.Kubota, K.Matsuse, and T.Nakano.DSP-based speed adaptive flux observer of induction motor [J].IEEE Trans., Ind.Appl.,1992,28:1054-1061.
[34]Y.R.Kim, S.K.Sul and M.H.Park.Speed sensorless vector control of iduction motor using extended Kalman filter [J].IEEE Trans.Ind.Appl.,1994,30:1225-1233.
[35]王正林,王胜开等MATLAB/Simulink与控制系统仿真[M].北京：电子工业出版社,2006
[36]何衍庆,姜捷等.控制系统分析、设计和应用[M].北京：化学工业出版社,2003
[37]洪乃刚等.电力电子与电力传动控制系统的MATLAB仿真[M].北京：机械工业出版社,2006
[38]季建强.电压型PWM整流器_VSR_不平衡控制策略研究[D].合肥：合肥工业大学,2004
[39]杨家强.基于PWM整流器和异步电机直接转矩控制的交流变频动态电力测功机的研究[D].杭州：浙江大学,2004
[40]三恒星科技TMS320F2812 DSP原理与应用实例[M].北京：电子工业出版社,2009.
[41]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术[M].北京：电子工业出版社,2003.
[42]刘胜利.现代高频开关电源实用技术[M].北京：电子工业出版社,2001
[43]倪海东,蒋玉萍.高频开关电源集成控制器[M].北京：机械工业出版社,2005
[44]刘胜利,李龙文.高频开关电源新技术应用[M].北京：中国电力出版社,2008
[45]刘卫俊.基于DSP的异步电机SVPWM矢量控制系统的研究[D].杭州：浙江工业大学,2005
[46]吴莹.基于DSP的SPWM波设计与实现[J].DSP开发与应用,2008(11-2)：187-189
[47]任辉,吴观茂.基于DSP的SPWM调制实现[J].煤矿机械,2006(9)：183-185