无速度传感器电力机车直流斩波调速系统的研究
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摘要
煤矿是国家能源的重要组成部分。随着国民经济的快速发展,对煤矿资源的需求量越来越大。自从国外引入电力机车以来,矿用电力机车一直是矿山最重要的运输形式,而目前大部分矿用电力机车都是采用串电阻调速。该方法虽然比较成熟,但是有大量的能源消耗在电阻上,造成能源的极大浪费,这与发展节能经济相违背,所以电机车调速方式的改进是急需解决的问题。随着微机控制和电力电子技术的快速发展,出现了一种先进的调速方式,即直流斩波调速。直流斩波器应用于电力机车调速,节约了大量电能,且实现了电力机车无级连续速度调节,平滑性好,牵引起动力大。
本文研究了一种适用于矿用电力机车传动的直流斩波调速系统。在转速、电流双闭环控制系统中,传统的速度获取方法是加装测速发电机或光电编码器,这些方法存在抗干扰能力不强、精度不够和增加系统成本等不足。直流电机无速度传感器控制系统是目前较新的研究热点,本文提出了一种基于扩展卡尔曼滤波(EKF)算法的电力机车转速在线估计方法,该方法应用于直流电力机车有一定的创新性,弥补了传统速度传感器的某些不足,具有较好的实用价值和应用前景。对于转速的闭环控制,传统的控制方法是采用PID控制,本文将模糊控制理论应用于转速控制,获得了较快的动态响应。
本文通过MATLAB建立了EKF速度在线估计的仿真模型和转速、电流双闭环仿真模型,仿真结果证明了本文所设计的系统具有较好的控制效果。在理论研究的基础上,本文采用单片机ADμC832设计了一套直流电机车斩波调速系统,完成了调速系统的软件设计,并完成了硬件电路的调试工作。
本文在实现直流调速系统的无速度传感器方面进行了有意义的尝试,并取得了阶段性的研究成果。
The mine is the important constituent of the national energy. Along with the fast development of national economy, the demand of mine is more and more big. Since the introduction of electric locomotive from other country, the mine electric locomotive has been the most important transportation form of the mine. Now, however, the most of electric locomotive are use the string resistance for speed modulation. Although this method is quite mature, massive energy was wasted in the resistance, this violates with the conservation of energy, therefore the improvement of the speed modulation method is urgently. As the fast development of the microcomputer controller and the electronic technology, an advanced speed modulation appeared,that is DC chopper. The DC chopper saves massive energy, also realized stepless speed regulation and has big starting power.
This paper studied a DC chopper system that suitable for electric locomotive of mine. In the Doulble-Closed loop control system of speed and current, the traditional speed gain method is to install the speed-voltage generator or the optical encoder, this methods has disadvantages, such as the anti-jamming is not strong, the precision is insufficient and increase the cost etc. The Speed sensorless control system of DC motor is now the research hot sport. In the paper, an online speed estimation of electric locomotive was proposed which is based on the extend Kalman filter(EKF) algorithm.The technology applied in the electric locomotive has certain innovation, and has good prospect of application. Regarding the closed-loop control of speed, the traditional control method is PID control, the fuzzy control was applied in this paper, and obtained quick dynamic response.
The EKF simulation model and Double-closed loop simulation model has been established, and the simulation results have proved that the system designed in the paper has good control performance. Also, a DC chopper was designed in the paper,and have completed the hardware and software design.
In the paper, a significant attempt has been carried out in the sensorless speed regulation of DC motor, and has obtained gradual research results.
本文研究了一种适用于矿用电力机车传动的直流斩波调速系统。在转速、电流双闭环控制系统中,传统的速度获取方法是加装测速发电机或光电编码器,这些方法存在抗干扰能力不强、精度不够和增加系统成本等不足。直流电机无速度传感器控制系统是目前较新的研究热点,本文提出了一种基于扩展卡尔曼滤波(EKF)算法的电力机车转速在线估计方法,该方法应用于直流电力机车有一定的创新性,弥补了传统速度传感器的某些不足,具有较好的实用价值和应用前景。对于转速的闭环控制,传统的控制方法是采用PID控制,本文将模糊控制理论应用于转速控制,获得了较快的动态响应。
本文通过MATLAB建立了EKF速度在线估计的仿真模型和转速、电流双闭环仿真模型,仿真结果证明了本文所设计的系统具有较好的控制效果。在理论研究的基础上,本文采用单片机ADμC832设计了一套直流电机车斩波调速系统,完成了调速系统的软件设计,并完成了硬件电路的调试工作。
本文在实现直流调速系统的无速度传感器方面进行了有意义的尝试,并取得了阶段性的研究成果。
The mine is the important constituent of the national energy. Along with the fast development of national economy, the demand of mine is more and more big. Since the introduction of electric locomotive from other country, the mine electric locomotive has been the most important transportation form of the mine. Now, however, the most of electric locomotive are use the string resistance for speed modulation. Although this method is quite mature, massive energy was wasted in the resistance, this violates with the conservation of energy, therefore the improvement of the speed modulation method is urgently. As the fast development of the microcomputer controller and the electronic technology, an advanced speed modulation appeared,that is DC chopper. The DC chopper saves massive energy, also realized stepless speed regulation and has big starting power.
This paper studied a DC chopper system that suitable for electric locomotive of mine. In the Doulble-Closed loop control system of speed and current, the traditional speed gain method is to install the speed-voltage generator or the optical encoder, this methods has disadvantages, such as the anti-jamming is not strong, the precision is insufficient and increase the cost etc. The Speed sensorless control system of DC motor is now the research hot sport. In the paper, an online speed estimation of electric locomotive was proposed which is based on the extend Kalman filter(EKF) algorithm.The technology applied in the electric locomotive has certain innovation, and has good prospect of application. Regarding the closed-loop control of speed, the traditional control method is PID control, the fuzzy control was applied in this paper, and obtained quick dynamic response.
The EKF simulation model and Double-closed loop simulation model has been established, and the simulation results have proved that the system designed in the paper has good control performance. Also, a DC chopper was designed in the paper,and have completed the hardware and software design.
In the paper, a significant attempt has been carried out in the sensorless speed regulation of DC motor, and has obtained gradual research results.
引文
[1] 晓宇.铁路简史(三).交通与运输,2002,(5):44
[2] 晓宇.铁路简史(一).交通与运输,2002,(3):45
[3] 周翊民,李中浩.中国交流传动机车的发展.中国铁路,1995,(7):12-15
[4] 张柏春.中国近代机械简史.北京理工大学出版社,1992,250-258
[5] 张鸷中.东北近代机车车辆技术的发展.中国科技史科,1993,14(2):26-35
[6] 王彩虹.架线式窄轨交流矿用电机车的改造及应用.科技情报开发与经济,2005,15(9):278
[7] 张启安.有问必答. 铁道知识 2003,(2):47
[8] 刘友梅.论电力牵引轨道交通的技术发展.中国工程科学,2000,2(10):44-45
[9] 吴式贤.窄轨工矿电机车及其配套电机电控技术和市场动向.电器工业,2002,(8):3-9
[10] 胥良,李海军,吴延华.矿用电机车调速方法.黑龙江科技学院学报,2004,14(4):224-226
[11] 张玉峰,刘海宽,王树臣.PWM 直流调速系统的研究.沈阳工业大学学报,2001,23(3):240-243
[12] 成海龙,王志军.矿用电机车的速度控制.矿业研究与开发,1997,17(4):52-54
[13] 邹稳根.国内外内燃机车、电力机车技术水平现状与差距(二).国外机车车辆工艺,2007,(4):4
[14] 赵小刚.电力机车制造体系的回顾与展望.机车电传动,1998,(5):8-11
[15] 郝荣泰.电力电子技术在我国电力机车上的应用.机车电传动,1998,(5):43-45
[16] 陈春阳.我国电力机车控制技术的发展与未来.机车电传动,1998,(5):27-30
[17] 严云升.国产交直传动电力机车微机控制技术的发展.电力机车与城轨车辆,2003,26(1):1-4
[18] 陈特放,蒋新华.电力机车逻辑控制单元的输入输出电路.长沙铁道学院学报,1998,16(1) :40-42
[19] Tipsuwanporn V,Tarasantisuk C,Numsumran A,etc.Motor Speed Identification Using Multiplayer Feedforward Neural Networks.Power Electronics and Drive Systems,2001,vol.1,pp.62-65
[20] 刘新辉.直流架线式工矿电机车电气系统的设计与应用.见:西安电子科技大学硕士学位论文.2006,2-47
[21] 周继华,李宏.现代电力电子工程.西安:西北工业大学出版社,1998,478-547
[22] F G “urb” uz,E Akpinar.Stability Analysis of a Closed-LooP Control for a Pulse Width Modulated DC Motor Drive.Turk J Elec Engin,vol.10,NO.3,2002,pp.48-56
[23] 赵良炳.现代电力电子技术基础.清华大学出版社,1995,136
[24] 王兆安,黄俊.电力电子技术(第四版).机械工业出版社,1995,100-107
[25] 尹璐.速度与电流双闭环不可逆直流调速系统分析.科技情报开发与经济,2006,16(7):173
[26] 贺剑锋等.模糊控制的新近发展.控制理论与应用,1994,(2):112-116
[27] 周景振.日本模糊控制理论与应用研究的进展.基础自动化,1997,(3):1-5
[28] P Lin,S Hwang.Comparison on Fuzzy Logic and PID Controls for a DC Motor Controller.IEEE,Industry Application Meeting,1994,pp.930-936
[29] M A Denai,A Hazzab.Fuzzy Control of a Separately Excited DC Motor.In Proceedings of PEMC’96,September 2-4,1996,Budapest,Hungary,vol.3.pp.477-481
[30] C M Liaw,J Bwang.Design and Implementation of a Fuzzy Controller for High Performance Induction Motor Drive.IEEE Trans on Sys,Man,and Cyb,vol.21,No.4,July,1991,pp.921-929
[31] Yangwon Kwon,Jongkyu Park,Haksoo Kang and Taechon.Application of Fuzzy-PID Controller based on Genetic Algorithm for Speed Control of Induction Motors.Proceedings of the 14th KACC,oct,pp.309-312,1999
[32] 黄志兴,高岩.参数自调整 PID 模糊控制器及在数字随动系统中的应用.工业控制与应用,2003,22(10):46-51
[33] 易继锴,侯媛彬.智能控制技术.北京:北京工业大学出版社,1999,225-289
[34] Zadeh L A.Fuzzy Sets.Information Control,1965,220-262
[35] Zadeh L A.Fuzzy Algorithm.Information Control,1968,225-266
[36] Zakharov Alexei,Halasz Sandor.Robust Speed Fuzzy Logic controller for DC drive.IEEE,Intelligent Engineering Systems,1997,pp.385-389
[37] Gilberto C D Sousa,Bimal K Bose.A fuzzy set theory based control of a phase controlled converter DC machine drive.IEEE trans.Industry Application,vol.30,NO.1,1994,pp.34-44
[38] F Cheng,S Yeh.Application of Fuzzy logic in the speed control of AC servo systems and an intelligent inverter.Energy Conversion,vol.8,NO.2,1993,pp.312-318
[39] M R Akbarzadeh,Y T K Feerouzbakhsh and B Feerouzbakhsh.Evolutionary fuzzy speed regulation for a DC motor.IEEE,System Theory,1997,pp.292-296
[40] H Yousef,H M Khalil.Fuzzy logic-based Control of Series Connected DC Motor Drives . Proceedings of the IEEE international Symposium on Industrial Electronics,1995,pp.495-499
[41] 孟宇,彭晓华,张浩.模糊自整定 PID 控制及其仿真研究.机械工程与自动化,2006,139(6):92-96
[42] 梁天.基于 DSP 的无速度传感器矢量控制系统的转速辨识方法:大连理工大学硕士学位论文.北京:万方数据股份有限公司,2005,1-6
[43] HIRO Y,UNENO T,UCHIDA T,etc.An instantaneous speed observer for high performance control of dc servomotor using DSP and low precision shaft encoder.EPE Firenze,1991,3,pp.647-652
[44] BRANSHACH B J,HENNEBERGER G,and KLEPSCH TH.Speed estimation with digital position sensor.Conf.Record of ICEM 92 Manchester,1992,pp.577-581
[45] ATKINSON D J,ACARNLEY P P,and FINCH J W.Observers for induction motor state and parameter estimation.IEEE Trans.Ind.Appl,1991,276,pp.1119-1127
[46] 孙传峰.无速度传感器感应电机矢量控制:南京工业大学硕士学位论文.北京:万方数据股份有限公司,2006,48-54
[47] Y R Kim,S K Sul,M H Park.Speed Sensorless Vector Control of Induction Motor Using Extended Kalman Filter.Sensorless Control of AC Motor Drives,IEEE Press,1996,pp.215-223
[48] 赵莉.IGBT 模块驱动电路的分析与设计.华东交通大学学报,1999,16(3):10-41
[49] Hiromichi Ohashi.Power Electronics Innovation With Next Generation Advanced Power Devices.Proceedings of IEEE-INTELEC,2003(1):9-13
[50] 康劲松,郎玉峰,陶生桂.IGBT 集成驱动模块的应用研究.电工技术杂志,2000,5:36-37
[2] 晓宇.铁路简史(一).交通与运输,2002,(3):45
[3] 周翊民,李中浩.中国交流传动机车的发展.中国铁路,1995,(7):12-15
[4] 张柏春.中国近代机械简史.北京理工大学出版社,1992,250-258
[5] 张鸷中.东北近代机车车辆技术的发展.中国科技史科,1993,14(2):26-35
[6] 王彩虹.架线式窄轨交流矿用电机车的改造及应用.科技情报开发与经济,2005,15(9):278
[7] 张启安.有问必答. 铁道知识 2003,(2):47
[8] 刘友梅.论电力牵引轨道交通的技术发展.中国工程科学,2000,2(10):44-45
[9] 吴式贤.窄轨工矿电机车及其配套电机电控技术和市场动向.电器工业,2002,(8):3-9
[10] 胥良,李海军,吴延华.矿用电机车调速方法.黑龙江科技学院学报,2004,14(4):224-226
[11] 张玉峰,刘海宽,王树臣.PWM 直流调速系统的研究.沈阳工业大学学报,2001,23(3):240-243
[12] 成海龙,王志军.矿用电机车的速度控制.矿业研究与开发,1997,17(4):52-54
[13] 邹稳根.国内外内燃机车、电力机车技术水平现状与差距(二).国外机车车辆工艺,2007,(4):4
[14] 赵小刚.电力机车制造体系的回顾与展望.机车电传动,1998,(5):8-11
[15] 郝荣泰.电力电子技术在我国电力机车上的应用.机车电传动,1998,(5):43-45
[16] 陈春阳.我国电力机车控制技术的发展与未来.机车电传动,1998,(5):27-30
[17] 严云升.国产交直传动电力机车微机控制技术的发展.电力机车与城轨车辆,2003,26(1):1-4
[18] 陈特放,蒋新华.电力机车逻辑控制单元的输入输出电路.长沙铁道学院学报,1998,16(1) :40-42
[19] Tipsuwanporn V,Tarasantisuk C,Numsumran A,etc.Motor Speed Identification Using Multiplayer Feedforward Neural Networks.Power Electronics and Drive Systems,2001,vol.1,pp.62-65
[20] 刘新辉.直流架线式工矿电机车电气系统的设计与应用.见:西安电子科技大学硕士学位论文.2006,2-47
[21] 周继华,李宏.现代电力电子工程.西安:西北工业大学出版社,1998,478-547
[22] F G “urb” uz,E Akpinar.Stability Analysis of a Closed-LooP Control for a Pulse Width Modulated DC Motor Drive.Turk J Elec Engin,vol.10,NO.3,2002,pp.48-56
[23] 赵良炳.现代电力电子技术基础.清华大学出版社,1995,136
[24] 王兆安,黄俊.电力电子技术(第四版).机械工业出版社,1995,100-107
[25] 尹璐.速度与电流双闭环不可逆直流调速系统分析.科技情报开发与经济,2006,16(7):173
[26] 贺剑锋等.模糊控制的新近发展.控制理论与应用,1994,(2):112-116
[27] 周景振.日本模糊控制理论与应用研究的进展.基础自动化,1997,(3):1-5
[28] P Lin,S Hwang.Comparison on Fuzzy Logic and PID Controls for a DC Motor Controller.IEEE,Industry Application Meeting,1994,pp.930-936
[29] M A Denai,A Hazzab.Fuzzy Control of a Separately Excited DC Motor.In Proceedings of PEMC’96,September 2-4,1996,Budapest,Hungary,vol.3.pp.477-481
[30] C M Liaw,J Bwang.Design and Implementation of a Fuzzy Controller for High Performance Induction Motor Drive.IEEE Trans on Sys,Man,and Cyb,vol.21,No.4,July,1991,pp.921-929
[31] Yangwon Kwon,Jongkyu Park,Haksoo Kang and Taechon.Application of Fuzzy-PID Controller based on Genetic Algorithm for Speed Control of Induction Motors.Proceedings of the 14th KACC,oct,pp.309-312,1999
[32] 黄志兴,高岩.参数自调整 PID 模糊控制器及在数字随动系统中的应用.工业控制与应用,2003,22(10):46-51
[33] 易继锴,侯媛彬.智能控制技术.北京:北京工业大学出版社,1999,225-289
[34] Zadeh L A.Fuzzy Sets.Information Control,1965,220-262
[35] Zadeh L A.Fuzzy Algorithm.Information Control,1968,225-266
[36] Zakharov Alexei,Halasz Sandor.Robust Speed Fuzzy Logic controller for DC drive.IEEE,Intelligent Engineering Systems,1997,pp.385-389
[37] Gilberto C D Sousa,Bimal K Bose.A fuzzy set theory based control of a phase controlled converter DC machine drive.IEEE trans.Industry Application,vol.30,NO.1,1994,pp.34-44
[38] F Cheng,S Yeh.Application of Fuzzy logic in the speed control of AC servo systems and an intelligent inverter.Energy Conversion,vol.8,NO.2,1993,pp.312-318
[39] M R Akbarzadeh,Y T K Feerouzbakhsh and B Feerouzbakhsh.Evolutionary fuzzy speed regulation for a DC motor.IEEE,System Theory,1997,pp.292-296
[40] H Yousef,H M Khalil.Fuzzy logic-based Control of Series Connected DC Motor Drives . Proceedings of the IEEE international Symposium on Industrial Electronics,1995,pp.495-499
[41] 孟宇,彭晓华,张浩.模糊自整定 PID 控制及其仿真研究.机械工程与自动化,2006,139(6):92-96
[42] 梁天.基于 DSP 的无速度传感器矢量控制系统的转速辨识方法:大连理工大学硕士学位论文.北京:万方数据股份有限公司,2005,1-6
[43] HIRO Y,UNENO T,UCHIDA T,etc.An instantaneous speed observer for high performance control of dc servomotor using DSP and low precision shaft encoder.EPE Firenze,1991,3,pp.647-652
[44] BRANSHACH B J,HENNEBERGER G,and KLEPSCH TH.Speed estimation with digital position sensor.Conf.Record of ICEM 92 Manchester,1992,pp.577-581
[45] ATKINSON D J,ACARNLEY P P,and FINCH J W.Observers for induction motor state and parameter estimation.IEEE Trans.Ind.Appl,1991,276,pp.1119-1127
[46] 孙传峰.无速度传感器感应电机矢量控制:南京工业大学硕士学位论文.北京:万方数据股份有限公司,2006,48-54
[47] Y R Kim,S K Sul,M H Park.Speed Sensorless Vector Control of Induction Motor Using Extended Kalman Filter.Sensorless Control of AC Motor Drives,IEEE Press,1996,pp.215-223
[48] 赵莉.IGBT 模块驱动电路的分析与设计.华东交通大学学报,1999,16(3):10-41
[49] Hiromichi Ohashi.Power Electronics Innovation With Next Generation Advanced Power Devices.Proceedings of IEEE-INTELEC,2003(1):9-13
[50] 康劲松,郎玉峰,陶生桂.IGBT 集成驱动模块的应用研究.电工技术杂志,2000,5:36-37