电力牵引传动系统直接转矩控制若干关键问题研究
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摘要
随着高速重载干线铁路网的大规模建设,采用大功率异步电机驱动的电力机车与动车有着广阔的应用前景,而交流传动控制技术直接决定了机车/动车的运行性能,是整个机车/动车的核心所在。采用异步电机直接转矩控制技术的交流传动控制系统,低速启动时的转矩脉动引起空转。较低开关频率限制引起的定子电流低次谐波对牵引供电网的干扰。恶劣运行环境导致转速传感器故障后,引起的机车/动车动力切除。因此,研究异步牵引电机直接转矩控制低速起动时的转矩脉动特性及其脉动抑制方法,了解其高速运行时不同PWM调制方式所对应定子电流的谐波特性,提高其速度闭环动力单元在恶劣运行环境下的的可靠性,具有重要的学术价值和工程意义。
以异步牵引电机直接转矩控制低速转矩脉动为对象,研究了定子坐标系下转矩脉动的各组成部分,综合考虑系统采样周期、开关周期以及参考电压矢量对转矩脉动的影响,建立了三者与转矩脉动的量化关系,从参考电压矢量减小转矩脉动的角度,讨论了间接定子量控制与无差拍空间矢量调制直接转矩控制的特点,提出一种结合查表法PWM和空间矢量调制的直接转矩控制方法。结果表明：在采样周期和开关周期一定的前提下,转矩脉动可分为与转速相关的反电动势衰减量,与当前转矩大小相关的电阻衰减量,以及由当前定子电压矢量引起的变化量；通过优化参考电压矢量的生成可以弥补前两者的衰减,使得转矩脉动最小。
讨论了直接自控制法与分段同步调制的优缺点；研究了六边形磁链轨迹和单折角调制十八边形磁链轨迹的谐波特性,以及单折角调制的实现方式；提出了双折角调制三十边形磁链轨迹直接自控制及其两种实现方法；提出了平滑过渡策略以适应不同磁链轨迹的切换。结果表明：直接自控制法能有效抑制定子尖峰电流,谐波电流损耗与谐波转矩更小；单折角调制十八边形磁链轨迹能抑制低次谐波；但由于单折角的限制,会引起其它低次谐波上扬；双折角调制可以将主要低次谐波消除殆尽,且简化了单折角调制的实现方式；不同磁链轨迹的过渡措施亦减小了转矩冲击。
考虑定子电阻偏差与直流偏置对电压电流模型的影响,提出定子电阻自适应的正交反馈补偿定子磁链观测器；研究了电压电流模型、电流转速模型、电压转速模型与状态方程的关系,以及各模型对电机参数的敏感性。基于异步电机的状态方程,提出了定子电阻自适应的定子磁链滑模观测器,降低观测器的参数敏感性。结果表明：正交反馈补偿定子磁链观测器能有效抑制定子磁链的直流偏置,但对定子电阻误差引起的定子估算误差无能为力；电压电流模型电流转速模型电压转速模型均为状态方程的特例；基于状态方程的全阶观测器对参数选择敏感,而滑模理论能降低参数敏感性,经验证,采用定子电阻自适应措施后的正交反馈补偿定子磁链观测器与定子磁链滑模观测器,定子磁链的观测精度得到提高。
针对异步牵引电机动力单元运行环境恶劣,转速传感器容易故障的特点,研究了故障后的无速度传感器运行策略,以提高电力机车恶劣环境下的稳定性与可靠性；为了避免无速度信息下,电力机车在惰行与牵引逆变器脉冲封锁保护后,逆变器启动时的过电流与转矩冲击,提出了带速重投控制策略。结果表明：开环转速估算精度不高；受制于电力牵引系统较低的开关频率,高频注入法无法使用；利用模型参考自适应理论,在前续两种定子磁链观测器的基础上,可以完成定子电阻与转子转速的同时辨识；带速重投控制策略抑制了过电流和转矩冲击。
Along with the large-scale construction of high speed and heavy haul railway network project, the locomotive and EMU that drive with asynchronous motor has a wide application prospect, and the AC drive control technique sealed the locomotive and EMU's operational performance and it is the hard core of the locomotive and EMU. The AC drive control system adopted the asynchronous motor direct torque control technique has a torque ripple in low speed which cause wheel slide. The stator current distortion resulting from the limitation of Lower switching frequency provokes a pollution of the traction power network. The damage of speed sensor caused by bad operation environment lead to locomotive and EMU's traction power loss.Therefore, studying the torque ripple characteristics of asynchronous traction motor when it start under low speed range and its ripple suppression method, realizing characteristics of the stator current distortion while the asynchronous traction motor was operated in high speed range and improving the dependability of the speed close loop control power unit in harsh conditions have important academic value and project significance.
The torque ripple of asynchronous motor controlled by direct torque control method under low speed range was the research object. The components of torque ripple in the stator reference frame were studied. The influences of system's sampling cycle, switching cycle and reference voltage vector on torque ripple were considered. The quantitative relationship between them was established. From the point of reference voltage vector decreasing the torque ripple, characteristics of ISC and Deadbeat-SVM-DTC were discussed and a new DTC method combined with select table DTC and SVM-DTC was put forward. The results show that under a certain sampling cycle and switching cycle, the components of torque ripple are constructing of back emf component which related to the speed, the resistance component which related to the torque and the component which caused by reference voltage. The torque ripple can be greatly depressed by compensate for the last two component decrement with optimizing reference voltage vector.
Both advantages and disadvantages between synchronization PWM and DSC were discussed. The distoration characteristics of hexagon flux trace and single fold corner18-sides flux trace and its PWM method were studied. The double fold corner30-sides flux trace and its two approaches were put forward. A method for an even transferring different flux trace was put forward. The results show that DSC can depress the rush of stator current and has a less harmonic torque ripple and harmonic loss. The18-sides flux trace can suppress only one of the main low order harmonics but would lead to the raise of another low order harmonics, due to the limitation of the single fold corner. Most of the main low order harmonics can be eliminated to a much lower level and also the fold corner modulation can be simplified by the new double fold corner modulation method. The torque shock is also be restrained by the transferring measures.
The influences of stator resistance error and DC offset on U-I model were considered, an observer combined with resistance adaptive and perpendicular feedback compensation was put forward. The relationship between U-I model, I-co model, U-co model and state equation and their susceptibility to motor parameter were studied. Based on the state equation of asynchronous motor, the resistance adaptive sliding mode stator flux observer was put forward to reduce the parametric sensitivity. The results show that perpendicular flux observer with compensation feedback is effective in suppressing the DC offset of stator flux but ineffective to the stator flux estimation error caused by the incorrect setting of stator resistance. All of the three models are special cases of state equation. The full order observer based on state equation is sensitive to the choice of parameter, while the sliding mode theory can decrease the sensitive. The stator flux calculated by perpendicular flux observer with compensation feedback and the sliding mode stator flux observer, both of which are stator flux adaptive in this paper has been proven to be high accuracy.
In accordance with the characteristics of traction motor power unit operating in the severe environment and is easy to broke down. The speed sensor-less method for traction motor was studied to improve the reliability. In order to avoid the overcurrent and torque shock when the pulse was connected after the locmotive coasted and inverter pulses blocked, the strategy of restarting at unknown speed with speed-sensorless control were discussed. The results show that the precision of the open loop speed calculating is low. The high-frequency signal injection is invalid becase of the traction system's low switching frequency. Based on the former stator flux observers, the model adaptive reference system theory was used to identify the stator resistance and rotor speed on the same time. The overcurrent and torque shock were also refrained.
以异步牵引电机直接转矩控制低速转矩脉动为对象,研究了定子坐标系下转矩脉动的各组成部分,综合考虑系统采样周期、开关周期以及参考电压矢量对转矩脉动的影响,建立了三者与转矩脉动的量化关系,从参考电压矢量减小转矩脉动的角度,讨论了间接定子量控制与无差拍空间矢量调制直接转矩控制的特点,提出一种结合查表法PWM和空间矢量调制的直接转矩控制方法。结果表明：在采样周期和开关周期一定的前提下,转矩脉动可分为与转速相关的反电动势衰减量,与当前转矩大小相关的电阻衰减量,以及由当前定子电压矢量引起的变化量；通过优化参考电压矢量的生成可以弥补前两者的衰减,使得转矩脉动最小。
讨论了直接自控制法与分段同步调制的优缺点；研究了六边形磁链轨迹和单折角调制十八边形磁链轨迹的谐波特性,以及单折角调制的实现方式；提出了双折角调制三十边形磁链轨迹直接自控制及其两种实现方法；提出了平滑过渡策略以适应不同磁链轨迹的切换。结果表明：直接自控制法能有效抑制定子尖峰电流,谐波电流损耗与谐波转矩更小；单折角调制十八边形磁链轨迹能抑制低次谐波；但由于单折角的限制,会引起其它低次谐波上扬；双折角调制可以将主要低次谐波消除殆尽,且简化了单折角调制的实现方式；不同磁链轨迹的过渡措施亦减小了转矩冲击。
考虑定子电阻偏差与直流偏置对电压电流模型的影响,提出定子电阻自适应的正交反馈补偿定子磁链观测器；研究了电压电流模型、电流转速模型、电压转速模型与状态方程的关系,以及各模型对电机参数的敏感性。基于异步电机的状态方程,提出了定子电阻自适应的定子磁链滑模观测器,降低观测器的参数敏感性。结果表明：正交反馈补偿定子磁链观测器能有效抑制定子磁链的直流偏置,但对定子电阻误差引起的定子估算误差无能为力；电压电流模型电流转速模型电压转速模型均为状态方程的特例；基于状态方程的全阶观测器对参数选择敏感,而滑模理论能降低参数敏感性,经验证,采用定子电阻自适应措施后的正交反馈补偿定子磁链观测器与定子磁链滑模观测器,定子磁链的观测精度得到提高。
针对异步牵引电机动力单元运行环境恶劣,转速传感器容易故障的特点,研究了故障后的无速度传感器运行策略,以提高电力机车恶劣环境下的稳定性与可靠性；为了避免无速度信息下,电力机车在惰行与牵引逆变器脉冲封锁保护后,逆变器启动时的过电流与转矩冲击,提出了带速重投控制策略。结果表明：开环转速估算精度不高；受制于电力牵引系统较低的开关频率,高频注入法无法使用；利用模型参考自适应理论,在前续两种定子磁链观测器的基础上,可以完成定子电阻与转子转速的同时辨识；带速重投控制策略抑制了过电流和转矩冲击。
Along with the large-scale construction of high speed and heavy haul railway network project, the locomotive and EMU that drive with asynchronous motor has a wide application prospect, and the AC drive control technique sealed the locomotive and EMU's operational performance and it is the hard core of the locomotive and EMU. The AC drive control system adopted the asynchronous motor direct torque control technique has a torque ripple in low speed which cause wheel slide. The stator current distortion resulting from the limitation of Lower switching frequency provokes a pollution of the traction power network. The damage of speed sensor caused by bad operation environment lead to locomotive and EMU's traction power loss.Therefore, studying the torque ripple characteristics of asynchronous traction motor when it start under low speed range and its ripple suppression method, realizing characteristics of the stator current distortion while the asynchronous traction motor was operated in high speed range and improving the dependability of the speed close loop control power unit in harsh conditions have important academic value and project significance.
The torque ripple of asynchronous motor controlled by direct torque control method under low speed range was the research object. The components of torque ripple in the stator reference frame were studied. The influences of system's sampling cycle, switching cycle and reference voltage vector on torque ripple were considered. The quantitative relationship between them was established. From the point of reference voltage vector decreasing the torque ripple, characteristics of ISC and Deadbeat-SVM-DTC were discussed and a new DTC method combined with select table DTC and SVM-DTC was put forward. The results show that under a certain sampling cycle and switching cycle, the components of torque ripple are constructing of back emf component which related to the speed, the resistance component which related to the torque and the component which caused by reference voltage. The torque ripple can be greatly depressed by compensate for the last two component decrement with optimizing reference voltage vector.
Both advantages and disadvantages between synchronization PWM and DSC were discussed. The distoration characteristics of hexagon flux trace and single fold corner18-sides flux trace and its PWM method were studied. The double fold corner30-sides flux trace and its two approaches were put forward. A method for an even transferring different flux trace was put forward. The results show that DSC can depress the rush of stator current and has a less harmonic torque ripple and harmonic loss. The18-sides flux trace can suppress only one of the main low order harmonics but would lead to the raise of another low order harmonics, due to the limitation of the single fold corner. Most of the main low order harmonics can be eliminated to a much lower level and also the fold corner modulation can be simplified by the new double fold corner modulation method. The torque shock is also be restrained by the transferring measures.
The influences of stator resistance error and DC offset on U-I model were considered, an observer combined with resistance adaptive and perpendicular feedback compensation was put forward. The relationship between U-I model, I-co model, U-co model and state equation and their susceptibility to motor parameter were studied. Based on the state equation of asynchronous motor, the resistance adaptive sliding mode stator flux observer was put forward to reduce the parametric sensitivity. The results show that perpendicular flux observer with compensation feedback is effective in suppressing the DC offset of stator flux but ineffective to the stator flux estimation error caused by the incorrect setting of stator resistance. All of the three models are special cases of state equation. The full order observer based on state equation is sensitive to the choice of parameter, while the sliding mode theory can decrease the sensitive. The stator flux calculated by perpendicular flux observer with compensation feedback and the sliding mode stator flux observer, both of which are stator flux adaptive in this paper has been proven to be high accuracy.
In accordance with the characteristics of traction motor power unit operating in the severe environment and is easy to broke down. The speed sensor-less method for traction motor was studied to improve the reliability. In order to avoid the overcurrent and torque shock when the pulse was connected after the locmotive coasted and inverter pulses blocked, the strategy of restarting at unknown speed with speed-sensorless control were discussed. The results show that the precision of the open loop speed calculating is low. The high-frequency signal injection is invalid becase of the traction system's low switching frequency. Based on the former stator flux observers, the model adaptive reference system theory was used to identify the stator resistance and rotor speed on the same time. The overcurrent and torque shock were also refrained.
引文
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