开关磁阻电机间接检测技术的研究
|
摘要
开关磁阻电机(SRM)驱动系统是20世纪80年代迅猛发展起来的一种新型电机驱动系统。SRM以其结构坚固,成本低廉、控制灵活等优点引起人们越来越多的关注,在工业上的应用很有前景。但是SRM物理转子位置传感器的存在影响了电机控制系统的高速性能、可靠性和成本,所以研究转子位置间接检测技术是开关磁阻电机系统研究的重要课题之一。
本文分析了开关磁阻电机的结构和运行原理,并对国内外的SRM转子位置间接检测技术的研究动态做了详细的整理和分析,同时对两种不同的SRM转子位置间接检测方案进行了重点研究:基于人工神经网络和基于电感模型的间接位置检测方案。
本文首先研究了基于人工神经网络的SRM转子位置推断方法,文中采用改进的BP算法建立了SR电机神经网络转子位置θ(i,L)模型,从而推断出转子的角位置。由于开关磁阻电机相电感随转子位置变化的非线性,当采用一个神经网络模型时,在电机气隙较大位置处在较大的误差,因此本文提出采用两个神经网络分段处理,仿真结果表明该方法有效可行。
本文针对基于电感模型的SRM转子位置检测方法也进行了详细的研究,首先对基于电感模型的间接位置检测技术进行了理论分析,通过实时从被激励相检测电压和电流值,并将其代入动态数学模型,通过解算数学模型就可以获得转子位置信息。本文基于Matlab Simulink建立了基于电感模型的SRM间接位置检测方案的双闭环SRD调速系统的仿真模型,仿真结果表明该方法是切实可行的。
文中最后介绍了基于TMS320F2812的控制电路、功率电路、检测电路在内的SRM驱动系统的硬件设计以及驱动系统的控制软件设计。
The switched reluctance motor (SRM) drive system has gotten more more attentions because of its excellent characteristics of the firm structure, low cost and flexible control, its application has been limited by the existence of shaft position sensor. the previous schemes of SRD are always equipped with rotor position sensor, which determines the system's high speed performance, reliability and cost. As a result, how to detect the position of non-position sensor rotor has become one major direction in the study of SRD.
The configuration and fundamental operating principle of SRM are analyzed in the subject. And the latest developments of the same research field both at home and at abroad are well analyzed at the beginning of the dissertation. The same,this subject puts emphasis on the two different detecting methods of non-position sensor rotor,which are based on Artificial Neural Network(ANN) and non-linear inductance model of SRM.
The detecting method of SRM's rotor position based on Artificial Neural Network(ANN) is first studied in this paper. An ANN rotor position modelθ(i,L) of SRM is built with modified BP neural network. Due to the non-linear influence between phase inductance and rotor position, when a neural network model is used. There are more errors where the motor's air interval is bigger. So this paper suggests to apply two neural networks considering the different situation. Emulation result implies this method is effective.
In the paper, be directed against of the method, which is based on non-linear inductance model of SRM, which's principle first well is analyzed. The method need active phase currents are measured in real-time and using these measurements, the dynamic equations representing the active phases are solved using numerical techniques in order to obtain rotor position information. The same, it is builded that the system simulation model in the Matlab_Simulink, simulation result is effective.
The end, the design of the hardware and software of SRM drive system are introduced, including the TMS320F2812 based control circuit, the power drive circuit, the detecting circuit and the control software.
本文分析了开关磁阻电机的结构和运行原理,并对国内外的SRM转子位置间接检测技术的研究动态做了详细的整理和分析,同时对两种不同的SRM转子位置间接检测方案进行了重点研究:基于人工神经网络和基于电感模型的间接位置检测方案。
本文首先研究了基于人工神经网络的SRM转子位置推断方法,文中采用改进的BP算法建立了SR电机神经网络转子位置θ(i,L)模型,从而推断出转子的角位置。由于开关磁阻电机相电感随转子位置变化的非线性,当采用一个神经网络模型时,在电机气隙较大位置处在较大的误差,因此本文提出采用两个神经网络分段处理,仿真结果表明该方法有效可行。
本文针对基于电感模型的SRM转子位置检测方法也进行了详细的研究,首先对基于电感模型的间接位置检测技术进行了理论分析,通过实时从被激励相检测电压和电流值,并将其代入动态数学模型,通过解算数学模型就可以获得转子位置信息。本文基于Matlab Simulink建立了基于电感模型的SRM间接位置检测方案的双闭环SRD调速系统的仿真模型,仿真结果表明该方法是切实可行的。
文中最后介绍了基于TMS320F2812的控制电路、功率电路、检测电路在内的SRM驱动系统的硬件设计以及驱动系统的控制软件设计。
The switched reluctance motor (SRM) drive system has gotten more more attentions because of its excellent characteristics of the firm structure, low cost and flexible control, its application has been limited by the existence of shaft position sensor. the previous schemes of SRD are always equipped with rotor position sensor, which determines the system's high speed performance, reliability and cost. As a result, how to detect the position of non-position sensor rotor has become one major direction in the study of SRD.
The configuration and fundamental operating principle of SRM are analyzed in the subject. And the latest developments of the same research field both at home and at abroad are well analyzed at the beginning of the dissertation. The same,this subject puts emphasis on the two different detecting methods of non-position sensor rotor,which are based on Artificial Neural Network(ANN) and non-linear inductance model of SRM.
The detecting method of SRM's rotor position based on Artificial Neural Network(ANN) is first studied in this paper. An ANN rotor position modelθ(i,L) of SRM is built with modified BP neural network. Due to the non-linear influence between phase inductance and rotor position, when a neural network model is used. There are more errors where the motor's air interval is bigger. So this paper suggests to apply two neural networks considering the different situation. Emulation result implies this method is effective.
In the paper, be directed against of the method, which is based on non-linear inductance model of SRM, which's principle first well is analyzed. The method need active phase currents are measured in real-time and using these measurements, the dynamic equations representing the active phases are solved using numerical techniques in order to obtain rotor position information. The same, it is builded that the system simulation model in the Matlab_Simulink, simulation result is effective.
The end, the design of the hardware and software of SRM drive system are introduced, including the TMS320F2812 based control circuit, the power drive circuit, the detecting circuit and the control software.
引文
[1]王宏华.开关磁阻电动机调速控制技术[M].机械工业出版社,1995年6月
[2]毛良民,开关磁阻电机间接位置检测技术的理论研究与实践[D],南京航空航天大学博士论文,2000年
[3]曹家勇,陈幼平,詹琼华.开关磁阻电动机的研究现状和发展趋势[J].电机与控制学报[J],2002年3月(第6卷1期)
[4]周素莹,林辉.无位置传感器的开关磁阻电机转子位置检测技术[J].电气传动,2006年第36卷第2期
[5]艾武,吴保全,曹家勇.SRM间接位置检测技术综述[J].中小型电机,2004(5):48-54
[6]邱亦慧,詹琼华,马志源.基于简化磁链法的开关磁阻电机间接位置检测[J].中国电机工程学报,2001,21(10):59-62
[7]Acarnley P P,Hill B J,Hooper C W.Detection of Rotor Position in Stepping and Switched Motors by Monitoring of Current Wave forms[J].IEEE Trans.on Industrial Electronics,1985,32(3):215-222
[8]Panda S K,Amaratunga G AJ.Waveform Detection Technique for Indirect Rotor Position Sensing of Switched Reluctance Motor Dfives.Analysis[J],IEE Proc.B,1993,140(1):80-88
[9]张莲,陈鸿雁.开关磁阻电动机调速系统位置检测技术评述[J].重庆工学院学报,(3):65-68
[10]Lyons J P,MacM inn S R,Preston M A.Flux/current Methods for Rotor Position Estimation.Conf.Rec[J].IEEE Ind Appl Soc,1991:482-487
[11]Egan M G,Harrington M B,Murphy J M D.PWM-based Position Sensorless Control of Variable Reluctance Motor Ddves[J].Proc.Eur.Power Electronics Conf,1991,4:24-29
[12]Gallegos-Lope G,Kjaer P C,Miller T J E.A New Sensorless Method for Switched Reluctance Motor Drives.Industry Applications[J].IEEE Transactions on,1998,34(4):832-840
[13]Mehrdad Ehsani.New Modulation Encoding Techniques for Indirect Rotor Position Sensing in Switched Reluctance Motors[J].IEEE Transactions on Industry Applications,1994,30(1):85-91
[14]Bu Jian rung,Xu Long ya.Eliminating Starting Hesitation for Reliable Sensorless Control of Switched Reluctance Motors.Industry Applications[J].IEEE Transactions on,2001,37(1):59-66
[15]Brosse A,Henneberger G,Schniedermeyer M et al.Sensorless Control of a SRM at Low Speeds and Standstill Based on Signal Power Evaluation[J].Industrial Electronic Society,1998,Proceedings of the 24th Annual Conference of the IEEE,1998,3(31-4):1538-1543
[16]Yang Iee-Woo,Shin Jae-Wha,Kim Young-Seok.The Rotor Speed and Position Sensorless Control of Switched Reluctance Motor Using the Adaptive Observer[J].TENCON 99,Proceedings of the IEEE Region 10 Conference,1999,2(15-17):1450-1453
[17]Miki I,Noda H,Moriyama R.A Sensorless Drive Method for Switched Reluctance Motor Based on Gradient of Phase Induetance[J].Electrieal Machines and Systems,ICEMS 2003,Sixth International Conference on,2003,2(9-11):615-618
[18]Elmas C,Zelaya-De La Parra H,Position Sensorless Operation of a Switched Reluctance Drive Based on Observer[J].Power Electronics and Applications,1993,Fifth European Conference on,1993,6(13-16):82-87
[19]孙明,杨向宇.滑模观测器在开关磁阻电机无位置传感器控制中的应用研究[J].电机电器技术,2004(1):8-11
[20]李景男,王旭力,周永琴.基于两相脉冲激励的开关磁阻电动机无位置传感器转子位置检测[J].电机与控制学报,2002,6(1):6-9
[21]华中科技大学电气与电子工程学院开关磁阻电机课题组.开关磁阻电机驱动系统的位置检测方法综述[J].变频器世界,2004(8):125-128
[22]王旭力,张奕黄,王喜莲.无位置传感器开关磁阻电动机位置的检测与预报[J].中国电机工程学报,2000,20(7):5-8
[23]Cui Yu-Long,Liu Jiao-Min,Hou Xue-Chuan et al.Improvement of Rotor Position Angle Estimation in SRD Using Fuzzy Logic Based Motor Model[J].Proceeding of the Second International Conference on Machine Learning and Cybernetic,Xi'an,2003,2-5:2726-2730
[24]王燕.开关磁阻电动机转子位置间接检测技术研究[D].海河大学硕士学位论文,2003
[25]李人厚.智能控制理论和方法[M].西安电子科技大学出版社,1999
[26]刘凯.基于神经网络的开关磁阻电机模型的分析与研究[D].中国地质大学硕士学位论文,2005
[27]候嫒彬,杜京义,汪眉.神经网络[M].西安电子科技大学出版社,2007
[28]Elams C et al.Modelling of Nonlinear Switched Reluctance Drive Based on Artificial Neural Drives Networks[J].IEEE Power Electronics and Variable-Speed
[29]刘国明.SRM 间接位置检测技术和微步驱动抑制转矩脉动的理论研究[D].山东大学硕士学位论文,2006
[30]J.Mahdavi,GSuresh,B.Fahimi,M.Ehsani.Dynamic Modeling of Non-linear SRM Drives with Pspice[J].IEEE LAS Annual Meeting,1997
[31]B.Fahimi,G.Suresh,J.Mahdavi,M.Ehsani.A New Approach to Modeling Switched Reluctance Motor Drives:Application to Analysis.Design and Control[J].IEEE PESC Conference Records,1998
[32]楼顺天,胡昌华.基于MATLAB的系统分析与设计[M].西安电子科技大学出版社,2000年5月
[33]王向.基于MATLAB的无位置传感器开关磁阻电机系统的仿真研究[D].河北工业大学硕士论文,PP:38-46
[34]程卫国,冯峰等.MATLAB 5.3应用指南[M].人民邮电出版社出版发行,1999年
[35]王爱乐,刘爱萍.基于DSP的SRD数字化控制设计[J].科技情报开发与经济,2005,15:233-234
[36]Mike D R.Control of Switched Reluctance Motors[J].Texas Instruments Techical Activity Report.1995,62(1)
[37]David H Owens,Eric Rogers.Iterative Learning Control-Recent Progress and Open Research Problems[J].The Institution of Electrical Engineers.2000
[38]马孟臣.SR 电机调速系统整体动态仿真模型及优化设计研究.河海大学硕士论文,2007
[39]陈新.基于DSP的开关磁阻电动机控制系统研究[D].浙江大学硕士论文,2002
[40]候雪川,基于DSP TMS320F2407的开关磁阻电机控制器的研究[D],河北工业大学硕士论文,2004
[41]王晓明、王玲,电动机的DSP控制-TI公司DSP应用[M],北京:北京航空航天大学出版社,2004年7月
[42]孙传友,测控系统原理与设计[M],第一版,北京:北京航空航天大学出版社,2002年
[43]马宪民,谢桂林,开关磁阻电机驱动系统的性能特点及其发展动态[J],EACS94苏州,1994年,pp:21-28
[2]毛良民,开关磁阻电机间接位置检测技术的理论研究与实践[D],南京航空航天大学博士论文,2000年
[3]曹家勇,陈幼平,詹琼华.开关磁阻电动机的研究现状和发展趋势[J].电机与控制学报[J],2002年3月(第6卷1期)
[4]周素莹,林辉.无位置传感器的开关磁阻电机转子位置检测技术[J].电气传动,2006年第36卷第2期
[5]艾武,吴保全,曹家勇.SRM间接位置检测技术综述[J].中小型电机,2004(5):48-54
[6]邱亦慧,詹琼华,马志源.基于简化磁链法的开关磁阻电机间接位置检测[J].中国电机工程学报,2001,21(10):59-62
[7]Acarnley P P,Hill B J,Hooper C W.Detection of Rotor Position in Stepping and Switched Motors by Monitoring of Current Wave forms[J].IEEE Trans.on Industrial Electronics,1985,32(3):215-222
[8]Panda S K,Amaratunga G AJ.Waveform Detection Technique for Indirect Rotor Position Sensing of Switched Reluctance Motor Dfives.Analysis[J],IEE Proc.B,1993,140(1):80-88
[9]张莲,陈鸿雁.开关磁阻电动机调速系统位置检测技术评述[J].重庆工学院学报,(3):65-68
[10]Lyons J P,MacM inn S R,Preston M A.Flux/current Methods for Rotor Position Estimation.Conf.Rec[J].IEEE Ind Appl Soc,1991:482-487
[11]Egan M G,Harrington M B,Murphy J M D.PWM-based Position Sensorless Control of Variable Reluctance Motor Ddves[J].Proc.Eur.Power Electronics Conf,1991,4:24-29
[12]Gallegos-Lope G,Kjaer P C,Miller T J E.A New Sensorless Method for Switched Reluctance Motor Drives.Industry Applications[J].IEEE Transactions on,1998,34(4):832-840
[13]Mehrdad Ehsani.New Modulation Encoding Techniques for Indirect Rotor Position Sensing in Switched Reluctance Motors[J].IEEE Transactions on Industry Applications,1994,30(1):85-91
[14]Bu Jian rung,Xu Long ya.Eliminating Starting Hesitation for Reliable Sensorless Control of Switched Reluctance Motors.Industry Applications[J].IEEE Transactions on,2001,37(1):59-66
[15]Brosse A,Henneberger G,Schniedermeyer M et al.Sensorless Control of a SRM at Low Speeds and Standstill Based on Signal Power Evaluation[J].Industrial Electronic Society,1998,Proceedings of the 24th Annual Conference of the IEEE,1998,3(31-4):1538-1543
[16]Yang Iee-Woo,Shin Jae-Wha,Kim Young-Seok.The Rotor Speed and Position Sensorless Control of Switched Reluctance Motor Using the Adaptive Observer[J].TENCON 99,Proceedings of the IEEE Region 10 Conference,1999,2(15-17):1450-1453
[17]Miki I,Noda H,Moriyama R.A Sensorless Drive Method for Switched Reluctance Motor Based on Gradient of Phase Induetance[J].Electrieal Machines and Systems,ICEMS 2003,Sixth International Conference on,2003,2(9-11):615-618
[18]Elmas C,Zelaya-De La Parra H,Position Sensorless Operation of a Switched Reluctance Drive Based on Observer[J].Power Electronics and Applications,1993,Fifth European Conference on,1993,6(13-16):82-87
[19]孙明,杨向宇.滑模观测器在开关磁阻电机无位置传感器控制中的应用研究[J].电机电器技术,2004(1):8-11
[20]李景男,王旭力,周永琴.基于两相脉冲激励的开关磁阻电动机无位置传感器转子位置检测[J].电机与控制学报,2002,6(1):6-9
[21]华中科技大学电气与电子工程学院开关磁阻电机课题组.开关磁阻电机驱动系统的位置检测方法综述[J].变频器世界,2004(8):125-128
[22]王旭力,张奕黄,王喜莲.无位置传感器开关磁阻电动机位置的检测与预报[J].中国电机工程学报,2000,20(7):5-8
[23]Cui Yu-Long,Liu Jiao-Min,Hou Xue-Chuan et al.Improvement of Rotor Position Angle Estimation in SRD Using Fuzzy Logic Based Motor Model[J].Proceeding of the Second International Conference on Machine Learning and Cybernetic,Xi'an,2003,2-5:2726-2730
[24]王燕.开关磁阻电动机转子位置间接检测技术研究[D].海河大学硕士学位论文,2003
[25]李人厚.智能控制理论和方法[M].西安电子科技大学出版社,1999
[26]刘凯.基于神经网络的开关磁阻电机模型的分析与研究[D].中国地质大学硕士学位论文,2005
[27]候嫒彬,杜京义,汪眉.神经网络[M].西安电子科技大学出版社,2007
[28]Elams C et al.Modelling of Nonlinear Switched Reluctance Drive Based on Artificial Neural Drives Networks[J].IEEE Power Electronics and Variable-Speed
[29]刘国明.SRM 间接位置检测技术和微步驱动抑制转矩脉动的理论研究[D].山东大学硕士学位论文,2006
[30]J.Mahdavi,GSuresh,B.Fahimi,M.Ehsani.Dynamic Modeling of Non-linear SRM Drives with Pspice[J].IEEE LAS Annual Meeting,1997
[31]B.Fahimi,G.Suresh,J.Mahdavi,M.Ehsani.A New Approach to Modeling Switched Reluctance Motor Drives:Application to Analysis.Design and Control[J].IEEE PESC Conference Records,1998
[32]楼顺天,胡昌华.基于MATLAB的系统分析与设计[M].西安电子科技大学出版社,2000年5月
[33]王向.基于MATLAB的无位置传感器开关磁阻电机系统的仿真研究[D].河北工业大学硕士论文,PP:38-46
[34]程卫国,冯峰等.MATLAB 5.3应用指南[M].人民邮电出版社出版发行,1999年
[35]王爱乐,刘爱萍.基于DSP的SRD数字化控制设计[J].科技情报开发与经济,2005,15:233-234
[36]Mike D R.Control of Switched Reluctance Motors[J].Texas Instruments Techical Activity Report.1995,62(1)
[37]David H Owens,Eric Rogers.Iterative Learning Control-Recent Progress and Open Research Problems[J].The Institution of Electrical Engineers.2000
[38]马孟臣.SR 电机调速系统整体动态仿真模型及优化设计研究.河海大学硕士论文,2007
[39]陈新.基于DSP的开关磁阻电动机控制系统研究[D].浙江大学硕士论文,2002
[40]候雪川,基于DSP TMS320F2407的开关磁阻电机控制器的研究[D],河北工业大学硕士论文,2004
[41]王晓明、王玲,电动机的DSP控制-TI公司DSP应用[M],北京:北京航空航天大学出版社,2004年7月
[42]孙传友,测控系统原理与设计[M],第一版,北京:北京航空航天大学出版社,2002年
[43]马宪民,谢桂林,开关磁阻电机驱动系统的性能特点及其发展动态[J],EACS94苏州,1994年,pp:21-28