三相感应电机矢量控制技术建模与仿真
摘要
本文以三相感应电动机为研究对象,采用矢量控制技术,使得三相感应电动机拖动系统获得较高的动态特性。本论文首先对三相感应电动机数学模型的建立进行了详细的分析和阐述。通过对三相感应电动机动态电磁关系的分析以及坐标变换原理概念的介绍,建立了三相感应电动机在不同坐标系上的数学模型;之后,基于建立的三相感应电机的数学模型,对矢量控制原理进行了分析,设计了转子磁场定向的矢量控制系统,详细地分析了磁链观测器、磁通PI调节器,转矩PI调节器和转速PI调节器的工作原理,并设计了磁链观测器、磁通PI调节器,转矩PI调节器,转速PI调节器。最后,本论文运用MATLAB/SIMULINK对三相感应电动机和转子磁场定向矢量控制系统进行仿真,给出仿真结果,并对仿真结果进行了分析、验证。
In order to obtain the high dynamic response, the high precision magnetic torque control of AC machine is essential. As we know the DC regulating speed system has its limitation since the existence of brush, while the AC machine is widely used with the rapidly development of computer technology and power electric technology. After over ten year’s development, the performance of variable frequency speed regulation control of asynchronous motor has excelled the performance of DC speed regulation control. The purpose of this dissertation is to establish a model of three phase inductive machine, based on the model, we can study various control theory.
Vector control method is a new variable frequency speed regulation technology, which is more effective than SPWM technology. The basic ideal of vector control is to simulate the three phase inductive machine as a DC motor. The process depends on the analysis and studying on the mathematic model of inductive machine. In this thesis a mathematic model of three phase inductive machine is presented firstly, the model is established with MATLAB/SIMULINK. Then after doing the vector transform to the inductive machine model, we can get the decoupled model in two phases synchronous revolving reference frame. In the two phases synchronous revolving reference frame, the vector of stator current is decomposed into two components: the excitation parts which is overlapped to vector of rotor flux linkage and the torque parts which is vertical to vector of rotor flux linkage. By control the position and value of stator current vector in revolving reference frame, namely by control the field current part and the torque current part respectively, realizing the decoupled control of flux and torque just as the DC motor control.
In this paper, a detailed analysis and depiction of three phase inductive machine model is presented. Through the analysis of dynamic electromagnetic relationship and the introduction of coordinate transform method, the mathematic model of three phase inductive machine in different reference frame was established. The typical characteristic of AC inductive machine is a multi-variable system featuring time-variant, nonlinear and strongly coupled parameters. In this paper, the particular of vector control principle and vector transform approach is presented and the uncoupling of three phase inductive machine model is also explained.
In the thesis, a design of Rotor flux orientation control of three phase inductive machine is given, including the analysis and design of magnetic flux observer, magnetic flux PI regulator, torque PI regulator and speed PI regulator etc. In the end, the simulation research using the MATLAB/SIMULINK software is given. The simulation result show the model and the control method established in the paper is ideal.
In order to obtain the high dynamic response, the high precision magnetic torque control of AC machine is essential. As we know the DC regulating speed system has its limitation since the existence of brush, while the AC machine is widely used with the rapidly development of computer technology and power electric technology. After over ten year’s development, the performance of variable frequency speed regulation control of asynchronous motor has excelled the performance of DC speed regulation control. The purpose of this dissertation is to establish a model of three phase inductive machine, based on the model, we can study various control theory.
Vector control method is a new variable frequency speed regulation technology, which is more effective than SPWM technology. The basic ideal of vector control is to simulate the three phase inductive machine as a DC motor. The process depends on the analysis and studying on the mathematic model of inductive machine. In this thesis a mathematic model of three phase inductive machine is presented firstly, the model is established with MATLAB/SIMULINK. Then after doing the vector transform to the inductive machine model, we can get the decoupled model in two phases synchronous revolving reference frame. In the two phases synchronous revolving reference frame, the vector of stator current is decomposed into two components: the excitation parts which is overlapped to vector of rotor flux linkage and the torque parts which is vertical to vector of rotor flux linkage. By control the position and value of stator current vector in revolving reference frame, namely by control the field current part and the torque current part respectively, realizing the decoupled control of flux and torque just as the DC motor control.
In this paper, a detailed analysis and depiction of three phase inductive machine model is presented. Through the analysis of dynamic electromagnetic relationship and the introduction of coordinate transform method, the mathematic model of three phase inductive machine in different reference frame was established. The typical characteristic of AC inductive machine is a multi-variable system featuring time-variant, nonlinear and strongly coupled parameters. In this paper, the particular of vector control principle and vector transform approach is presented and the uncoupling of three phase inductive machine model is also explained.
In the thesis, a design of Rotor flux orientation control of three phase inductive machine is given, including the analysis and design of magnetic flux observer, magnetic flux PI regulator, torque PI regulator and speed PI regulator etc. In the end, the simulation research using the MATLAB/SIMULINK software is given. The simulation result show the model and the control method established in the paper is ideal.
引文
[l] 刘国海,交流电机输入输出自适应解耦控制.电工技术学报,2002,17(1):12-16.
[2] 陈伯时,陈敏逊, 交流调速系统[M]. 北京:机械工业出版社,1998.
[3] 许大中, 交流电机调速理论〔M]. 杭州:浙江大学出版社,1991.
[4] 梁森,焦定江, 数字式单芯片变频调速控制器. 机械与电子,2000,21(5):32-43.
[5] 李崇坚, 交流电机变频调速控制系统的探讨. 中国工控网,2004.
[6] 周绍英, 交流调速系统. 北京:机械工业出版社,1996.
[7] 李永东, 交流电机数字控制系统. 北京:机械工业出版社,2002.
[8] 张燕宾, 电动机变频调速图解. 北京:中国电力出版社,2003.
[9] 吴守滚,减英杰, 电气传动的脉宽调制控制技术. 北京:机械工业出版社,1997.
[10]陈国呈, PWM 变频调速及软开关电力变换技术. 北京:机械工业出版社,2001.
[11]郭庆鼎,王成元编著,异步电动机的矢量变换控制原理及应用.沈阳:辽宁人民出版社.1988.
[12]符曦编著,感应电动机的矢量控制及应用. 机械工业出版社.1986.
[13]马小亮编著,大功率交一交变频调速及矢量控制技术.机械工业出版社.1999年7月第二版.
[14]王成元,周美文,郭庆鼎,矢量控制交流伺服驱动电机. 北京:机械工业出版社,1994.
[15]吴守滚,减英杰.电气传动的脉宽调制控制技术.北京:机械工业出版社,1997.
[16]张少军,杜金城,交流调速原理及应用. 北京:中国电力出版社,2003.
[17]陈贤明,陈柳平,速度传感器交一交变频调速矢量控制系统的研究. 电器传动. 1998,28(3):3-6.
[18]吴广玉, 系统辨识与自适应控制. 哈尔滨:哈尔滨工业大学出版社,1987.
[19]李华德, 交流调速控制系统. 北京:电子工业出版社,2003.
[20]韩曾晋, 自适应控制系统. 北京:机械工业出版社,1983.
[21]奥斯特隆姆,威顿马克, 自适应控制. 北京:科学出版社,1992.
[22]夏超英, 交直流转动系统的自适应控制. 北京:机械工业出版社,1985.
[23]黄英哲,董胜源, TMS320C240 原理与 C 语言控制应用实习. 北京:中国水利水电出版社,2003.
[24]郑大中, 线性系统理论. 清华大学出版社, 1990.
[25]张志勇, 精通 MATLAB6.5 版教程. 北京航空航天大学出版社2003.3.
[26]韩曾晋, 自适应控制,清华大学出版社,1995.
[27]李汉强,黎明森,杨国勋,董治德, 磁链观测器异步电机矢量控制系统的建模与仿真. 武汉交通科技大学学报. 1997,21(5).
[28]Kazm Ierkow Skim Petal, A Novel Veetor Control Seheme for Transistor PWM Inverterfed Induction Motor Drive. IEEE Trans.on Ind Eleetron,1991,38(l):134-145.
[29]Marino R,et al, Global Adaptive output Feedback Control of Induction Motors with Uncertain Rotor Resistance. IEEE Trans.Automatic Control.1999,44(5):967-983.
[30]Scott Wade , Matthew, A New Method of Rotor Resistance Estimation for Veetor-Controlled Induction Machines. IEEE Trans.on Industrial Electronics 1997,44(2):247-257.
[31]Seong-Hwan Kim , Tae-SikPark , Ji-Yoon Y00, Speed-Sensorless Vector Control of an Induction Motor Using Veural Vetwork Speed Estimation. IEEE Trans.on Industrial Eleetronics 2001,48(3):452-463.
[32]Hisao Kubota , Kouki Mastsuse , Takavoshi Nakano, DSP-Based Speed Adaptive Flux observer of Induction Motor. IEEE Trans.on Industry Applications,1993,29(2):254-267.
[33]Ma Qindi, Modeling Gate Control for AC Motor Variable Frequeney Speed Control System. Electric Drive , 1997 ,1:34-36.
[34]Chen Shaotang, Medeling of Motor Mearing Curents in PWM Inverter Drives,IEEE Trank,1996,32(6):67-78.
[35]Wei Kexin, IGBT Gate Drive Circuit. Eleetric Drice ,1997,3:3-8.
[36]Tanaka K , Sno M, Frequency Shaping for Fuzzy Control System with unknown Nonlinear Plants Bu a LearningMerhod of Neural Network. Fuzzy Sets and Systems,1995,71(1):71-84.
[37]Benhaddadi M , Yazid K , khaldi R, An Effeetive Identification of Fotor Resistance for Induction Motor Vector Control. IEEE Instrumentation and Measurement.1997,19(5):54-67.
[38]Peng F Z,Fukao T, Robust Seed Identifieation for Speed-Sensor-Less Vector Control of Induction Motors. IEEE Trans.on Industry Applicators,1994,30(5):1234-1240.
[39]Gilberto C D Sousa, A Fuzzv Set Theory Based Control of a Phase-controlled Converter DC Machine Drive. IEEE Trans.on Industry Applieation,1994,30(1):134-156.
[2] 陈伯时,陈敏逊, 交流调速系统[M]. 北京:机械工业出版社,1998.
[3] 许大中, 交流电机调速理论〔M]. 杭州:浙江大学出版社,1991.
[4] 梁森,焦定江, 数字式单芯片变频调速控制器. 机械与电子,2000,21(5):32-43.
[5] 李崇坚, 交流电机变频调速控制系统的探讨. 中国工控网,2004.
[6] 周绍英, 交流调速系统. 北京:机械工业出版社,1996.
[7] 李永东, 交流电机数字控制系统. 北京:机械工业出版社,2002.
[8] 张燕宾, 电动机变频调速图解. 北京:中国电力出版社,2003.
[9] 吴守滚,减英杰, 电气传动的脉宽调制控制技术. 北京:机械工业出版社,1997.
[10]陈国呈, PWM 变频调速及软开关电力变换技术. 北京:机械工业出版社,2001.
[11]郭庆鼎,王成元编著,异步电动机的矢量变换控制原理及应用.沈阳:辽宁人民出版社.1988.
[12]符曦编著,感应电动机的矢量控制及应用. 机械工业出版社.1986.
[13]马小亮编著,大功率交一交变频调速及矢量控制技术.机械工业出版社.1999年7月第二版.
[14]王成元,周美文,郭庆鼎,矢量控制交流伺服驱动电机. 北京:机械工业出版社,1994.
[15]吴守滚,减英杰.电气传动的脉宽调制控制技术.北京:机械工业出版社,1997.
[16]张少军,杜金城,交流调速原理及应用. 北京:中国电力出版社,2003.
[17]陈贤明,陈柳平,速度传感器交一交变频调速矢量控制系统的研究. 电器传动. 1998,28(3):3-6.
[18]吴广玉, 系统辨识与自适应控制. 哈尔滨:哈尔滨工业大学出版社,1987.
[19]李华德, 交流调速控制系统. 北京:电子工业出版社,2003.
[20]韩曾晋, 自适应控制系统. 北京:机械工业出版社,1983.
[21]奥斯特隆姆,威顿马克, 自适应控制. 北京:科学出版社,1992.
[22]夏超英, 交直流转动系统的自适应控制. 北京:机械工业出版社,1985.
[23]黄英哲,董胜源, TMS320C240 原理与 C 语言控制应用实习. 北京:中国水利水电出版社,2003.
[24]郑大中, 线性系统理论. 清华大学出版社, 1990.
[25]张志勇, 精通 MATLAB6.5 版教程. 北京航空航天大学出版社2003.3.
[26]韩曾晋, 自适应控制,清华大学出版社,1995.
[27]李汉强,黎明森,杨国勋,董治德, 磁链观测器异步电机矢量控制系统的建模与仿真. 武汉交通科技大学学报. 1997,21(5).
[28]Kazm Ierkow Skim Petal, A Novel Veetor Control Seheme for Transistor PWM Inverterfed Induction Motor Drive. IEEE Trans.on Ind Eleetron,1991,38(l):134-145.
[29]Marino R,et al, Global Adaptive output Feedback Control of Induction Motors with Uncertain Rotor Resistance. IEEE Trans.Automatic Control.1999,44(5):967-983.
[30]Scott Wade , Matthew, A New Method of Rotor Resistance Estimation for Veetor-Controlled Induction Machines. IEEE Trans.on Industrial Electronics 1997,44(2):247-257.
[31]Seong-Hwan Kim , Tae-SikPark , Ji-Yoon Y00, Speed-Sensorless Vector Control of an Induction Motor Using Veural Vetwork Speed Estimation. IEEE Trans.on Industrial Eleetronics 2001,48(3):452-463.
[32]Hisao Kubota , Kouki Mastsuse , Takavoshi Nakano, DSP-Based Speed Adaptive Flux observer of Induction Motor. IEEE Trans.on Industry Applications,1993,29(2):254-267.
[33]Ma Qindi, Modeling Gate Control for AC Motor Variable Frequeney Speed Control System. Electric Drive , 1997 ,1:34-36.
[34]Chen Shaotang, Medeling of Motor Mearing Curents in PWM Inverter Drives,IEEE Trank,1996,32(6):67-78.
[35]Wei Kexin, IGBT Gate Drive Circuit. Eleetric Drice ,1997,3:3-8.
[36]Tanaka K , Sno M, Frequency Shaping for Fuzzy Control System with unknown Nonlinear Plants Bu a LearningMerhod of Neural Network. Fuzzy Sets and Systems,1995,71(1):71-84.
[37]Benhaddadi M , Yazid K , khaldi R, An Effeetive Identification of Fotor Resistance for Induction Motor Vector Control. IEEE Instrumentation and Measurement.1997,19(5):54-67.
[38]Peng F Z,Fukao T, Robust Seed Identifieation for Speed-Sensor-Less Vector Control of Induction Motors. IEEE Trans.on Industry Applicators,1994,30(5):1234-1240.
[39]Gilberto C D Sousa, A Fuzzv Set Theory Based Control of a Phase-controlled Converter DC Machine Drive. IEEE Trans.on Industry Applieation,1994,30(1):134-156.