基于矢量控制的双馈电机调速性能研究
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摘要
近年来,双馈电机调速系统因其低成本和高可靠性等特点已经广泛应用于交流调速领域。本文的.研究针对变频器采用Back-to-Back变换器的双馈电机矢量调速系统,矢量控制系统采用基于定子磁链矢量定向的双环控制。
在本文所研究双馈电机矢量控制调速领域,目前的文献绝大部分采用了速度外环与无功外环控制模式。通过建模分析知道,控制系统目标除了选择速度外环与无功外环控制模式,还可以选择速度外环与定子磁链外环控制模式,并且在常规的交流调速系统中,磁链控制是十分重要的。但目前的文献并没有分析比较两种控制模式各自的优缺点。本文针对这一问题展开研究。
通过理论分析,本文认为电机在两种控制模式都可以稳定运行于各种工况。在不考虑电网电压变化的情况下,本文认为不论采用何种控制模式,电机定子磁链稳态值只取决于转矩电流大小。因此,定子磁链的稳态工作点是随转矩电流的变换而变换。对于采用PI控制的定子磁链外环,如果磁链指令值与实际稳态工作点不一致,将导致励磁电流进入限幅状态。此外,本文认为无功外环控制模式可以实现双环解耦控制,而定子磁链外环控制模式因为磁链稳态工作点的变动不能实现解耦控制。
针对采用定子磁链外环控制模式的缺陷,本文提出外环采用P控制模式。这样可以避免因为指令值和工作点的不匹配导致励磁电流进入限幅状态。本文在Matlab/Simulink下搭建了双馈电机调速系统仿真模型,通过在各种工况下两种控制模式的仿真结果对比验证了本文的理论分析。本文的实验工作是在功率为4kW的双馈调速系统上完成的,实验结果验证了定子磁链外环采用P控制策略的有效性。
Recently, the Doubly-Fed Induction Machine (DFIM) is becoming more and more popular in the motor drives because of the low cost and high reliability. This paper focuses on the research of DFIM which employs the Back-to-Back converter and the control strategy is the dual loop vector control based on the stator flux vector.
The published literatures always use the dual loop control which contains the speed loop and the reactive power loop so far. The goal of control system can be not only the mode of speed loop and reactive power loop, but also the mode of speed loop and stator flux loop according to the modeling analysis. And generally speaking, the flux control is very important is the motor drives. However, few literatures have analyzed the pro and con of these two control mode. This paper tries to resolve the confusion of those two control strategies.
By the theory analysis, this paper suggests that the DFIM system is stable under all working situation by using those two control strategies. The value of steady stator flux only depends on the torque current values in case of the stable grid voltage. Hence, the steady point of stator flux varies with the torque current. The flux current will be forced to be the limited state if the stator flux loop controller is PI controller and the reference vale of flux does not match the real flux value. Besides, this paper suggests that the mode of reactive power control can decouple the dual loop control but the mode of flux control can not do it because of the variation of flux steady value.
This paper proposed that the flux outer loop employs the P controller in order to resolve the problem caused by the mismatch of reference value and real value of stator flux. The simulation mode is conducted in the Matlab/Simulink and the simulation results in many different situations verify the analysis proposed by this paper. The experimental setup is 4kW and the results show the validity of the flux control strategy which the outer loop controller is the P controller.
在本文所研究双馈电机矢量控制调速领域,目前的文献绝大部分采用了速度外环与无功外环控制模式。通过建模分析知道,控制系统目标除了选择速度外环与无功外环控制模式,还可以选择速度外环与定子磁链外环控制模式,并且在常规的交流调速系统中,磁链控制是十分重要的。但目前的文献并没有分析比较两种控制模式各自的优缺点。本文针对这一问题展开研究。
通过理论分析,本文认为电机在两种控制模式都可以稳定运行于各种工况。在不考虑电网电压变化的情况下,本文认为不论采用何种控制模式,电机定子磁链稳态值只取决于转矩电流大小。因此,定子磁链的稳态工作点是随转矩电流的变换而变换。对于采用PI控制的定子磁链外环,如果磁链指令值与实际稳态工作点不一致,将导致励磁电流进入限幅状态。此外,本文认为无功外环控制模式可以实现双环解耦控制,而定子磁链外环控制模式因为磁链稳态工作点的变动不能实现解耦控制。
针对采用定子磁链外环控制模式的缺陷,本文提出外环采用P控制模式。这样可以避免因为指令值和工作点的不匹配导致励磁电流进入限幅状态。本文在Matlab/Simulink下搭建了双馈电机调速系统仿真模型,通过在各种工况下两种控制模式的仿真结果对比验证了本文的理论分析。本文的实验工作是在功率为4kW的双馈调速系统上完成的,实验结果验证了定子磁链外环采用P控制策略的有效性。
Recently, the Doubly-Fed Induction Machine (DFIM) is becoming more and more popular in the motor drives because of the low cost and high reliability. This paper focuses on the research of DFIM which employs the Back-to-Back converter and the control strategy is the dual loop vector control based on the stator flux vector.
The published literatures always use the dual loop control which contains the speed loop and the reactive power loop so far. The goal of control system can be not only the mode of speed loop and reactive power loop, but also the mode of speed loop and stator flux loop according to the modeling analysis. And generally speaking, the flux control is very important is the motor drives. However, few literatures have analyzed the pro and con of these two control mode. This paper tries to resolve the confusion of those two control strategies.
By the theory analysis, this paper suggests that the DFIM system is stable under all working situation by using those two control strategies. The value of steady stator flux only depends on the torque current values in case of the stable grid voltage. Hence, the steady point of stator flux varies with the torque current. The flux current will be forced to be the limited state if the stator flux loop controller is PI controller and the reference vale of flux does not match the real flux value. Besides, this paper suggests that the mode of reactive power control can decouple the dual loop control but the mode of flux control can not do it because of the variation of flux steady value.
This paper proposed that the flux outer loop employs the P controller in order to resolve the problem caused by the mismatch of reference value and real value of stator flux. The simulation mode is conducted in the Matlab/Simulink and the simulation results in many different situations verify the analysis proposed by this paper. The experimental setup is 4kW and the results show the validity of the flux control strategy which the outer loop controller is the P controller.
引文
[1] http://www.freedm.ncsu.edu/
[2]关于印发可再生能源发展“十一五”规划的通知(发改能源[2008] 610号)http://www.sdpc.gov.cn/zcfb/zcfbtz/2008tongzhi/t20080318_198262.htm
[3]李华德,白晶,李志民等.交流调速控制系统.第一版.北京:电子工业出版社, 2003.3. pp. 1-2
[4]余龙海.电动机能效与节电技术.第一版.北京:机械工业出版社, 2008.6. pp. 53-54
[5]吴胜.双馈电机的控制系统研究: [博士学位论文].武汉:华中科技大学, 2005
[6]李娟娟.双馈电机矢量控制调速系统及仿真: [硕士学位论文].合肥:合肥工业大学, 2004
[7] Yamamoto M, Motoyoshi O. Active and reactive power control for doubly-fed wound rotor induction generator. Power Electronics, IEEE Transactions on, Volume 6, Issue 4, Oct. 1991. pp. 624-629
[8] Lecocq D., Lataire P., Wymeersch W. Application of the double fed asynchronous motor (DFAM) in variable-speed drives. Power Electronics and Applications,1993., Fifth European Conference on, 13-16 Sep 1993 vol.5 pp.419-425
[9] Datta R., Ranganathan V.T. Direct power control of grid-connected wound rotor induction machine without rotor position sensors. Power Electronics, IEEE Transactions on, Volume 16, Issue 3, May 2001 pp. 390-399
[10] Longya Xu, Wei Cheng. Torque and reactive power control of a doubly fed induction machine by position sensorless scheme Industry Applications, IEEE Transactions on, Volume 31, Issue 3, May-June 1995 pp. 636-642
[11]万能.感应电机双馈调速系统稳定性分析与仿真: [硕士学位论文].武汉:华中科技大学, 2006
[12]沈睿.基于DSP的双馈电机调速系统的研究: [硕士学位论文].武汉:湖北工业大学, 2007
[13]张少军,杜金城.交流调速原理及应用.第一版.北京:中国电力出版社, 2003.7 pp. 1-2
[14]辜承林,陈乔夫,熊永前.电机学.第一版.武汉:华中科技大学出版社, pp.12-15
[15]邹旭东.变速恒频交流励磁双馈风力发电系统及其控制技术研究: [博士学位论文].武汉:华中科技大学, 2005
[16]陈坚.交流电机数学模型及调速系统.第一版.北京:国防工业出版社, 1989, pp.41-51
[17]韦忠朝,黄声华,陶醒世等.变速恒频双馈感应发电机运行原理及稳态性能分析.华中理工大学学报, 1996, 24 (5), pp. 34-37
[18] Eel-Hwan Kim, Jae-Hong Kim, Gil-Su Lee. Power Factor Control of a Doubly Fed Induction Machine Using Fuzzy Logic. ICEMS 2001, 2: pp. 747-750
[19] S. Drid, M. Tadjine, M.S.Nait-Said. Robust backstepping vector control for the doubly fed induction motor. IET Control Theory Appl, 2007, 1, (4), pp. 861-868
[20] S. Chondrogiannis, M. Barnes. Stability of doubly-fed induction generator under stator voltage orientated vector control. IET Renew. Power Gener., 2008, Vol. 2, No. 3, pp. 170-180
[21] R. Pena, J.C.Clare, G.M.Asher. A Doubly fed induction generator using back-to-back PWM converters supplying an isolated load form a variable speed wind turbine. IEE Proc-Electr. Power Appl. September 1996, Vol. 143, No. 5, pp. 380-387
[22] Sergei Peresada, Andrea Tilli, Alberto Tonielli. Robust active-reactive power control of a doubly-fed induction generator, in Proc. IEEE-IECON’98, Aachen, Germany, Sept. 1998, pp. 1621-1625
[23] Sergei Peresada, Andrea Tilli, Alberto Tonielli. Indirect stator flux-oriented output feedback control of a doubly fed induction machine. IEEE TRANSACTIONS on, Control Systems Technology, November 2003,Vol. 11, No. 6, pp. 875-878
[24] Arantxa Tapia, Gerardo Tapia, J. Xabier Ostolaza et al. Modeling and control of a wind turbine driven doubly fed induction generator. IEEE TRANSACTIONS on, Energy Conversion, June 2003, Vol. 18, No. 2, pp. 194-204
[25] Roberto Cardenas, Ruben Pena, Jose Proboste et al. MRAS observers for sensorless control of standalone doubly-fed induction generators, IEEE TRANSACTIONS on, Energy Conversion, December 2005, Vol. 20, No. 4, pp. 710-718
[26] Andrea Stefani, Amine Yazidi, Claudio Rossi ea al. Doubly fed induction machines diagnosis based on signature analysis of rotor modulating signals, IEEE TRANSACTIONS on, Industry Application, November 2008, Vol. 44, No. 6, pp. 1711-1721
[27] T. Bhattacharya, L. Umanand, Rotor position estimator for stator flux-oriented sensorless control of slip ring induction machine, IET Electr. Power Appl., 2009, Vol. 3, No. 1, pp. 67-76
[28] Roberto Cardenas, Ruben Pena, Jon Clear et al. MRAS observers for sensorless control of doubly-fed induction generators, IEEE TRANSACTIONS on, PowerElectronics, May 2008, Vol. 23, No. 3, pp. 1075-1084
[29] A. Miller, E. Muljadi, D. Zinger. A variable speed wind turbine power control. IEEE TRANSACTIONS on, Energy Conversion, June 1997, Vol. 12, pp.181-186.
[30] D. J. Atkinson, R. A. Lakin, and R. Jones,“A vector-controlled doubly-fed induction generator for a variable-speed wind turbine application,”IEEE TRANSACTIONS on, Meas. Control, 1997, Vol. 19, No. 1, pp. 2-12.
[31] R. Pena, J.C.Clare, G.M.Asher. Doubly fed induction generator using back-to-back PWM converters and its application to variable-speed wind-energy generation. IEE Proc-Electr. Power Appl. May 1996, Vol. 143, No. 3, pp. 231-241
[32]何志朋,廖勇,向大为.定子磁链观测器低通滤波器的改进[J].中国电机工程学报,2008,28 (18): pp. 61-65
[33] Comanescu M, Xu L. An improved flux observer based on PLL frequency estimator for sensorless vector control of induction motors. IEEE Transactions on Industrial Electronics,2006,53(1): pp. 50-56.
[34]高金文,温旭辉,陈静薇.新型锁相环定子磁链观测器[J].中国电机工程学报,2007,27 (18): pp. 41-47
[35] Rehman H. Elimination of the stator resistance sensitivity and voltage sensor requirement problems for DFO control of an induction machine. IEEE TRANSACTION on. Industrial Electronics, 2005, 52(1): pp. 263-269
[36] Karanayil B, Rahman M F, Grantham C. An implementation of a programmable cascaded low-pass filter for a rotor flux synthesizer for an induction motor drive. Transactions on Power Electronics, 2004, 19(2): pp. 257-263.
[37] Chun T, Choi M, Bose B K. A novel startup scheme of stator-flux-oriented vector-controlled induction motor drive without torque jerk. IEEE Transactions on Industry Applications, 2003, 39(3): pp. 776-782.
[38] Bose B K, Patel N R. A programmable cascaded low-pass filter based flux synthesis for a stator flux oriented vector controlled induction motor drive. IEEE Transactions on Industrial Electronics, 1997, 44(1): pp. 140-143.
[39] Pinto J O, Bose B K,DaSilva. A stator-flux-oriented vector-controlled induction motor drive with space-vector PWM and flux-vector synthesis by neural networks. IEEE Transactions on Industry Applications, 2001, 37(5): pp. 1308-1318.
[40] Idris N R N, Yatim A H M. An improved stator flux estimation in steady-state operation for direct torque control of induction machines. IEEE Transactions on Industry Applications, 2002, 38(1): pp. 110-116.
[41] Hu J, Wu B. New integration algorithms for estimating motor flux over a wide speed range. IEEE Transactions on Power Electronics, 1998, 13(5): pp. 969-977
[42]王宇,邓智泉,王晓琳.一种新颖的电机磁链辨识算法[J].中国电机工程学报, 2007, 27(6): pp. 39-43.
[43]黄道成.柔性功率调节器的励磁控制研究: [硕士学位论文].武汉:华中科技大学, 2007
[44]赵阳.风力发电系统用双馈感应发电机矢量控制技术研究: [博士学位论文].武汉:华中科技大学, 2008
[45]熊健.三相电压型高频PWM整流器研究: [博士学位论文].武汉:华中科技大学, 2003
[46] M.P.Kazmierkowski and L.Malesani,“Current control Technique for three-phase voltage-source PWM converters: A survey,”IEEE Trans. Ind. Electron. Oct. 1998. Vol. 45, No. 5, pp. 691-703,
[47] N.Zargari and G.Joos,“Performance investigation of a current-controlled voltage-regulated PWM rectifier in rotating and stationary frame,”Conf. Proc. IECON’93, pp. 1193-1197
[2]关于印发可再生能源发展“十一五”规划的通知(发改能源[2008] 610号)http://www.sdpc.gov.cn/zcfb/zcfbtz/2008tongzhi/t20080318_198262.htm
[3]李华德,白晶,李志民等.交流调速控制系统.第一版.北京:电子工业出版社, 2003.3. pp. 1-2
[4]余龙海.电动机能效与节电技术.第一版.北京:机械工业出版社, 2008.6. pp. 53-54
[5]吴胜.双馈电机的控制系统研究: [博士学位论文].武汉:华中科技大学, 2005
[6]李娟娟.双馈电机矢量控制调速系统及仿真: [硕士学位论文].合肥:合肥工业大学, 2004
[7] Yamamoto M, Motoyoshi O. Active and reactive power control for doubly-fed wound rotor induction generator. Power Electronics, IEEE Transactions on, Volume 6, Issue 4, Oct. 1991. pp. 624-629
[8] Lecocq D., Lataire P., Wymeersch W. Application of the double fed asynchronous motor (DFAM) in variable-speed drives. Power Electronics and Applications,1993., Fifth European Conference on, 13-16 Sep 1993 vol.5 pp.419-425
[9] Datta R., Ranganathan V.T. Direct power control of grid-connected wound rotor induction machine without rotor position sensors. Power Electronics, IEEE Transactions on, Volume 16, Issue 3, May 2001 pp. 390-399
[10] Longya Xu, Wei Cheng. Torque and reactive power control of a doubly fed induction machine by position sensorless scheme Industry Applications, IEEE Transactions on, Volume 31, Issue 3, May-June 1995 pp. 636-642
[11]万能.感应电机双馈调速系统稳定性分析与仿真: [硕士学位论文].武汉:华中科技大学, 2006
[12]沈睿.基于DSP的双馈电机调速系统的研究: [硕士学位论文].武汉:湖北工业大学, 2007
[13]张少军,杜金城.交流调速原理及应用.第一版.北京:中国电力出版社, 2003.7 pp. 1-2
[14]辜承林,陈乔夫,熊永前.电机学.第一版.武汉:华中科技大学出版社, pp.12-15
[15]邹旭东.变速恒频交流励磁双馈风力发电系统及其控制技术研究: [博士学位论文].武汉:华中科技大学, 2005
[16]陈坚.交流电机数学模型及调速系统.第一版.北京:国防工业出版社, 1989, pp.41-51
[17]韦忠朝,黄声华,陶醒世等.变速恒频双馈感应发电机运行原理及稳态性能分析.华中理工大学学报, 1996, 24 (5), pp. 34-37
[18] Eel-Hwan Kim, Jae-Hong Kim, Gil-Su Lee. Power Factor Control of a Doubly Fed Induction Machine Using Fuzzy Logic. ICEMS 2001, 2: pp. 747-750
[19] S. Drid, M. Tadjine, M.S.Nait-Said. Robust backstepping vector control for the doubly fed induction motor. IET Control Theory Appl, 2007, 1, (4), pp. 861-868
[20] S. Chondrogiannis, M. Barnes. Stability of doubly-fed induction generator under stator voltage orientated vector control. IET Renew. Power Gener., 2008, Vol. 2, No. 3, pp. 170-180
[21] R. Pena, J.C.Clare, G.M.Asher. A Doubly fed induction generator using back-to-back PWM converters supplying an isolated load form a variable speed wind turbine. IEE Proc-Electr. Power Appl. September 1996, Vol. 143, No. 5, pp. 380-387
[22] Sergei Peresada, Andrea Tilli, Alberto Tonielli. Robust active-reactive power control of a doubly-fed induction generator, in Proc. IEEE-IECON’98, Aachen, Germany, Sept. 1998, pp. 1621-1625
[23] Sergei Peresada, Andrea Tilli, Alberto Tonielli. Indirect stator flux-oriented output feedback control of a doubly fed induction machine. IEEE TRANSACTIONS on, Control Systems Technology, November 2003,Vol. 11, No. 6, pp. 875-878
[24] Arantxa Tapia, Gerardo Tapia, J. Xabier Ostolaza et al. Modeling and control of a wind turbine driven doubly fed induction generator. IEEE TRANSACTIONS on, Energy Conversion, June 2003, Vol. 18, No. 2, pp. 194-204
[25] Roberto Cardenas, Ruben Pena, Jose Proboste et al. MRAS observers for sensorless control of standalone doubly-fed induction generators, IEEE TRANSACTIONS on, Energy Conversion, December 2005, Vol. 20, No. 4, pp. 710-718
[26] Andrea Stefani, Amine Yazidi, Claudio Rossi ea al. Doubly fed induction machines diagnosis based on signature analysis of rotor modulating signals, IEEE TRANSACTIONS on, Industry Application, November 2008, Vol. 44, No. 6, pp. 1711-1721
[27] T. Bhattacharya, L. Umanand, Rotor position estimator for stator flux-oriented sensorless control of slip ring induction machine, IET Electr. Power Appl., 2009, Vol. 3, No. 1, pp. 67-76
[28] Roberto Cardenas, Ruben Pena, Jon Clear et al. MRAS observers for sensorless control of doubly-fed induction generators, IEEE TRANSACTIONS on, PowerElectronics, May 2008, Vol. 23, No. 3, pp. 1075-1084
[29] A. Miller, E. Muljadi, D. Zinger. A variable speed wind turbine power control. IEEE TRANSACTIONS on, Energy Conversion, June 1997, Vol. 12, pp.181-186.
[30] D. J. Atkinson, R. A. Lakin, and R. Jones,“A vector-controlled doubly-fed induction generator for a variable-speed wind turbine application,”IEEE TRANSACTIONS on, Meas. Control, 1997, Vol. 19, No. 1, pp. 2-12.
[31] R. Pena, J.C.Clare, G.M.Asher. Doubly fed induction generator using back-to-back PWM converters and its application to variable-speed wind-energy generation. IEE Proc-Electr. Power Appl. May 1996, Vol. 143, No. 3, pp. 231-241
[32]何志朋,廖勇,向大为.定子磁链观测器低通滤波器的改进[J].中国电机工程学报,2008,28 (18): pp. 61-65
[33] Comanescu M, Xu L. An improved flux observer based on PLL frequency estimator for sensorless vector control of induction motors. IEEE Transactions on Industrial Electronics,2006,53(1): pp. 50-56.
[34]高金文,温旭辉,陈静薇.新型锁相环定子磁链观测器[J].中国电机工程学报,2007,27 (18): pp. 41-47
[35] Rehman H. Elimination of the stator resistance sensitivity and voltage sensor requirement problems for DFO control of an induction machine. IEEE TRANSACTION on. Industrial Electronics, 2005, 52(1): pp. 263-269
[36] Karanayil B, Rahman M F, Grantham C. An implementation of a programmable cascaded low-pass filter for a rotor flux synthesizer for an induction motor drive. Transactions on Power Electronics, 2004, 19(2): pp. 257-263.
[37] Chun T, Choi M, Bose B K. A novel startup scheme of stator-flux-oriented vector-controlled induction motor drive without torque jerk. IEEE Transactions on Industry Applications, 2003, 39(3): pp. 776-782.
[38] Bose B K, Patel N R. A programmable cascaded low-pass filter based flux synthesis for a stator flux oriented vector controlled induction motor drive. IEEE Transactions on Industrial Electronics, 1997, 44(1): pp. 140-143.
[39] Pinto J O, Bose B K,DaSilva. A stator-flux-oriented vector-controlled induction motor drive with space-vector PWM and flux-vector synthesis by neural networks. IEEE Transactions on Industry Applications, 2001, 37(5): pp. 1308-1318.
[40] Idris N R N, Yatim A H M. An improved stator flux estimation in steady-state operation for direct torque control of induction machines. IEEE Transactions on Industry Applications, 2002, 38(1): pp. 110-116.
[41] Hu J, Wu B. New integration algorithms for estimating motor flux over a wide speed range. IEEE Transactions on Power Electronics, 1998, 13(5): pp. 969-977
[42]王宇,邓智泉,王晓琳.一种新颖的电机磁链辨识算法[J].中国电机工程学报, 2007, 27(6): pp. 39-43.
[43]黄道成.柔性功率调节器的励磁控制研究: [硕士学位论文].武汉:华中科技大学, 2007
[44]赵阳.风力发电系统用双馈感应发电机矢量控制技术研究: [博士学位论文].武汉:华中科技大学, 2008
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