无位置传感器开关磁阻电机控制系统研究
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摘要
传统的开关磁阻电机(SRM,Switched Reluctance Motor)调速系统是依赖于转子位置传感器的位置闭环系统,位置传感器增大了系统的成本、加大了系统的复杂性,同时降低了系统的可靠性和坚固性,因此本文重点研究无位置传感器开关磁阻电机调速系统。
首先阐述了开关磁阻电机调速系统(SRD,Switched Reluctance Motor Drive)的基本数学方程与主要控制方式,由于有限元分析方法在电机磁场精确计算的优势,采用有限元分析方法对18.5kW样机进行了详细的有限元分析。分析了SRM磁链特性测量方法并给出了具体的离线实验测量流程,对有限元分析得到的理论结果与实测数据进行了对比分析,根据对比结果对SRM端部效应进行了补偿。
由于开关磁阻电机自身电机模型的非线性,探讨了电感模型、BP神经网络模型等几种建模方法,分析了各种建模方法的优缺点,对实验数据和理论数据进行了对比分析,对样机进行了详细的有限元分析,为今后进一步电机结构的优化设计打下了基础。
提出了SRM双向功率变换器拓扑结构,即功率变换器前端采用PWM可控整流有源前端拓扑结构,实现了能量回馈、高功率因数和网侧电流低谐波,允许电机制动状态能量回馈,提高了整个开关磁阻电机调速系统的效率。建立了三相PWM整流器数学模型,分析了其工作原理,并采用基于电网电压定向的矢量控制对PWM整流有源前端进行了实验验证。
考虑到滑模观测器(SMO,Sliding Mode Observer)对开关磁阻电机内部非线性和外部扰动具有很好的自适应性和鲁棒性,研究了滑模观测器实现开关磁阻电机的无位置传感器控制。介绍了滑模变结构控制的基本原理,详细阐述了SRM滑模观测器的实现算法与设计方法,给出了基于滑模观测器的SRM无位置传感器控制总体结构。仿真结果表明算法简单可靠。
根据滑模观测器无位置传感器控制策略,提出了简单易行、适用于工矿生产现场使用的激励脉冲法的具体实现步骤与软件流程,提高SRM电阻的辨识精度和磁链的计算精度,实现了实用化的位能负载无逆转启动电机,并通过搭建完成的18.5kW矿用开关磁阻电机样机平台进行了实验验证,实验结果证明了本文提出的无位置传感器开关磁阻电机控制策略有效可行。
Traditional closed-loop control system of switched reluctance motor is dependent on the rotor position sensor, which increases the cost and the complexity of the whole system very much, while reducing the reliability and robustness. So this paper has developed a new senserless system of SRD.
Firstly basic mathematical equations and main control method of Switched Reluctance Motor Drive system (SRD) are elaborated, due to the advantages of finite element analysis method in the field of electrical and magnetic calculation, finite element analysis method was carried on for 18.5 kW SRM prototype. The flux linkage characteristics of SRM measurement method is presented, and the specific experimental measurement results and theoretical finite element analysis results were analyzed. According to the compared data result, the end effect compensation.of SRM was abtained.
Because of the non-linear characteristic model of SRM, such models as inductor model, finite element method (FEM) model and neural network model and their own advantages and disadvantages are explored in this paper. Then, comparative analysis between experimental results and theoretical data is conducted. Based the FEM analysis of prototype of 18.5kW SRM, detailed results was given, which laid the foundation for the optimization design of SRM.
A bi-directional power converter topology, with front-end power converter using PWM rectifier to achieve the energy feedback, high power factor and low harmonic current network side, and to allowing electrical braking energy feedback, is presented in this paper, which increased efficiency of the whole system. Then, mathematical model of three phases PWM rectifier is built with analysis of basic principals. Experiment verification is performed based the control of vectors of gird voltage.
Considering good self-adaptability and robustness against the external disturbances and non-linear characteristic of SRM, the sliding mode observer (SMO) was applied in position sensorless control of SRM. After describing the basic principle of the variable structure control of sliding mode, this paper proposed a block diagram of sensorless control of SRM based of sliding mode observer. At the same time, a specific characteristic of SMO in sensorless control for SRM is presented, and detailed algorithms and design methods of SMO are given. Simulation results show that the algorithm is simple and reliable.
For the design of position sensorless control system of SRM, this paper presents control strategies such as pulse incentive method and flux-current method and simple but applicable to industrial and mining applications and concrete implementation steps and software charts, with improving the identification accuracy of resistance and flux are given in this paper. Then, practical free-start motor with a load and no inversion, which being verified by experiment of prototype platform of 18.5kW SRM, is achieved. Results show that sensorless position strategies using in control system of SRM is effective.
首先阐述了开关磁阻电机调速系统(SRD,Switched Reluctance Motor Drive)的基本数学方程与主要控制方式,由于有限元分析方法在电机磁场精确计算的优势,采用有限元分析方法对18.5kW样机进行了详细的有限元分析。分析了SRM磁链特性测量方法并给出了具体的离线实验测量流程,对有限元分析得到的理论结果与实测数据进行了对比分析,根据对比结果对SRM端部效应进行了补偿。
由于开关磁阻电机自身电机模型的非线性,探讨了电感模型、BP神经网络模型等几种建模方法,分析了各种建模方法的优缺点,对实验数据和理论数据进行了对比分析,对样机进行了详细的有限元分析,为今后进一步电机结构的优化设计打下了基础。
提出了SRM双向功率变换器拓扑结构,即功率变换器前端采用PWM可控整流有源前端拓扑结构,实现了能量回馈、高功率因数和网侧电流低谐波,允许电机制动状态能量回馈,提高了整个开关磁阻电机调速系统的效率。建立了三相PWM整流器数学模型,分析了其工作原理,并采用基于电网电压定向的矢量控制对PWM整流有源前端进行了实验验证。
考虑到滑模观测器(SMO,Sliding Mode Observer)对开关磁阻电机内部非线性和外部扰动具有很好的自适应性和鲁棒性,研究了滑模观测器实现开关磁阻电机的无位置传感器控制。介绍了滑模变结构控制的基本原理,详细阐述了SRM滑模观测器的实现算法与设计方法,给出了基于滑模观测器的SRM无位置传感器控制总体结构。仿真结果表明算法简单可靠。
根据滑模观测器无位置传感器控制策略,提出了简单易行、适用于工矿生产现场使用的激励脉冲法的具体实现步骤与软件流程,提高SRM电阻的辨识精度和磁链的计算精度,实现了实用化的位能负载无逆转启动电机,并通过搭建完成的18.5kW矿用开关磁阻电机样机平台进行了实验验证,实验结果证明了本文提出的无位置传感器开关磁阻电机控制策略有效可行。
Traditional closed-loop control system of switched reluctance motor is dependent on the rotor position sensor, which increases the cost and the complexity of the whole system very much, while reducing the reliability and robustness. So this paper has developed a new senserless system of SRD.
Firstly basic mathematical equations and main control method of Switched Reluctance Motor Drive system (SRD) are elaborated, due to the advantages of finite element analysis method in the field of electrical and magnetic calculation, finite element analysis method was carried on for 18.5 kW SRM prototype. The flux linkage characteristics of SRM measurement method is presented, and the specific experimental measurement results and theoretical finite element analysis results were analyzed. According to the compared data result, the end effect compensation.of SRM was abtained.
Because of the non-linear characteristic model of SRM, such models as inductor model, finite element method (FEM) model and neural network model and their own advantages and disadvantages are explored in this paper. Then, comparative analysis between experimental results and theoretical data is conducted. Based the FEM analysis of prototype of 18.5kW SRM, detailed results was given, which laid the foundation for the optimization design of SRM.
A bi-directional power converter topology, with front-end power converter using PWM rectifier to achieve the energy feedback, high power factor and low harmonic current network side, and to allowing electrical braking energy feedback, is presented in this paper, which increased efficiency of the whole system. Then, mathematical model of three phases PWM rectifier is built with analysis of basic principals. Experiment verification is performed based the control of vectors of gird voltage.
Considering good self-adaptability and robustness against the external disturbances and non-linear characteristic of SRM, the sliding mode observer (SMO) was applied in position sensorless control of SRM. After describing the basic principle of the variable structure control of sliding mode, this paper proposed a block diagram of sensorless control of SRM based of sliding mode observer. At the same time, a specific characteristic of SMO in sensorless control for SRM is presented, and detailed algorithms and design methods of SMO are given. Simulation results show that the algorithm is simple and reliable.
For the design of position sensorless control system of SRM, this paper presents control strategies such as pulse incentive method and flux-current method and simple but applicable to industrial and mining applications and concrete implementation steps and software charts, with improving the identification accuracy of resistance and flux are given in this paper. Then, practical free-start motor with a load and no inversion, which being verified by experiment of prototype platform of 18.5kW SRM, is achieved. Results show that sensorless position strategies using in control system of SRM is effective.
引文
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