异步电机直接转矩控制技术的理论研究
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摘要
直接转矩控制(DTC)技术是上世纪八十年代中期发展起来的新技术。它是继矢量控制技术之后，且与之并行发展的一种新型的高性能的交流调速传动的控制技术。本文详细研究了异步电动机的数学模型，并根据传统直接转矩控制存在的缺点以及对电动机调速性能的要求，改变对定子磁链的调节方式，使定子磁链轨迹近似为一圆形，对转矩采用三值调节器进行调节，以实现转矩的快速调节。为了验证所设计的异步电动机直接转矩控制系统的可行性，通过MATLAB构建了直接转矩控制仿真系统，对直接转矩控制方法的特点及其存在的问题进行了深入的理论与仿真分析研究。
在直接转矩控制中定子电阻是一个十分重要的参数，因此检测异步电机的定子电阻值是非常重要。用定子电流向量的幅值可以校正电机运行和定子电阻值，除定子电阻外的任何电机参数变化不会改变定子电流的幅值；因此采用定子电流幅值偏差和定子电流幅值偏差变化率对定子电阻偏差进行辩识是可行的。由于电流幅值误差及其变化率与电阻之间的关系复杂，难以用精确的数学模型表达，本文提出了模糊神经网络对定子电阻进行在线检测的方案，该网络在离线训练之后，可用于对定子电阻的检测。仿真结果表明了模糊神经网络观测器可实现对定子电阻的精确检测，从而提高直接转矩控制系统的低速性能。
无速度传感器转速估计是现代交流传动研究的一个重要方向，本文在探讨了三种主要的转速估计方法之后，着重分析了基于模型参考自适应系统(MRAS)的速度辨识方法，并通过仿真证明了该方法的可行性。
Direct Torque Control (DTC) of asynchronous motors, which has been developed in the recent decades, is a powerful control method for motor drives. Following the vector control technique, the quick development of DTC makes itself a new high-powered Alternating Current (AC) driving technique paralleling to the vector control. In this paper, a study of asynchronous motor model is made; according to the faults of traditional direct torque control and the requirement of an asynchronous motor's control strategy, the author changes the method of regulating stator flux to make its track approximate to a circle as possible as could. To get quickly torque control, a three-value regulator is adopted. To demonstrate the validity of the asynchronous motor's direct torque control system, a simulation system of DTC is designed through MATLAB; Moreover, the characteristics of the DTC and its existing problems are analyzed in detail.
Stator resistance is a significant parameter in the system of DTC; Therefore, it is important to measure the stator resistance of asynchronous motors. Stator current can revise stator resistance, and any motor parameter can't change stator current expect stator resistance; So stator current error variation and stator current error variation rate are used to tune stator resistance. This paper presents a scheme of estimating the stator resistance on-line with fuzzy-neural network due to their complicated relations. After trained off-line, the network was used to measure the resistance. Simulation results show that this fuzzy-neural network estimator can precisely measure the value of resistance and improve the low-speed performances of DTC system efficiently.
The speed estimation without speed sensor is an important trend of modern AC drive. This thesis has discussed several primary algorithm of speed estimation and emphasized on the algorithm of speed estimate based on model reference adaptive system(MRAS). The results of simulation prove its feasibility.
在直接转矩控制中定子电阻是一个十分重要的参数，因此检测异步电机的定子电阻值是非常重要。用定子电流向量的幅值可以校正电机运行和定子电阻值，除定子电阻外的任何电机参数变化不会改变定子电流的幅值；因此采用定子电流幅值偏差和定子电流幅值偏差变化率对定子电阻偏差进行辩识是可行的。由于电流幅值误差及其变化率与电阻之间的关系复杂，难以用精确的数学模型表达，本文提出了模糊神经网络对定子电阻进行在线检测的方案，该网络在离线训练之后，可用于对定子电阻的检测。仿真结果表明了模糊神经网络观测器可实现对定子电阻的精确检测，从而提高直接转矩控制系统的低速性能。
无速度传感器转速估计是现代交流传动研究的一个重要方向，本文在探讨了三种主要的转速估计方法之后，着重分析了基于模型参考自适应系统(MRAS)的速度辨识方法，并通过仿真证明了该方法的可行性。
Direct Torque Control (DTC) of asynchronous motors, which has been developed in the recent decades, is a powerful control method for motor drives. Following the vector control technique, the quick development of DTC makes itself a new high-powered Alternating Current (AC) driving technique paralleling to the vector control. In this paper, a study of asynchronous motor model is made; according to the faults of traditional direct torque control and the requirement of an asynchronous motor's control strategy, the author changes the method of regulating stator flux to make its track approximate to a circle as possible as could. To get quickly torque control, a three-value regulator is adopted. To demonstrate the validity of the asynchronous motor's direct torque control system, a simulation system of DTC is designed through MATLAB; Moreover, the characteristics of the DTC and its existing problems are analyzed in detail.
Stator resistance is a significant parameter in the system of DTC; Therefore, it is important to measure the stator resistance of asynchronous motors. Stator current can revise stator resistance, and any motor parameter can't change stator current expect stator resistance; So stator current error variation and stator current error variation rate are used to tune stator resistance. This paper presents a scheme of estimating the stator resistance on-line with fuzzy-neural network due to their complicated relations. After trained off-line, the network was used to measure the resistance. Simulation results show that this fuzzy-neural network estimator can precisely measure the value of resistance and improve the low-speed performances of DTC system efficiently.
The speed estimation without speed sensor is an important trend of modern AC drive. This thesis has discussed several primary algorithm of speed estimation and emphasized on the algorithm of speed estimate based on model reference adaptive system(MRAS). The results of simulation prove its feasibility.
引文
[1]陈坚．交流电机数学模型及调速系统[M]．上海交通大学出版社，1984
[2]陈伯时．电力拖动自动控制系统[M]．机械工业出版社，1991
[3]马小亮．大功率交-交变频交流调速及矢量控制[M]．机械工业出版社，1992
[4]李夙．异步电动机直接转矩控制[M]．机械工业出版社，1994
[5]陈其工．一种新型的模糊神经网络电阻检测器．仪器仪表学报[J]．1999，20(6)：589～592
[6]胡刚，许越，胡育文．直接力矩控制系统的模糊在线观测器的设计[J]．电气传动，1997，(1)：21～25
[7]李艳，邵曰祥等．带有神经网络估计器的模糊直接转矩控制．电气传动[J]．1997，(1)：11～16
[8]LuisA.Cabrera, MalikE.Elbuluk. Tuning the stator resistance of induction motors using artificial neural network[J]. IEEE Transactions on Power Electronics, 1997, 12 (5):779-782
[9]M.Depenbrock.. Direct Self-control(DSC) of Inverter-Fed Induction Machine[J]. IEEE trans. On PE,VoI.PE-3,1988,4:420-429
[10]Thomas G.Habotler, Francesco Profumo. Direct torque control of induction machines using space vector modulation[J]. IEEE Trans on IA, 1992,28(5), 1045-1053
[11]Yanhong Xue, XingYi Xu, Thomas G.Habetler. A stator flux-oriented voltage source variable-speed drive based on dc link measurement[J]. IEEE Trans on IA, 1991,27(5),962-969
[12]焦李成．神经网络系统理论[J]．西安电子科技大学出版社，1990
[13]汪镭，周国兴，吴启迪．基于人工神经网络在线参数跟踪的自适应交流传动系统[J]．自动化学报，1997，23(4)，543-546
[14]严青．直接转矩控制中几个关键问题探讨．中国第4届交流电机调速传动学术会议论文集，中国，大连，1995，238-242
[15]陈伯时．电控技术的发展与展望[J]．电源技术应用，1999，4(4)：1-3
[16]王顺晃，舒迪前．智能控制系统及其应用[M]．机械工业出版社，1995
[17]Isao. Takahashi etc. A New Quick-Response and High-Efficiency Control Strategy of An Induction Motor[J]. IEEE Trans. Ind. Application, 1986, 22 (5) :820-827
[18]H.Tajima and Y.Hori, Speed Sensorless Field Oriented Control of Induction Motor, IEEE IAS Conf. Rec., 1991:385-391
[19]司保军，李永东，姬志艳．无速度传感器的直接转矩控制系统研究[J]．电气传动，1996，4：8-13
[20]Myong-Ho shin ect. An Improved Stator Flux Estimation for Speed Sensorless Stator Flux Orientation Control of Induction Motors[J]. IEEE PESC 1998:1581-1586
[21]Luis A Cabrera ect. Tuning the Stator Resistance of Induction Motors Using Artificial Neural Network, [J]. IEEE trans. Power Electronics, 1997, (5) : 779-787
[22]C.B. Jacobina, J.E. Chaves Fl.. On-line Estimation of Stator Resistance of An Induction motor [J]. in Proc. IEEE PESC' 98 1998 : 979-983
[23]Kan Akatsu Atsuo Kamamura. Sensorless Speed Estimation of Induction Motor Based on The Secondary and Primary Resistance On-line Intification without Any Additional Signal Injection[J]. in Proc. IEEE PESC' 98 1998:1575-1580
[24]唐中琦，谢运祥．直接转矩控制技术发展综述[J]．微电机，1998，31(1)：32-35
[25]夏雷，周国兴，吴启迪．直接转矩控制的ISR方法[J]．电力电子技术1998，4：26-29
[26]张春梅，尔桂花．直接转矩控制研究现状与前景[J]．微电机，2000，33(6)：25-28
[27]T.G. Habetler, F.Profumno, M. Pastorelli, Direct Torque Control of Induction Motor Drives Using Space Vector Modulation[J]. IEEE Trans. On Industry Application. 1992, 28 (5) : 1045-1052
[28]D.Casadei, G. Grandi, etc. Effects of Flux and Torque Hysteresis Band Amplitude in Direct Torque Control of Induction Machines[J]. in Proceedings of IECON'94, Bologna, Italy, 1994:299-304
[29]D.Casadei, G. Grandi, G.Serra. Analytical Investigation of Torque and Flux Ripple in DTC schemes for Induction Motors[J]. in Proceedings of IECON'97, New Orleans, 1997:552-556
[30]Isao Takahashi, Y.Ohmori. High-performance Direct Torque Control of an Induction Motor[J]. IEEE Trans. On Industry Application, 1989, 25 (2) : 1034-1038
[31]Shinzo Tamai, etc. Speed Sensorless Vector Control of Induction Motor with Model Reference Adaptive System[J]. IEEE IAS. 1987 : : 189-195
[32]Fang-Zheng Peng. Robust Speed Identification for Speed-Sensorless Vector Control of Induction Motors[J]. IEEE trans. Indus. Appli., 1992, 30 (5) : 1234-1240
[33]Y.R.Kim, S.K.Sul. and M.H.Park, Speed Sensorless Vector Control of Induction Motor Using an Extended Kalman Filter[J]. IEEE Transaction on Industry Applications, 1994, 30 (5) : 1225-1233
[34]Cristian Lascu, Ion Boldea, Frede Blaabjerg. A Modified Direct Torque Control for Induction Motor Sensorless Drive[J]. IEEE Trans. On Industry Application, 2000, 36 (1) : 122-130
[35]A.Ferrah, K.G.Bradley, G.M.Asher. Sesorless Speed Detection of Inverter Fed Induction Motors Using Rotor Slot Harmonics and Fast Fourier Transform[J]. Conf. Rec. IEEE-IAS' 92, 1992: 279-286
[36]时巧生，王丽敏．感应电动机调速系统中速度辨识的研究[J]．电气传动，1996，2：2-4
[37]孙笑辉，韩曾晋．异步电动机直接转矩控制启动方法的研究，电气传动[J]．2000，2：13-17
[38]姚伟，马冬梅，金阳．基于Simulink的异步电机转差频率控制系统的仿真[J]．机电工程，2001，增刊：117-118
[39]郭前岗，张宇飞等．异步电动机直接转矩控制系统的仿真研究[J]．中小型电机，2000，5：5-8
[40]周青苗，韩英桃等．具有补偿作用的多边形磁连轨迹模型控制[J]．西北工业大学学报，1998，1：65-69
[41]王盛奎，刘清亮，魏小平．定子电阻检测器的设计与实验[J]．仪表技术，2000，6：23-24
[42]曹承志，曲红梅，路战红等．利用模糊神经网络对定子电阻进行在线监测的研究[J]．2002，2(3)：291-294
[43]陶兴华，张俊洪，杨涛．异步电机定子电阻的观测[J]．海军工程大学学报，2002，14(6)：89-92
[44]郭宏，王光能．异步电动机直接转矩控制系统的MATLAB仿真[J]．北京航空航天大学学报，2002，28(1)： 78-81
[45]桂武鸣，刘子建．异步电动机直接转矩控制系统的仿真[J]．电力机车技术，2002，25(3)：11-14
[46]Jehudi Maes and Jan A.Melkbeek. Speed-Sensorless Direct Torque Control of Induction Motors Using An Adaptive Flux Observer[J]. IEEE Trans. Industry Application, 2000, 36 (3) : 778-785
[47]L.Umanand,S.R.Bhat. On line Estimation of Stator Resistance of an Induction Motor for Speed Control Applications[J]. IEEE Proc. Electr. Power Applicat., 1995, 142 (2) :89-95
[48]黄忠霖．控制系统MATLAB计算仿真[M]．国防工业出版社，2001
[49][法]莫克塔里等著，赵彦玲等译．MATLAB与SIMULINK工程应用[M]．电子工业出版社，2002
[50]导向科技编著．MATLAB6.0程序设计与实例应用[M]．中国铁道出版社，2001
[51]邓启文，尹力明等．直接转矩控制的发展与展望[J]．微特电机，2002，1：36-38
[2]陈伯时．电力拖动自动控制系统[M]．机械工业出版社，1991
[3]马小亮．大功率交-交变频交流调速及矢量控制[M]．机械工业出版社，1992
[4]李夙．异步电动机直接转矩控制[M]．机械工业出版社，1994
[5]陈其工．一种新型的模糊神经网络电阻检测器．仪器仪表学报[J]．1999，20(6)：589～592
[6]胡刚，许越，胡育文．直接力矩控制系统的模糊在线观测器的设计[J]．电气传动，1997，(1)：21～25
[7]李艳，邵曰祥等．带有神经网络估计器的模糊直接转矩控制．电气传动[J]．1997，(1)：11～16
[8]LuisA.Cabrera, MalikE.Elbuluk. Tuning the stator resistance of induction motors using artificial neural network[J]. IEEE Transactions on Power Electronics, 1997, 12 (5):779-782
[9]M.Depenbrock.. Direct Self-control(DSC) of Inverter-Fed Induction Machine[J]. IEEE trans. On PE,VoI.PE-3,1988,4:420-429
[10]Thomas G.Habotler, Francesco Profumo. Direct torque control of induction machines using space vector modulation[J]. IEEE Trans on IA, 1992,28(5), 1045-1053
[11]Yanhong Xue, XingYi Xu, Thomas G.Habetler. A stator flux-oriented voltage source variable-speed drive based on dc link measurement[J]. IEEE Trans on IA, 1991,27(5),962-969
[12]焦李成．神经网络系统理论[J]．西安电子科技大学出版社，1990
[13]汪镭，周国兴，吴启迪．基于人工神经网络在线参数跟踪的自适应交流传动系统[J]．自动化学报，1997，23(4)，543-546
[14]严青．直接转矩控制中几个关键问题探讨．中国第4届交流电机调速传动学术会议论文集，中国，大连，1995，238-242
[15]陈伯时．电控技术的发展与展望[J]．电源技术应用，1999，4(4)：1-3
[16]王顺晃，舒迪前．智能控制系统及其应用[M]．机械工业出版社，1995
[17]Isao. Takahashi etc. A New Quick-Response and High-Efficiency Control Strategy of An Induction Motor[J]. IEEE Trans. Ind. Application, 1986, 22 (5) :820-827
[18]H.Tajima and Y.Hori, Speed Sensorless Field Oriented Control of Induction Motor, IEEE IAS Conf. Rec., 1991:385-391
[19]司保军，李永东，姬志艳．无速度传感器的直接转矩控制系统研究[J]．电气传动，1996，4：8-13
[20]Myong-Ho shin ect. An Improved Stator Flux Estimation for Speed Sensorless Stator Flux Orientation Control of Induction Motors[J]. IEEE PESC 1998:1581-1586
[21]Luis A Cabrera ect. Tuning the Stator Resistance of Induction Motors Using Artificial Neural Network, [J]. IEEE trans. Power Electronics, 1997, (5) : 779-787
[22]C.B. Jacobina, J.E. Chaves Fl.. On-line Estimation of Stator Resistance of An Induction motor [J]. in Proc. IEEE PESC' 98 1998 : 979-983
[23]Kan Akatsu Atsuo Kamamura. Sensorless Speed Estimation of Induction Motor Based on The Secondary and Primary Resistance On-line Intification without Any Additional Signal Injection[J]. in Proc. IEEE PESC' 98 1998:1575-1580
[24]唐中琦，谢运祥．直接转矩控制技术发展综述[J]．微电机，1998，31(1)：32-35
[25]夏雷，周国兴，吴启迪．直接转矩控制的ISR方法[J]．电力电子技术1998，4：26-29
[26]张春梅，尔桂花．直接转矩控制研究现状与前景[J]．微电机，2000，33(6)：25-28
[27]T.G. Habetler, F.Profumno, M. Pastorelli, Direct Torque Control of Induction Motor Drives Using Space Vector Modulation[J]. IEEE Trans. On Industry Application. 1992, 28 (5) : 1045-1052
[28]D.Casadei, G. Grandi, etc. Effects of Flux and Torque Hysteresis Band Amplitude in Direct Torque Control of Induction Machines[J]. in Proceedings of IECON'94, Bologna, Italy, 1994:299-304
[29]D.Casadei, G. Grandi, G.Serra. Analytical Investigation of Torque and Flux Ripple in DTC schemes for Induction Motors[J]. in Proceedings of IECON'97, New Orleans, 1997:552-556
[30]Isao Takahashi, Y.Ohmori. High-performance Direct Torque Control of an Induction Motor[J]. IEEE Trans. On Industry Application, 1989, 25 (2) : 1034-1038
[31]Shinzo Tamai, etc. Speed Sensorless Vector Control of Induction Motor with Model Reference Adaptive System[J]. IEEE IAS. 1987 : : 189-195
[32]Fang-Zheng Peng. Robust Speed Identification for Speed-Sensorless Vector Control of Induction Motors[J]. IEEE trans. Indus. Appli., 1992, 30 (5) : 1234-1240
[33]Y.R.Kim, S.K.Sul. and M.H.Park, Speed Sensorless Vector Control of Induction Motor Using an Extended Kalman Filter[J]. IEEE Transaction on Industry Applications, 1994, 30 (5) : 1225-1233
[34]Cristian Lascu, Ion Boldea, Frede Blaabjerg. A Modified Direct Torque Control for Induction Motor Sensorless Drive[J]. IEEE Trans. On Industry Application, 2000, 36 (1) : 122-130
[35]A.Ferrah, K.G.Bradley, G.M.Asher. Sesorless Speed Detection of Inverter Fed Induction Motors Using Rotor Slot Harmonics and Fast Fourier Transform[J]. Conf. Rec. IEEE-IAS' 92, 1992: 279-286
[36]时巧生，王丽敏．感应电动机调速系统中速度辨识的研究[J]．电气传动，1996，2：2-4
[37]孙笑辉，韩曾晋．异步电动机直接转矩控制启动方法的研究，电气传动[J]．2000，2：13-17
[38]姚伟，马冬梅，金阳．基于Simulink的异步电机转差频率控制系统的仿真[J]．机电工程，2001，增刊：117-118
[39]郭前岗，张宇飞等．异步电动机直接转矩控制系统的仿真研究[J]．中小型电机，2000，5：5-8
[40]周青苗，韩英桃等．具有补偿作用的多边形磁连轨迹模型控制[J]．西北工业大学学报，1998，1：65-69
[41]王盛奎，刘清亮，魏小平．定子电阻检测器的设计与实验[J]．仪表技术，2000，6：23-24
[42]曹承志，曲红梅，路战红等．利用模糊神经网络对定子电阻进行在线监测的研究[J]．2002，2(3)：291-294
[43]陶兴华，张俊洪，杨涛．异步电机定子电阻的观测[J]．海军工程大学学报，2002，14(6)：89-92
[44]郭宏，王光能．异步电动机直接转矩控制系统的MATLAB仿真[J]．北京航空航天大学学报，2002，28(1)： 78-81
[45]桂武鸣，刘子建．异步电动机直接转矩控制系统的仿真[J]．电力机车技术，2002，25(3)：11-14
[46]Jehudi Maes and Jan A.Melkbeek. Speed-Sensorless Direct Torque Control of Induction Motors Using An Adaptive Flux Observer[J]. IEEE Trans. Industry Application, 2000, 36 (3) : 778-785
[47]L.Umanand,S.R.Bhat. On line Estimation of Stator Resistance of an Induction Motor for Speed Control Applications[J]. IEEE Proc. Electr. Power Applicat., 1995, 142 (2) :89-95
[48]黄忠霖．控制系统MATLAB计算仿真[M]．国防工业出版社，2001
[49][法]莫克塔里等著，赵彦玲等译．MATLAB与SIMULINK工程应用[M]．电子工业出版社，2002
[50]导向科技编著．MATLAB6.0程序设计与实例应用[M]．中国铁道出版社，2001
[51]邓启文，尹力明等．直接转矩控制的发展与展望[J]．微特电机，2002，1：36-38