三相交流异步电机无速度传感器矢量控制研究
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摘要
20世纪70年代初,德国学者F. Blaschke率先提出“异步电动机磁场定向的控制原理”,开启了矢量控制理论的研究序幕。20世纪80年代日本学者提出空间矢量PWM控制策略之后,世界各国的研究机构陆续展开了对矢量控制技术的研究。
矢量控制(SVPWM)与正弦脉宽调制(SPWM)相比较,矢量控制能够提高逆变器直流电压的使用效率,而且还能够让电动机获得更好的动态响应性能,减小电动机转矩的脉动。矢量控制理论的应用,从速度获取方式上可以分为有速度传感器和无速度传感器矢量控制两大类,无速度传感器较有速度传感器具有更广泛的应用价值。
本论文进行无速度传感器的三相交流异步电机的矢量控制研究。首先介绍了变频控制技术的发展历程及其在现代工业中的应用领域,阐明进行电机控制研究的必要性。第二章阐述异步电动机的数学模型和坐标变换、矢量控制的原理及其可行性、空间矢量控制(SVPWM)的原理及其与正弦波脉宽调制(SPWM)相比的优越性,和空间矢量算法实现行进讲解。第三章基于异步电机控制系统的结构、速度观测原理、磁场定向原理以及定子与M、T轴电压的解耦运算,利用P1自动控制原理构建电动机转速的自适应辨识系统,建立交流电机控制系统的数学模型。第四章基于MATLAB仿真软件技术开发了异步电机矢量控制系统的仿真模块,最后进行了该仿真模型下的仿真并得出了结果
In the1970s, the German scholar F.B laschke put forward "asynchronous motor field-oriented control principle", started the vector control theory of the research prelude。 After the1980s Japan scholars put forward vector PWM control strategy, all over the world in an research institutions of vector control technology research.
Vector control (SVPWM) and sine pulse width modulation (SPWM) compare, vector controlcan not only improve inverter voltage dc side utilization ratio, but also can get better the dynamic response of the motor performance, reduce the motor torque ripple. The application of vector control theory, from the speed access method can be divided into a speed sensor and speed sensorless vector control two way, no speed sensor is better speed sensor has more extensive application value.
This thesis is about of ac motor speed sensorless vector control research. In this thesisi I first introduced the frequency conversion control technology of the development process and vector control application fields in modern industry, expounds the necessity of research on motor control. The second chapter is about asynchronous motor's mathematical model and coordinate transformation, the principle of vector control and it's feasibility, the superiority of principle of space vector control (SVPWM) have compared with the sine wave pulse width modulation (SPWM), and explaining space vector algorithm marching. In the third chapter based on asynchronous motor control system structure, and speed、 magnetic field observation and directional principle,next is about the voltage of the stator and rotor decoupling operation, use of PI method build construction speed motor adaptive identification system, and establish ac motor control mathematic model of the system. The fourth chapter development of induction motor based on MATLAB simulation module of vector control system, and finally gives the simulation model of the simulation results.
矢量控制(SVPWM)与正弦脉宽调制(SPWM)相比较,矢量控制能够提高逆变器直流电压的使用效率,而且还能够让电动机获得更好的动态响应性能,减小电动机转矩的脉动。矢量控制理论的应用,从速度获取方式上可以分为有速度传感器和无速度传感器矢量控制两大类,无速度传感器较有速度传感器具有更广泛的应用价值。
本论文进行无速度传感器的三相交流异步电机的矢量控制研究。首先介绍了变频控制技术的发展历程及其在现代工业中的应用领域,阐明进行电机控制研究的必要性。第二章阐述异步电动机的数学模型和坐标变换、矢量控制的原理及其可行性、空间矢量控制(SVPWM)的原理及其与正弦波脉宽调制(SPWM)相比的优越性,和空间矢量算法实现行进讲解。第三章基于异步电机控制系统的结构、速度观测原理、磁场定向原理以及定子与M、T轴电压的解耦运算,利用P1自动控制原理构建电动机转速的自适应辨识系统,建立交流电机控制系统的数学模型。第四章基于MATLAB仿真软件技术开发了异步电机矢量控制系统的仿真模块,最后进行了该仿真模型下的仿真并得出了结果
In the1970s, the German scholar F.B laschke put forward "asynchronous motor field-oriented control principle", started the vector control theory of the research prelude。 After the1980s Japan scholars put forward vector PWM control strategy, all over the world in an research institutions of vector control technology research.
Vector control (SVPWM) and sine pulse width modulation (SPWM) compare, vector controlcan not only improve inverter voltage dc side utilization ratio, but also can get better the dynamic response of the motor performance, reduce the motor torque ripple. The application of vector control theory, from the speed access method can be divided into a speed sensor and speed sensorless vector control two way, no speed sensor is better speed sensor has more extensive application value.
This thesis is about of ac motor speed sensorless vector control research. In this thesisi I first introduced the frequency conversion control technology of the development process and vector control application fields in modern industry, expounds the necessity of research on motor control. The second chapter is about asynchronous motor's mathematical model and coordinate transformation, the principle of vector control and it's feasibility, the superiority of principle of space vector control (SVPWM) have compared with the sine wave pulse width modulation (SPWM), and explaining space vector algorithm marching. In the third chapter based on asynchronous motor control system structure, and speed、 magnetic field observation and directional principle,next is about the voltage of the stator and rotor decoupling operation, use of PI method build construction speed motor adaptive identification system, and establish ac motor control mathematic model of the system. The fourth chapter development of induction motor based on MATLAB simulation module of vector control system, and finally gives the simulation model of the simulation results.
引文
[1]冯垛生曾岳南无速度传感器矢量控制原理与实践机械工业出版社2006.2
[2]白代兵 异步电机无速度传感器矢量控制系统的研究 东北； 东北大学
[3]余秋实 异步电机SVPWM的矢量控制系统重庆；重庆大学
[4]陈伯时阮毅电力拖动自动控制系统—运动控制系统机械工业出版社2011.1
[5]张旭,瞿文龙(Zhang Xu, Qu Wenlong)一种低速下磁链观测补偿的新方法(Anovel compensation method of statorflux estimation in low speed region)[J]电工电能新技术(Adv. Tech. of Elec. Eng. & Energy),2003,22(3): 50-53.
[6]张星,瞿文龙,陆海峰一种能消除直流偏置和稳态误差的电压型磁链观测器电工电能新技术,2006
[7]薛定宇控制系统仿真与计算机辅助设计机械工业出版社2005.1
[8]谢仕宏MATLABR2008控制系统动态仿真实例教程化学工业出版社2009.1
[9]陈伯时陈敏逊交流调速系统机械工业出版社2005.4
[10]李永东交流电机数字控制系统机械工业出版社2002.5
[11]薛定宇陈阳泉基于MATLAB/Simulink的系统仿真技术与应用清华大学出版社2002.4
[12]Kuchar M, Brandstetter P, Kaduch M. Sensorless induction motor drive with neural network [C]. IEEE Conf, on Power Electronics Specialists,2004, 5:3301-3305
[13]Adnan Derdiyok. Speed-sensorless control of induction motor using a continuous control approach of sliding-mode and flux observer[J]. IEEE Trans., on Industrial Electronics,2005,52 (4):1170-1176
[14]王成元夏加宽孙宜标 《现代电机控制技术》 机械工业出版社2008.8
[15]Caruana C, Ashen G M, Bradley K J. Flux position estimate on incage induction machines using synchronous H F injection and Kalman filtering[J] IEEE Trans. on IA,2003,39(5):1372- 1378.
[16]沈滢,郝荣泰.异步牵引电机磁场定向控制解耦算法的研究[J].铁道学报,2003,29(1)：26-30.
[17]王长江无速度传感器感应电动机调速系统的研究中国矿业大学博士论文 1994
[18]林渭勋.电力电子技术基础.北京：机械工业出版社,1992.
[19]Yong S H, Choi JW. Sensorless Vector Contro 1 of Induction Machine Using High Frequency Current Injection. Conf. Rec. IEEE2IAS'94,1994:503~ 508
[20]余功军等.无速度传感器矢量控制系统中的电机参数辨识.中国电工技术学会电力电子学会第六次全国学术会议论文集.1997：392、396
[21]Yang G., etc. Adaptive Speed Identification Scheme for Vector Controlled Speed Sensorless Inverter induction Motor Drive. Records of 1991 IEEE IAS Annual Meeting, 1991:404~ 408
[22]杨洋,张桂香.基于MATAB / sIMuLAINK的异步电机矢量控制调速系统仿真.湖南大学学报,2000,27(2)：50.55
[23]许珲.异步电机矢量控制交流调速系统的研究与实现[浙江工业大学硕士学位论文].杭州：浙江工业大学,2008,39.52
[24]Wade S, Dunnigen M W, Williams B W. Modeling and Simulation of Induction Machine Vector Control with Rotor Resistance Identincation. IEEE Transactions On Power Electronics,1997, 1 2(3):495-506.
[25]纪志成,薛花,沈艳霞.基于Matlab交流异步电机矢量控制系统的仿真建模.系统仿真学报,2004,16(3)：384-389
[26]Krobling R A, Rey J P. Design of optimal disturbance rejection PID controllers using genetic algorithms. IEEE Transaction on Evolution Computation,200 1,5(1):78-82
[27]胡寿松.自动控制原理(第4版).北京：国防工业出版社,2001,422.437
[28]刘卫俊.基于DSP的异步电机SVPWM矢量控制系统的研究：[浙江工业大学硕士学位论文].杭州：浙江工业大学,2005,1一9
[29]竺伟,陈伯时基于串联双模型观测器的异步电动机矢量控制器1电气传动,1997,27(3)：9-11
[30]Kubota H, Matsusa K. Speed Sensorless Field-oriented Control of Induction Motor with Rotor Resistance Adaptation. IEEE, IA S230, 1994, (5) 1219～ 1224
[31]熊健,张凯等.空间矢量脉宽调制的调制波分析.电气自动化,2002,24(3)：7～11
[32]BelhocineMetal. Robot Control Using a SlidingModel. International Symposium on Intelligent Control,1997, (16- 18) 361～ 366
[33]LuoYC et al. A daptive Stato r Resistance Estimation and Low-Speed Torque Ripple Minimization for a Sensorless Direct Torque Control Induction Motor Drive. Conf. Rec. IPEC-Tokyo 2000:1087~ 1092
[34]许大中.交流电机调速理论.第1版.浙江：浙江大学出版社,1991
[35]藏英杰等.电气传动的脉宽调制控制技术.北京：机械工业出版社,1995
[36]陈坚.交流电机数学模型及调速系统.北京：国防工业出版社,1989
[37]吴安顺等.最新实用交流调速系统.北京：机械工业出版社,1999
[38]刘兴堂.应用自适应控制[M).西安：西北工业大学出版社,2003,5(1)：45—50.
[39]吴振顺.自适应控制理论与应用[M].哈尔滨：哈尔滨工业大学出版社,2005,2(1)：90—97
[40]肖金凤,黄守道,李劲松.异步电机无速度传感器矢量控制系统设计[J].中小型电机,2005,32(2)：40—46
[41]李家荣.无速度传感器矢量控制系统得研究[J].机械与电子,2005,(5)：28—30.
[42]Freescale Semiconductor, Inc. Design of an ACIM Vector Control Driver Using the 56F8013[z]. Freescale Semiconductor, Inc.,2005.
[43]Singh GK, Nam K, Lim SK. A Simple Indirect Field-Oriented Control Scheme for Multiphase Induction Machine [J]. IEEE Transactions on Industrial Electronics,2005,52 (4):1177-1184.
[44]Park CW, KwonWH. Simple and robust speed sensorless vector control of induction motor using stator current based MRAC[J]. Electric Power Systems Research,2004,71 (3):257-266.
[45]Derdiyok A, Guven M K, Rehman H et al. Design and Implementation of A New Sliding-model bserverf or Speed Sensorless Control of Induction Machine. IEEE Transactions on Industrial Electronics,2002,49(5):1177^-1182
[46]Kim Y S, Kim SU,YangLW.Implementation of a Speed Sensorless Vector Control of Induction Motor by Reducedorder Extended Kalman Filter. IEEE 1995 Application Power Electronics Conference(APEC'95):197-203
[47]Yong S, Choi J W, Sul S K. Sensorless Vector Control of Induction Machine Using High Frequency Current Injection. IEEE 1994 Industry Application Society Conference:503-508
[48]蔡自兴.智能控制[M].北京：电子工业出版社,2004.
[49]韩九强主编MATLAB高级语言及其在控制系统中的应用[M].西安交通大学出版社,1997.
[50]林平；胡长生；李明峰基于模型参考自适应系统算法的速度估算核的研制[期论 文]-中国电机工程学报2004(01)
151]祝龙记；王宾基于MRAS速度辨识矢量控制系统的仿真研究[期刊论文]-电工技术学报2005(01)
[52]罗金盛.谭国俊一种全阶转子磁链观测器的仿真模型的建立[期刊论文]-华侨大学学报(自然科学版)2011(1)
[2]白代兵 异步电机无速度传感器矢量控制系统的研究 东北； 东北大学
[3]余秋实 异步电机SVPWM的矢量控制系统重庆；重庆大学
[4]陈伯时阮毅电力拖动自动控制系统—运动控制系统机械工业出版社2011.1
[5]张旭,瞿文龙(Zhang Xu, Qu Wenlong)一种低速下磁链观测补偿的新方法(Anovel compensation method of statorflux estimation in low speed region)[J]电工电能新技术(Adv. Tech. of Elec. Eng. & Energy),2003,22(3): 50-53.
[6]张星,瞿文龙,陆海峰一种能消除直流偏置和稳态误差的电压型磁链观测器电工电能新技术,2006
[7]薛定宇控制系统仿真与计算机辅助设计机械工业出版社2005.1
[8]谢仕宏MATLABR2008控制系统动态仿真实例教程化学工业出版社2009.1
[9]陈伯时陈敏逊交流调速系统机械工业出版社2005.4
[10]李永东交流电机数字控制系统机械工业出版社2002.5
[11]薛定宇陈阳泉基于MATLAB/Simulink的系统仿真技术与应用清华大学出版社2002.4
[12]Kuchar M, Brandstetter P, Kaduch M. Sensorless induction motor drive with neural network [C]. IEEE Conf, on Power Electronics Specialists,2004, 5:3301-3305
[13]Adnan Derdiyok. Speed-sensorless control of induction motor using a continuous control approach of sliding-mode and flux observer[J]. IEEE Trans., on Industrial Electronics,2005,52 (4):1170-1176
[14]王成元夏加宽孙宜标 《现代电机控制技术》 机械工业出版社2008.8
[15]Caruana C, Ashen G M, Bradley K J. Flux position estimate on incage induction machines using synchronous H F injection and Kalman filtering[J] IEEE Trans. on IA,2003,39(5):1372- 1378.
[16]沈滢,郝荣泰.异步牵引电机磁场定向控制解耦算法的研究[J].铁道学报,2003,29(1)：26-30.
[17]王长江无速度传感器感应电动机调速系统的研究中国矿业大学博士论文 1994
[18]林渭勋.电力电子技术基础.北京：机械工业出版社,1992.
[19]Yong S H, Choi JW. Sensorless Vector Contro 1 of Induction Machine Using High Frequency Current Injection. Conf. Rec. IEEE2IAS'94,1994:503~ 508
[20]余功军等.无速度传感器矢量控制系统中的电机参数辨识.中国电工技术学会电力电子学会第六次全国学术会议论文集.1997：392、396
[21]Yang G., etc. Adaptive Speed Identification Scheme for Vector Controlled Speed Sensorless Inverter induction Motor Drive. Records of 1991 IEEE IAS Annual Meeting, 1991:404~ 408
[22]杨洋,张桂香.基于MATAB / sIMuLAINK的异步电机矢量控制调速系统仿真.湖南大学学报,2000,27(2)：50.55
[23]许珲.异步电机矢量控制交流调速系统的研究与实现[浙江工业大学硕士学位论文].杭州：浙江工业大学,2008,39.52
[24]Wade S, Dunnigen M W, Williams B W. Modeling and Simulation of Induction Machine Vector Control with Rotor Resistance Identincation. IEEE Transactions On Power Electronics,1997, 1 2(3):495-506.
[25]纪志成,薛花,沈艳霞.基于Matlab交流异步电机矢量控制系统的仿真建模.系统仿真学报,2004,16(3)：384-389
[26]Krobling R A, Rey J P. Design of optimal disturbance rejection PID controllers using genetic algorithms. IEEE Transaction on Evolution Computation,200 1,5(1):78-82
[27]胡寿松.自动控制原理(第4版).北京：国防工业出版社,2001,422.437
[28]刘卫俊.基于DSP的异步电机SVPWM矢量控制系统的研究：[浙江工业大学硕士学位论文].杭州：浙江工业大学,2005,1一9
[29]竺伟,陈伯时基于串联双模型观测器的异步电动机矢量控制器1电气传动,1997,27(3)：9-11
[30]Kubota H, Matsusa K. Speed Sensorless Field-oriented Control of Induction Motor with Rotor Resistance Adaptation. IEEE, IA S230, 1994, (5) 1219～ 1224
[31]熊健,张凯等.空间矢量脉宽调制的调制波分析.电气自动化,2002,24(3)：7～11
[32]BelhocineMetal. Robot Control Using a SlidingModel. International Symposium on Intelligent Control,1997, (16- 18) 361～ 366
[33]LuoYC et al. A daptive Stato r Resistance Estimation and Low-Speed Torque Ripple Minimization for a Sensorless Direct Torque Control Induction Motor Drive. Conf. Rec. IPEC-Tokyo 2000:1087~ 1092
[34]许大中.交流电机调速理论.第1版.浙江：浙江大学出版社,1991
[35]藏英杰等.电气传动的脉宽调制控制技术.北京：机械工业出版社,1995
[36]陈坚.交流电机数学模型及调速系统.北京：国防工业出版社,1989
[37]吴安顺等.最新实用交流调速系统.北京：机械工业出版社,1999
[38]刘兴堂.应用自适应控制[M).西安：西北工业大学出版社,2003,5(1)：45—50.
[39]吴振顺.自适应控制理论与应用[M].哈尔滨：哈尔滨工业大学出版社,2005,2(1)：90—97
[40]肖金凤,黄守道,李劲松.异步电机无速度传感器矢量控制系统设计[J].中小型电机,2005,32(2)：40—46
[41]李家荣.无速度传感器矢量控制系统得研究[J].机械与电子,2005,(5)：28—30.
[42]Freescale Semiconductor, Inc. Design of an ACIM Vector Control Driver Using the 56F8013[z]. Freescale Semiconductor, Inc.,2005.
[43]Singh GK, Nam K, Lim SK. A Simple Indirect Field-Oriented Control Scheme for Multiphase Induction Machine [J]. IEEE Transactions on Industrial Electronics,2005,52 (4):1177-1184.
[44]Park CW, KwonWH. Simple and robust speed sensorless vector control of induction motor using stator current based MRAC[J]. Electric Power Systems Research,2004,71 (3):257-266.
[45]Derdiyok A, Guven M K, Rehman H et al. Design and Implementation of A New Sliding-model bserverf or Speed Sensorless Control of Induction Machine. IEEE Transactions on Industrial Electronics,2002,49(5):1177^-1182
[46]Kim Y S, Kim SU,YangLW.Implementation of a Speed Sensorless Vector Control of Induction Motor by Reducedorder Extended Kalman Filter. IEEE 1995 Application Power Electronics Conference(APEC'95):197-203
[47]Yong S, Choi J W, Sul S K. Sensorless Vector Control of Induction Machine Using High Frequency Current Injection. IEEE 1994 Industry Application Society Conference:503-508
[48]蔡自兴.智能控制[M].北京：电子工业出版社,2004.
[49]韩九强主编MATLAB高级语言及其在控制系统中的应用[M].西安交通大学出版社,1997.
[50]林平；胡长生；李明峰基于模型参考自适应系统算法的速度估算核的研制[期论 文]-中国电机工程学报2004(01)
151]祝龙记；王宾基于MRAS速度辨识矢量控制系统的仿真研究[期刊论文]-电工技术学报2005(01)
[52]罗金盛.谭国俊一种全阶转子磁链观测器的仿真模型的建立[期刊论文]-华侨大学学报(自然科学版)2011(1)