多电机同步控制系统的研究与开发
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摘要
矩阵变换器是一种先进拓扑结构的“全硅”功率变换器,与传统的变换器相比,它具有如下优点:不需要中间直流储能环节;能够四象限运行;具有优良的输入电流波形和输出电压波形;可自由控制的功率因数。因此矩阵变换器已成为电力电子技术研究的热点之一,有着广泛的应用前景。国外开始这方面的研究已有一段时间,取得了可喜的进展,国内近几年也开始了这方面的研究,但和国外相比还有不小差距。
本文简要介绍了矩阵变换器的数学基础、工作原理和换流技术,从等效交-直-交变换的空间矢量调制方法出发,深入分析了矩阵式变换器的变换关系,推导出了交-交直接变换规律和双空间矢量PWM调制技术,实现了交-交直接变换控制方式下矩阵变换器的建模和仿真。首次应用转子磁场定向原理实现了矩阵变换器的双闭环控制的建模和仿真。仿真中采用双IGBT组合双向开关并应用四步换流控制实现了开关的安全切换,仿真结果非常接近实际。并进一步应用矩阵式变换器实现了多电机同步控制系统的仿真试验。
本文以DSP为核心实现了矩阵变换器的硬件设计,进行了系统软件的设计和调试,完成了交流电机的控制试验,并对试验结果进行了分析。仿真和实验结果验证了本文策略的正确性和可行性。
Matrix Convertor is a "all silicon" power convertor with an advanced circuit topology. Compared with the traditional power convertor, it has a few advantages: the lack of DC -link , the ability of four quadrant operation, the excellent waveforms of input current and output voltage, variable power factor input current. Because of such advantages, Matrix convertor will be prosperous in the future. In abroad, the research of it has developed for a few times. But in china, the research only has begun lately.In this paper, the control method for matrix convertor (MC) is emphasized. Its mathematic mechanism , fundamental principle and four-step current commutation algorithm are described briefly. According to the space vector modulation method of the equivalent structure of the AC-DC-AC conversion , the conversion relations of the matrix convertor were deeply investigated. The AC-AC direct transformation control and the double-space-vector PWM scheme of the matrix convertor were deduced and the modling and simulation of a three-phase matrix convertor were implemented. In this paper, the matrix convertor based on rotor flux oriented with current and speed fed back control is descriped. Due to the lack of the true bi-directional switches at present ,the combinaions of IGBTs controlled by four-step current commutation algorithm were adopted in the simulation, which made the study very close to the reality. Further, the modling and simulation of muti-motor synchronization control system based on the matrix convertor were descriped.The harware based on DSP control sysytem was constructed and the software was designed and written. Experiment of applying the matrix convertor to three-phase induction motor drive were completed. The simulaton and expriment results demostrate the correctness and the feasibility of this scheme.
本文简要介绍了矩阵变换器的数学基础、工作原理和换流技术,从等效交-直-交变换的空间矢量调制方法出发,深入分析了矩阵式变换器的变换关系,推导出了交-交直接变换规律和双空间矢量PWM调制技术,实现了交-交直接变换控制方式下矩阵变换器的建模和仿真。首次应用转子磁场定向原理实现了矩阵变换器的双闭环控制的建模和仿真。仿真中采用双IGBT组合双向开关并应用四步换流控制实现了开关的安全切换,仿真结果非常接近实际。并进一步应用矩阵式变换器实现了多电机同步控制系统的仿真试验。
本文以DSP为核心实现了矩阵变换器的硬件设计,进行了系统软件的设计和调试,完成了交流电机的控制试验,并对试验结果进行了分析。仿真和实验结果验证了本文策略的正确性和可行性。
Matrix Convertor is a "all silicon" power convertor with an advanced circuit topology. Compared with the traditional power convertor, it has a few advantages: the lack of DC -link , the ability of four quadrant operation, the excellent waveforms of input current and output voltage, variable power factor input current. Because of such advantages, Matrix convertor will be prosperous in the future. In abroad, the research of it has developed for a few times. But in china, the research only has begun lately.In this paper, the control method for matrix convertor (MC) is emphasized. Its mathematic mechanism , fundamental principle and four-step current commutation algorithm are described briefly. According to the space vector modulation method of the equivalent structure of the AC-DC-AC conversion , the conversion relations of the matrix convertor were deeply investigated. The AC-AC direct transformation control and the double-space-vector PWM scheme of the matrix convertor were deduced and the modling and simulation of a three-phase matrix convertor were implemented. In this paper, the matrix convertor based on rotor flux oriented with current and speed fed back control is descriped. Due to the lack of the true bi-directional switches at present ,the combinaions of IGBTs controlled by four-step current commutation algorithm were adopted in the simulation, which made the study very close to the reality. Further, the modling and simulation of muti-motor synchronization control system based on the matrix convertor were descriped.The harware based on DSP control sysytem was constructed and the software was designed and written. Experiment of applying the matrix convertor to three-phase induction motor drive were completed. The simulaton and expriment results demostrate the correctness and the feasibility of this scheme.
引文
1 李华德,白晶,李志民等交流调速控制系统[M]北京 电子工业出版社
2 L. Gyugyi, B. P. Pelly Static Power Frequency Changers Theory, performance and Application[J] New York: John Wiley & Sons Inc. 1976
3 Venturini M. Alesina A New Bi-directional Sinusoidal Waveform Frequency Convertor with Continuously Adjustable Input Power Factor [C], in PECC Conf. Rec 1980 pp: 2543-252
4 A. Alcsina and M. G. B Venturini, Analysis and Design of Optimum-amplitude Nine-switch Direct AC-AC Convertor [J] IEEE Trans, Power Electron Vol.4 pp: 102-112 Jan.1989
5 D. G. Holmes and T. A. Lipo, Implenmentation of a Controlled Rectifier Using AC-AC Matrix Convertor Theory[J], IEEE Trans. Power Electron, Vol.7, pp.240-250, Jan. 1992
6 P. D. Ziogas, Y. G. Kang, and V. R. Stefanovic, Rectifier-inverter Frequency Changers with Suppressed DC Link Components[J], IEEE Trans. Ind. Applicat, Vol.IA-22, pp. 1027-1036, Nov./Dec. 1986
7 C. L. Neft and C. D. Scharder, Theory and Design of a 30-hp Matrix Convertor[J], IEEE Trans. Ind. Applicat. Vol.28, pp.546-551, May/June, 1992
8 L. Huber, D. Borojenic, Space Vecter Modulated three-phase to three-phase Matrix Convertor with Input Power factor Coeerction[J] , IEEE Trans. Ind. Applicat, Vol.31, pp.1234-1246, Nov./Dec. 1995
9 M. Kazerani and B. T. Ooe, Feasibility of Both Vector Control and Displacement Factor Correction by Voltage Sure Type AC-AC Matrix Convertor[J], IEEE Trans. Ind. Electron, Vol.42, pp.524-530, Oct. 1995
10 D. Casadei, G. Sgrandi, G. serram, and A. Tani, Space Vector Control of Matrix Convertors with Unity Input Power Factor and Sinusoidal Input/Output Waveforms Conf. Rec [C]. Inst. Elect. Eng. EPE93. Brihhton. U. K. Sept. 13-16, 1993, Vol.7, pp: 170-175
11 L. Huber, D. Borojenic, Space Vecter Modulation for Forced Commutated Cycloconverter[C]. Conf. Rec. Annu. Meet. IEEE. Ias, 1989, pp: 871-876
12 A. Ishiguro, T. Furuhashi, A Novel Control Methed for Forced Commutated Cycloconverter Using Instantaneous Values of Input Line-to-Line Voltages[J], IEEE Trans. on Industrial Electronics, Vol.38, No-3, June 1991
13 庄心复 交—交型矩阵变换器的控制原理和实验研究[J] 电力电子技术,1994,28(2):PP:1—6
14 陆海慧,陈伯时,夏承光;矩阵式交—交变换器[J] 电力电子技术,1997(1):PP:105—107
15 陈伯时,陆海慧 矩阵式交—交变换器及其控制[J] 电力电子技术 1999(1):8—11
16 朱贤龙,龚幼民,陈伯时:矩阵变换器的研制现状和发展方向[J],电气传动自动化 Nov.1998,Vol.20,NO.4.
17 朱贤龙,黄海俊,陆海慧,龚幼民,陈伯时:基于空间矢量调制的三相交—交矩阵变换器的研制与研究方向[J] 电气传动 1999(2) 12—14
18 穆新华,庄心复:交—交型矩阵变换器的双电压控制原理及波形合成[J] 南京航空航天大学学报,Apr.1997 Vol.29 No.2.
19 陈希有、称学允:基于PARK变换的空间矢量调制矩阵变换器的暂态分析[J],中国电机工程学报,May.2000,Vol.20 No.5
20 陈希有、称学允:一般矩阵式电力变换器的等效电路及其应用[J],电工技术学报,Oct.1999,Vol.14 No.5
21 陈希有,陈学允,矩阵式电力变换器的无功功率分析[J],中国电机工程学报,Vol.19 No.11 Nov.1999。
22 陈希有,陈学允,空间矢量调制矩阵式电力变换器的灵敏度分析[J],电力系统自动化,2000 Vol.24 No.6 pp:40-43,47
23 陈希有,陈学允,韦奇,改进矩阵变换器在非对称输入情况下的空间矢量调制策略[J],电工技术学报,2000,15(2)PP::78-83
24 张林亭,朱建林,矩阵式交—交变换器的空间矢量调制原理[J],变频器世界, 2001.8:pp:26～31
25 李志勇,朱建林,易灵芝等 空间矢量调制的矩阵式变换器仿真模型研究[J] 中国电机工程学报 2003,3,pp:80-84
26 谭平安,朱建林,罗振中,李志勇,易灵芝 矩阵变换器输入电流控制策略的研究[J] 自动化技术与应用 2003.8:75-78.
27 易灵芝,李志勇,朱建林,王根平等输入非平衡条件下矩阵变换器两种电流偏置角调制策略的谐波分析[J] 电力自动化设备Vol.24 No.6:29-33Jun.2004
28 易灵芝,李志勇,朱建林,邓文浪,李卫平基于Matlab的输入非平衡条件下矩阵式变换器仿真[J] 兵工自动化 Vol.23,No.3:23-25 2004
29 文方,姜效华 多机电机同步控制系统[J] 电气传动 2000.5:14-17
30 施火泉,张慧萍 多电机传动系统的同步控制江南大学学报 Vol.2,No.4.371-373 Oct.2003
31 Koren Y., Cross-coupled Biaxial Computer Control for Manufacturing System, ASME Journal of Dynamic Systems, Measurement and CONTROL, 1980, 102(12)
32 Alberto Alesina, G. B. Venturini, Solid-State Power Conversion: A Fourier Analysis Approach to Generalized Transformer Synthesis[J] IEEE Trans. On Circuit and System, Vol CAS-28, N0.4, 1981, 319-330
33 陈希有,陈学允,双电压合成矩阵变换器无功功率的控制与输入消谐[J].电气传动,2001,(1),11—15
34 陈希有,丛树久,陈学允,双电压合成矩阵变换器特性与电压扇区的关系分析[J].中国电机工程学报,2001,21(9):63—67
35 Nandor Burany. Safe Control of Four-Quadrant Switches[C]. Proceed of IAS'89 Annual Meeting, 1989, 1990-1994
36 P. Wheeleer, D. Grant. Optimised Input Filter Design and Low-loss Switching Techniques for a Practical Matrix converter[J] IEEE 1997
37 L Empringham, P. Wheeler, J. C Clare. Matrix Converter Bi-directional Switch Commutation Using Intelligent Gate Drives[C]. IEE, PESD'98, No.456, 1998, 626-631
38 L Empringham, P. Wheeler, J. C Clare Intelligent Commutation of Matrix Converter Bi-directional Switch Cells Using Novel Gate Drive Techniques[C]. IEEE, PESC'98, 1998, 707-713
39 Peter Nielsen, Frede Blaabjerg, John K. Pedersen. Novel Solutions for Protection of Matrix Converter to Three Phase Induction Machine, Proceedings of IAS'97, pp. 1447-1454, 1997.
40 吴安顺 最新实用交流调速系统[M] 北京 机械工业出版社 1999.1
41 Xiong Wangli, Duan Zhishan, Wen Bangchun, Characteristcs of Electromechanical Coupling Self-Sychronization of a Multi-motor Vibration Transmission System, Chinese Journal of Mechanical Enginneering, Vol.14, No.3, 2001
42 Gunther Brandenburg, Stephen GeiBenberger, Multimotor Electronic Line Shafts for Rotary Offset Printing Presses: A Revolution in Printing Machine Techniques, IEEE Transactions on Mechatronics, Vol.4, No. 1, March 1999
43 Texas Instruments, TMS320C24x DSP Controllers Refrence Set, 1997
44 Texas Instruments, TMS320F/C24x DSP Controllers Refrence guide, 1999
45 Texas Instruments, TMS320C24x DSP Design Workshop, 1998
2 L. Gyugyi, B. P. Pelly Static Power Frequency Changers Theory, performance and Application[J] New York: John Wiley & Sons Inc. 1976
3 Venturini M. Alesina A New Bi-directional Sinusoidal Waveform Frequency Convertor with Continuously Adjustable Input Power Factor [C], in PECC Conf. Rec 1980 pp: 2543-252
4 A. Alcsina and M. G. B Venturini, Analysis and Design of Optimum-amplitude Nine-switch Direct AC-AC Convertor [J] IEEE Trans, Power Electron Vol.4 pp: 102-112 Jan.1989
5 D. G. Holmes and T. A. Lipo, Implenmentation of a Controlled Rectifier Using AC-AC Matrix Convertor Theory[J], IEEE Trans. Power Electron, Vol.7, pp.240-250, Jan. 1992
6 P. D. Ziogas, Y. G. Kang, and V. R. Stefanovic, Rectifier-inverter Frequency Changers with Suppressed DC Link Components[J], IEEE Trans. Ind. Applicat, Vol.IA-22, pp. 1027-1036, Nov./Dec. 1986
7 C. L. Neft and C. D. Scharder, Theory and Design of a 30-hp Matrix Convertor[J], IEEE Trans. Ind. Applicat. Vol.28, pp.546-551, May/June, 1992
8 L. Huber, D. Borojenic, Space Vecter Modulated three-phase to three-phase Matrix Convertor with Input Power factor Coeerction[J] , IEEE Trans. Ind. Applicat, Vol.31, pp.1234-1246, Nov./Dec. 1995
9 M. Kazerani and B. T. Ooe, Feasibility of Both Vector Control and Displacement Factor Correction by Voltage Sure Type AC-AC Matrix Convertor[J], IEEE Trans. Ind. Electron, Vol.42, pp.524-530, Oct. 1995
10 D. Casadei, G. Sgrandi, G. serram, and A. Tani, Space Vector Control of Matrix Convertors with Unity Input Power Factor and Sinusoidal Input/Output Waveforms Conf. Rec [C]. Inst. Elect. Eng. EPE93. Brihhton. U. K. Sept. 13-16, 1993, Vol.7, pp: 170-175
11 L. Huber, D. Borojenic, Space Vecter Modulation for Forced Commutated Cycloconverter[C]. Conf. Rec. Annu. Meet. IEEE. Ias, 1989, pp: 871-876
12 A. Ishiguro, T. Furuhashi, A Novel Control Methed for Forced Commutated Cycloconverter Using Instantaneous Values of Input Line-to-Line Voltages[J], IEEE Trans. on Industrial Electronics, Vol.38, No-3, June 1991
13 庄心复 交—交型矩阵变换器的控制原理和实验研究[J] 电力电子技术,1994,28(2):PP:1—6
14 陆海慧,陈伯时,夏承光;矩阵式交—交变换器[J] 电力电子技术,1997(1):PP:105—107
15 陈伯时,陆海慧 矩阵式交—交变换器及其控制[J] 电力电子技术 1999(1):8—11
16 朱贤龙,龚幼民,陈伯时:矩阵变换器的研制现状和发展方向[J],电气传动自动化 Nov.1998,Vol.20,NO.4.
17 朱贤龙,黄海俊,陆海慧,龚幼民,陈伯时:基于空间矢量调制的三相交—交矩阵变换器的研制与研究方向[J] 电气传动 1999(2) 12—14
18 穆新华,庄心复:交—交型矩阵变换器的双电压控制原理及波形合成[J] 南京航空航天大学学报,Apr.1997 Vol.29 No.2.
19 陈希有、称学允:基于PARK变换的空间矢量调制矩阵变换器的暂态分析[J],中国电机工程学报,May.2000,Vol.20 No.5
20 陈希有、称学允:一般矩阵式电力变换器的等效电路及其应用[J],电工技术学报,Oct.1999,Vol.14 No.5
21 陈希有,陈学允,矩阵式电力变换器的无功功率分析[J],中国电机工程学报,Vol.19 No.11 Nov.1999。
22 陈希有,陈学允,空间矢量调制矩阵式电力变换器的灵敏度分析[J],电力系统自动化,2000 Vol.24 No.6 pp:40-43,47
23 陈希有,陈学允,韦奇,改进矩阵变换器在非对称输入情况下的空间矢量调制策略[J],电工技术学报,2000,15(2)PP::78-83
24 张林亭,朱建林,矩阵式交—交变换器的空间矢量调制原理[J],变频器世界, 2001.8:pp:26～31
25 李志勇,朱建林,易灵芝等 空间矢量调制的矩阵式变换器仿真模型研究[J] 中国电机工程学报 2003,3,pp:80-84
26 谭平安,朱建林,罗振中,李志勇,易灵芝 矩阵变换器输入电流控制策略的研究[J] 自动化技术与应用 2003.8:75-78.
27 易灵芝,李志勇,朱建林,王根平等输入非平衡条件下矩阵变换器两种电流偏置角调制策略的谐波分析[J] 电力自动化设备Vol.24 No.6:29-33Jun.2004
28 易灵芝,李志勇,朱建林,邓文浪,李卫平基于Matlab的输入非平衡条件下矩阵式变换器仿真[J] 兵工自动化 Vol.23,No.3:23-25 2004
29 文方,姜效华 多机电机同步控制系统[J] 电气传动 2000.5:14-17
30 施火泉,张慧萍 多电机传动系统的同步控制江南大学学报 Vol.2,No.4.371-373 Oct.2003
31 Koren Y., Cross-coupled Biaxial Computer Control for Manufacturing System, ASME Journal of Dynamic Systems, Measurement and CONTROL, 1980, 102(12)
32 Alberto Alesina, G. B. Venturini, Solid-State Power Conversion: A Fourier Analysis Approach to Generalized Transformer Synthesis[J] IEEE Trans. On Circuit and System, Vol CAS-28, N0.4, 1981, 319-330
33 陈希有,陈学允,双电压合成矩阵变换器无功功率的控制与输入消谐[J].电气传动,2001,(1),11—15
34 陈希有,丛树久,陈学允,双电压合成矩阵变换器特性与电压扇区的关系分析[J].中国电机工程学报,2001,21(9):63—67
35 Nandor Burany. Safe Control of Four-Quadrant Switches[C]. Proceed of IAS'89 Annual Meeting, 1989, 1990-1994
36 P. Wheeleer, D. Grant. Optimised Input Filter Design and Low-loss Switching Techniques for a Practical Matrix converter[J] IEEE 1997
37 L Empringham, P. Wheeler, J. C Clare. Matrix Converter Bi-directional Switch Commutation Using Intelligent Gate Drives[C]. IEE, PESD'98, No.456, 1998, 626-631
38 L Empringham, P. Wheeler, J. C Clare Intelligent Commutation of Matrix Converter Bi-directional Switch Cells Using Novel Gate Drive Techniques[C]. IEEE, PESC'98, 1998, 707-713
39 Peter Nielsen, Frede Blaabjerg, John K. Pedersen. Novel Solutions for Protection of Matrix Converter to Three Phase Induction Machine, Proceedings of IAS'97, pp. 1447-1454, 1997.
40 吴安顺 最新实用交流调速系统[M] 北京 机械工业出版社 1999.1
41 Xiong Wangli, Duan Zhishan, Wen Bangchun, Characteristcs of Electromechanical Coupling Self-Sychronization of a Multi-motor Vibration Transmission System, Chinese Journal of Mechanical Enginneering, Vol.14, No.3, 2001
42 Gunther Brandenburg, Stephen GeiBenberger, Multimotor Electronic Line Shafts for Rotary Offset Printing Presses: A Revolution in Printing Machine Techniques, IEEE Transactions on Mechatronics, Vol.4, No. 1, March 1999
43 Texas Instruments, TMS320C24x DSP Controllers Refrence Set, 1997
44 Texas Instruments, TMS320F/C24x DSP Controllers Refrence guide, 1999
45 Texas Instruments, TMS320C24x DSP Design Workshop, 1998