异步电机自适应矢量控制系统的研究
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摘要
本论文的研究目标是异步电机的矢量控制系统以及将自适应控制应用于矢量控制系统。论文的重点是矢量控制方法、转子磁链的观测以及转速的自适应估计。
本文从介绍近年来调速技术的0发展、异步电机的调速方法以及矢量控制的思想开始，分别阐述了异步电机的数学模型及坐标矢量变换，异步电机的可控可观性等，之后对用于异步电机调速的矢量控制方法进行分析比较，对矢量控制系统的各个环节进行了研究并探讨了磁场定向方式的问题。对磁链和转矩闭环的矢量控制系统中关键的转子磁链观测问题进行了研究，提出了一种不依赖于转子电阻的转子磁链的自适应辨识方法。对目前流行的无速度传感器矢量控制系统进行探讨，提出了一种转速的在线自适应估计方法。
论文最后对本文介绍的矢量控制系统进行了仿真研究，给出了仿真结果，并对研究结果进行了总结，提出了本文的进一步研究目标。
This dissertation is the research of the vector control system of asynchronous machine and the research of applying the adaptive control to the vector control system .It was vector control means, rotor flux' observation and adaptive estimation ofrotor speed as well that this dissertation emphases.
First of all, introducing timing technical develop in recent years, the mode of speed regulation and vector control 'idea, this dissertation discussed the math model, co-ordinate vector change and asynchronous machine ' controllability and observability. Next, the mode of vector control and every part in vector control system were studied and the mode of flux-oriented was discussed. The focus rotor flux observation problem in directness vector control system with torque internal ring, rotation speed and flux closed loop was studied. A means of rotor flux' adaptation distinguish independent of rotor resistance was put forward. Making an approach to popular without speed sensor vector control system for the moment and putting forward an adaptive estimation means on-line about rotor speed.
At the end of this dissertation, the study of simulation was applied to vector control system that this paper discussed and the simulation outcome was given out. Conclusion was made for research work and the further aim of research work was put forward.
本文从介绍近年来调速技术的0发展、异步电机的调速方法以及矢量控制的思想开始，分别阐述了异步电机的数学模型及坐标矢量变换，异步电机的可控可观性等，之后对用于异步电机调速的矢量控制方法进行分析比较，对矢量控制系统的各个环节进行了研究并探讨了磁场定向方式的问题。对磁链和转矩闭环的矢量控制系统中关键的转子磁链观测问题进行了研究，提出了一种不依赖于转子电阻的转子磁链的自适应辨识方法。对目前流行的无速度传感器矢量控制系统进行探讨，提出了一种转速的在线自适应估计方法。
论文最后对本文介绍的矢量控制系统进行了仿真研究，给出了仿真结果，并对研究结果进行了总结，提出了本文的进一步研究目标。
This dissertation is the research of the vector control system of asynchronous machine and the research of applying the adaptive control to the vector control system .It was vector control means, rotor flux' observation and adaptive estimation ofrotor speed as well that this dissertation emphases.
First of all, introducing timing technical develop in recent years, the mode of speed regulation and vector control 'idea, this dissertation discussed the math model, co-ordinate vector change and asynchronous machine ' controllability and observability. Next, the mode of vector control and every part in vector control system were studied and the mode of flux-oriented was discussed. The focus rotor flux observation problem in directness vector control system with torque internal ring, rotation speed and flux closed loop was studied. A means of rotor flux' adaptation distinguish independent of rotor resistance was put forward. Making an approach to popular without speed sensor vector control system for the moment and putting forward an adaptive estimation means on-line about rotor speed.
At the end of this dissertation, the study of simulation was applied to vector control system that this paper discussed and the simulation outcome was given out. Conclusion was made for research work and the further aim of research work was put forward.
引文
[1] 陈伯时．信息化时代的电气传动技术．自动化博览，2002(19)：4
[2] 陈伯时，陈敏逊．交流调速系统．北京：机械工业出版社(第二版)，2005
[3] Martins, C.A.; Carvalho, A.S. Technological trends in induction motor electrical drives. Power Tech Proceedings, 2001 IEEE Porto, Volume:vol.2, 2001:7
[4] 李言俊，张科．自适应控制理论及应用．西安：西北工业大学出版社，2002
[5] 谢新民，丁锋．自适应控制系统．北京：清华大学出版社，2002
[6] 韩曾晋．自适应控制．北京：清华大学出版社，2000
[7] 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
[8] 王离九．电力拖动自动控制系统．武汉：华中理工大学出版社，1991
[9] 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
[10] 杨耕，罗应立．电机与运动控制系统．北京：清华大学出版社，2006
[11] 夏超英．交直流传动系统的自适应控制．北京：机械工业出版杜，2001
[12] 刘豹．现代控制理论(第二版)．北京：机械工业出版社，2004
[13] 郑大钟．线性系统理论(第二版)．北京：清华大学出版社，2002
[14] 高景德，王祥，李发海．交流电机及其系统的分析．北京：清华大学出版社，2000
[15] 黄永安，马路，刘慧敏．Matlab7.0／Simulink6.0建模仿真开发与高级工程应用．北京：清华大学出版社，2005
[16] 吴天明，谢小竹，彭彬．Matlab电力系统设计与分析．北京：国防工业出版社，2004
[17] 孟庆春，杨建忠．基于Simulink仿真工具的感应电动机仿真模型研究．基础自动化，2002，(1)：12～15
[18] 夏扬．基于Simulink的感应电机建模及仿真研究．电气传动自动化，2002，24 卷(1)：3～6
[19] 尚敬．基于Matlab／Simulink的异步电机仿真模型分析．电机技术，2002(2)：17～19
[20] 阮毅，吴晓欣．异步电机动态模型及其控制策略．电气应用，2005，24卷(3)：1～4
[21] 李永东．交流电机数字控制系统．北京：机械工业出版社，2003
[21] Marques GD Numerical simulation method for the slip power recovery system IEE Proc-Electr power Appl. 1999, 146 (1): 17～19
[22] 郑禅君，张敏华，杜世俊．异步电机转差型无速度传感器矢量控制系统．微特电机，2002(2)：18～20
[23] 王云亮．电力电子技术．北京：电子工业出版社，2004
[24] 王兆安，黄俊．电力电子技术．北京：机械工业出版社，2003
[25] 韩安荣．通用变频器及其应用(第二版)．北京：机械工业出版社，2005
[26] 马小亮．大功率交．交变频调速及矢量控制技术(第三版)．北京：机械工业出版社，2004：152～153
[27] Patrick L J, Lorenz RD. A Physically Insightful Approach to the Design and Accuracy Assessment of Flux Observers for Field Oriented Induction Machine Drives. IEEE Trans. Ind. Appl. 1994,30(1):101～110
[28] Geo rge C Verghese, Seth R Sanders. Observers for flux estimation in induction machine.IEEE Trans on IE,1988, 35 (1):85～94
[29] Hisao Kubo ta, Kouki Matsuse, Takayo shi Nakano.DSP based speed adaptive flux observer of induction motor. IEEE Trans on IA, 1993, 29(2):344～348
[30] HU Jun, WU Bin. New integration algo rithm for estimating motor flux over a wide speed range. IEEE T ran on PE, 1998, 13 (5) : 969～977
[31] 黄琳．稳定性理论．北京：北京大学出版社，2001
[32] 周箴，万淑芸，王离九．转子电阻变化对矢量控制的影响．电气自动化，1998，20(3)：18～20
[33] VuKosavic Slobodan N, Stojic Milic R. Online tuning of the rotor time constant for vector controlled induction motor in position control applications. IEEE Transactions on Industrial Electronics, 1993,40(1): 130～138
[34] 葛琼璇．矢量控制异步电机转子时间常数的实时补偿．电工电能新技术，1999，16(2)：49～53
[35] Riceardo Marino, Sergei Persade, Patrizio Tomei. Exponentially convergent rotor resistance estimation for induction motors. IEEE Transactions on Industrial Electronics, 1995,42(5):508～515
[36] 夏超英，晋兆琼．不依赖于定转子参数的感应电动机转子磁链的自适应观测器设计．控制理论与应用，2000，Vol．17(3)：321～324
[37] Lorenz R D and Lawson D B. A simplified approach to continuous online tuning of field oriented induction machine drives. IEEE Trans. Industry Application , 1990,26(3):420～424
[38] Zai L C and Lipo T. An extended Kalman filter approach to rotor time constant measurement in PWM induction machine drive. IEEE Industry Applications Society Annual Meeting, Atlanta, Georgia, USA ,1987:177～183
[39] Velez2Reyes M, Minami K and Verghese G C. Recursive speed and parameter estimation of induction machine. In Conf. Record. IEEE Industry Applications Society Annual Meeting, San Diego, California, USA, 1989,11:607～611
[40] Narendra K S, Lin Y H and Valavani L S. Stable adaptive controller design part 2:proof of stability [J]. IEEE Trans. Automat. Contr. 1980,25(3):440～448
[41] P Vas, A F Stronach ,M Neuroth .Dsp-based Speed-Sensor less Vector Controlled Induction Motor Drives Using AI-Based Speed Estimator and Two Current Sensors .IEE Power Electronics and Variable Speed Drivers Conference Publication, 1998,No.456:442～446
[42] Teodor PANA ,Maria IMECS .Matlab Toolbox for Speed Sensor less Vector Controlled Synchronous and Induction Motor Drives System .Optimization of Electrical and Electronic EquipmentsoBrasov, 1998:595～600
[43] Yang Wenqiang ,Jia Zhengchnn ,Xu Qiang .A New Algorithm for Flux and Speed Estimation in Induction Machine .IEEE:698～701
[44] Colin Schauder .Adaptive Speed Identification for Vector Control of Induction Motors Without Rotational Transducers .IEEE,1989:493～499
[45] L.Salvatore,S.Stasi,KCupertino .Improved Rotor Speed Estimation Using Two Kalman Filter- Based Algorithms .IEEE,2001 : 125～132
[46] L A S Ribeiro ,C B Jacobina ,A MN LLima. Dynamic estimation of the induction machine parameters and speed. IEEE, 1995.
[47] D Fldor ,G Griva ,F Profumo. Compensation of parameters variations in induction motor drives using a neural network.IEEE,1995
[48] 洪乃刚．电力电子和电力拖动控制系统的Matlab仿真．北京：机械工业出版社，2006
[49] 周渊深．交直流调速系统与Matlab仿真．北京：中国电力出版社，2004
[50] (美)Bimal K．Bose．现代电力电子学与交流传动．北京：机械工业出版社，2005
[2] 陈伯时，陈敏逊．交流调速系统．北京：机械工业出版社(第二版)，2005
[3] Martins, C.A.; Carvalho, A.S. Technological trends in induction motor electrical drives. Power Tech Proceedings, 2001 IEEE Porto, Volume:vol.2, 2001:7
[4] 李言俊，张科．自适应控制理论及应用．西安：西北工业大学出版社，2002
[5] 谢新民，丁锋．自适应控制系统．北京：清华大学出版社，2002
[6] 韩曾晋．自适应控制．北京：清华大学出版社，2000
[7] 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
[8] 王离九．电力拖动自动控制系统．武汉：华中理工大学出版社，1991
[9] 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
[10] 杨耕，罗应立．电机与运动控制系统．北京：清华大学出版社，2006
[11] 夏超英．交直流传动系统的自适应控制．北京：机械工业出版杜，2001
[12] 刘豹．现代控制理论(第二版)．北京：机械工业出版社，2004
[13] 郑大钟．线性系统理论(第二版)．北京：清华大学出版社，2002
[14] 高景德，王祥，李发海．交流电机及其系统的分析．北京：清华大学出版社，2000
[15] 黄永安，马路，刘慧敏．Matlab7.0／Simulink6.0建模仿真开发与高级工程应用．北京：清华大学出版社，2005
[16] 吴天明，谢小竹，彭彬．Matlab电力系统设计与分析．北京：国防工业出版社，2004
[17] 孟庆春，杨建忠．基于Simulink仿真工具的感应电动机仿真模型研究．基础自动化，2002，(1)：12～15
[18] 夏扬．基于Simulink的感应电机建模及仿真研究．电气传动自动化，2002，24 卷(1)：3～6
[19] 尚敬．基于Matlab／Simulink的异步电机仿真模型分析．电机技术，2002(2)：17～19
[20] 阮毅，吴晓欣．异步电机动态模型及其控制策略．电气应用，2005，24卷(3)：1～4
[21] 李永东．交流电机数字控制系统．北京：机械工业出版社，2003
[21] Marques GD Numerical simulation method for the slip power recovery system IEE Proc-Electr power Appl. 1999, 146 (1): 17～19
[22] 郑禅君，张敏华，杜世俊．异步电机转差型无速度传感器矢量控制系统．微特电机，2002(2)：18～20
[23] 王云亮．电力电子技术．北京：电子工业出版社，2004
[24] 王兆安，黄俊．电力电子技术．北京：机械工业出版社，2003
[25] 韩安荣．通用变频器及其应用(第二版)．北京：机械工业出版社，2005
[26] 马小亮．大功率交．交变频调速及矢量控制技术(第三版)．北京：机械工业出版社，2004：152～153
[27] Patrick L J, Lorenz RD. A Physically Insightful Approach to the Design and Accuracy Assessment of Flux Observers for Field Oriented Induction Machine Drives. IEEE Trans. Ind. Appl. 1994,30(1):101～110
[28] Geo rge C Verghese, Seth R Sanders. Observers for flux estimation in induction machine.IEEE Trans on IE,1988, 35 (1):85～94
[29] Hisao Kubo ta, Kouki Matsuse, Takayo shi Nakano.DSP based speed adaptive flux observer of induction motor. IEEE Trans on IA, 1993, 29(2):344～348
[30] HU Jun, WU Bin. New integration algo rithm for estimating motor flux over a wide speed range. IEEE T ran on PE, 1998, 13 (5) : 969～977
[31] 黄琳．稳定性理论．北京：北京大学出版社，2001
[32] 周箴，万淑芸，王离九．转子电阻变化对矢量控制的影响．电气自动化，1998，20(3)：18～20
[33] VuKosavic Slobodan N, Stojic Milic R. Online tuning of the rotor time constant for vector controlled induction motor in position control applications. IEEE Transactions on Industrial Electronics, 1993,40(1): 130～138
[34] 葛琼璇．矢量控制异步电机转子时间常数的实时补偿．电工电能新技术，1999，16(2)：49～53
[35] Riceardo Marino, Sergei Persade, Patrizio Tomei. Exponentially convergent rotor resistance estimation for induction motors. IEEE Transactions on Industrial Electronics, 1995,42(5):508～515
[36] 夏超英，晋兆琼．不依赖于定转子参数的感应电动机转子磁链的自适应观测器设计．控制理论与应用，2000，Vol．17(3)：321～324
[37] Lorenz R D and Lawson D B. A simplified approach to continuous online tuning of field oriented induction machine drives. IEEE Trans. Industry Application , 1990,26(3):420～424
[38] Zai L C and Lipo T. An extended Kalman filter approach to rotor time constant measurement in PWM induction machine drive. IEEE Industry Applications Society Annual Meeting, Atlanta, Georgia, USA ,1987:177～183
[39] Velez2Reyes M, Minami K and Verghese G C. Recursive speed and parameter estimation of induction machine. In Conf. Record. IEEE Industry Applications Society Annual Meeting, San Diego, California, USA, 1989,11:607～611
[40] Narendra K S, Lin Y H and Valavani L S. Stable adaptive controller design part 2:proof of stability [J]. IEEE Trans. Automat. Contr. 1980,25(3):440～448
[41] P Vas, A F Stronach ,M Neuroth .Dsp-based Speed-Sensor less Vector Controlled Induction Motor Drives Using AI-Based Speed Estimator and Two Current Sensors .IEE Power Electronics and Variable Speed Drivers Conference Publication, 1998,No.456:442～446
[42] Teodor PANA ,Maria IMECS .Matlab Toolbox for Speed Sensor less Vector Controlled Synchronous and Induction Motor Drives System .Optimization of Electrical and Electronic EquipmentsoBrasov, 1998:595～600
[43] Yang Wenqiang ,Jia Zhengchnn ,Xu Qiang .A New Algorithm for Flux and Speed Estimation in Induction Machine .IEEE:698～701
[44] Colin Schauder .Adaptive Speed Identification for Vector Control of Induction Motors Without Rotational Transducers .IEEE,1989:493～499
[45] L.Salvatore,S.Stasi,KCupertino .Improved Rotor Speed Estimation Using Two Kalman Filter- Based Algorithms .IEEE,2001 : 125～132
[46] L A S Ribeiro ,C B Jacobina ,A MN LLima. Dynamic estimation of the induction machine parameters and speed. IEEE, 1995.
[47] D Fldor ,G Griva ,F Profumo. Compensation of parameters variations in induction motor drives using a neural network.IEEE,1995
[48] 洪乃刚．电力电子和电力拖动控制系统的Matlab仿真．北京：机械工业出版社，2006
[49] 周渊深．交直流调速系统与Matlab仿真．北京：中国电力出版社，2004
[50] (美)Bimal K．Bose．现代电力电子学与交流传动．北京：机械工业出版社，2005