地铁车辆牵引电传动系统控制关键技术研究
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摘要
牵引电传动系统是地铁车辆装备的核心和难点。目前国内地铁车辆牵引电传动系统及其控制关键技术仍主要由国外企业垄断,严重制约了我国城市轨道交通行业的长远发展。本文依托国家“十一五”科技支撑计划重点项目“城市轨道交通能馈式牵引供电系统及牵引传动系统研制”,着重针对地铁车辆牵引变流器、牵引电机及牵引电传动系统稳定性相关的核心控制技术展开分析探讨,并通过大量的仿真与地面、现场装车试验验证了理论研究成果的正确性。
针对地铁车辆牵引变流器低开关频率脉宽调制特性及其约束条件,提出了基于同步SVM与低次谐波消除优化同步SHE-PWM的混合脉宽调制策略；研究了混合脉宽调制多模式间平滑过渡技术；详细分析了基于FPGA的集成化混合脉宽调制技术数字实现原理和设计方法,并与国外牵引变流器的脉宽调制策略进行多角度的对比分析；通过仿真与试验进行了深入全面的研究,验证了所提牵引变流器混合脉宽调制策略的有效性和可行性。
推导分析了基于复矢量模型的牵引电机极点分布规律,并基于此研究了低开关频率下传统离散转子磁链观测模型存在的问题和局限性；通过牵引电机模型离散化设计,研究了离散磁链观测模型的稳定性,并利用矩阵∞-范数分析离散模型的观测误差；通过与论文提出的新型高阶离散迭代算法的性能对比,提出了一种适合低迭代计算频率并实现高速区稳定收敛且相位补偿的改进离散转子磁链观测模型,达到了全速稳定、离散精度高及计算量小的效果；研究了闭环转子磁链观测模型的极点配置及其电机参数敏感性,进一步提高离散模型观测精度和鲁棒性。
基于混合脉宽调制技术,提出了矢量控制与标量控制相结合的牵引电机双模式总体控制策略,重点分析了前馈解耦预控、相角控制、脉宽调制与电机控制的同步协调以及双模式控制策略问的过渡问题；提出了基于复矢量电流闭环模型分析的改进型电流闭环控制时序和数字控制时延补偿策略,并给出了基于离散观测转子磁链q轴误差的磁场准确定向实时校正方法,进而提升牵引电机的控制性能。
实现了地铁牵引电传动系统主动阻尼稳定性控制及直流侧滤波器参数的优化设计。通过建立牵引变流器-牵引电机系统主回路模型,对比研究了牵引变流器直流侧滤波器参数设计对系统稳定性的影响规律；基于系统输入阻抗分析,研究了牵引电传动系统稳定性边界及稳定区域,为直流侧滤波器参数设计及优化提供参考依据；建立了关注直流侧的牵引电传动系统小信号模型,研究分析了直流侧负阻抗不稳定性的本质,基于此提出了主动阻尼稳定性振荡抑制策略,并给出了控制策略中关键参数的设计取值原则。
最后,实现了完全自主化地铁车辆牵引变流器的研制,通过能量互馈型牵引传动地面试验系统及广州地铁现场装车试验运行平台,完成了大量的试验验证及运行考核,获取了充分完善的试验波形和相关数据,逐一验证了上述地铁车辆牵引电传动系统控制关键技术及其工程实践方法的科学性和可行性。
图172幅,表6个,参考文献161篇。
Electric traction drive system is the key and difficulty to the equipment of metro cars. At present, the traction drive system and crucial techniques of metro cars are still monopolized by foreign enterprises, which greatly hampers the development of civil urban rail transportation equipment. On sponsored by National Key Technologies R&D Program for the "11th Five-year Plan"-"Development of Energy Reclaiming Traction Power Supply System and Traction Drive System for Urban Rail Transportation", this paper focuses on the discussion of crucial techniques of traction converter, traction motor and the stability of electric traction drive system for metro cars, and then verifies the correctness of the theoretical research by amounts of simulations, ground tests and field trails.
To address the feature and constraints of pulse-width modulation at low switching frequency, one hybrid PWM algorithm based on synchronous SVM and optimized synchronous SHE-PWM is proposed; the smooth transition technologies between multi-mode modulation are researched; the intergrated digital hybrid PWM technology based on FPGA is achieved, which is also compared with modulation strategies of foreign traction converter at all round; with the simulation and experiments, the effectiveness of proposed hybrid PWM strategy is verified.
The pole distribution law of traction motor based on complex model is deduced and analyzed, based on this, the problem and limitation of the traditional discrete rotor flux observer in low switching frequency are researched; with design of discrete flux observer, the stability is discussed and the discrete error is analyzed with matrix ω-norm; The new discrete rotor flux observer based on stabilization in high speed region and phase compensation with low calculation frequency is established and compared with the proposed new high-order Euler discrete method in this paper; Based on analysis of the pole placement strategy for the closed-loop rotor flux observer and the comparison discussion of motor parameters sensitivity, the precision and robustness of dicrete observer are improved.
Based on hybrid PWM, the double-mode control strategy combined vector control and scalar control is proposed, and then, the feedforward decoupled pre-control, the phase angle control, synchronization between PWM and motor control and smooth transition between double-mode control are emphatically analyzed; To improve the performance of torque control of traction motor, a better control timing and related time-delay compensating approach are proposed based on complex current closed-loop model and a real-time correction strategy of flux orientation based on q-axis rotor flux error is discussed.
The active damping stability control of traction electric drive system and optimized design of DC-link LC filter are realized. A traction converter-traction motor system model is established, based on this, the system stability effect of DC-link filter parameters is analyzed in details; with the analysis of system input impendance, system stability is researched, along with the stability aera of traction electric drive, acting as reference to design and optimization of the DC-link filter; The small-signal model based on DC-Link of electric traction system is established, then the instability nature of DC-link negtive impedance is discussed; An active damping stability control strategy is proposed, and the design principle and value determination of key parameters for the control strategy are analyzed.
At last, the completely independent traction converter of metro car is realized. Through the reciprocal power-fed ground testing system for traction drive and field trial on Guangzhou Metro, a lot of validation and assessment tests are finished, comprehensive test waveforms and data are acquired, and the scientific and feasibility of the above proposed crucial technologies and engineering practice methods for traction electric drive system control of metro cars are verified one by one.
Figures:172, Tables:6, References:161.
针对地铁车辆牵引变流器低开关频率脉宽调制特性及其约束条件,提出了基于同步SVM与低次谐波消除优化同步SHE-PWM的混合脉宽调制策略；研究了混合脉宽调制多模式间平滑过渡技术；详细分析了基于FPGA的集成化混合脉宽调制技术数字实现原理和设计方法,并与国外牵引变流器的脉宽调制策略进行多角度的对比分析；通过仿真与试验进行了深入全面的研究,验证了所提牵引变流器混合脉宽调制策略的有效性和可行性。
推导分析了基于复矢量模型的牵引电机极点分布规律,并基于此研究了低开关频率下传统离散转子磁链观测模型存在的问题和局限性；通过牵引电机模型离散化设计,研究了离散磁链观测模型的稳定性,并利用矩阵∞-范数分析离散模型的观测误差；通过与论文提出的新型高阶离散迭代算法的性能对比,提出了一种适合低迭代计算频率并实现高速区稳定收敛且相位补偿的改进离散转子磁链观测模型,达到了全速稳定、离散精度高及计算量小的效果；研究了闭环转子磁链观测模型的极点配置及其电机参数敏感性,进一步提高离散模型观测精度和鲁棒性。
基于混合脉宽调制技术,提出了矢量控制与标量控制相结合的牵引电机双模式总体控制策略,重点分析了前馈解耦预控、相角控制、脉宽调制与电机控制的同步协调以及双模式控制策略问的过渡问题；提出了基于复矢量电流闭环模型分析的改进型电流闭环控制时序和数字控制时延补偿策略,并给出了基于离散观测转子磁链q轴误差的磁场准确定向实时校正方法,进而提升牵引电机的控制性能。
实现了地铁牵引电传动系统主动阻尼稳定性控制及直流侧滤波器参数的优化设计。通过建立牵引变流器-牵引电机系统主回路模型,对比研究了牵引变流器直流侧滤波器参数设计对系统稳定性的影响规律；基于系统输入阻抗分析,研究了牵引电传动系统稳定性边界及稳定区域,为直流侧滤波器参数设计及优化提供参考依据；建立了关注直流侧的牵引电传动系统小信号模型,研究分析了直流侧负阻抗不稳定性的本质,基于此提出了主动阻尼稳定性振荡抑制策略,并给出了控制策略中关键参数的设计取值原则。
最后,实现了完全自主化地铁车辆牵引变流器的研制,通过能量互馈型牵引传动地面试验系统及广州地铁现场装车试验运行平台,完成了大量的试验验证及运行考核,获取了充分完善的试验波形和相关数据,逐一验证了上述地铁车辆牵引电传动系统控制关键技术及其工程实践方法的科学性和可行性。
图172幅,表6个,参考文献161篇。
Electric traction drive system is the key and difficulty to the equipment of metro cars. At present, the traction drive system and crucial techniques of metro cars are still monopolized by foreign enterprises, which greatly hampers the development of civil urban rail transportation equipment. On sponsored by National Key Technologies R&D Program for the "11th Five-year Plan"-"Development of Energy Reclaiming Traction Power Supply System and Traction Drive System for Urban Rail Transportation", this paper focuses on the discussion of crucial techniques of traction converter, traction motor and the stability of electric traction drive system for metro cars, and then verifies the correctness of the theoretical research by amounts of simulations, ground tests and field trails.
To address the feature and constraints of pulse-width modulation at low switching frequency, one hybrid PWM algorithm based on synchronous SVM and optimized synchronous SHE-PWM is proposed; the smooth transition technologies between multi-mode modulation are researched; the intergrated digital hybrid PWM technology based on FPGA is achieved, which is also compared with modulation strategies of foreign traction converter at all round; with the simulation and experiments, the effectiveness of proposed hybrid PWM strategy is verified.
The pole distribution law of traction motor based on complex model is deduced and analyzed, based on this, the problem and limitation of the traditional discrete rotor flux observer in low switching frequency are researched; with design of discrete flux observer, the stability is discussed and the discrete error is analyzed with matrix ω-norm; The new discrete rotor flux observer based on stabilization in high speed region and phase compensation with low calculation frequency is established and compared with the proposed new high-order Euler discrete method in this paper; Based on analysis of the pole placement strategy for the closed-loop rotor flux observer and the comparison discussion of motor parameters sensitivity, the precision and robustness of dicrete observer are improved.
Based on hybrid PWM, the double-mode control strategy combined vector control and scalar control is proposed, and then, the feedforward decoupled pre-control, the phase angle control, synchronization between PWM and motor control and smooth transition between double-mode control are emphatically analyzed; To improve the performance of torque control of traction motor, a better control timing and related time-delay compensating approach are proposed based on complex current closed-loop model and a real-time correction strategy of flux orientation based on q-axis rotor flux error is discussed.
The active damping stability control of traction electric drive system and optimized design of DC-link LC filter are realized. A traction converter-traction motor system model is established, based on this, the system stability effect of DC-link filter parameters is analyzed in details; with the analysis of system input impendance, system stability is researched, along with the stability aera of traction electric drive, acting as reference to design and optimization of the DC-link filter; The small-signal model based on DC-Link of electric traction system is established, then the instability nature of DC-link negtive impedance is discussed; An active damping stability control strategy is proposed, and the design principle and value determination of key parameters for the control strategy are analyzed.
At last, the completely independent traction converter of metro car is realized. Through the reciprocal power-fed ground testing system for traction drive and field trial on Guangzhou Metro, a lot of validation and assessment tests are finished, comprehensive test waveforms and data are acquired, and the scientific and feasibility of the above proposed crucial technologies and engineering practice methods for traction electric drive system control of metro cars are verified one by one.
Figures:172, Tables:6, References:161.
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