新型空间矢量逆变技术研究及应用
摘要
本论文以交流调速中的脉宽调制技术(PWM)为研究对象,找出两电平的空间矢量调制(SVPWM)的改进方法—混合空间脉宽调制(Hybrid SVPWM),并和普通的空间矢量调制进行对比分析其优点。详细论述了三电平逆变器结构、原理和空间矢量调制法,进而探讨了其对永磁同步电机直接转矩控制技术(DTC)控制的实现方法,并且利用Matlab/Simulink工具对控制系统进行建模与仿真,得到了和理论分析一致的仿真结果。最后利用反步法实现对永磁同步电机的位置控制,得到了满意的结果。
论文首先分析了永磁同步电动机的结构和数学模型,通过坐标变换的方法简化电机模型,得到电机的电压、磁链和转矩方程。初步介绍PWM的原理、采样方法以及空间矢量脉宽调制法,在其基础上引入磁链均方根波动(RMS)的分析方法,通过调整各矢量的换向序列,通过细化扇区的方法,在不同区域选择不同的逆变器换向序列,从而实现减少波形脉动的目的,这种方法即为混合空间矢量调制(Hybrid SVPWM)。通过仿真和快速傅立叶分析(FFT)可知,该方法有效减少了电流的谐波分量,提高了控制的精度。
接着在两电平逆变器的基础上研究三电平逆变器的拓扑结构和工作原理,以及如何实现空间脉宽调制的方法。接着分析了永磁同步电机的直接转矩原理,找出将三电平逆变器的SVPWM和直接转矩结合的方法,借助Matlab/Simulink工具,对其系统的各环节进行仿真建模。通过和两电平逆变器的直接转矩进行对比,证明了三电平逆变器的控制效果好于两电平。
最后分析了一种非线性控制方法:反步法(Backstepping),结合永磁同步电机的数学模型,实现反步法的控制作用,通过仿真验证了该方法的可行性。
The PWM of ac speed regulating is researched in this paper. The method of Hybrid SVPWM- the way of improving the two-level SVPWM is used, through comparing with the normal SVPWM in order to show its advantages. The structure , principle and SVPWM of three-level inverter is discussed in detailed, and the implementation method of combining it with the DTC control of PMSM is analyzed. A simulation model of control system is given based on Matlab/Simulink, whose simulation result is consistent with the analysis of theory. At last the method of backstepping is used in the position control of PMSM, whose result is satisfied.
Firstly, the structure and the mathematics models of PMSM are analyzed in the paper, and the motor model is simplified through introducing the various coordinate, and then the voltage, flux and torque equations of the motor are got. The principle of PWM and SVPWM is analyzed, on the basis of which the RMS method analysis of flux linkage is introduced, and the paper find a better way to subdivide the sector through the change of the sequences of vectors, which is method Hybrid SVPWM. We can find that this method reduces the harmonic component of current by analyzing the result of simulation and FFT.
Secondly, the topology and operation principle of three-level inverter is researched on the basis of two-level inverter, and the method to achieve its SVPWM is carried out. Then analyze the principle of the DTC of PMSM, and further find a way to combine the SVPWM of three-level with DTC, and set up the sub-modules of PMSM DTC system by Matlab/Simulink. And the simulation results show the method is successful, proving the better control effect of three-level inverter than the two-level.
Thirdly, Backstepping-a motor nonlinear control method is analyzed, and the control method of backstepping is realized by combination with the mathematics model of PMSM. At last verify the feasibility of this method through the simulation.
论文首先分析了永磁同步电动机的结构和数学模型,通过坐标变换的方法简化电机模型,得到电机的电压、磁链和转矩方程。初步介绍PWM的原理、采样方法以及空间矢量脉宽调制法,在其基础上引入磁链均方根波动(RMS)的分析方法,通过调整各矢量的换向序列,通过细化扇区的方法,在不同区域选择不同的逆变器换向序列,从而实现减少波形脉动的目的,这种方法即为混合空间矢量调制(Hybrid SVPWM)。通过仿真和快速傅立叶分析(FFT)可知,该方法有效减少了电流的谐波分量,提高了控制的精度。
接着在两电平逆变器的基础上研究三电平逆变器的拓扑结构和工作原理,以及如何实现空间脉宽调制的方法。接着分析了永磁同步电机的直接转矩原理,找出将三电平逆变器的SVPWM和直接转矩结合的方法,借助Matlab/Simulink工具,对其系统的各环节进行仿真建模。通过和两电平逆变器的直接转矩进行对比,证明了三电平逆变器的控制效果好于两电平。
最后分析了一种非线性控制方法:反步法(Backstepping),结合永磁同步电机的数学模型,实现反步法的控制作用,通过仿真验证了该方法的可行性。
The PWM of ac speed regulating is researched in this paper. The method of Hybrid SVPWM- the way of improving the two-level SVPWM is used, through comparing with the normal SVPWM in order to show its advantages. The structure , principle and SVPWM of three-level inverter is discussed in detailed, and the implementation method of combining it with the DTC control of PMSM is analyzed. A simulation model of control system is given based on Matlab/Simulink, whose simulation result is consistent with the analysis of theory. At last the method of backstepping is used in the position control of PMSM, whose result is satisfied.
Firstly, the structure and the mathematics models of PMSM are analyzed in the paper, and the motor model is simplified through introducing the various coordinate, and then the voltage, flux and torque equations of the motor are got. The principle of PWM and SVPWM is analyzed, on the basis of which the RMS method analysis of flux linkage is introduced, and the paper find a better way to subdivide the sector through the change of the sequences of vectors, which is method Hybrid SVPWM. We can find that this method reduces the harmonic component of current by analyzing the result of simulation and FFT.
Secondly, the topology and operation principle of three-level inverter is researched on the basis of two-level inverter, and the method to achieve its SVPWM is carried out. Then analyze the principle of the DTC of PMSM, and further find a way to combine the SVPWM of three-level with DTC, and set up the sub-modules of PMSM DTC system by Matlab/Simulink. And the simulation results show the method is successful, proving the better control effect of three-level inverter than the two-level.
Thirdly, Backstepping-a motor nonlinear control method is analyzed, and the control method of backstepping is realized by combination with the mathematics model of PMSM. At last verify the feasibility of this method through the simulation.
引文
[1].胡崇岳.主编.现代交流调速技术,北京:机械工业出版社,1998.
[2].李华德.主编,交流调速控制系统,北京:电子工业出版社,2003.
[3].冯建国.基于DSP和IGBT的变频调速系统的研制.北方工业大学硕士学位论文.2006.
[4].韦文武基于DSP的感应电机变频调速系统的研究.太原理工大学硕士学位论文.2006.2-3.
[5].陈国呈.主编.PWM变频调速技术.北京:机械工业出版社,1998.
[6].T.Kataoka,K.Mizumachi.A Pulse-Width Controlled AC to DC converter to improve power factor and waveform of AC line current.New York IEEE ISPCC Conf.Record,1977:56-60.
[7].Busse Alfred,Holtz Joachim.Multi-loop control of an unit power factor fast switch AC to DC converter.Proc.Power Electric Specialist Conf,1982:171-179.
[8].Akagi Hirofumi.Instantaneous reactive power compensation comprising switching devices without energy storage components.IEEE Trans on Indus Application,1984,LA-20:625-370.
[9].Green A.W,Boys J T,Gates G F.3-phase voltage sourced reversible rectifier.IEE proceedings,1988,6(B5):362-370.
[10].吴玉香,王萍.基于反馈线性化同步伺服电机鲁棒跟踪控制.控制工程,Jan.2008.15(1):46-49.
[11].关丽荣,杨俊友.自适应变结构永磁同步直线电动机直接推力控制.微电机,2008.41(2):5-7.
[12].Jongsun Ko,Sungkoo,Youn,Youngil,Kim.A robust adaptive precision position control of PMSM.IEEE,2002,7(2):120-125.
[13].Mika Salo,Direct Self-Control(DSC) of Inverter-Fed Induction Machine:A Basis for Speed Control Without Speed Measurement,IEEE-IA,1992,28(3),581-588.
[14].Baader U,Depenbrock M.Direct self-control(DSC) of inverter-fed induction machine;A basis for speed control without speed measurement.IEEE Trans Indus application,1992 28(3):581-588.
[15].马成禄,胡继胜,阳同光.无速度传感器感应电机控制速度辨识的研究现状与展望.防爆电机,2008,43(1):46-50.
[16].Faa-Jeng Lin,Rong-Jong Wai,A comparative study of sliding mode and model reference adaptive speed observers for induction motor drive,Electric Power Systems Research,1998.44:163-174.
[17].杨耕 罗应立.电机与运动控制系统.北京:清华大学出版社,2006.232-236
[18].邓星钟.机电传动控制.第三版.武汉:华中科技大学出版社,2000.84-87.
[19].李发海,朱东起.电机学.第三版.北京,科学出版社,2001.200-203
[20].R.Wuand,G.R.Slemon.A permanent magnet motor drive without a shaft sensor.Conference Record of IEEE IAS Annual Meeting,1990:553-558.
[21].杨勇.基于DSP的SVPWM矢量控制变频调速系统的研究.贵州大学硕士学位论文.2006
[22].胡庆波,吕征宇.一种新颖的基于空间矢量的死区补偿方法.中国电机工程学报.Feb 2005.25(3):13-17.
[23].王波,廖晓钟.改善SVPWM低速性能方法的研究.电力电子技术.hpril,2005Vol.39,No.2.94-96.
[24].王晓刚,卓祯雨.空间矢量脉宽调制技术的仿真研究.广州大学学报,Feb 2007.6(1):25-29.
[25].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.2005.
[26].Bishnu P,Muni,SK,Mondal.h Novel PWM Inverter based on Phase Segregated Analysis.Proceedings of IEEE TENCON,2002.8(2):855-858.
[27].Kichero Yamamoto,Katsuji Shinohara,Hitoshi,Makishima.Comparison between Flux Weakening and PWM Inverter with Voltage Booster for Permanent Magnet Synchronous Motor Drive.IEEE,2002,9(2):161-166
[28].T.Brahmananda Reddy,D.Subbarayadu.Robust sliding mode speed controller for hybrid SVPWM based direct torque control of induction motor.World Journal of Modelling and Simulation.2007.3(3):180-188.
[29].J.Holtz.Pulse width modulation for electronic power conversion.Proc.IEEE.Aug.1994.82:1194-1214,
[30].G.Narayanan,V.T.Ranganathan.Triangle comparison and space vector approaches to pulse width modulation in inverter-fed drives.J.Indian Inst.Sci.Sep.2000.80:409-427
[31].G.Naranyanan.Synchronised Pulse Width Modulation Strategies based on Space Vector Approach for Induction Motor Drives.Indian Institute of Science Bangalore.1999.PhD.
[32].钟麟王峰.MATLAB仿真技术与应用教程.北京:国防工业出版社,2004.38-40.
[33].魏巍.MATLAB控制工程工具箱技术手册.北京:国防工业出版社,2004.1-3.
[34].苏金明王永利.MATLAB7.0实用指南.北京:电子工业出版社,2004.3-5.
[35].马晓莉,童军,马一博.三电平逆变器直接转矩控制仿真分析.电子科技.Vol.21,No.2,16-18.
[36].韩耀飞,谭国俊,侯周峰,马晓.基于简化三电平SVPWM算法的逆变器研究.电力电子技术.Jan 2008,Vol.42,No.1,6-9.
[37].金永顺.三电平逆变器SVPWM方法的分析与研究.湖南大学.硕士学位论文.2007.11-13.
[38].田雷.基于三电平逆变器的异步电机SVPWM控制策略研究.西南交通大学硕士学位论文.2007.15-18.
[39].李政学.基于三电平三相逆变器的调制策略研究.北方工业大学硕士学位论文.2007.14-15.
[40].李先详,肖红军,黄道平.三电平矢量控制的永磁同步伺服电动机调速系统.电工技术学报,Apri 2004,19(4):28-32.
[41].黄绍平,杨青,涣喜明.三相三电平电压型逆变器仿真建模与特性分析.湖南工程学院学报,Mar 2005,15(1):1-4.
[42].李潇,永磁同步电动机直接转矩控制的理论研究.贵州大学硕士学位论文.2007.15-17.
[43].杨惠,基于直接转矩控制的永磁同步电机交流伺服系统的研究.西安理工大学硕士学位论文.2007.5-8.
[44].李铁,永磁同步电动机直接转矩控制系统磁链控制策略与研究.大连海事大学硕 士学位论文.2007.4-6.
[45].Dariusz Switerczynski,Marianp.Kazmierkowski.Direct Torque Control of Permanent Magnet Synchronous Motor(PMSM) Using Space Vector Modulation(DTC-SVM)-Simulation and Experimental Results.IEEE,2002,16(3):751-755.
[46].Vasile COMNAC,Marcian N.CIRSTEA,Florin MOLDOVEANU.Sensorless Speed and Direct Torque Control of Interior Permanent Magnet Synchronous Machine Based on Extender Kalman Filter.IEEE,2002,7(4):1142-1147.
[47].田淳.无位置传感器同步电机直接转矩控制理论研究和实践.南京航空航天大学.博士学位论文.2002.
[48].徐艳平,曾光,孙向东.永磁同步电机的直接转矩控制的研究.电力电子技术.June 2003.27(3):15-17.
[49].周华伟.基于DSP永磁同步电机高性能直接转矩控制研究.江苏大学硕士学位论文.2006.19-23.
[50].刘军,楚小刚.基于参考磁链电压空间矢量调制策略的永磁同步电机直接转矩控制研究.电工技术学报.Jun 2005.20(6):11-15.
[51].徐艳平.基于DSP的永磁同步电机直接转矩控制的研究.西安理工大学硕士学位论文.2002.
[52].M.Azizur Rahman,D.Mahinda Vilathgamuwa,M.Nasir Uddin.Nonlinear Control of Interior Permanent Magnet Synchronous Motor.IEEE TRANSACTIONS ON INDUSTRY March 2003.29(2):408-416.
[53].Jiang Zhou,Youyi Wang.Real-time Nonlinear adaptive backstepping speed control for a PM synchronous motor.Control Engineering Practice.2005 13:1259-1269.
[54].J.Zhou,Y.Wang.Adaptive backstepping speed controller design for a permanent magnet synchronous motor.IEE Proc-Electr.Power Appl,March 2002.149(2):165-172.
[55].沈艳霞,林瑾,纪志成.神经网络磁链估计的感应电机反步法研究.控制与决策.2006,Vol.21,No.7.833-835.
[56].山炳强,于海生.基于反步法和电流滞环PWM的一步电动机控制.青岛大学学报.2006,Vol.21,No.1,28-30.
[57].魏刚.PMSM运动控制系统中非线性控制策略的研究.山东大学硕士学位论文.2005.
[58].山炳强.基于反步法的交流电机控制研究.青岛大学硕士学位论文.2006.
[2].李华德.主编,交流调速控制系统,北京:电子工业出版社,2003.
[3].冯建国.基于DSP和IGBT的变频调速系统的研制.北方工业大学硕士学位论文.2006.
[4].韦文武基于DSP的感应电机变频调速系统的研究.太原理工大学硕士学位论文.2006.2-3.
[5].陈国呈.主编.PWM变频调速技术.北京:机械工业出版社,1998.
[6].T.Kataoka,K.Mizumachi.A Pulse-Width Controlled AC to DC converter to improve power factor and waveform of AC line current.New York IEEE ISPCC Conf.Record,1977:56-60.
[7].Busse Alfred,Holtz Joachim.Multi-loop control of an unit power factor fast switch AC to DC converter.Proc.Power Electric Specialist Conf,1982:171-179.
[8].Akagi Hirofumi.Instantaneous reactive power compensation comprising switching devices without energy storage components.IEEE Trans on Indus Application,1984,LA-20:625-370.
[9].Green A.W,Boys J T,Gates G F.3-phase voltage sourced reversible rectifier.IEE proceedings,1988,6(B5):362-370.
[10].吴玉香,王萍.基于反馈线性化同步伺服电机鲁棒跟踪控制.控制工程,Jan.2008.15(1):46-49.
[11].关丽荣,杨俊友.自适应变结构永磁同步直线电动机直接推力控制.微电机,2008.41(2):5-7.
[12].Jongsun Ko,Sungkoo,Youn,Youngil,Kim.A robust adaptive precision position control of PMSM.IEEE,2002,7(2):120-125.
[13].Mika Salo,Direct Self-Control(DSC) of Inverter-Fed Induction Machine:A Basis for Speed Control Without Speed Measurement,IEEE-IA,1992,28(3),581-588.
[14].Baader U,Depenbrock M.Direct self-control(DSC) of inverter-fed induction machine;A basis for speed control without speed measurement.IEEE Trans Indus application,1992 28(3):581-588.
[15].马成禄,胡继胜,阳同光.无速度传感器感应电机控制速度辨识的研究现状与展望.防爆电机,2008,43(1):46-50.
[16].Faa-Jeng Lin,Rong-Jong Wai,A comparative study of sliding mode and model reference adaptive speed observers for induction motor drive,Electric Power Systems Research,1998.44:163-174.
[17].杨耕 罗应立.电机与运动控制系统.北京:清华大学出版社,2006.232-236
[18].邓星钟.机电传动控制.第三版.武汉:华中科技大学出版社,2000.84-87.
[19].李发海,朱东起.电机学.第三版.北京,科学出版社,2001.200-203
[20].R.Wuand,G.R.Slemon.A permanent magnet motor drive without a shaft sensor.Conference Record of IEEE IAS Annual Meeting,1990:553-558.
[21].杨勇.基于DSP的SVPWM矢量控制变频调速系统的研究.贵州大学硕士学位论文.2006
[22].胡庆波,吕征宇.一种新颖的基于空间矢量的死区补偿方法.中国电机工程学报.Feb 2005.25(3):13-17.
[23].王波,廖晓钟.改善SVPWM低速性能方法的研究.电力电子技术.hpril,2005Vol.39,No.2.94-96.
[24].王晓刚,卓祯雨.空间矢量脉宽调制技术的仿真研究.广州大学学报,Feb 2007.6(1):25-29.
[25].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.2005.
[26].Bishnu P,Muni,SK,Mondal.h Novel PWM Inverter based on Phase Segregated Analysis.Proceedings of IEEE TENCON,2002.8(2):855-858.
[27].Kichero Yamamoto,Katsuji Shinohara,Hitoshi,Makishima.Comparison between Flux Weakening and PWM Inverter with Voltage Booster for Permanent Magnet Synchronous Motor Drive.IEEE,2002,9(2):161-166
[28].T.Brahmananda Reddy,D.Subbarayadu.Robust sliding mode speed controller for hybrid SVPWM based direct torque control of induction motor.World Journal of Modelling and Simulation.2007.3(3):180-188.
[29].J.Holtz.Pulse width modulation for electronic power conversion.Proc.IEEE.Aug.1994.82:1194-1214,
[30].G.Narayanan,V.T.Ranganathan.Triangle comparison and space vector approaches to pulse width modulation in inverter-fed drives.J.Indian Inst.Sci.Sep.2000.80:409-427
[31].G.Naranyanan.Synchronised Pulse Width Modulation Strategies based on Space Vector Approach for Induction Motor Drives.Indian Institute of Science Bangalore.1999.PhD.
[32].钟麟王峰.MATLAB仿真技术与应用教程.北京:国防工业出版社,2004.38-40.
[33].魏巍.MATLAB控制工程工具箱技术手册.北京:国防工业出版社,2004.1-3.
[34].苏金明王永利.MATLAB7.0实用指南.北京:电子工业出版社,2004.3-5.
[35].马晓莉,童军,马一博.三电平逆变器直接转矩控制仿真分析.电子科技.Vol.21,No.2,16-18.
[36].韩耀飞,谭国俊,侯周峰,马晓.基于简化三电平SVPWM算法的逆变器研究.电力电子技术.Jan 2008,Vol.42,No.1,6-9.
[37].金永顺.三电平逆变器SVPWM方法的分析与研究.湖南大学.硕士学位论文.2007.11-13.
[38].田雷.基于三电平逆变器的异步电机SVPWM控制策略研究.西南交通大学硕士学位论文.2007.15-18.
[39].李政学.基于三电平三相逆变器的调制策略研究.北方工业大学硕士学位论文.2007.14-15.
[40].李先详,肖红军,黄道平.三电平矢量控制的永磁同步伺服电动机调速系统.电工技术学报,Apri 2004,19(4):28-32.
[41].黄绍平,杨青,涣喜明.三相三电平电压型逆变器仿真建模与特性分析.湖南工程学院学报,Mar 2005,15(1):1-4.
[42].李潇,永磁同步电动机直接转矩控制的理论研究.贵州大学硕士学位论文.2007.15-17.
[43].杨惠,基于直接转矩控制的永磁同步电机交流伺服系统的研究.西安理工大学硕士学位论文.2007.5-8.
[44].李铁,永磁同步电动机直接转矩控制系统磁链控制策略与研究.大连海事大学硕 士学位论文.2007.4-6.
[45].Dariusz Switerczynski,Marianp.Kazmierkowski.Direct Torque Control of Permanent Magnet Synchronous Motor(PMSM) Using Space Vector Modulation(DTC-SVM)-Simulation and Experimental Results.IEEE,2002,16(3):751-755.
[46].Vasile COMNAC,Marcian N.CIRSTEA,Florin MOLDOVEANU.Sensorless Speed and Direct Torque Control of Interior Permanent Magnet Synchronous Machine Based on Extender Kalman Filter.IEEE,2002,7(4):1142-1147.
[47].田淳.无位置传感器同步电机直接转矩控制理论研究和实践.南京航空航天大学.博士学位论文.2002.
[48].徐艳平,曾光,孙向东.永磁同步电机的直接转矩控制的研究.电力电子技术.June 2003.27(3):15-17.
[49].周华伟.基于DSP永磁同步电机高性能直接转矩控制研究.江苏大学硕士学位论文.2006.19-23.
[50].刘军,楚小刚.基于参考磁链电压空间矢量调制策略的永磁同步电机直接转矩控制研究.电工技术学报.Jun 2005.20(6):11-15.
[51].徐艳平.基于DSP的永磁同步电机直接转矩控制的研究.西安理工大学硕士学位论文.2002.
[52].M.Azizur Rahman,D.Mahinda Vilathgamuwa,M.Nasir Uddin.Nonlinear Control of Interior Permanent Magnet Synchronous Motor.IEEE TRANSACTIONS ON INDUSTRY March 2003.29(2):408-416.
[53].Jiang Zhou,Youyi Wang.Real-time Nonlinear adaptive backstepping speed control for a PM synchronous motor.Control Engineering Practice.2005 13:1259-1269.
[54].J.Zhou,Y.Wang.Adaptive backstepping speed controller design for a permanent magnet synchronous motor.IEE Proc-Electr.Power Appl,March 2002.149(2):165-172.
[55].沈艳霞,林瑾,纪志成.神经网络磁链估计的感应电机反步法研究.控制与决策.2006,Vol.21,No.7.833-835.
[56].山炳强,于海生.基于反步法和电流滞环PWM的一步电动机控制.青岛大学学报.2006,Vol.21,No.1,28-30.
[57].魏刚.PMSM运动控制系统中非线性控制策略的研究.山东大学硕士学位论文.2005.
[58].山炳强.基于反步法的交流电机控制研究.青岛大学硕士学位论文.2006.