多感应电动机并联驱动控制系统的研究
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摘要
城市轨道交通正处于快速发展时期,轨道交通牵引系统正向着轻质量、小体积、低成本和高可靠性方向发展。在轨道交通牵引传动系统中,通常采用单台逆变器驱动两台或四台交流牵引电动机,这时以往的单台感应电动机的控制策略就不能满足要求,就有必要研究多台感应电动机并联驱动的控制策略和控制系统。
本文从三相感应电动机的动态数学模型出发,阐述了单台感应电动机的矢量控制原理,给出了按转子磁链定向的矢量控制系统模型。然后针对两台感应电动机参数和负载不一致的情形,在原有单台感应电动机直接磁场定向矢量控制模型的基础上,结合平均的思想,设计了一个双感应电动机并联驱动矢量控制系统,并针对空载和带载不平衡的情况进行了仿真分析。仿真结果表明:系统能够获得良好的稳态性能和动态性能。
接着深入研究四台感应电动机并联驱动矢量控制原理,给出了四台感应电动机并联驱动的磁链模型和转矩模型的推导过程,设计了四台感应电动机并联驱动矢量控制系统。由于PI控制在交流调速系统中的局限性,为了使系统获得更好的性能,将模糊PID控制器应用于该系统的转速控制器,并对采用常规PI控制器和采用模糊PID控制器的系统进行了仿真。仿真结果表明,无论在启动或运行时负荷均衡与否,相比之下,基于模糊自适应PID控制器的系统更能平稳运行,且具有较好的动、静态性能,最后本文推导了多台感应电动机并联驱动的动态模型。本文方案的研究对轨道交通意义较大。
With the rapid development of the railway traction system, the traction drive system of railway traction system tends to be light weight,small size, low cost and high reliability. In railway traction system, two to four induction motors operating in parallel are required to ensure the normal running. Thus the control strategies of single inverter single motor can’t meet the requirement. And it is necessary to study the control strategies and the system of multi-induction motor drive system.
According to the dynamic model of induction motor and vector control theory on single induction motor, the vector control systems of two paralle1-connected induction motors is established which takes the different parameters and unbalanced loads of motor into account while combining the idea of the average.At the same the simulations are finished on the condition of the torque step change and the speed step change. The simulation results show that the system has good performance in dynamic state and stable state.
According to the vector control theory of four paralled-connected induction motors, the derivation processes of the flux model and torque model of the four parallel-connected induction motor drive system are given. And the vector control systems of four parallel-connected induction motor are designed.Because of the limitations of PI control when applying to the ac speed regulating system,the paper makes full use of the advantages of fuzzy logical PID.Regardless of unbalanced loads at starting, unbalanced loads at running or balanced loads at running, The simulation results show that the system can run more smoothly and has a better dynamic and static performance when adopted the fuzzy logical PID.The study of scheme is of significance, especially in rail transport.
本文从三相感应电动机的动态数学模型出发,阐述了单台感应电动机的矢量控制原理,给出了按转子磁链定向的矢量控制系统模型。然后针对两台感应电动机参数和负载不一致的情形,在原有单台感应电动机直接磁场定向矢量控制模型的基础上,结合平均的思想,设计了一个双感应电动机并联驱动矢量控制系统,并针对空载和带载不平衡的情况进行了仿真分析。仿真结果表明:系统能够获得良好的稳态性能和动态性能。
接着深入研究四台感应电动机并联驱动矢量控制原理,给出了四台感应电动机并联驱动的磁链模型和转矩模型的推导过程,设计了四台感应电动机并联驱动矢量控制系统。由于PI控制在交流调速系统中的局限性,为了使系统获得更好的性能,将模糊PID控制器应用于该系统的转速控制器,并对采用常规PI控制器和采用模糊PID控制器的系统进行了仿真。仿真结果表明,无论在启动或运行时负荷均衡与否,相比之下,基于模糊自适应PID控制器的系统更能平稳运行,且具有较好的动、静态性能,最后本文推导了多台感应电动机并联驱动的动态模型。本文方案的研究对轨道交通意义较大。
With the rapid development of the railway traction system, the traction drive system of railway traction system tends to be light weight,small size, low cost and high reliability. In railway traction system, two to four induction motors operating in parallel are required to ensure the normal running. Thus the control strategies of single inverter single motor can’t meet the requirement. And it is necessary to study the control strategies and the system of multi-induction motor drive system.
According to the dynamic model of induction motor and vector control theory on single induction motor, the vector control systems of two paralle1-connected induction motors is established which takes the different parameters and unbalanced loads of motor into account while combining the idea of the average.At the same the simulations are finished on the condition of the torque step change and the speed step change. The simulation results show that the system has good performance in dynamic state and stable state.
According to the vector control theory of four paralled-connected induction motors, the derivation processes of the flux model and torque model of the four parallel-connected induction motor drive system are given. And the vector control systems of four parallel-connected induction motor are designed.Because of the limitations of PI control when applying to the ac speed regulating system,the paper makes full use of the advantages of fuzzy logical PID.Regardless of unbalanced loads at starting, unbalanced loads at running or balanced loads at running, The simulation results show that the system can run more smoothly and has a better dynamic and static performance when adopted the fuzzy logical PID.The study of scheme is of significance, especially in rail transport.
引文
[1]邹稳根.轨道交通用辅助逆变器制造技术发展概况[J].铁道机车车辆工人,2010,(1):1-3
[2]陈慧民,任恒良.轨道交通电动车辆ONIX1500交流传动系统的分析研究[J].城市轨道交通研究,2002,(4):47-50
[3]胡崇岳.现代交流调速技术[M].北京:机械工业出版社.1998
[4]陈伯时,陈敏逊.交流调速系统[M].北京:机械工业出版社.1998
[5]李华德,白晶,李志民等.交流调速控制系统[M].电子工业出版社.2004
[6]熊幸明.变频调速技术的应用与发展[J].长沙大学学报,2005,19(5):65-67
[7]吴守篇,减英杰.电气传动的脉宽调制技术[M].北京:机械工业出版社.2002
[8]李永东等.脉宽调制(PWM)技术回顾、现状及展望[J].电气传动,1996,26(3)
[9]葛宝明,王祥珩,苏鹏声等.交流传动控制策略综述[J].电气传动自动化,2001,23(4):3-9
[10] F.Blaschke.A new method for the structural decoupling of AC induction machines[C]. Conf.Rec.IFAC,1971,32(4):1-15
[11] M Depenbrock.Direct self controlled(DSC) of inverter-fed induction machine[J].IEEE Trans.Power Electronics,1998,3(4)
[12]李夙.异步电动机直接转矩控制[M].北京:机械工业出版社.1998
[13]侯崇升.现代交流调速控制系统[M].北京:机械工业出版社.2006
[14]白继荣,李桥梁,黎志光.带转矩和磁链内环的交流异步电机矢量控制系统仿真[J].电机技术.2008,(2)
[15]阮毅,张晓华.异步电机磁场定向模型及其控制策略[J].电气传动,2002
[16]陈伯时.电力拖动自动控制系统(第2版) [M].北京:机械工业出版社.2004
[17]杨顺昌,参考系理论及感应电动机系统分析[M].重庆:重庆大学出版社.1987
[18]王振永,王然冉.电机的数学模型和参数识别[M].北京:机械工业出版社.1991
[19]阮毅,陈维钧.运动控制系统[M].北京:清华大学出版社.2006
[20]颜昌彬,罗惠谦.交流电机变频调速控制系统的比较分析[ J].中国水运.2006,4(1): 49-51
[21]尔桂花,窦曰轩.运动控制系统[M].北京:清华大学出版社.2002
[22]熊祥,郭丙君.基于MRAS的交流异步电机变频调速系统研究[J].自动化仪表, 2010,(2): 51-51
[23]熊祥,郭丙君.模糊滑模变结构矢量变频调速系统建模与仿真[J].电气自动化,32(2):20-22
[24]吴仲辉.并联双感应电机牵引系统协调控制研究.硕士论文[D].中南大学,2010
[25] Y.Matsumoto,C.Osawa,T.Mizukami,et al.A stator-flux based on vector control method for paralled-connected multiple induction motors fed by a single inverter[C].Conf.Rec.IEEE APEC,1998,6(3):575-580
[26] Y.Matsumoto,N.Eguchi,A.Kawamura.A novel vector control of Single-Inverter Multiple-Induction-motors Drives for Shinkansen Traction System[C].Conf.Rec.IEEE APEC 2001,13(2):608-614
[27] Matsuse K,Kouno Y,Kawa H,etal.A speed-sensorless vector control method of parallel-connected dual induction motor fed by a single inverter[J].IEEE Trans on Industry Applications, 2002,38(4):1566-1571
[28] Patrick M.Kelecy,Robert D.Lorenz.Control Methodology for Single Inverter, Parallel Connected Dual Induction Motor Drives for Electric Vehicles[J].Proc.IEEE PESC’94. vol.2, pp.987-991
[29] Hirotoshi Kawai,Yusuke Kouno,Kouki Matsuse.Characteristics of Speed Sensorless Vector Control of Parallel Connected Dual Induction Motor Fed by A Single Inverter[J]. PCC. vol.2, pp.522-527,2002
[30] Jiangbo Wang,Yue Wang,Zhaoan Wang, Jun Yang, Yunqing Pei,Qiang Dong.Comparative Study of Vector Control Schemes For Parallel-Connected Induction Motors[J].IEEE/ PESC’05.pp.1264-1270
[31] Wang Ruxi,Wang Yue,Dong Qiang,He Yanhui,Wang Zhaoan.Study of Control Methodology for Single Inverter Parallel Connected Dual Induction Motors Based on the Dynamic Model[J].PESC’06.pp.1-7
[32] Jun Nishimura,Kazuo Oka and Kouki Matsuse.A Method of Speed Sensorless Vector Control Parallel -Connected Dual Induction Motors Fed by One Inverter in a Rotor Flux Feedback Control[J].PEDS’07.pp.1290-194
[33] K. Matsuse,Y.Kouno,H.Kawai,S.Yokomizo.A Speed Sensorless Vector Control Method of Parallel Connected Dual Induction Motor Fed by A Single Inverter[J].IEEE Trans.Ind. Appplication, 2002,38(4):1556-1571
[34] Ando I,Sato M,Sazawa M.ohishi K.High Efficient Parallel-Connected Induction Motor Speed Clontrol with Unbalanced Load Condition using One Inverter[J].IECON’03. vol.1, pp.162-16
[35] Yusuke Kono,Taketo Fushimi and Kouki Matseue.Speed Sensorless Vector Control of Parallel Connected Induction Motors[J].IPEMC.vol.1, pp.278-283,2000
[36] Shi Wei Wang,Ruxi Wang,Yue He Yanhui,Wang Zhaoan,Liu Jinjun.Study of Speed Sensorless Control Methodology for Single Inverter Parallel Connected DualInduction Motors Based on the Dynamic Model[J].IPEMC.vol.2,pp.1-5,2006
[37] Jun Nishimura,Kazuo Oka,Kouki Matsuse.A Method of Speed Sensorless Vector Control of Parallel-connected Dual Induction Motors by a Single Inverter with a Rotor Flux control [J].ICEMS.pp.600-603,2007
[38] Wang Ruxi.Study of Control Methodology for Single Inverter Parallel Connected Dual Induction Motors Based on the Dynamic Model[C].IEEE-PESC Conference Records, 2006, 32(4):688-698
[39]李卫超,胡安,聂子玲,马伟明.异步电机并联运行磁场定向控制[J].电工技术学报.2006,21(11):21-27
[40]吴仲辉,年晓红.基于无速度传感器的并联双感应电机矢量控制仿真研究[J].中原工学院学报.2010,21(2):8-12
[41]李卫超,胡安,聂子玲.感应电机并联运行矢量控制系统仿真研究[J].电机与控制学报.2006,10(1):102-106
[42]王挺泽.“中原之星”号牵引电传动系统设计与试验[J].机车电传动,2002,(2):9-12
[43]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[J].系统仿真学报,2004,16(3):384-390.
[44]刘欢,樊后世,魏立峰,王健.基于Matab/Simulink异步电机矢量控制系统仿真[J].仪器仪表学报,2006,27(6):1999-2008.
[45]潘晓晟,郝世勇.MATLAB电机仿真精华50例[M].北京:电子工业出版社,2007
[46]程伟,马树元,吴平东,陈之龙.交流异步电机的建模与仿真[J].计算机仿真, 2004,22(3):69-91
[47]李晓竹,彭继慎.滞环PWM变频调速系统的仿真研究[J].微电机,1998,31(2):25-29
[48]白晶晶.基于Simulink的交流电机矢量控制调速系统的仿真[J].鸡西大学学报,2008,8(3):20-23
[49] K.Oka, N.Nagoshi, Y.Ohama, et al.PWM Technique of Five-leg Inverter Applying Two-Arm Modulation.Annual Conference of the Institute of Electrical Engineering of Japan [J],Industry Application Society,2008,36(5):187-190
[50] Kazuo Oka, Yusuke Ohama, Hisao Kubota, et al.Characteristic of Indupendent Two AC Motor Drives Fed by a Five-Leg Inverter[J] .IAS IEEE,2009,42(6):1-8
[51]郑浩鑫,郑宾,殷云华.模糊PID数字控制器系统的仿真与设计[J].机械工程与自动化,2009,2(153):121-123
[52]王辚,张科.基于MATLAB的自整定模糊PID控制系统[J].探测与控制学报,2008,30(2) :73-76
[2]陈慧民,任恒良.轨道交通电动车辆ONIX1500交流传动系统的分析研究[J].城市轨道交通研究,2002,(4):47-50
[3]胡崇岳.现代交流调速技术[M].北京:机械工业出版社.1998
[4]陈伯时,陈敏逊.交流调速系统[M].北京:机械工业出版社.1998
[5]李华德,白晶,李志民等.交流调速控制系统[M].电子工业出版社.2004
[6]熊幸明.变频调速技术的应用与发展[J].长沙大学学报,2005,19(5):65-67
[7]吴守篇,减英杰.电气传动的脉宽调制技术[M].北京:机械工业出版社.2002
[8]李永东等.脉宽调制(PWM)技术回顾、现状及展望[J].电气传动,1996,26(3)
[9]葛宝明,王祥珩,苏鹏声等.交流传动控制策略综述[J].电气传动自动化,2001,23(4):3-9
[10] F.Blaschke.A new method for the structural decoupling of AC induction machines[C]. Conf.Rec.IFAC,1971,32(4):1-15
[11] M Depenbrock.Direct self controlled(DSC) of inverter-fed induction machine[J].IEEE Trans.Power Electronics,1998,3(4)
[12]李夙.异步电动机直接转矩控制[M].北京:机械工业出版社.1998
[13]侯崇升.现代交流调速控制系统[M].北京:机械工业出版社.2006
[14]白继荣,李桥梁,黎志光.带转矩和磁链内环的交流异步电机矢量控制系统仿真[J].电机技术.2008,(2)
[15]阮毅,张晓华.异步电机磁场定向模型及其控制策略[J].电气传动,2002
[16]陈伯时.电力拖动自动控制系统(第2版) [M].北京:机械工业出版社.2004
[17]杨顺昌,参考系理论及感应电动机系统分析[M].重庆:重庆大学出版社.1987
[18]王振永,王然冉.电机的数学模型和参数识别[M].北京:机械工业出版社.1991
[19]阮毅,陈维钧.运动控制系统[M].北京:清华大学出版社.2006
[20]颜昌彬,罗惠谦.交流电机变频调速控制系统的比较分析[ J].中国水运.2006,4(1): 49-51
[21]尔桂花,窦曰轩.运动控制系统[M].北京:清华大学出版社.2002
[22]熊祥,郭丙君.基于MRAS的交流异步电机变频调速系统研究[J].自动化仪表, 2010,(2): 51-51
[23]熊祥,郭丙君.模糊滑模变结构矢量变频调速系统建模与仿真[J].电气自动化,32(2):20-22
[24]吴仲辉.并联双感应电机牵引系统协调控制研究.硕士论文[D].中南大学,2010
[25] Y.Matsumoto,C.Osawa,T.Mizukami,et al.A stator-flux based on vector control method for paralled-connected multiple induction motors fed by a single inverter[C].Conf.Rec.IEEE APEC,1998,6(3):575-580
[26] Y.Matsumoto,N.Eguchi,A.Kawamura.A novel vector control of Single-Inverter Multiple-Induction-motors Drives for Shinkansen Traction System[C].Conf.Rec.IEEE APEC 2001,13(2):608-614
[27] Matsuse K,Kouno Y,Kawa H,etal.A speed-sensorless vector control method of parallel-connected dual induction motor fed by a single inverter[J].IEEE Trans on Industry Applications, 2002,38(4):1566-1571
[28] Patrick M.Kelecy,Robert D.Lorenz.Control Methodology for Single Inverter, Parallel Connected Dual Induction Motor Drives for Electric Vehicles[J].Proc.IEEE PESC’94. vol.2, pp.987-991
[29] Hirotoshi Kawai,Yusuke Kouno,Kouki Matsuse.Characteristics of Speed Sensorless Vector Control of Parallel Connected Dual Induction Motor Fed by A Single Inverter[J]. PCC. vol.2, pp.522-527,2002
[30] Jiangbo Wang,Yue Wang,Zhaoan Wang, Jun Yang, Yunqing Pei,Qiang Dong.Comparative Study of Vector Control Schemes For Parallel-Connected Induction Motors[J].IEEE/ PESC’05.pp.1264-1270
[31] Wang Ruxi,Wang Yue,Dong Qiang,He Yanhui,Wang Zhaoan.Study of Control Methodology for Single Inverter Parallel Connected Dual Induction Motors Based on the Dynamic Model[J].PESC’06.pp.1-7
[32] Jun Nishimura,Kazuo Oka and Kouki Matsuse.A Method of Speed Sensorless Vector Control Parallel -Connected Dual Induction Motors Fed by One Inverter in a Rotor Flux Feedback Control[J].PEDS’07.pp.1290-194
[33] K. Matsuse,Y.Kouno,H.Kawai,S.Yokomizo.A Speed Sensorless Vector Control Method of Parallel Connected Dual Induction Motor Fed by A Single Inverter[J].IEEE Trans.Ind. Appplication, 2002,38(4):1556-1571
[34] Ando I,Sato M,Sazawa M.ohishi K.High Efficient Parallel-Connected Induction Motor Speed Clontrol with Unbalanced Load Condition using One Inverter[J].IECON’03. vol.1, pp.162-16
[35] Yusuke Kono,Taketo Fushimi and Kouki Matseue.Speed Sensorless Vector Control of Parallel Connected Induction Motors[J].IPEMC.vol.1, pp.278-283,2000
[36] Shi Wei Wang,Ruxi Wang,Yue He Yanhui,Wang Zhaoan,Liu Jinjun.Study of Speed Sensorless Control Methodology for Single Inverter Parallel Connected DualInduction Motors Based on the Dynamic Model[J].IPEMC.vol.2,pp.1-5,2006
[37] Jun Nishimura,Kazuo Oka,Kouki Matsuse.A Method of Speed Sensorless Vector Control of Parallel-connected Dual Induction Motors by a Single Inverter with a Rotor Flux control [J].ICEMS.pp.600-603,2007
[38] Wang Ruxi.Study of Control Methodology for Single Inverter Parallel Connected Dual Induction Motors Based on the Dynamic Model[C].IEEE-PESC Conference Records, 2006, 32(4):688-698
[39]李卫超,胡安,聂子玲,马伟明.异步电机并联运行磁场定向控制[J].电工技术学报.2006,21(11):21-27
[40]吴仲辉,年晓红.基于无速度传感器的并联双感应电机矢量控制仿真研究[J].中原工学院学报.2010,21(2):8-12
[41]李卫超,胡安,聂子玲.感应电机并联运行矢量控制系统仿真研究[J].电机与控制学报.2006,10(1):102-106
[42]王挺泽.“中原之星”号牵引电传动系统设计与试验[J].机车电传动,2002,(2):9-12
[43]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[J].系统仿真学报,2004,16(3):384-390.
[44]刘欢,樊后世,魏立峰,王健.基于Matab/Simulink异步电机矢量控制系统仿真[J].仪器仪表学报,2006,27(6):1999-2008.
[45]潘晓晟,郝世勇.MATLAB电机仿真精华50例[M].北京:电子工业出版社,2007
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