感应电机无速度传感器直接转矩控制关键技术研究
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摘要
本文以与辽宁赛沃斯节能技术有限公司合作的“无速度传感器直接转矩控制方法的研究”课题为工程背景,研究无速度传感器的直接转矩控制的关键技术。主要围绕减小无速度传感器直接转矩控制系统的转矩波动问题,研究速度自适应磁链观测器、转矩和磁链的非奇异终端滑模控制。通过对传统的SVPWM算法进行改进,抑制PWM电机驱动系统的共模干扰。主要工作体现在以下几个方面：
本文首先简要介绍了基于极点配置理论的速度自适应定子磁链观测器,并分析了其优缺点。为了克服电机运行过程中电机参数变化对观测精度和稳定性的不良影响、提高观测器的鲁棒性,设计了一个同时考虑定、转子电阻不确定性的速度自适应定子磁链观测器。它以定子电流和定子磁链为状态变量,把磁链观测和速度辨识结合在一起,可以将定子磁链观测值应用于直接转矩控制算法中,速度的辨识值用于无传感器控制系统的速度反馈。定义了李亚普诺夫函数,根据其稳定性理论推导出速度自适应收敛率。采用二次稳定性理论将观测器的增益矩阵的设计问题转化成了H∞状态反馈问题,通过对H∞状态反馈控制器的求解,进而得到了观测器的增益矩阵。为了验证观测器的有效性,进行了系统仿真研究并对仿真结果进行了分析。
针对直接转矩控制技术以容差形式的Bang-Bang控制模式给系统的稳态运行带来的转矩脉动大、电流谐波成分重、定子磁链轨迹畸变等问题,将非奇异终端滑模控制应用到了转矩和磁链控制中。为了提高传统滑模控制的收敛性,分别独立设计了转矩控制器和磁链控制器的非奇异终端滑模平面。转矩控制器和磁链控制器由等效控制项和非线性切换项组成,非线性切换项中的符号函数sgn(S)通过积分作用削弱了控制量的抖振,从而获得了低抖振的转矩控制器和磁链控制器。通过系统仿真验证了控制器的有效性。
为了降低PWM电机驱动系统的共模干扰,深入地研究了SVPWM算法产生共模干扰的原因和现有的改进的SVPWM算法对共模干扰的抑制机理。综合考虑了共模电压的减小、共模电流的减小以及直流母线电压利用率,通过对传统SVPWM算法的改进来抑制系统的共模干扰,改进的SVPWM方法不采用零电压矢量,利用方向相反的两个电压矢量作用相同的时间t0/2相当于零电压矢量作用了时间t0的关系,用三个有效的电压矢量来合成参考电压矢量。详细阐述了改进的SVPWM算法的DSP实现过程。给出了改进的SVPWM的仿真,验证了算法的有效性。
开发出了一套以数字信号处理器TMS320F2812为控制核心额定功率为3kW,额定转速为1420r/min的无速度传感器直接转矩控制系统。完成了相关的软硬件设计,完成了对上述研究内容进行试验验证的同时,使系统的性能指标满足：稳态转矩波动小于4%,阶跃输入的转矩响应时间小于10ms,稳态速度波动小于0.5%,系统的共模电压不大于直流母线电压的1/5。
Taking the project "Study on Sensorless Direct Torque Control Method" cooperating with Liaoning Saves Energy Technology Co., LTD as engineering background, this dissertation researches on key technologies of sensorless direct torque control for induction motors. In order to reduce torque ripple of conventional DTC, speed adaptive stator flux linkage observer and nonsingular terminal sliding mode control for stator flux linkage and electromagnetic torque are studied extensively and intensively in this dissertation. The traditional SVPWM algorithm is improved to reduce the common-mode interference of PWM motor drive system. The main work is described in detail as follows:
A speed adaptive stator flux linkage observer based on pole assignment is presented firstly in this dissertation. Then, advantages and existing problems of the observer are analysed. In order to improve the robustness of the state observer and restrain bad effect of parameter perturbation, the stator and rotor resistance uncertainties are considered simultaneously in the proposed speed adaptive stator flux observer. The observer uses stator current and stator flux linkage as state variable, the observation of flux linkage and estimation of speed were proceeding at the meantime. The observed flux linkage could be applied to direct torque control system and the observed speed could be used as speed feedback for the sensorless system. The speed adaptive scheme of speed estimation was obtained utilizing Lyapunov's stability theory. Quadratic stability theory is used to transfer gain matrix design problem into standard H∞design problem. The gain matrix is obtained based on H∞state feedback theory. System simulation is given to verify the effectiveness of the observer.
For its inherent drawbacks of classic DTC, such as torque, flux linkage, and current ripples, a novel DTC scheme is presented, in which a terminal sliding mode variable structure control (TSMVSC) method is applied to electromagnetic torque and stator flux linkage control. In order to improve convergence performance of the conventional sliding mode variable structure control, the nonsingular terminal sliding mode surfaces of torque controller and flux linkage controller are independently designed in this dissertation. The torque controller and flux linkage controller are composed of equivalent control item and nonlinear switch item. The chattering of symbolic function sign(S) is reduced by integral action. Then, lower chattering torque controller and flux linkage controller are obtained. System simulation is given to verify the effectiveness of the controllers.
In order to reduce the common mode interference of PWM motor drive system, the causes of SVPWM algorithm generating the common mode interference and suppression mechanism of improved SVPWM algorithm are researched in depth. Considering the reduction of the common mode voltage and common mode currents and DC bus voltage utilization, an improved SVPWM algorithm employing three effective voltage vectors without using zero voltage vectors to suppress common mode interference is improved in this dissertation. Its working principle based on that two opposite direction voltage vector function the same time to/2 equivalent to zero voltage vector function to. DSP implementation process of the improved SVPWM is described in detail. System simulation is given to verify the effectiveness of the improved SVPWM algorithm.
Sensorless direct torque control system for induction motor is built based on digital signal processor TMS320F2812, the hardware and software design described in detail. The effectiveness of the above methods is verified by experiment results. System performances meet static torque ripple less than 4%, torque rise time less than 10ms, static speed ripple less than 0.5% and common-mode voltage of the system not more than one-fifth of the dc bus voltage.
本文首先简要介绍了基于极点配置理论的速度自适应定子磁链观测器,并分析了其优缺点。为了克服电机运行过程中电机参数变化对观测精度和稳定性的不良影响、提高观测器的鲁棒性,设计了一个同时考虑定、转子电阻不确定性的速度自适应定子磁链观测器。它以定子电流和定子磁链为状态变量,把磁链观测和速度辨识结合在一起,可以将定子磁链观测值应用于直接转矩控制算法中,速度的辨识值用于无传感器控制系统的速度反馈。定义了李亚普诺夫函数,根据其稳定性理论推导出速度自适应收敛率。采用二次稳定性理论将观测器的增益矩阵的设计问题转化成了H∞状态反馈问题,通过对H∞状态反馈控制器的求解,进而得到了观测器的增益矩阵。为了验证观测器的有效性,进行了系统仿真研究并对仿真结果进行了分析。
针对直接转矩控制技术以容差形式的Bang-Bang控制模式给系统的稳态运行带来的转矩脉动大、电流谐波成分重、定子磁链轨迹畸变等问题,将非奇异终端滑模控制应用到了转矩和磁链控制中。为了提高传统滑模控制的收敛性,分别独立设计了转矩控制器和磁链控制器的非奇异终端滑模平面。转矩控制器和磁链控制器由等效控制项和非线性切换项组成,非线性切换项中的符号函数sgn(S)通过积分作用削弱了控制量的抖振,从而获得了低抖振的转矩控制器和磁链控制器。通过系统仿真验证了控制器的有效性。
为了降低PWM电机驱动系统的共模干扰,深入地研究了SVPWM算法产生共模干扰的原因和现有的改进的SVPWM算法对共模干扰的抑制机理。综合考虑了共模电压的减小、共模电流的减小以及直流母线电压利用率,通过对传统SVPWM算法的改进来抑制系统的共模干扰,改进的SVPWM方法不采用零电压矢量,利用方向相反的两个电压矢量作用相同的时间t0/2相当于零电压矢量作用了时间t0的关系,用三个有效的电压矢量来合成参考电压矢量。详细阐述了改进的SVPWM算法的DSP实现过程。给出了改进的SVPWM的仿真,验证了算法的有效性。
开发出了一套以数字信号处理器TMS320F2812为控制核心额定功率为3kW,额定转速为1420r/min的无速度传感器直接转矩控制系统。完成了相关的软硬件设计,完成了对上述研究内容进行试验验证的同时,使系统的性能指标满足：稳态转矩波动小于4%,阶跃输入的转矩响应时间小于10ms,稳态速度波动小于0.5%,系统的共模电压不大于直流母线电压的1/5。
Taking the project "Study on Sensorless Direct Torque Control Method" cooperating with Liaoning Saves Energy Technology Co., LTD as engineering background, this dissertation researches on key technologies of sensorless direct torque control for induction motors. In order to reduce torque ripple of conventional DTC, speed adaptive stator flux linkage observer and nonsingular terminal sliding mode control for stator flux linkage and electromagnetic torque are studied extensively and intensively in this dissertation. The traditional SVPWM algorithm is improved to reduce the common-mode interference of PWM motor drive system. The main work is described in detail as follows:
A speed adaptive stator flux linkage observer based on pole assignment is presented firstly in this dissertation. Then, advantages and existing problems of the observer are analysed. In order to improve the robustness of the state observer and restrain bad effect of parameter perturbation, the stator and rotor resistance uncertainties are considered simultaneously in the proposed speed adaptive stator flux observer. The observer uses stator current and stator flux linkage as state variable, the observation of flux linkage and estimation of speed were proceeding at the meantime. The observed flux linkage could be applied to direct torque control system and the observed speed could be used as speed feedback for the sensorless system. The speed adaptive scheme of speed estimation was obtained utilizing Lyapunov's stability theory. Quadratic stability theory is used to transfer gain matrix design problem into standard H∞design problem. The gain matrix is obtained based on H∞state feedback theory. System simulation is given to verify the effectiveness of the observer.
For its inherent drawbacks of classic DTC, such as torque, flux linkage, and current ripples, a novel DTC scheme is presented, in which a terminal sliding mode variable structure control (TSMVSC) method is applied to electromagnetic torque and stator flux linkage control. In order to improve convergence performance of the conventional sliding mode variable structure control, the nonsingular terminal sliding mode surfaces of torque controller and flux linkage controller are independently designed in this dissertation. The torque controller and flux linkage controller are composed of equivalent control item and nonlinear switch item. The chattering of symbolic function sign(S) is reduced by integral action. Then, lower chattering torque controller and flux linkage controller are obtained. System simulation is given to verify the effectiveness of the controllers.
In order to reduce the common mode interference of PWM motor drive system, the causes of SVPWM algorithm generating the common mode interference and suppression mechanism of improved SVPWM algorithm are researched in depth. Considering the reduction of the common mode voltage and common mode currents and DC bus voltage utilization, an improved SVPWM algorithm employing three effective voltage vectors without using zero voltage vectors to suppress common mode interference is improved in this dissertation. Its working principle based on that two opposite direction voltage vector function the same time to/2 equivalent to zero voltage vector function to. DSP implementation process of the improved SVPWM is described in detail. System simulation is given to verify the effectiveness of the improved SVPWM algorithm.
Sensorless direct torque control system for induction motor is built based on digital signal processor TMS320F2812, the hardware and software design described in detail. The effectiveness of the above methods is verified by experiment results. System performances meet static torque ripple less than 4%, torque rise time less than 10ms, static speed ripple less than 0.5% and common-mode voltage of the system not more than one-fifth of the dc bus voltage.
引文
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