基于优化模糊控制的矿用电机车牵引系统研究
|
摘要
针对我国目前矿用电机车两种牵引方式中直流牵引系统故障率高、维护成本高,而交流串电阻调速系统能耗大、动态性能差的问题,提出基于直接转矩控制的交流牵引系统方案。
论文深入研究矿用电机车运行特点的基础上,针对电机车运行过程中电机的参数变化和负载变化时线性速度调节器很难满足控制系统的性能需求的问题,采用模糊调节器来替代PID调节器实现直接转矩控制的转速闭环,并根据时间乘误差绝对值积分(ITAE)性能指标,通过模糊控制器参数微粒群优化的方法,随着控制对象的不同工作状态而改变控制器的控制规则,达到最佳控制效果;针对直接转矩控制在低速范围内定子电阻辨识困难的缺陷,本文介绍了一种解决方案一定子电阻模糊观测器在线估计定子电阻,从而提高系统的低速性能和响应质量。
论文对优化模糊直接转矩牵引控制系统进行了仿真,从理论上证明了该方法转矩脉动小,逆变器开关频率固定,电流谐波分量小,系统在额定负载范围内有较强的自动调节能力,基本满足了矿用电机车的驱动要求:并将优化模糊直接转矩控制应用到火车平硐自动装车时矿用电机车牵引控制系统上,进行实际运行分析,结果表明该方案可有效解决牵引电机低速起动力矩低、带速度起动难,且系统具备过流过压等全面的保护功能,具有牵引力大、制动性能优良,适用范围广、经济性好、技术指标高等特点。因此,优化模糊直接转矩控制在矿用电机车牵引控制系统上的应用一定有广阔的前景。
The DC adjustable-speed control method and AC adjustable-speed control mode with series resistance is mostly applied in mine locomotive's drive system. There are several drawbacks of these methods, such as the high percent of malfunction, the high cost of maintenance, the electric energy waste and inferiors dynamic performance, etc. To deal with these problems, an advanced speed-adjusting scheme is presented based on direct torque control.
According to the operating characteristics of mine electric locomotive, linear regulator has difficulty to meet the performance requirements during parameters of motor variations and load disturbance. In paper, a fuzzy controller is designed as speed regulator to replace PID regulator. In order to achieve the best control results, an algorithm based on Integrated of Time Absolute Error(ITAE) performance index and particle swarm optimization(PSO) algorithm is studied to change control rules. Aimed at the limitation of stator resistance identification difficulty in low speed range of direct torque control, the paper gives a solving scheme—stator resistance fuzzy observation, used for estimating the stator resistance, which can also improve the performance at low speed and response quality of system.
Simulations about fuzzy direct torque control system have been done. The result proves this control strategy has many advantages such as small torque ripple, fixed switching frequency, small current harmonic distortion and strong regulating capacity at the range of rating load. The system basically satisfies the drive demand of mine electric locomotive. Then, the technology based on Self-optimal fuzzy control is applied in mine locomotive's automatic loading system. The practical result shows that the method can overcome the shortcomings of traditional modes such as small low-speed starting torque, difficulty in starting with speed. And this method has the advantages of great starting torque, excellent braking performance, broad scope of application, high technology performance index, etc. Therefore, the optimization fuzzy Direct Torque Control mine electric locomotive traction control system must have broad prospect of application.
论文深入研究矿用电机车运行特点的基础上,针对电机车运行过程中电机的参数变化和负载变化时线性速度调节器很难满足控制系统的性能需求的问题,采用模糊调节器来替代PID调节器实现直接转矩控制的转速闭环,并根据时间乘误差绝对值积分(ITAE)性能指标,通过模糊控制器参数微粒群优化的方法,随着控制对象的不同工作状态而改变控制器的控制规则,达到最佳控制效果;针对直接转矩控制在低速范围内定子电阻辨识困难的缺陷,本文介绍了一种解决方案一定子电阻模糊观测器在线估计定子电阻,从而提高系统的低速性能和响应质量。
论文对优化模糊直接转矩牵引控制系统进行了仿真,从理论上证明了该方法转矩脉动小,逆变器开关频率固定,电流谐波分量小,系统在额定负载范围内有较强的自动调节能力,基本满足了矿用电机车的驱动要求:并将优化模糊直接转矩控制应用到火车平硐自动装车时矿用电机车牵引控制系统上,进行实际运行分析,结果表明该方案可有效解决牵引电机低速起动力矩低、带速度起动难,且系统具备过流过压等全面的保护功能,具有牵引力大、制动性能优良,适用范围广、经济性好、技术指标高等特点。因此,优化模糊直接转矩控制在矿用电机车牵引控制系统上的应用一定有广阔的前景。
The DC adjustable-speed control method and AC adjustable-speed control mode with series resistance is mostly applied in mine locomotive's drive system. There are several drawbacks of these methods, such as the high percent of malfunction, the high cost of maintenance, the electric energy waste and inferiors dynamic performance, etc. To deal with these problems, an advanced speed-adjusting scheme is presented based on direct torque control.
According to the operating characteristics of mine electric locomotive, linear regulator has difficulty to meet the performance requirements during parameters of motor variations and load disturbance. In paper, a fuzzy controller is designed as speed regulator to replace PID regulator. In order to achieve the best control results, an algorithm based on Integrated of Time Absolute Error(ITAE) performance index and particle swarm optimization(PSO) algorithm is studied to change control rules. Aimed at the limitation of stator resistance identification difficulty in low speed range of direct torque control, the paper gives a solving scheme—stator resistance fuzzy observation, used for estimating the stator resistance, which can also improve the performance at low speed and response quality of system.
Simulations about fuzzy direct torque control system have been done. The result proves this control strategy has many advantages such as small torque ripple, fixed switching frequency, small current harmonic distortion and strong regulating capacity at the range of rating load. The system basically satisfies the drive demand of mine electric locomotive. Then, the technology based on Self-optimal fuzzy control is applied in mine locomotive's automatic loading system. The practical result shows that the method can overcome the shortcomings of traditional modes such as small low-speed starting torque, difficulty in starting with speed. And this method has the advantages of great starting torque, excellent braking performance, broad scope of application, high technology performance index, etc. Therefore, the optimization fuzzy Direct Torque Control mine electric locomotive traction control system must have broad prospect of application.
引文
[1]马宪民,宋改改.煤矿电机车交流调速系统的方案选择与考虑.工矿自动化,2002(4):17-19
[2]胥良,李海军,吴延华.矿用电机车调速方法.黑龙江科技学院学报,2004,14(4):224-226。
[3]黄济荣,冯江华.我国交流牵引传动技术的最新进展.机车电传动,2001(01):7-11
[4]郭前岗,李耀华,孟彦京.现代交流传动系统调速技术综述.微计算机信息,2004,20(11):74-76
[5]胡虎,李永东.交流电机直接转矩控制策略现状与趋势.电气传动2004(3):3-8
[6]黄济荣.现代控制理论与交流电机调速(Ⅱ)-智能控制.机车电传动,2005(2):7-13
[7]李人厚.智能控制理论和方法.西安:西安电子科技大学出版社,1999
[8]李少远,席裕庚,陈增强等.智能控制的新进展(Ⅱ).控制与决策,2002(2):136-140
[9]李夙.异步电动机直接转矩控制[M].北京:机械工业出版社1994
[10]唐中琦,谢运祥.直接转矩控制技术发展综述.微电机,1998,31(1):32-35
[11]陈伯时,陈敏逊.交流调速系统。北京:机械工业出版社,1998
[12]阮毅,张晓华,徐静等.异步电机按定子磁场定向控制.中国电工技术学会电力电子学会第八届学术年会论文集,电工技术学会,2003,18(2):1-4
[13]李维亚,祝龙记.矿用电机车直接转矩调速系统的研究.煤矿机械,2006,27(9):140-143
[14]陶永华.新型PID控制及应用.北京:机械工业出版社,2001
[15]陈伯时,冯晓刚等.电气传动系统的智能控制.电气传动,1997(1)
[16]谢红军,张庆范,张琪君.直接转矩控制方案中的定子电阻与速度估计.电气传动,2007,37(2):12-15
[17]曹先庆,樊立萍.基于定子电阻观测器的PMSM模糊直接转矩控制系统.电气应用2006,25(10):95-98
[18]王萍,张磊,宋良瑜.高性能模糊直接转矩控制.仪器仪表学报,2005,26(2):196-198
[19]张春:郭兴众:模糊直接转矩控制系统的设计与仿真研究.电子科技大学学报,2004,33(5):583-585
[20]I Liidtke,Dr M G Jape.Direct Torque Control of Induction Motors. IEE,The Institution of Electrical Engineers,1995
[21]Koang-Kyun La,Myoung-Ho Shin,Kong-Seok Hyun.direct torque contFol of induction motor with reduction of torque ripple.Industrial Electronics Society,2000.IECON 2000.26th Annual Confjerence of the IEEE
[22]Carlos Ortegal,Antoni Arias.Novel direct torque control for induction motors using short voltage vectors of matrix converters.Industrial Electronics Society,2005.IECON 2005.32nd Annual Conference of IEEE
[23]Huang Yourui,Tang Chaoli.Direct torque control of induction motor by use of neural network.Electrical Machines and Systems,2005
[24]Lin Chen,Kang-Ling Fang,Zi-Fan Hu.A scheme of fuzzy direct torque control for induction machine.Machine Learning and Cybernetics,2005.Proceedings of 2005 International Conference onVolume 2,18-21 Aug.2005:803-807
[25]吴麒,高黛陵.控制系统的智能设计.北京:机械工业出版社,2003
[26]J.Kennedy,R.C.Eberhart.Particle swarm optimization.Proceedings of the IEEE International Conference on Neural Networks,vol.Perth,Australia,1995:1942-1948.
[27]Eberhart R,Shi YuHui.Particle swarm optimization:Development,applications and resources[A].proc IEEE Int Conf on Evolutionary Computation[C].Seoul,2001:81-86
[28]Naka,S.,Genji,T.,Yuru,T.,Fukuyama,Y.A.hybrid particle swarm optimization for distribution state estimation.IEEE Trans.Power Syst.2003:60-68
[29]谢晓峰,张文俊,杨之廉.微粒群算法综述.控制与决策,2003,18(2),129-134
[30]杨燕,靳蕃,Kamel.M.微粒群优化算法的研究现状及其发展.计算机工程,2004,30(21),3-6
[31]Trelea,Ioan Cristian.The particle swarm optimization algorithm:convergence analysis and parameter selection.Information Processing Letters Volume:85,Issue:6,March 31,2003:317-325
[32]陈国初,俞金寿.微粒群优化算法.信息与控制,2005,34(3):318-324
[33]王辉,钱锋.群体智能优化算法.化工自动化及仪表,2007,34(5):7-13
[34]刘和平,严利平等.TMS320LF240x DSP结构、原理及应用.北京:北京航空航天大学出版社2002
[35]韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控制系统中的应用.北京:清华大学出版社,2003
[36]孙标,马立波.基于TMS320LF2407直接转矩控制系统的全数字化实现.大电机技术,2004(2)
[37]张伟,王明渝,刘和平.基于TMS320LF2407的异步电动机直接转矩控制系统.中小型电机,2005,32(2)
[38]雷丹,袁爱进,陈汝义.基于TMS320LF 2407的新型直接转矩控制系统.电力自动化设备,2006,26(8)
[39]洪乃刚等.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
[40]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002
[41]刘卫国,陈昭平,张颖.MATLAB程序设计与应用.北京:机械工业出版社,2002
[42]Texas Instruments Incorporated,TM320F/C24xx DSP Controllers Guide:CPU and Instruction Set,2002:2025.
[2]胥良,李海军,吴延华.矿用电机车调速方法.黑龙江科技学院学报,2004,14(4):224-226。
[3]黄济荣,冯江华.我国交流牵引传动技术的最新进展.机车电传动,2001(01):7-11
[4]郭前岗,李耀华,孟彦京.现代交流传动系统调速技术综述.微计算机信息,2004,20(11):74-76
[5]胡虎,李永东.交流电机直接转矩控制策略现状与趋势.电气传动2004(3):3-8
[6]黄济荣.现代控制理论与交流电机调速(Ⅱ)-智能控制.机车电传动,2005(2):7-13
[7]李人厚.智能控制理论和方法.西安:西安电子科技大学出版社,1999
[8]李少远,席裕庚,陈增强等.智能控制的新进展(Ⅱ).控制与决策,2002(2):136-140
[9]李夙.异步电动机直接转矩控制[M].北京:机械工业出版社1994
[10]唐中琦,谢运祥.直接转矩控制技术发展综述.微电机,1998,31(1):32-35
[11]陈伯时,陈敏逊.交流调速系统。北京:机械工业出版社,1998
[12]阮毅,张晓华,徐静等.异步电机按定子磁场定向控制.中国电工技术学会电力电子学会第八届学术年会论文集,电工技术学会,2003,18(2):1-4
[13]李维亚,祝龙记.矿用电机车直接转矩调速系统的研究.煤矿机械,2006,27(9):140-143
[14]陶永华.新型PID控制及应用.北京:机械工业出版社,2001
[15]陈伯时,冯晓刚等.电气传动系统的智能控制.电气传动,1997(1)
[16]谢红军,张庆范,张琪君.直接转矩控制方案中的定子电阻与速度估计.电气传动,2007,37(2):12-15
[17]曹先庆,樊立萍.基于定子电阻观测器的PMSM模糊直接转矩控制系统.电气应用2006,25(10):95-98
[18]王萍,张磊,宋良瑜.高性能模糊直接转矩控制.仪器仪表学报,2005,26(2):196-198
[19]张春:郭兴众:模糊直接转矩控制系统的设计与仿真研究.电子科技大学学报,2004,33(5):583-585
[20]I Liidtke,Dr M G Jape.Direct Torque Control of Induction Motors. IEE,The Institution of Electrical Engineers,1995
[21]Koang-Kyun La,Myoung-Ho Shin,Kong-Seok Hyun.direct torque contFol of induction motor with reduction of torque ripple.Industrial Electronics Society,2000.IECON 2000.26th Annual Confjerence of the IEEE
[22]Carlos Ortegal,Antoni Arias.Novel direct torque control for induction motors using short voltage vectors of matrix converters.Industrial Electronics Society,2005.IECON 2005.32nd Annual Conference of IEEE
[23]Huang Yourui,Tang Chaoli.Direct torque control of induction motor by use of neural network.Electrical Machines and Systems,2005
[24]Lin Chen,Kang-Ling Fang,Zi-Fan Hu.A scheme of fuzzy direct torque control for induction machine.Machine Learning and Cybernetics,2005.Proceedings of 2005 International Conference onVolume 2,18-21 Aug.2005:803-807
[25]吴麒,高黛陵.控制系统的智能设计.北京:机械工业出版社,2003
[26]J.Kennedy,R.C.Eberhart.Particle swarm optimization.Proceedings of the IEEE International Conference on Neural Networks,vol.Perth,Australia,1995:1942-1948.
[27]Eberhart R,Shi YuHui.Particle swarm optimization:Development,applications and resources[A].proc IEEE Int Conf on Evolutionary Computation[C].Seoul,2001:81-86
[28]Naka,S.,Genji,T.,Yuru,T.,Fukuyama,Y.A.hybrid particle swarm optimization for distribution state estimation.IEEE Trans.Power Syst.2003:60-68
[29]谢晓峰,张文俊,杨之廉.微粒群算法综述.控制与决策,2003,18(2),129-134
[30]杨燕,靳蕃,Kamel.M.微粒群优化算法的研究现状及其发展.计算机工程,2004,30(21),3-6
[31]Trelea,Ioan Cristian.The particle swarm optimization algorithm:convergence analysis and parameter selection.Information Processing Letters Volume:85,Issue:6,March 31,2003:317-325
[32]陈国初,俞金寿.微粒群优化算法.信息与控制,2005,34(3):318-324
[33]王辉,钱锋.群体智能优化算法.化工自动化及仪表,2007,34(5):7-13
[34]刘和平,严利平等.TMS320LF240x DSP结构、原理及应用.北京:北京航空航天大学出版社2002
[35]韩安太,刘峙飞,黄海.DSP控制器原理及其在运动控制系统中的应用.北京:清华大学出版社,2003
[36]孙标,马立波.基于TMS320LF2407直接转矩控制系统的全数字化实现.大电机技术,2004(2)
[37]张伟,王明渝,刘和平.基于TMS320LF2407的异步电动机直接转矩控制系统.中小型电机,2005,32(2)
[38]雷丹,袁爱进,陈汝义.基于TMS320LF 2407的新型直接转矩控制系统.电力自动化设备,2006,26(8)
[39]洪乃刚等.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
[40]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京:清华大学出版社,2002
[41]刘卫国,陈昭平,张颖.MATLAB程序设计与应用.北京:机械工业出版社,2002
[42]Texas Instruments Incorporated,TM320F/C24xx DSP Controllers Guide:CPU and Instruction Set,2002:2025.