永磁同步发电机整流系统的研究
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摘要
电动汽车作为绿色环保交通工具,己受到各个汽车发达国家的重视。电动车技术正在迅速发展。本课题主要研究设计混合电动汽车ISA用PWM整流系统。
本文分析了国内外混合电动汽车及其ISA系统的研究现状和带整流负载的永磁同步发电机工作原理,建立了永磁同步发电机的电路模型。分析了以永磁同步发电机作为交流侧电源的整流系统的特性,并证明了采用三相电压型PWM整流器对此系统进行分析的可行性。
本文深入研究了三相VSR系统的主回路参数设计,重点分析了直流侧电容和交流侧电感的选择,并给出定量分析。其次对双环控制的三相VSR系统调节器的设计进行了详细分析,提出了应用于电压环的带积分饱和限幅的积分分离式PID控制,在不改变启动阶段直流电压响应时间的前提下,减小甚至消除了电压超调量。利用MATLAB/SIMULINK进行系统仿真,证明了改进的PID算法的优越性及参数选择的正确性。实验结果同样证明了理论分析正确性。
最终以TI公司的TMS320LF2407A作为控制器,实现了混合电动车ISA用VSR全数字化矢量控制系统。实验结果表明,整流系统输出电压和电流可调、动态响应快、控制精度高,且稳定性好、效率高,满足技术指标的要求。
As the means of the green environmental protection traffic, electric vehicle (EV) has been regarded by every developed countries. The EV technology is growing rapidly. The principal task is to research and design a PWM rectifier system used in Intergrated Starter/Alternator (ISA) system of hybrid electric vehicle (HEV).
Firstly, this paper analyses the research status of HEV and ISA at home and abroad and the operating principle of Permanent Magnet Synchronous Genetator with rectifing load. Secondly, the topological structure of the Permanent Magnet Synchronous Genetator is devised. And the feasibility of equivalent between the rectifier system with Permanent Magnet Synchronous Genetator and the three-phase voltage source rectifier (VSR) is confirmed.
Subsequently, the design of the system parameters in main loop are analyzed in this paper. Specially we focused on the design of the The DC-side capacitance and AC-side inductance.Besides,the specific parameters is proposed. Then the designing of regulators in double-loop VSR system are analyzed in detail. A modified PID control algorithm used in voltage loop is proposed, which guarantees both the response time and the overshoot. The results of system simulation with MATLAB/SIMULINK proved the advantage of the proposed algorithm and the validity of the parameter chosen. The results of experiment confirmed the validity of theory analysis too.
Texas Instruments digital signal processor (DSP), TMS320F2407A, is used as the controller, and the full digital vector controlling system is achieved, which is used in the ISA of HEV for energy feedback. The controlling system can meet the requirement of subject improved by the experimental results, which manifest the adjustable of output voltage and current, the rapidity of the dynamic response, the high accuracy of controlling, the good stability and the high efficiency of the rectifier system.
本文分析了国内外混合电动汽车及其ISA系统的研究现状和带整流负载的永磁同步发电机工作原理,建立了永磁同步发电机的电路模型。分析了以永磁同步发电机作为交流侧电源的整流系统的特性,并证明了采用三相电压型PWM整流器对此系统进行分析的可行性。
本文深入研究了三相VSR系统的主回路参数设计,重点分析了直流侧电容和交流侧电感的选择,并给出定量分析。其次对双环控制的三相VSR系统调节器的设计进行了详细分析,提出了应用于电压环的带积分饱和限幅的积分分离式PID控制,在不改变启动阶段直流电压响应时间的前提下,减小甚至消除了电压超调量。利用MATLAB/SIMULINK进行系统仿真,证明了改进的PID算法的优越性及参数选择的正确性。实验结果同样证明了理论分析正确性。
最终以TI公司的TMS320LF2407A作为控制器,实现了混合电动车ISA用VSR全数字化矢量控制系统。实验结果表明,整流系统输出电压和电流可调、动态响应快、控制精度高,且稳定性好、效率高,满足技术指标的要求。
As the means of the green environmental protection traffic, electric vehicle (EV) has been regarded by every developed countries. The EV technology is growing rapidly. The principal task is to research and design a PWM rectifier system used in Intergrated Starter/Alternator (ISA) system of hybrid electric vehicle (HEV).
Firstly, this paper analyses the research status of HEV and ISA at home and abroad and the operating principle of Permanent Magnet Synchronous Genetator with rectifing load. Secondly, the topological structure of the Permanent Magnet Synchronous Genetator is devised. And the feasibility of equivalent between the rectifier system with Permanent Magnet Synchronous Genetator and the three-phase voltage source rectifier (VSR) is confirmed.
Subsequently, the design of the system parameters in main loop are analyzed in this paper. Specially we focused on the design of the The DC-side capacitance and AC-side inductance.Besides,the specific parameters is proposed. Then the designing of regulators in double-loop VSR system are analyzed in detail. A modified PID control algorithm used in voltage loop is proposed, which guarantees both the response time and the overshoot. The results of system simulation with MATLAB/SIMULINK proved the advantage of the proposed algorithm and the validity of the parameter chosen. The results of experiment confirmed the validity of theory analysis too.
Texas Instruments digital signal processor (DSP), TMS320F2407A, is used as the controller, and the full digital vector controlling system is achieved, which is used in the ISA of HEV for energy feedback. The controlling system can meet the requirement of subject improved by the experimental results, which manifest the adjustable of output voltage and current, the rapidity of the dynamic response, the high accuracy of controlling, the good stability and the high efficiency of the rectifier system.
引文
1 陈清泉, 孙迎春, 祝嘉光. 现代电动汽车技术.北京理工大学出版社. 2002: 4~13
2 Chan C C. The State of the Art of Electric & Hybrid Vehicles. Proceedings of IEEE. 2002,90:245~275
3 第二届北京国际电动车及代用燃料汽车研讨会论文集. 北京,1998,12: 25～29
4 Daniels J.Millennium. Electric & Hybrid Vehicle Technology International. 2000:6~10
5 过学迅, 张杰山, 胡朝峰. 日美混合动力汽车发展的比较研究. 新能源汽车. 2006,3:7~10
6 李宝文, 申金升, 郭文双. 国外先进技术汽车的现状与展望. 世界环境. 2001,3:39~41
7 Wouk V. Hybrids:then and now. IEEE Spectrum. Vol.32.1995:16~21
8 顾力文. 世界汽车工业发展趋势综览. 世界汽车. 2001,1: 23～27
9 陈小东, 高世杰. 混合动力汽车发展所面临的挑战. 汽车工业研究. 2001, 6: 40～43
10 Wu R, Dewan S B, Slemon G R. Analysis of an ac to dc voltage source converter using PWM with phase and amplitude control.IEEE Trans Ind Appl. 1991, 27:355~364
11 Wu R, Dewan S B, Slemon G R. A PWM AC-to-DC converter with fixed switching frequency. IEEE Trans Ind Appl. 1990,26: 880~885
12 Chun T Rim, Dong Y Hu, Gyu Hcho. Transformers as equrvalent circuits for switches: General Proofs and D-Q Transformers-Based Analyses. IEEE Trans Ind Appl. 1990, 26(4): 777~785
13 Hengchun Mao, Dushan Boroyerich, Fred C Y Lee. Novel reduced-order small signal model of a three-phase PWM rectifier and its application in control design and system analysis. IEEE Trans Power Electronics. 1998,13(3): 511~521
14 Shied J-J, Pan C-T, Cuey Z-J. Modelling and design of a reversible three-phase switching mode rectifier. IEE Proc.Electr Power Appl. 1997,144(6): 389~396
15 张加胜, 郝荣泰. 一类新型 PWM 可逆整流器. 电工技术学报. 1998(10):37~41
16 Ching-Tsai Pan, Jenn-Jong Shieh. New space-vector control strategies for three-phase step UP/DOWM AC/DC converter. IEEE Trans Ind Electronics. 2000,47(1): 25~35
17 Toshihiko Noguchi, Hiroaki Tomiki, Seiji Kondo. Direct power control of PWM converter without power source voltage sensors. IEEE Trans Ind Appl. 1998,34(3): 473~479
18 Kwon B-H, Youm J-H, Lim J-W, Seck K-W, Jeong G-Y. Three-phase PWM synchronous rectifiers without line-voltage sensor. IEE Proc.Electr Power Appl. 1999,146(6): 632~636
19 Hasan Komürcügil, Osman Kükrer. Lyapunov based control for three-phase PWM AC/DC voltage source converters. IEEE Trans. Power Electronics. 1998.13(5): 801~813
20 Hasan Komürcügil, Osman Kükrer. Control strategy for single-phase PWM ac/dc voltage-source converters based on lyapunov’s direct method. INT. J. Electronics. 2000, 87(12): 1485~1498
21 Luis Moran, Phoivos D.Ziogas, Geza Joos. Design aspects of synchronous PWM rectifier-converter systems under unbalanced input voltage conditions. IEEE Trans Ind Appl. 1992, 28(6): 1286~1293
22 刘芬, 胡安, 胡文彪. 三相同步发电机带可控整流负载的性能指标计算.电机与控制应用. 2005,32(8):16~19
23 孟进, 马伟明, 刘德志, 张磊. 带反电势负载的三相发电机整流系统直流脉动分析. 中国电机工程学报. 2002,3:53~54
24 张晓峰, 张盖凡, 郑逢时. 带整流负载的同步发电机的电路模型. 清华大学学报(自然科学版). 1997,37(4):97~98
25 陶永华, 尹怡欣, 葛芦生. 新型 PID 控制及其应用. 机械工业出版社. 2001:1~10
26 A.E.Fitzgerald, Charles Kingsley Jr., Stephan D.Umans. Electric Machinery.2004: 220~221
27 汤蕴缪, 史乃. 电机学. 机械工业出版社. 2002:288~295
28 赵常智, 周智勇. 同步发电机整流系统得数学模型及稳定判据. 船舶工程. 2003, 25(1): 50~53
29 李志民, 张遇杰. 同步电动机调速系统.机械工业出版社.2001:37~47
30 罗应立, 戈宝军. 双速凸极同步电机的理论、计算与应用.兵器工业出版社.1997:46~56
31 张崇巍, 张兴. PWM 整流器及其控制.机械工业出版社. 2003: 62
32 陈良亮, 肖岚, 严仰光. 双闭环控制的电压源逆变器外特性研究. 电力电子技术. 2004,38(3):6~10
33 陈伯时. 电力拖动自动控制系统. 机械工业出版社. 2000: 56~77
34 夏德钤. 自动控制理论. 机械工业出版社. 2001: 139～220,83～86
35 孔雪娟, 王荆江, 彭力, 康勇, 陈坚. 基于内模原理的三相电压源型逆变电源的波形控制技术. 中国电机工程学报. 2003,23(7):67~70
36 丘云兰. 数字 PID 控制中微分中算法改进. 福建电脑. 2005,11:121~122
37 孙强, 程明, 周鹗, 胡敏强. 新型双凸极永磁电机调速系统的变参数 PI 控制. 中国电机工程学报. 2003,23(6):117~122
38 张栓记, 胡敏. 调节器的 PID 参数整定.洛阳师范学院学报. 2005,5:28~30
39 曾光, 柯敏倩, 张静刚. 用于静止无功补偿器的模糊-PID 控制方法研究. 电力电子技术. 2005, 39(5):112~114
40 韩安太, 刘峙飞, 黄海. DSP 控制其原理及其在运动控制系统中的应用.清华大学出版社. 2003:281~287
41 魏巍, 马晓军, 贾晓亮. 基于 DSP 的车辆数字电压调节器的设计. 装甲兵工程学院学报. 2006,20(2):73~75
42 S Morimoto, Y Takeda, T hirasa, et al. Expansion of Operating limits for PM Motor by Current Vector Control Conidering Inverter Capacity [J]. IEEE Trans. On Ind. Appl. 1990, 26: 920～926
43 Okayama H et al. Large capacity large high performance three-level GTO inverter system for steel main rolling mill drives, IEEE Proc. ISA Ann.Meet. Conf.Res. 1996: 174～179
44 王兆安, 杨君, 刘进军.谐波抑制和无功功率补偿.机械工业出版社. 1998:132~158
45 沈安文, 万淑芸, 王离九, 赵金. PWM 整流器的输入电流谐波分析及参数确定. 电力电子技术. 1998(3):4~6
46 何新霞, 张加胜, 王平. 电压型 PWM 可逆整流器建模与系统仿真. 石油大学学报. 1999(3):93~95
47 范影乐, 杨胜天, 李轶. MATLAB 仿真应用详解. 2002:265~282
48 Blasko V. Analysis of a Hybrid PWM based on modified space-vector andtriangle-comparison methods. IEEE Trans on IA. 1997, 33(3): 756～764
49 熊健, 康勇, 张凯, 陈坚. 电压空间矢量调制与常规 SPWM 的比较研究. 电力电子技术. 1999, 1: 25～28
50 Tez, E.S. A simple understanding of field-orientation for AC motor control. Vector Control and Direct Torque Control of Induction Motors. IEE Colloquium. 1995, (3): 1~4
51 Davis.A. High performance AC drives using digital signal processors. Control of Induction Motors. IEE Colloquium. 1989, (6): 1~4
52 TEXAS INSTRUMENTS. Average Current Mode Controlled Power Factor Correction Converter Using TMS320LF2407A. 2003, SPRA902:10~11
53 白志范, 孔祥天, 喻繁辉. 基于 DSP 和空间矢量调制的三相功率因数校正器. 电力电子技术. 2005,39(5):88~90
2 Chan C C. The State of the Art of Electric & Hybrid Vehicles. Proceedings of IEEE. 2002,90:245~275
3 第二届北京国际电动车及代用燃料汽车研讨会论文集. 北京,1998,12: 25～29
4 Daniels J.Millennium. Electric & Hybrid Vehicle Technology International. 2000:6~10
5 过学迅, 张杰山, 胡朝峰. 日美混合动力汽车发展的比较研究. 新能源汽车. 2006,3:7~10
6 李宝文, 申金升, 郭文双. 国外先进技术汽车的现状与展望. 世界环境. 2001,3:39~41
7 Wouk V. Hybrids:then and now. IEEE Spectrum. Vol.32.1995:16~21
8 顾力文. 世界汽车工业发展趋势综览. 世界汽车. 2001,1: 23～27
9 陈小东, 高世杰. 混合动力汽车发展所面临的挑战. 汽车工业研究. 2001, 6: 40～43
10 Wu R, Dewan S B, Slemon G R. Analysis of an ac to dc voltage source converter using PWM with phase and amplitude control.IEEE Trans Ind Appl. 1991, 27:355~364
11 Wu R, Dewan S B, Slemon G R. A PWM AC-to-DC converter with fixed switching frequency. IEEE Trans Ind Appl. 1990,26: 880~885
12 Chun T Rim, Dong Y Hu, Gyu Hcho. Transformers as equrvalent circuits for switches: General Proofs and D-Q Transformers-Based Analyses. IEEE Trans Ind Appl. 1990, 26(4): 777~785
13 Hengchun Mao, Dushan Boroyerich, Fred C Y Lee. Novel reduced-order small signal model of a three-phase PWM rectifier and its application in control design and system analysis. IEEE Trans Power Electronics. 1998,13(3): 511~521
14 Shied J-J, Pan C-T, Cuey Z-J. Modelling and design of a reversible three-phase switching mode rectifier. IEE Proc.Electr Power Appl. 1997,144(6): 389~396
15 张加胜, 郝荣泰. 一类新型 PWM 可逆整流器. 电工技术学报. 1998(10):37~41
16 Ching-Tsai Pan, Jenn-Jong Shieh. New space-vector control strategies for three-phase step UP/DOWM AC/DC converter. IEEE Trans Ind Electronics. 2000,47(1): 25~35
17 Toshihiko Noguchi, Hiroaki Tomiki, Seiji Kondo. Direct power control of PWM converter without power source voltage sensors. IEEE Trans Ind Appl. 1998,34(3): 473~479
18 Kwon B-H, Youm J-H, Lim J-W, Seck K-W, Jeong G-Y. Three-phase PWM synchronous rectifiers without line-voltage sensor. IEE Proc.Electr Power Appl. 1999,146(6): 632~636
19 Hasan Komürcügil, Osman Kükrer. Lyapunov based control for three-phase PWM AC/DC voltage source converters. IEEE Trans. Power Electronics. 1998.13(5): 801~813
20 Hasan Komürcügil, Osman Kükrer. Control strategy for single-phase PWM ac/dc voltage-source converters based on lyapunov’s direct method. INT. J. Electronics. 2000, 87(12): 1485~1498
21 Luis Moran, Phoivos D.Ziogas, Geza Joos. Design aspects of synchronous PWM rectifier-converter systems under unbalanced input voltage conditions. IEEE Trans Ind Appl. 1992, 28(6): 1286~1293
22 刘芬, 胡安, 胡文彪. 三相同步发电机带可控整流负载的性能指标计算.电机与控制应用. 2005,32(8):16~19
23 孟进, 马伟明, 刘德志, 张磊. 带反电势负载的三相发电机整流系统直流脉动分析. 中国电机工程学报. 2002,3:53~54
24 张晓峰, 张盖凡, 郑逢时. 带整流负载的同步发电机的电路模型. 清华大学学报(自然科学版). 1997,37(4):97~98
25 陶永华, 尹怡欣, 葛芦生. 新型 PID 控制及其应用. 机械工业出版社. 2001:1~10
26 A.E.Fitzgerald, Charles Kingsley Jr., Stephan D.Umans. Electric Machinery.2004: 220~221
27 汤蕴缪, 史乃. 电机学. 机械工业出版社. 2002:288~295
28 赵常智, 周智勇. 同步发电机整流系统得数学模型及稳定判据. 船舶工程. 2003, 25(1): 50~53
29 李志民, 张遇杰. 同步电动机调速系统.机械工业出版社.2001:37~47
30 罗应立, 戈宝军. 双速凸极同步电机的理论、计算与应用.兵器工业出版社.1997:46~56
31 张崇巍, 张兴. PWM 整流器及其控制.机械工业出版社. 2003: 62
32 陈良亮, 肖岚, 严仰光. 双闭环控制的电压源逆变器外特性研究. 电力电子技术. 2004,38(3):6~10
33 陈伯时. 电力拖动自动控制系统. 机械工业出版社. 2000: 56~77
34 夏德钤. 自动控制理论. 机械工业出版社. 2001: 139～220,83～86
35 孔雪娟, 王荆江, 彭力, 康勇, 陈坚. 基于内模原理的三相电压源型逆变电源的波形控制技术. 中国电机工程学报. 2003,23(7):67~70
36 丘云兰. 数字 PID 控制中微分中算法改进. 福建电脑. 2005,11:121~122
37 孙强, 程明, 周鹗, 胡敏强. 新型双凸极永磁电机调速系统的变参数 PI 控制. 中国电机工程学报. 2003,23(6):117~122
38 张栓记, 胡敏. 调节器的 PID 参数整定.洛阳师范学院学报. 2005,5:28~30
39 曾光, 柯敏倩, 张静刚. 用于静止无功补偿器的模糊-PID 控制方法研究. 电力电子技术. 2005, 39(5):112~114
40 韩安太, 刘峙飞, 黄海. DSP 控制其原理及其在运动控制系统中的应用.清华大学出版社. 2003:281~287
41 魏巍, 马晓军, 贾晓亮. 基于 DSP 的车辆数字电压调节器的设计. 装甲兵工程学院学报. 2006,20(2):73~75
42 S Morimoto, Y Takeda, T hirasa, et al. Expansion of Operating limits for PM Motor by Current Vector Control Conidering Inverter Capacity [J]. IEEE Trans. On Ind. Appl. 1990, 26: 920～926
43 Okayama H et al. Large capacity large high performance three-level GTO inverter system for steel main rolling mill drives, IEEE Proc. ISA Ann.Meet. Conf.Res. 1996: 174～179
44 王兆安, 杨君, 刘进军.谐波抑制和无功功率补偿.机械工业出版社. 1998:132~158
45 沈安文, 万淑芸, 王离九, 赵金. PWM 整流器的输入电流谐波分析及参数确定. 电力电子技术. 1998(3):4~6
46 何新霞, 张加胜, 王平. 电压型 PWM 可逆整流器建模与系统仿真. 石油大学学报. 1999(3):93~95
47 范影乐, 杨胜天, 李轶. MATLAB 仿真应用详解. 2002:265~282
48 Blasko V. Analysis of a Hybrid PWM based on modified space-vector andtriangle-comparison methods. IEEE Trans on IA. 1997, 33(3): 756～764
49 熊健, 康勇, 张凯, 陈坚. 电压空间矢量调制与常规 SPWM 的比较研究. 电力电子技术. 1999, 1: 25～28
50 Tez, E.S. A simple understanding of field-orientation for AC motor control. Vector Control and Direct Torque Control of Induction Motors. IEE Colloquium. 1995, (3): 1~4
51 Davis.A. High performance AC drives using digital signal processors. Control of Induction Motors. IEE Colloquium. 1989, (6): 1~4
52 TEXAS INSTRUMENTS. Average Current Mode Controlled Power Factor Correction Converter Using TMS320LF2407A. 2003, SPRA902:10~11
53 白志范, 孔祥天, 喻繁辉. 基于 DSP 和空间矢量调制的三相功率因数校正器. 电力电子技术. 2005,39(5):88~90