异步电动机无速度传感器直接转矩控制系统的研究
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摘要
直接转矩控制技术是上世纪八十年代中期发展起来的新技术。它是继矢量控制技术之后，与之并行发展的一种新型的高性能的交流调速传动的控制技术。本论文研究了异步电动机的数学模型，介绍了直接转矩控制的基本原理，并根据传统直接转矩控制存在的缺点以及对电动机调速性能的要求，改变对定子磁链的调节方式，使定子磁链轨迹近似为一圆形。传统的直接转矩控制采用两点式转矩调节，这种调节方式在电机低速或转速突降时，会使零电压矢量所加的时间较长，这样会导致磁链严重畸变，甚至降为零，从而使转矩也降为零，调速时间较长，系统跟踪性能差。为此，本论文提出三点式转矩调节，这样当电机低速运转或给定转速突降时，不是加零电压矢量，而是加反方向的电压矢量，使定子磁链与转子磁链之间的夹角迅速减小，从而使电磁转矩也迅速减小，大大减小了调速时间，同时磁链值仍然保持基本恒定，输出比较稳定的电磁转矩，这在电机制动过程中非常有用。另外，本文还提出了一种用模糊控制器来取代传统的施密特触发器的方法。电压矢量的选择依赖于电磁转矩偏差、定子磁链偏差和磁链位置，用模糊控制器取代施密特触发器是基于容差大小本身就是一个模糊的语言变量，如果把磁链和转矩的容差分级，并以此作为选择电压矢量的依据，那么系统性能会得到改善。
无速度传感器转速估算是现代交流传动研究中的一个重要方向，本文探讨了几种主要的转速估计方法，着重分析了基于模型参考自适应的速度辩识算法。
本论文利用Matlab／Simulink软件对以上各种方法都进行了仿真，构建了采用三点式转矩调节的圆形磁链轨迹直接转矩控制系统仿真图、采用模糊控制器的直接转矩控制系统仿真图及采用无速度传感器的直接转矩控制系统仿真图，从仿真结果可以看出，以上这几种方法都是有效可行的，与理论分析是一致的。
本文最后以Intel80c196单片机为核心来设计直接转矩控制系统，这种控制系统算法简单，设计先进，功能较强，具有开发应用价值。
Direct Torque Control (DTC) of induction motors, which has been developed in the recent decade, is a powerful control method for motor drives. Following the vector control-technique, the quick development of DTC makes itself a new high performance AC driving technique paralleling to the vector control. In this thesis the author makes a study of asynchronous motor model and deals in details with the basic principle of direct torque control. According to the faults of traditional direct torque control and the requirement of an induction motor's control strategy, the author changes the method of regulating stator flux to make its path approximate to a circle as possible as could and put forward a new way to use a three-value torque regulator. Traditional direct torque control uses two value torque regulator which makes zero voltage vector work long and make flux shape bad seriously and makes response time long when the speed of induction motor is very low or drops down quickly. In order to solve this problem the thesis puts forward a new way to use three-value torque regulator, when the motor speed is very low or drops down quickly, the contrary voltage vector is used instead of zero voltage vector and the between the stator flux and rotor flux is reduced quickly so that torque is reduced quickly and response time becomes shorter. Moreover, stator flux can keep round, This is very useful in braking control.
Moreover, the thesis puts forward the strategy that fuzzy controller replaces Smith flip-flop. Based on the tolerance of Smith flip-flop is a fuzzy variable, fuzzy controller can replace Smith flip-flop The performance of this system can be improved if the tolerance of flux and torque is graded and voltage vector can be elected by this.
The speed estimation without speed sensor is an important trend of modern AC drive. This thesis has probed several primary methods of speed estimation and analyzed emphatically the method of speed estimate based on model reference adaptive system.
SIMULINK is a applying tool box of MATLAB and can be used for constituting model, simulation and analyzing. This thesis constitutes DTS simulations with three-value torque conditioner and fuzzy regulator and speed sensorless technology. The simulation results prove that above methods are feasibility.
At last the thesis introduces the design method of control system with Intel 80cl96MC. This control method has simple counting and strong function and great developing value.
无速度传感器转速估算是现代交流传动研究中的一个重要方向，本文探讨了几种主要的转速估计方法，着重分析了基于模型参考自适应的速度辩识算法。
本论文利用Matlab／Simulink软件对以上各种方法都进行了仿真，构建了采用三点式转矩调节的圆形磁链轨迹直接转矩控制系统仿真图、采用模糊控制器的直接转矩控制系统仿真图及采用无速度传感器的直接转矩控制系统仿真图，从仿真结果可以看出，以上这几种方法都是有效可行的，与理论分析是一致的。
本文最后以Intel80c196单片机为核心来设计直接转矩控制系统，这种控制系统算法简单，设计先进，功能较强，具有开发应用价值。
Direct Torque Control (DTC) of induction motors, which has been developed in the recent decade, is a powerful control method for motor drives. Following the vector control-technique, the quick development of DTC makes itself a new high performance AC driving technique paralleling to the vector control. In this thesis the author makes a study of asynchronous motor model and deals in details with the basic principle of direct torque control. According to the faults of traditional direct torque control and the requirement of an induction motor's control strategy, the author changes the method of regulating stator flux to make its path approximate to a circle as possible as could and put forward a new way to use a three-value torque regulator. Traditional direct torque control uses two value torque regulator which makes zero voltage vector work long and make flux shape bad seriously and makes response time long when the speed of induction motor is very low or drops down quickly. In order to solve this problem the thesis puts forward a new way to use three-value torque regulator, when the motor speed is very low or drops down quickly, the contrary voltage vector is used instead of zero voltage vector and the between the stator flux and rotor flux is reduced quickly so that torque is reduced quickly and response time becomes shorter. Moreover, stator flux can keep round, This is very useful in braking control.
Moreover, the thesis puts forward the strategy that fuzzy controller replaces Smith flip-flop. Based on the tolerance of Smith flip-flop is a fuzzy variable, fuzzy controller can replace Smith flip-flop The performance of this system can be improved if the tolerance of flux and torque is graded and voltage vector can be elected by this.
The speed estimation without speed sensor is an important trend of modern AC drive. This thesis has probed several primary methods of speed estimation and analyzed emphatically the method of speed estimate based on model reference adaptive system.
SIMULINK is a applying tool box of MATLAB and can be used for constituting model, simulation and analyzing. This thesis constitutes DTS simulations with three-value torque conditioner and fuzzy regulator and speed sensorless technology. The simulation results prove that above methods are feasibility.
At last the thesis introduces the design method of control system with Intel 80cl96MC. This control method has simple counting and strong function and great developing value.
引文
[1] 胡崇岳．现代交流调速技术．北京：机械工业出版社，1998，9
[2] M..Depenbrock, "Direct Self-control (DTC) of Inverter-Fed Induction Machine", IEEE trans. On PE, Vol, PE-3, 1998, 4:420～429
[3] Isao Takahashi, Youichi Ohmori, "High-performance direct torque control of an induction motor", IEEE Trans. on IA, 1989, 25(20), 257～264
[4] 陈坚．交流电机数学模型及调速系统．北京：国防工业大学出版社，1989
[5] 李夙．异步电动机直接转矩控制．北京：机械工业出版社，1994．12
[6] 黄俊，王兆安．电力电子变流技术．北京：机械工业出版社，1994
[7] 夏超英．交直流传动系统的自适应控制．北京：机械工业出版社，1999
[8] 韩增晋．自适应控制．北京：清华大学出版社，1995
[9] T·G Habetler, F. Profumno, M.Pastorelli, etc. "Divect Torque control of Induction motor drives using space vector modulation", IEEE Trans. On Industry Application, 1992, 28(5): 1045～1052
[10] Domenico Casadei, Giovanni Serra etc. "Improvement of a Direct Torque Control Algorithm for Induction Motors Based on Discrete Space Vector Modulation", IEEE Trans. on Power Electronics, 2000, 15(4): 769～777
[11] A.A.Hassan, "A Speed Sensorless Vector Controlled Induction Motor Drive" Electric Machines and Power systems, 27:443～452, 1999
[12] 何新军．模糊控制在感应电动机直接转矩控制中的应用．电机电器技术，2001，(6)：2～4
[13] Colin Schauder, "Adaptive Speed Identification for Vector control of Induction Motor without Rotational Transducers", IEEE trans. Indus. Appli. 1992, 28(5): 1054～1061
[14] 陈伯时，陈敏逊．交流调速系统．北京：机械工业出版社，1998
[15] 纪志成，沈艳霞，范茂兴．无速度传感器直接转矩控制系统的仿真研究．东南大学学报，1999，29(5)：86～90
[16] 陈宝林，胡育文．异步电动机的无速度传感器直接转矩控制系统研究．航空学报，2000，21(3)：277～278
[17] Sayeed Mir, "PI and fuzzy estimators for tuning the stator resistance in the direct torque control of induction machines" [J], IEEE T. Ind. App., 1998, 13(2): 279～287
[18] Palm, "Scaling of fuzzy controller using cross-correlation" IEEE Trans.fuzzy syst. Vol.3, PP.116～123, Feb, 1995
[19] Isao Takahashi, Youichi Ohmori, "High-performance direct torque control of an induction motor", IEEE Trans. on IA, 1989, 25(20), 257～264
[20] 窦曰轩，王洪艳．模糊直接转矩控制系统MATLAB／SIMULINK仿真．计算机仿真，2001，18(2)：70～72
[21] 雷良育，张青，李秀莲．模糊准滑模控制在无速度传感器直接转矩控制中的应用．自动化技术与应用，2001，(1)：20～23
[22] 甘良志，伍斌，姜来东．采用模糊控制器的直接转矩控制系统仿真．继电器，2001，29(11)：41～43
[23] 张春梅，尔桂花．自适应模糊控制器在模糊直接转矩中的应用．中小型电机，2001，28(2)，5～8
[24] H.Tajima and Y.Hori, "Speed Sensorless Field Oriented Control of Induction Motor", IEEE IAS Conf. Rec, 1991: 385～391
[25] 薛峰，谢运祥．感应电机直接转矩控制系统中的转速估算．电气传动，1998，(6)：9～12
[26] 夏雷，周国兴，吴启迪．大功率系统的直接转矩控制新方法．同济大学学报，1998，26(6)：696～700
[27] 吴钦木，谢宗安．负120角度电压矢量参与调节的直接转矩控制系统．贵州工业大学学报，2000，29(3)：27～31
[28] 许大中．交流电机调速理论．杭州：浙江大学出版社，1991
[29] 吴守箴，臧英杰．电气传动的脉宽调制控制技术．北京：机械工业出版社，1995
[30] 高景德．交流电机及其系统的分析．北京：清华大学出版社，1992
[31] 马小亮．大功率交——交变频交流调速及矢量控制．机械工业出版社，1993，143～150
[32] 孙增圻，张再兴，邓志东等．智能控制理论与技术．北京：清华大学出版社，1997，4
[33] 陈国呈．PWM变频调速技术．北京：机械工业出版社，1998，7
[34] Hisao Kubota, K. Matsuse, "New Adaptive Flux Observer of Induction Motor for
Wide speed Range Motor Drives", in Conf. Rec. IEEE IECON'90 1990:921-926
[35] Isao. Takahashi, etc. "A New Quick-response and High-efficiency Control strategy of an Induction Motor", IEEE Trans. Ind. Applicat, 1986, 22(5): 820～827
[36] 刘宇川，郎玉峰，吴家麟．一种新型直接转矩控制系统的仿真研究．上海铁道大学学报，2000，21(4)：21～27
[37] 贾建强，韩如成，左龙．基于MATLAB／SIMULINK的交流电机调速系统建模与仿真．电机与控制学报，2000，4(2)：91～93
[38] 张桂新．异步电动机直接转矩控制系统的建模与仿真．中小型电机，2001，28(1)：25～27
[39] 曹承志，曲红梅等．MATLAB软件包中SIMULINK环境下直接转矩控制系统的仿真．电机与控制学报，2001，5(2)：111～114
[40] 王沫然．Simulink 4建模及动态仿真．北京：电子工业出版社，2002，1
[41] 张宜华．精通MATLAB 5．北京：清华大学出版社，1999，6
[42] 孙涵芳．Intel16位单片机．北京：航空航天大学出版社，1995
[43] 陈启明．MCS-96系列单片机原理与应用[M]．北京：国防工业出版社，1995
[44] Hisao Kubota, K.Matsuse, "New Adaptive Observer of Induction Motor for Wide Speed Range Motor Drives", in Conf.Rec.IEEE IECON'90 1990:921～926
[45] Hisao Kubota, etc."Speed Sensorless Field-Oriented Control of Induction Motor with Rotor Resistance Adaptation", IEEE Trans. Industry. Application, September/October 1994,30(5):1219～1224
[2] M..Depenbrock, "Direct Self-control (DTC) of Inverter-Fed Induction Machine", IEEE trans. On PE, Vol, PE-3, 1998, 4:420～429
[3] Isao Takahashi, Youichi Ohmori, "High-performance direct torque control of an induction motor", IEEE Trans. on IA, 1989, 25(20), 257～264
[4] 陈坚．交流电机数学模型及调速系统．北京：国防工业大学出版社，1989
[5] 李夙．异步电动机直接转矩控制．北京：机械工业出版社，1994．12
[6] 黄俊，王兆安．电力电子变流技术．北京：机械工业出版社，1994
[7] 夏超英．交直流传动系统的自适应控制．北京：机械工业出版社，1999
[8] 韩增晋．自适应控制．北京：清华大学出版社，1995
[9] T·G Habetler, F. Profumno, M.Pastorelli, etc. "Divect Torque control of Induction motor drives using space vector modulation", IEEE Trans. On Industry Application, 1992, 28(5): 1045～1052
[10] Domenico Casadei, Giovanni Serra etc. "Improvement of a Direct Torque Control Algorithm for Induction Motors Based on Discrete Space Vector Modulation", IEEE Trans. on Power Electronics, 2000, 15(4): 769～777
[11] A.A.Hassan, "A Speed Sensorless Vector Controlled Induction Motor Drive" Electric Machines and Power systems, 27:443～452, 1999
[12] 何新军．模糊控制在感应电动机直接转矩控制中的应用．电机电器技术，2001，(6)：2～4
[13] Colin Schauder, "Adaptive Speed Identification for Vector control of Induction Motor without Rotational Transducers", IEEE trans. Indus. Appli. 1992, 28(5): 1054～1061
[14] 陈伯时，陈敏逊．交流调速系统．北京：机械工业出版社，1998
[15] 纪志成，沈艳霞，范茂兴．无速度传感器直接转矩控制系统的仿真研究．东南大学学报，1999，29(5)：86～90
[16] 陈宝林，胡育文．异步电动机的无速度传感器直接转矩控制系统研究．航空学报，2000，21(3)：277～278
[17] Sayeed Mir, "PI and fuzzy estimators for tuning the stator resistance in the direct torque control of induction machines" [J], IEEE T. Ind. App., 1998, 13(2): 279～287
[18] Palm, "Scaling of fuzzy controller using cross-correlation" IEEE Trans.fuzzy syst. Vol.3, PP.116～123, Feb, 1995
[19] Isao Takahashi, Youichi Ohmori, "High-performance direct torque control of an induction motor", IEEE Trans. on IA, 1989, 25(20), 257～264
[20] 窦曰轩，王洪艳．模糊直接转矩控制系统MATLAB／SIMULINK仿真．计算机仿真，2001，18(2)：70～72
[21] 雷良育，张青，李秀莲．模糊准滑模控制在无速度传感器直接转矩控制中的应用．自动化技术与应用，2001，(1)：20～23
[22] 甘良志，伍斌，姜来东．采用模糊控制器的直接转矩控制系统仿真．继电器，2001，29(11)：41～43
[23] 张春梅，尔桂花．自适应模糊控制器在模糊直接转矩中的应用．中小型电机，2001，28(2)，5～8
[24] H.Tajima and Y.Hori, "Speed Sensorless Field Oriented Control of Induction Motor", IEEE IAS Conf. Rec, 1991: 385～391
[25] 薛峰，谢运祥．感应电机直接转矩控制系统中的转速估算．电气传动，1998，(6)：9～12
[26] 夏雷，周国兴，吴启迪．大功率系统的直接转矩控制新方法．同济大学学报，1998，26(6)：696～700
[27] 吴钦木，谢宗安．负120角度电压矢量参与调节的直接转矩控制系统．贵州工业大学学报，2000，29(3)：27～31
[28] 许大中．交流电机调速理论．杭州：浙江大学出版社，1991
[29] 吴守箴，臧英杰．电气传动的脉宽调制控制技术．北京：机械工业出版社，1995
[30] 高景德．交流电机及其系统的分析．北京：清华大学出版社，1992
[31] 马小亮．大功率交——交变频交流调速及矢量控制．机械工业出版社，1993，143～150
[32] 孙增圻，张再兴，邓志东等．智能控制理论与技术．北京：清华大学出版社，1997，4
[33] 陈国呈．PWM变频调速技术．北京：机械工业出版社，1998，7
[34] Hisao Kubota, K. Matsuse, "New Adaptive Flux Observer of Induction Motor for
Wide speed Range Motor Drives", in Conf. Rec. IEEE IECON'90 1990:921-926
[35] Isao. Takahashi, etc. "A New Quick-response and High-efficiency Control strategy of an Induction Motor", IEEE Trans. Ind. Applicat, 1986, 22(5): 820～827
[36] 刘宇川，郎玉峰，吴家麟．一种新型直接转矩控制系统的仿真研究．上海铁道大学学报，2000，21(4)：21～27
[37] 贾建强，韩如成，左龙．基于MATLAB／SIMULINK的交流电机调速系统建模与仿真．电机与控制学报，2000，4(2)：91～93
[38] 张桂新．异步电动机直接转矩控制系统的建模与仿真．中小型电机，2001，28(1)：25～27
[39] 曹承志，曲红梅等．MATLAB软件包中SIMULINK环境下直接转矩控制系统的仿真．电机与控制学报，2001，5(2)：111～114
[40] 王沫然．Simulink 4建模及动态仿真．北京：电子工业出版社，2002，1
[41] 张宜华．精通MATLAB 5．北京：清华大学出版社，1999，6
[42] 孙涵芳．Intel16位单片机．北京：航空航天大学出版社，1995
[43] 陈启明．MCS-96系列单片机原理与应用[M]．北京：国防工业出版社，1995
[44] Hisao Kubota, K.Matsuse, "New Adaptive Observer of Induction Motor for Wide Speed Range Motor Drives", in Conf.Rec.IEEE IECON'90 1990:921～926
[45] Hisao Kubota, etc."Speed Sensorless Field-Oriented Control of Induction Motor with Rotor Resistance Adaptation", IEEE Trans. Industry. Application, September/October 1994,30(5):1219～1224