全数字异步电机直接转矩控制系统的仿真与设计方法研究
摘要
本文所进行的工作是从异步电机直接转矩控制(DTC)的基本原理出发，并对直接转矩控制策略进行改进，不断提高控制性能。
由于时间有限，本文所进行的研究工作主要集中在三个方面：(1)DTC基本原理的学习与实现(2)DTC中转速调节器的设计研究。(3)新型定子磁链观测器的研究。
DTC所具有的非线性和参数不可知的特性决定了直流调速系统的转速调节器的设计方法不能完全适合于DTC系统。笔者采用了模糊参数调节的方法改造了传统的PI调节器，仿真证明此方法是有效的。
定子磁链的观测是DTC的关键技术，传统的U-I模型结构简单，实用，但是由于积分器将电流检测中的直流偏置累加，而且对定子电阻的变化鲁棒性不够。U-I模型难以在低速区得到应用。笔者首先证明了一种在数学上成功并在矢量控制中得到应用的新型积分方法并不适合于DTC系统，然后在查阅大量文献的基础上采用了基于电流调节器的定子磁链全阶观测器。此观测器结构比较简单，物理意义明确。可以看作传统U-I模型的一种改造，取得了令人满意的效果。
本文进行了大量的仿真，编程和现场调试工作。仿真中针对18kw的异步电机进行了仿真，建立了一个完整的DTC系统。证明了笔者采用的算法的正确性。另外笔者用汇编语言编程，在数字信号处理器(DSP)上开发了DTC的实时控制软件，以验证仿真中提出的算法。最后笔者在75kw的电机组上进行了实验。试验结果表明实时控制系统部分达到了以上算法的预期目的。
This paper is to design a Direct Torque Control system, and improve its performance. limited by time this paper focused on three areas: (1) basic DTC principal study and research (2) the design of speed regulator of DTC (3) a new kind of stator flux observer
Because the DTC system is a nonlinear system and we can't grasp the parameters completely, the classic speed regulators design method is not fit for DTC system. This paper present a new and simple fuzzy adaptive PI regulator .In experiment this method is proved to be effective.
Stator flux observer is key part of DTC system. Classic U-I model is simple. However the integrator inevitably bring up the error accumulation and DC drift. This paper present a new integrator method .it has been proved to be a successful alternative for integrator, but in simulation it is found not fit for DTC. This paper also presents a new full state of observer. This new has comparable simple structure. It could be considered as an improvement of classic U-I model.
At last the test prototype system is implemented on a Digital Signal Processor (TMS320C240) .the real time controller software is written by assemble language. And on a 75KW AC motor, arithmetic mentioned above has partly been proved effective.
由于时间有限，本文所进行的研究工作主要集中在三个方面：(1)DTC基本原理的学习与实现(2)DTC中转速调节器的设计研究。(3)新型定子磁链观测器的研究。
DTC所具有的非线性和参数不可知的特性决定了直流调速系统的转速调节器的设计方法不能完全适合于DTC系统。笔者采用了模糊参数调节的方法改造了传统的PI调节器，仿真证明此方法是有效的。
定子磁链的观测是DTC的关键技术，传统的U-I模型结构简单，实用，但是由于积分器将电流检测中的直流偏置累加，而且对定子电阻的变化鲁棒性不够。U-I模型难以在低速区得到应用。笔者首先证明了一种在数学上成功并在矢量控制中得到应用的新型积分方法并不适合于DTC系统，然后在查阅大量文献的基础上采用了基于电流调节器的定子磁链全阶观测器。此观测器结构比较简单，物理意义明确。可以看作传统U-I模型的一种改造，取得了令人满意的效果。
本文进行了大量的仿真，编程和现场调试工作。仿真中针对18kw的异步电机进行了仿真，建立了一个完整的DTC系统。证明了笔者采用的算法的正确性。另外笔者用汇编语言编程，在数字信号处理器(DSP)上开发了DTC的实时控制软件，以验证仿真中提出的算法。最后笔者在75kw的电机组上进行了实验。试验结果表明实时控制系统部分达到了以上算法的预期目的。
This paper is to design a Direct Torque Control system, and improve its performance. limited by time this paper focused on three areas: (1) basic DTC principal study and research (2) the design of speed regulator of DTC (3) a new kind of stator flux observer
Because the DTC system is a nonlinear system and we can't grasp the parameters completely, the classic speed regulators design method is not fit for DTC system. This paper present a new and simple fuzzy adaptive PI regulator .In experiment this method is proved to be effective.
Stator flux observer is key part of DTC system. Classic U-I model is simple. However the integrator inevitably bring up the error accumulation and DC drift. This paper present a new integrator method .it has been proved to be a successful alternative for integrator, but in simulation it is found not fit for DTC. This paper also presents a new full state of observer. This new has comparable simple structure. It could be considered as an improvement of classic U-I model.
At last the test prototype system is implemented on a Digital Signal Processor (TMS320C240) .the real time controller software is written by assemble language. And on a 75KW AC motor, arithmetic mentioned above has partly been proved effective.
引文
[1] Depenbrock M, Direct Self-Control(DSC) of inverter Fed Induction Machine, IEEE power Electron Conf(PES) 1987
[2] Takahashi I, High-performance of direct torque control of induction motor, IEEE Trans on IA 1989 25(2): 257-264
[3] Gengyang And Tung-Hall Chin, Adaptive-Speed Identification Scheme for a Inverter-Induction Motor Drive IEEE trans,Industry Appli, 1993 7 29(4) 820-825
[4] Mahlenkamp G, Untersuchung der Stability des motormodells mit PI reger und Berchung des staion Betriedesverhaltens des Systems DSR-Modell-Maschine, Diplom-Arbeit Nr.99 Lehrstuhl EAEE RuhrUniversitat Bochum 1987
[5] Hu Jun Bin, New Intergration algoriths for estimating motor flux over a wide speed range, IEEE Trans on PE.1998.13: 969-977
[6] Takashi Ishida, Five-Level Double Converters for Induction Motor Drives, IEEE Ind. App 2001.4 35-42
[7] TI Application Report SPRA524,1998
[8] G.C Krause, Observers for flux estimation induction machines,IEEE Trans. Ind. Electron, Vol35 pp 85-94,1998
[9] I.G.Bird and H.Zelays de.La Parra, Practical Evaluation of Two stator flux Estimation Techniques for High Performance Direct Torque Control, IEEP EVD'95 1995. 429 465-468
[10] Uwe Bader etc, Direct self Control of Induction Motors without Rotational Transducers, IEEE trans, Ind. Application. 1992 28(5)
[11] TI APPLICATION REPORT SPRA 442 1998
[12] Crio Attanianess, vectorial Torque control: A novel approach to Torque and Flux control of Industion Moton Drives, IEEE Trans On Ind App 1999 35(6): 1399-1405
[13] TI Application Report SPRA375, TMS320LF/LC240X DSP CONTROLLER REFRENCE GUIDER, 2000
[14] Zhongqing Yang, Direct Output Power Control for PWM
Converter-Based Super-High-speed Reluctance Generator, IEEE Trans on Ind App 1992, 1.57-63.
[15] Jun-Koo Kang, New Direct Torque Control of Induction motor for Minimum Torque Ripple and Constant switch Frequency,IEEE On Ind App 1999 35(5)1076-1082
[16] Hein Will Van Der, Analysis and Realization of a Pulsewidth Modulator Based on Voltage Space Vector, IEEE Tran on Ind Appl VOL24.142-153.
[17] Celso P.Bottura, A Flux Observer for Induction Machines Based on a Time Variant Discrete Model IEEE Trans Indus App 1993 vol 29 349-354
[18] P.Vranks.G.Griva F.Profumo, Practical Improvement of Simple V-I Flux Estimator for Sensorless EO. Controllers Operation in the Low Speed Region, IEEE PESC'2000: 1615—1620
[19] P.D.Ziogas, S.I.Khan and M.H.Rashid, Analysis and Design of Forced Commutated Cycloconverter Structures With Improved Transfer Characteristics, IEEE PESC'85: 610～621
[20] Thomas. G. Habetler, Direct Torque Control of Induction Machines Using Space Vector Modulation, IEEE TRANS Industry App 1992 VOL 28 1045-1051
[21] 李夙，异步电动机直接转矩控制，机械工业出版社
[22] 陈伯时，电力拖动控制系统 (第二版)机械工业出版社
[23] J.B.Wang. C Mliaw, Indirect Field-Oriented Induction Motor with Fuzzy Detuning Corrention and Efficiency Optimization,Controls, IEE Proc-Electr Power Appl,1997,144(1): 37-45
[24] Francesco Bonanno, Aninnovative Direct Self-Control Scheme for Induction Motor Drive IEEE Transaction on power Election, Vol 12, NO.5 September 1997, 12(50); 800-806
[25] 诸静，模糊控制原理与应用，机械工业部出版社，1998
[26] 陶永华，新型PID控制及其应用，机械工业部出版社，2000
[27] 李永东等，交流电机数字控制系统机械工业部出版社，2002
[28] 李垒 异步电机无速度传感器直接转矩控制系统的研究和实
践南京航空航天大学博士论文 2001年
[29]孙笑辉，减小感应电动机直接转矩控制系统的转矩脉动的方法，电气传动 2001．1．8-21
[30]崔俊国，IGBT三点式逆变器电压空间矢量控制方法，同济大学学报 2001年2期165-170．
[31]彭松，电动汽车用异步电机矢量控制研究，2001年中科院电工所硕士毕业论文
[32]陈硕，基于磁通观察器的感应电机无速度传感器矢量控制系统电工技术学报，2001．16．4 31-37
[33]郑大钟，线性系统控制理论，清华大学出版社
[34]张雄伟，DSP芯片的原理与开发，电子工业出版社
[35]TMS320C24x DSP控制器参考手册，武汉力源电子股份有公司限公司，1998
[36]范异之，VB与RS-232串行通信控制，中国青年出版社
[37]何克忠，计算机控制系统，清华大学出版社
[38]伊燕，一种改进的电压型转子磁链估计模型，电气传动 2000．6．9-14
[39]孙笑辉，直接转矩控制感应电机的启动方法仿真研究，电气传动 2000．30(2)13-17
[40]陈国呈，PWM变频调速及软开关电力变换技术，机械工业出版社
[41]姬志艳，李永东，应用异步电机全阶模型的无速度串感器的直接转矩控制系统的仿真研究，清华大学学报
[42]韦立祥，一种消除电压型磁链观测器中直流误差的新方法清华大学学报自然科学学报 2001．41(9)
[43]苏严明，交流调速系统的控制策略 1998
[44]高峡，邓中华，新型直接转矩控制系统研究，电气传动 1996 4 22-28
[45]陶红明，基于DSP的全数字异步电机直接转矩控制，电气传动 1997 4．3-6
[46]魏克新，Matlab语言与自动化控制系统设计机械工业出版社 2002
[47]竺伟，一种新型闭环串联双模型异步电机转速、磁链观测器，电工技术学报，1997 10
[48]高景得，交流电机及其系统的分析，清华大学出版社 1992
[2] Takahashi I, High-performance of direct torque control of induction motor, IEEE Trans on IA 1989 25(2): 257-264
[3] Gengyang And Tung-Hall Chin, Adaptive-Speed Identification Scheme for a Inverter-Induction Motor Drive IEEE trans,Industry Appli, 1993 7 29(4) 820-825
[4] Mahlenkamp G, Untersuchung der Stability des motormodells mit PI reger und Berchung des staion Betriedesverhaltens des Systems DSR-Modell-Maschine, Diplom-Arbeit Nr.99 Lehrstuhl EAEE RuhrUniversitat Bochum 1987
[5] Hu Jun Bin, New Intergration algoriths for estimating motor flux over a wide speed range, IEEE Trans on PE.1998.13: 969-977
[6] Takashi Ishida, Five-Level Double Converters for Induction Motor Drives, IEEE Ind. App 2001.4 35-42
[7] TI Application Report SPRA524,1998
[8] G.C Krause, Observers for flux estimation induction machines,IEEE Trans. Ind. Electron, Vol35 pp 85-94,1998
[9] I.G.Bird and H.Zelays de.La Parra, Practical Evaluation of Two stator flux Estimation Techniques for High Performance Direct Torque Control, IEEP EVD'95 1995. 429 465-468
[10] Uwe Bader etc, Direct self Control of Induction Motors without Rotational Transducers, IEEE trans, Ind. Application. 1992 28(5)
[11] TI APPLICATION REPORT SPRA 442 1998
[12] Crio Attanianess, vectorial Torque control: A novel approach to Torque and Flux control of Industion Moton Drives, IEEE Trans On Ind App 1999 35(6): 1399-1405
[13] TI Application Report SPRA375, TMS320LF/LC240X DSP CONTROLLER REFRENCE GUIDER, 2000
[14] Zhongqing Yang, Direct Output Power Control for PWM
Converter-Based Super-High-speed Reluctance Generator, IEEE Trans on Ind App 1992, 1.57-63.
[15] Jun-Koo Kang, New Direct Torque Control of Induction motor for Minimum Torque Ripple and Constant switch Frequency,IEEE On Ind App 1999 35(5)1076-1082
[16] Hein Will Van Der, Analysis and Realization of a Pulsewidth Modulator Based on Voltage Space Vector, IEEE Tran on Ind Appl VOL24.142-153.
[17] Celso P.Bottura, A Flux Observer for Induction Machines Based on a Time Variant Discrete Model IEEE Trans Indus App 1993 vol 29 349-354
[18] P.Vranks.G.Griva F.Profumo, Practical Improvement of Simple V-I Flux Estimator for Sensorless EO. Controllers Operation in the Low Speed Region, IEEE PESC'2000: 1615—1620
[19] P.D.Ziogas, S.I.Khan and M.H.Rashid, Analysis and Design of Forced Commutated Cycloconverter Structures With Improved Transfer Characteristics, IEEE PESC'85: 610～621
[20] Thomas. G. Habetler, Direct Torque Control of Induction Machines Using Space Vector Modulation, IEEE TRANS Industry App 1992 VOL 28 1045-1051
[21] 李夙，异步电动机直接转矩控制，机械工业出版社
[22] 陈伯时，电力拖动控制系统 (第二版)机械工业出版社
[23] J.B.Wang. C Mliaw, Indirect Field-Oriented Induction Motor with Fuzzy Detuning Corrention and Efficiency Optimization,Controls, IEE Proc-Electr Power Appl,1997,144(1): 37-45
[24] Francesco Bonanno, Aninnovative Direct Self-Control Scheme for Induction Motor Drive IEEE Transaction on power Election, Vol 12, NO.5 September 1997, 12(50); 800-806
[25] 诸静，模糊控制原理与应用，机械工业部出版社，1998
[26] 陶永华，新型PID控制及其应用，机械工业部出版社，2000
[27] 李永东等，交流电机数字控制系统机械工业部出版社，2002
[28] 李垒 异步电机无速度传感器直接转矩控制系统的研究和实
践南京航空航天大学博士论文 2001年
[29]孙笑辉，减小感应电动机直接转矩控制系统的转矩脉动的方法，电气传动 2001．1．8-21
[30]崔俊国，IGBT三点式逆变器电压空间矢量控制方法，同济大学学报 2001年2期165-170．
[31]彭松，电动汽车用异步电机矢量控制研究，2001年中科院电工所硕士毕业论文
[32]陈硕，基于磁通观察器的感应电机无速度传感器矢量控制系统电工技术学报，2001．16．4 31-37
[33]郑大钟，线性系统控制理论，清华大学出版社
[34]张雄伟，DSP芯片的原理与开发，电子工业出版社
[35]TMS320C24x DSP控制器参考手册，武汉力源电子股份有公司限公司，1998
[36]范异之，VB与RS-232串行通信控制，中国青年出版社
[37]何克忠，计算机控制系统，清华大学出版社
[38]伊燕，一种改进的电压型转子磁链估计模型，电气传动 2000．6．9-14
[39]孙笑辉，直接转矩控制感应电机的启动方法仿真研究，电气传动 2000．30(2)13-17
[40]陈国呈，PWM变频调速及软开关电力变换技术，机械工业出版社
[41]姬志艳，李永东，应用异步电机全阶模型的无速度串感器的直接转矩控制系统的仿真研究，清华大学学报
[42]韦立祥，一种消除电压型磁链观测器中直流误差的新方法清华大学学报自然科学学报 2001．41(9)
[43]苏严明，交流调速系统的控制策略 1998
[44]高峡，邓中华，新型直接转矩控制系统研究，电气传动 1996 4 22-28
[45]陶红明，基于DSP的全数字异步电机直接转矩控制，电气传动 1997 4．3-6
[46]魏克新，Matlab语言与自动化控制系统设计机械工业出版社 2002
[47]竺伟，一种新型闭环串联双模型异步电机转速、磁链观测器，电工技术学报，1997 10
[48]高景得，交流电机及其系统的分析，清华大学出版社 1992