直接转矩控制系统低速脉动性能的研究及改进方法
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摘要
在交流调速领域中，应用最广的是变频调速技术。而作为在80年代中发展起来的高性能的新型电机调速方法，直接转矩控制在很大程度上解决了矢量控制中计算控制复杂、特性易受电动机参数变化的影响、实际性能难于达到理论分析结果的一些重大问题。但是目前该技术在低速运行时存在缺陷，本课题就此针对性地进行了一些仿真和实验的研究。
首先，本课题的研究是从异步电动机的数学模型出发，然后根据直接转矩的控制和模糊逻辑控制原理，通过实时判断磁链的区间和幅值以及转矩的大小，继而从模糊控制的电压矢量表格中选择合适的电压矢量，介绍了近似圆形磁链的理论。针对直接转矩控制系统在低速运行时依然存在的转矩脉动大、运行性能差的问题进行研究分析，结合传统的固定采样周期控制方法，提出一种基于自适应模糊转矩跟踪法，调节电压矢量占空因子，进行仿真研究，改善了系统的低速性能。
本课题还进行了实验的研究。在本控制系统的具体实现上，由于直接转矩控制对实时性要求很高，因此在硬件方面，本课题采用了目前比较流行的数字信号处理器(DSP)作为本实验的控制器，其处理速度高的特点正好符合本实验的需要；在主电路中，本系统使用了集成度高的功率器件：智能功率模块(IPM)，作为逆变环节，其集成了七个IGBT，实现了高开关频率逆变以及故障诊断的功能，从而使控制系统的体积大大缩小、控制更加灵活。
In the field of AC machines control, a strategy called variable frequency control is mostly used. As a high performance and new machines control strategy developed in 1980's, direct torque control (DTC) solves the problems that computation in vector transformation control is complex, the control characters are easily affected by the changes in machines parameters, real results of the experiments can't achieve the level of the theoretical analysis. So now direct torque control has become an emphasis and tendency in the field of AC machines control. However DTC have some bugs at low speed. Some simulation and experiment researches about this strategy are presented in the paper.
Firstly, according to the mathematical model of asynchronous machines, the principle of direct torque control and fuzzy control, the theoretical and experimental analysis about approximate round track of flux is proposed in the paper. As to approximate round track, the fuzzy method of voltage vector selection is taken. We can select the proper voltage vector by the position and magnitude of stator flux as well as the magnitude of torque. In addition, the performance criterion is respectively described, and the torque ripple at low-speed is analyzed in this paper. According to a method to adjust the duty ratio coefficient, we select a torque track with adaptation fuzzy controller to simulate. The experimental results show that the control strategy proposed can acquire better control effect.
Due to the direct torque control requires very high performance of Real-time, the popular microcomputer core DSP is used as controller in the design of hardware. Its high speed of running is suitable to the experiment. In the main circuit, there is a highly integrated power element: IPM as inverter, which includes seven IGBT, has high switch frequency and fault diagnosis function. IPM greatly decreases the bulk of system. The experimental results show that this control strategy proposed can acquire better control effect.
首先，本课题的研究是从异步电动机的数学模型出发，然后根据直接转矩的控制和模糊逻辑控制原理，通过实时判断磁链的区间和幅值以及转矩的大小，继而从模糊控制的电压矢量表格中选择合适的电压矢量，介绍了近似圆形磁链的理论。针对直接转矩控制系统在低速运行时依然存在的转矩脉动大、运行性能差的问题进行研究分析，结合传统的固定采样周期控制方法，提出一种基于自适应模糊转矩跟踪法，调节电压矢量占空因子，进行仿真研究，改善了系统的低速性能。
本课题还进行了实验的研究。在本控制系统的具体实现上，由于直接转矩控制对实时性要求很高，因此在硬件方面，本课题采用了目前比较流行的数字信号处理器(DSP)作为本实验的控制器，其处理速度高的特点正好符合本实验的需要；在主电路中，本系统使用了集成度高的功率器件：智能功率模块(IPM)，作为逆变环节，其集成了七个IGBT，实现了高开关频率逆变以及故障诊断的功能，从而使控制系统的体积大大缩小、控制更加灵活。
In the field of AC machines control, a strategy called variable frequency control is mostly used. As a high performance and new machines control strategy developed in 1980's, direct torque control (DTC) solves the problems that computation in vector transformation control is complex, the control characters are easily affected by the changes in machines parameters, real results of the experiments can't achieve the level of the theoretical analysis. So now direct torque control has become an emphasis and tendency in the field of AC machines control. However DTC have some bugs at low speed. Some simulation and experiment researches about this strategy are presented in the paper.
Firstly, according to the mathematical model of asynchronous machines, the principle of direct torque control and fuzzy control, the theoretical and experimental analysis about approximate round track of flux is proposed in the paper. As to approximate round track, the fuzzy method of voltage vector selection is taken. We can select the proper voltage vector by the position and magnitude of stator flux as well as the magnitude of torque. In addition, the performance criterion is respectively described, and the torque ripple at low-speed is analyzed in this paper. According to a method to adjust the duty ratio coefficient, we select a torque track with adaptation fuzzy controller to simulate. The experimental results show that the control strategy proposed can acquire better control effect.
Due to the direct torque control requires very high performance of Real-time, the popular microcomputer core DSP is used as controller in the design of hardware. Its high speed of running is suitable to the experiment. In the main circuit, there is a highly integrated power element: IPM as inverter, which includes seven IGBT, has high switch frequency and fault diagnosis function. IPM greatly decreases the bulk of system. The experimental results show that this control strategy proposed can acquire better control effect.
引文
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[02] 李夙．异步电动机直接转矩控制．北京．机械工业出版社．1994：1～3
[03] 赵伟峰，朱承高．直接转矩控制的发展现状及前景．电气传动．1999．3：3～6
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[34] 程善美，高峡，邓忠华．笼型异步电动机新型直接转矩控制研究．电气自动化．1997．1：7～10
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[41] 徐晓峰，连级三，李风秀．IGBT逆变器吸收电路的研究．电力电子技术．1998．3：43～47
[42] 孙笑辉，韩曾晋．异步电动机直接转矩控制启动方法仿真研究．电气活动．2000．4：13～17
[43] Tore Undeland. A Snubber Configuration for Both Power Transistors and GTO PWM Inverters, PESC'84, 1984:42～53
[44] Rahul S. Chokhawala. Gate Drive Consideration for IGBT Module. IEEE Trans. on Ind. Appl.,1996, 31 (3):603～611
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[02] 李夙．异步电动机直接转矩控制．北京．机械工业出版社．1994：1～3
[03] 赵伟峰，朱承高．直接转矩控制的发展现状及前景．电气传动．1999．3：3～6
[04] 陈伯时．电力拖动自动控制系统．北京．机械工业出版社．1990
[05] 邓启文，尹力明，佘龙华，吴峻．直接转矩控制的发展与展望．2002，01：36～38
[06] 高景德．交流电机及其系统的分析．北京．清华大学出版社．1992
[07] 许振茂．变频调速装置及其调试、运行与维修．北京．兵器工业出版社．1994
[08] ACS 600技术样本．北京．北京ABB电气传动系统有限公司．1999：25～26
[09] 吴峻，潘孟春，李圣怡．直接转矩控制系统低速性能的分析与控制．电气传动．2001(5)：13～15
[10] 李永东，曹江涛，邵剑文．异步电机直接转矩控制系统低速转矩特性研究及其全数字化控制．电气传动，1994，NO．1，33～38
[11] 冯江华，陈高华，黄松涛．异步电动机的直接转矩控制．电工技术学报．1999．3：29～33
[12] 陶红明，龚春文，程善美．基于DSP的全数字化异步电动机直接转矩控制系统．电气传动．1997，4，3～6
[13] 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
[14] James N, Direct Torque Control Induction Motor Vector Without an Encoder. IEEE Transaction on In. Appl., 1998, Vol.2, No.33
[15] 张绍德，陈其功，凌有铸8098单片机控制的SPWM变频器硬件设计与调试．电气传动，1999．3：44～46
[16] Steimel Aet al. Further development of direct self control for application in electric traction. IEEE ISIE'96, 1996
[17] M. Depenbrock, Direct Self-Control (DSC) of Inverter-Fed Induction Machine, IEEE-PE, 1988, Vol. 3,No.4, 420～429
[18] I.Rakahashi et al. A New Quick Response and High Efficiency Control Strategy of an Induction Motor, 1989, IEEE-IA, Vol. 22, No.5,820～827
[19] I.Rakahashi et al. High Performance Direct Torque Control of an Induction Motor, IEEE-IA, 1989, Vol. 25, No.2,257～264
[20] T. G Habetle et al. Control Strategies for Direct Torque Control Using Discrete Pulse Modulation,lEEE-IA,1991,Vol.27,No.5,893～901
[21] T. G Habetle et al. Direct Torque Control of Induction Machine Using Space Vector Modulation, IEEE-IA,1992,Vol.28,1045～1052
[22] H. Y. Zhong et al. A New Microcomputer-Based Direct Torque Control System for Three-Phase Inducton Motor, IEEE-IA, 1991, Vol.27, No.2,294～298
[23] Uwe Baader et al., Direct Self-Control (DSC) of Inverter-Fed Induction Machine: A Basis for Speed Control Without Speed Measurement, IEEE-IA, 1992, Vol.28, No.3, 581～588
[24] C. Laseu et al. A Modified Direct Torque Control (DTC) for Induction Motor Sensorless Drive, 1998 IEEE Industry Applications Conference Thirty-third IAS Ammual Meeting, Conference Record, St. Louis MO USA, 1998, Vol.1, 415～422
[25] M. Nillesen et al. The Application of Direct Torque Control Using the DC-Link Voltage for Flux-Observation, Symposium on Power Electronics Electrical Drive Advanced Machines Power Quality, Proceedings, Sorrento Italy,1998:211～216
[26] 李艳，邵曰祥，邵世煌．带有神经网络估计器的模糊直接转矩控制．电气传动．1997．1：11～16
[27] 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
[28] White D A，Sofge D A ed．Handbook of Intelligent Control．Van Nostrand Reinhold．1992
[29] 张毅刚，乔景渌．8098单片机应用设计．北京．电子工业出版社．1993：24～35
[301 马小亮．大功率交．交变频交流调速及矢量控制．北京．机械工业出版社．1993：143～150
[31] 程卫国，冯峰，王雪梅等．MATLAB5．3精要编程及高级应用．北京．机械工业出版社．2000
[32] 许大中．交流电机调速理论．杭州．浙江大学出版社．1991
[33] 章进法，姚凯卫．IGBT智能功率模块的驱动控制电路．电力电子技术．1995．4：1～5
[34] 程善美，高峡，邓忠华．笼型异步电动机新型直接转矩控制研究．电气自动化．1997．1：7～10
[35] 姬志艳，李永东，司保军．无速度传感器异步机直接转矩控制的研究．电工技术学报．1997，4：15～19
[36] 龚春文等．全数字化异步电动机直接转矩控制位置伺服系统．电力电子技术．1998，1：23～25
[37] 韦榕，许镇林，王秀芝．电气传动系统仿真的新工具-MATLAB5．2电气系统模块库．电气传动2000．1：57～59
[38] 张立．电力电子场控器件及其应用．北京．机械工业出版社，1996
[39] 郑琼林，耿文学．电力电子电路精选．北京．电子工业出版社．1996
[40] 吴忠智，吴加林．GTR和IGB了吸收13～17电路参数设计．电力电子技术．1994．4：41～42
[41] 徐晓峰，连级三，李风秀．IGBT逆变器吸收电路的研究．电力电子技术．1998．3：43～47
[42] 孙笑辉，韩曾晋．异步电动机直接转矩控制启动方法仿真研究．电气活动．2000．4：13～17
[43] Tore Undeland. A Snubber Configuration for Both Power Transistors and GTO PWM Inverters, PESC'84, 1984:42～53
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