抽油机用永磁同步电机直接转矩控制系统的研究
摘要
永磁同步电动机具有结构简单、体积小、重量轻、效率高、功率因数高等优点。从70年代末开始,受到电机研究人员的广泛重视。经过努力,其硬件设计和控制方式在近二十年内得到了大力发展,商用化的产品也己经进入到工业生产应用等各个领域。可以预见,随着永磁材料价格和电动机制造价格的降低,电力电子器件及高速微处理器的开发,驱动系统理论研究和实践应用的不断完善和提高,永磁同步电动机及其驱动系统将会得到进一步的发展和应用,在某些场合将逐渐取代现有的普通电励磁电机及其驱动系统。
我国油田采油成本高,油田抽油机电机数量多、容量大、年运行时间长、耗电量大。国内外对抽油机电机的节能都很重视,我国抽油机多采用异步电动机作为动力机,存在“大马拉小车”、功率因数偏低等缺点。新一代永磁同步电动机是目前取代传统异步电动机的最佳选择。本文主要对抽油机用永磁同步电机直接转矩控制理论、方案、具体技术实现等做了一些研究,并相应的做了仿真验证,初步验证了方案的可行性。全文所做的工作如下:
1、介绍了传统抽油机的使用现状及永磁同步电机在抽油机中的应用情况。并讨论了永磁同步电机结构及其在不同坐标系下的数学模型,叙述了坐标转换的原理。
2、分析了直接转矩控制的基本原理,根据抽油机用永磁同步电机的参数建立了仿真模型,并模拟抽油机系统运行工况利用MATLAB软件对永磁同步电机直接转矩控制系统进行了仿真,并对仿真波形进行了比较分析。
3、提出将模糊PI控制应用于抽油机用永磁同步电机的直接转矩控制系统中,采用模糊PI自适应控制器作为直接转矩控制系统的速度调节器,可以依据转速和转速误差变化实时在线调整常规PI控制器参数。较之传统的PI控制器,模糊PI自适应控制在起动阶段动态响应速度更快,过渡过程更平稳,系统速度调节的自适应能力更强。
Permanent Magnet Synchronous Machine(PMSM)has been more attention in the past two decades by researcher in the motor and control system fields ,because of its excellent performance for example small cubage, great power density and good efficiency. We can foresee the further development about PMSM and its control system with the reduce of the permanent magnet material's price and producing the rotor, progress in the power electronics apparatus and high-speed processor and control theories. PMSM may take the place of excitation motor and control system in many fields.
PMSM are importance approach to the problem that the cost of oil extraction in Chinese oil fields is too high and pulling small car with big horse at large in driving electromotor in pumping unit. This paper do some research on the theory, scheme and the concrete technology of PMSM DTC,do the corresponding simulation ,and proved the preliminary feasibility of the scheme.The paper do the following work:
I.The paper introduces the using actuality of pumping unit and the application permanent magnet synchronous motor in pumping unit.Then discusses the configuration of permanent magnet synchronous motor and it’s mathematical model in different coordinate,and discribes the principle of coordinate transformation.
II.The postulate of direct torque control is analyzed,and the simulation model is built based on the parameter of permanent magnet synchronous motor.And the paper using MATLAB do simulation to the PMSM DTC by imitate the system of pumping unit and analyse the simulation waveform.
III.The paper Put forward that applies fuzzy PI control of pumping unit permanent magnet synchronous motor with direct torque control system,which Using fuzzy PI controller as the speed regulator of direct torque control system.That can real-time adjusting on-line PI controller parameters according to the error of speed and torque. Compared with the traditional PI controller, Fuzzy PI adaptive control system have faster respons speed in the start and more stable transition process .Morever,the system have stronger adaptive ability of speed regulation.
我国油田采油成本高,油田抽油机电机数量多、容量大、年运行时间长、耗电量大。国内外对抽油机电机的节能都很重视,我国抽油机多采用异步电动机作为动力机,存在“大马拉小车”、功率因数偏低等缺点。新一代永磁同步电动机是目前取代传统异步电动机的最佳选择。本文主要对抽油机用永磁同步电机直接转矩控制理论、方案、具体技术实现等做了一些研究,并相应的做了仿真验证,初步验证了方案的可行性。全文所做的工作如下:
1、介绍了传统抽油机的使用现状及永磁同步电机在抽油机中的应用情况。并讨论了永磁同步电机结构及其在不同坐标系下的数学模型,叙述了坐标转换的原理。
2、分析了直接转矩控制的基本原理,根据抽油机用永磁同步电机的参数建立了仿真模型,并模拟抽油机系统运行工况利用MATLAB软件对永磁同步电机直接转矩控制系统进行了仿真,并对仿真波形进行了比较分析。
3、提出将模糊PI控制应用于抽油机用永磁同步电机的直接转矩控制系统中,采用模糊PI自适应控制器作为直接转矩控制系统的速度调节器,可以依据转速和转速误差变化实时在线调整常规PI控制器参数。较之传统的PI控制器,模糊PI自适应控制在起动阶段动态响应速度更快,过渡过程更平稳,系统速度调节的自适应能力更强。
Permanent Magnet Synchronous Machine(PMSM)has been more attention in the past two decades by researcher in the motor and control system fields ,because of its excellent performance for example small cubage, great power density and good efficiency. We can foresee the further development about PMSM and its control system with the reduce of the permanent magnet material's price and producing the rotor, progress in the power electronics apparatus and high-speed processor and control theories. PMSM may take the place of excitation motor and control system in many fields.
PMSM are importance approach to the problem that the cost of oil extraction in Chinese oil fields is too high and pulling small car with big horse at large in driving electromotor in pumping unit. This paper do some research on the theory, scheme and the concrete technology of PMSM DTC,do the corresponding simulation ,and proved the preliminary feasibility of the scheme.The paper do the following work:
I.The paper introduces the using actuality of pumping unit and the application permanent magnet synchronous motor in pumping unit.Then discusses the configuration of permanent magnet synchronous motor and it’s mathematical model in different coordinate,and discribes the principle of coordinate transformation.
II.The postulate of direct torque control is analyzed,and the simulation model is built based on the parameter of permanent magnet synchronous motor.And the paper using MATLAB do simulation to the PMSM DTC by imitate the system of pumping unit and analyse the simulation waveform.
III.The paper Put forward that applies fuzzy PI control of pumping unit permanent magnet synchronous motor with direct torque control system,which Using fuzzy PI controller as the speed regulator of direct torque control system.That can real-time adjusting on-line PI controller parameters according to the error of speed and torque. Compared with the traditional PI controller, Fuzzy PI adaptive control system have faster respons speed in the start and more stable transition process .Morever,the system have stronger adaptive ability of speed regulation.
引文
[1]唐任远.现代永磁电机理论与设计[M].北京:机械工业出版社,1997.12
[2]李钟明,刘卫国.稀土永磁电机[M].北京:国防工业出版社,1999
[3]王秀和,永磁电机[M].北京:中国电力出版社,2007.
[4]舒志兵.交流伺服运动控制系统[M].北京:清华大学出版社,2006.3
[5]王成元,夏成宽,杨俊友等.电机现代控制技术[M].北京:机械工业出版社,2006.
[6]许大中.交流电机调速理论[M].浙江大学出版社,1991
[7]李海臣,李军.降低抽油机能耗技术的应用.油田节能,2005. 4
[8]王志坚等.常规游梁式抽油机节能改造的生产实践和探讨.石油矿场机械,2005. 5
[9]谢颖.游梁式抽油机用节能电机工作性能的有限元计算及分析. [硕士论文].哈尔滨:哈尔滨理工大学,2005.
[10]严帅.油田抽油机用稀土永磁同步电动机研究. [硕士论文].西安:西北工业大学,2003.
[11]黄国治,傅丰礼. Y2系列三相异步电动机技术手册[M].北京:机械工业出版社,2004.
[12]杨培东,鲁晓军.永磁电机在石油矿扬应用中的问题及对策.石油矿场机械,2003, 32(4): 82-83.
[13]唐任远.稀土永磁电机发展综述.电气技术,2005, 4: 1-6.
[14]宇富平,刘晓强,高中勇等.永磁电动机在抽油机上的节能效果测试分析.石油矿场机械,2005, 34(1): 83-85.
[15]李华德.电力拖动控制系统(运动控制系统)[M].北京:电子工业出版社,2006.12
[16]陈伯时.电力拖动自动控制系统——运动控制系统[M].北京:机械工业出版社,2007.8.
[17]陈坚.交流电机数学模型及调速系统.国防工业出版社,1989
[18]胡崇岳.现代交流调速技术[M].北京:机械工业出版社,1998
[19] Singh B, Reddy A H N and Mnrthy S S.Hybrid Fuzzy Logic Proportional Plus Conventional Integral Derivative Controller for Permanent Magnet Brnshless DC Motor [A]. Proecedings from Industrial Techn- ology 2000[C]. 2000: 185-191.
[20] LI W Design of a Hybrid Fuzzy Logic Proportional PlusConventional Integral-derivative Controller [J]. IEEETrans. on Fuzzy Systems, 1998, 4(6): 449-463
[21] J. F. Gierras, M. Wing. Permanent magnet motor technology[M]. New York: Marcel Dekker. Inc, 19 97.
[22]林忠岳.电力电子变换技术[M].重庆:重庆大学出版社,1991
[23]龙三平.永磁同步电动机控制系统在抽油机上的应用研究.[硕士论文].哈尔滨:哈尔滨工程大学,2006.
[24] Isao Takahashi, Toshihiko Noguchi. Take a Look Back upon the past Decadeof Direct Torque control [J]. IECON'97,1997,(2):546-551.2003
[25] P.Pillay,R.Krishmn. Modeling,Simulation and Analysis of Permanent Magnet Motor Drives, PartI: The Permanent Magnet Synchronous motor Drive.IEEE Trans.on Industry Applications,25(2), 1989: 265-273
[26] Yen-Shin Lai, Fu-San Shyu, and Yung-Hsin Chang, "Novel Loss ReductionPulse width Modulation T- echnique for Brushless do Motor Drives Fed byMOSFET Inverter"。IEEE TRANSACTIONS ON POWE- R ELECTRONICS, VOL. 19, N0.6, NOVEMBER 2004
[27]张广栋.永磁同步电机直接转矩控制系统的实现分析.[硕十学位论文]. 2000.5
[28]周青苗.永磁同步电动机直接转矩控制理论分析[J].西北工业大学学报,2000.18(2):50-58
[29]完敏,刘贤兴.直接转矩矢量细分控制在永磁同步电机上的应用[[J].兵工自动化,2004,23(3): 56-58
[30]王钦若,杜玉晓.交流电机直接转矩控制技术研究综述[[J].机电工程技术,2005,34(11):13-17.
[31] A. Farrokh Payam. Robust Speed Sensorless Control of Doubly-Fed Induction MachineBased on Inp- ut-Output Feedback Linearization Control Using a Sliding-Mode Observer[J].IEEE PEDES 12-15 Decem- ber, 2006. 1B-05
[32]薛定宇,陈阳泉.基于MATLAB/SIMULINK的系统仿真技术与应用[M].北京:清华大学出版社. 2002.
[33] Toshihiko Noguchi. Trends of Permanent-Magnet Synchronous Machine Drives[J].IEEJ Trans. 2007, (2):125-142.
[34] Yu-seok Jeong, Lorenz, R. D. Jahns, T. M. Seung-Ki Su1.Initial rotor position estimation of an interi- or permanent-magnet synchronous machine using carrier frequency injection methods. Industry Applicat- ions, IEEE Trans.2005.41(1):38-45
[35] K. H. Kim, S. K. Chung, G W. Moon, I. C. Baik and M. J. Youn. Parameter Estimation and control for Permanent Magnet Synchronous Motor Drive Using Model Reference Adaptive Technique[J]. Conf. Rec.I- EEE IECON, 2002, Orlando, Florida, USA, volumel pp: 387-392.
[36] Haque, M.F.Rahman. Influence of Stator Resistance Variation on Direct Torque Controlled Interior P- ermanent Magnet Synchronous Motor Drive Performance and Its Compensation[J]. Conf. Speed dynamics without SRE (a) and with SRE experimental results.Rec. IEEE-IAS annual meeting, 2003, Chicago, Illino- is, USA, pp: 2563-2569.
[37]李勇.基于模糊控制的永磁同步电动机直接转矩控制[J].微电机, 2006,(3):37-39.
[38]陶永华.新型PID控制及其应用[M].北京:机械工业部出版社,1998
[39]杨向宇.永磁同步电机模糊直接转矩控制仿真[J].华南理工大学学报(自然科学版),2006,(4): 51- 55.
[40]诸静.模糊控制原理与应用[M ] .北京:机械工业出版社,1999:32 - 64.
[41] Matic P R ,Blanusa B D ,Bukosavic S N. A novel direct torque and fulx control algorithm for the ind- uction motor drivce [ J ] .Electric Machines and Drivces Conference.2003 ,2(3) :1-4.
[42] SUN Dan, HE Yikang, ZHU J ianguo. Fuzzy Logic Direct Torque Control for Permanent Magnet Sy- nchronous Motors [C].Hangzhou,P. R. China. IEEE the 5 World Congress on Intelligent Control And Aut- omation.4401-4405.
[43] Jin Meng jia, Qiu Jianqi.A Fuzzy DTC Method wi- th a SVW Defuzzification to Permanent MagnetSynchronous Machine [C].Busan, Korea. The 30 Annual Conference of The IEEE Industrial Electronics S- ociety.3196-3199.
[44] Takahashi I,Noguchi T.A new quick-response and high-efficiency control strategy of an induction motor [J].IEEE TransonIndustrialApplications,1986,22(5):821-827.
[45] WilliamR Brassfield,Rene Spee,Thomas G. Habetler. Direct torque control for brushless doubly-fedmachines[J].IEEE transactons on industry applications,1996,32,(5):1098-1104
[46] Jeong, Y. Lorenz, R. D.Jahns, T. M. Sul,S.Initial rotor position estimation of an interior permanent m- agnet synchronous machine using carrier-frequency injection methods. Electric Machines and Drives Con- ference.2003 (2): 1218-1223
[47]欧立生.游梁式抽油机拖动系统变频控制的研究. [硕士论文].沈阳:沈阳工业大学,2002
[2]李钟明,刘卫国.稀土永磁电机[M].北京:国防工业出版社,1999
[3]王秀和,永磁电机[M].北京:中国电力出版社,2007.
[4]舒志兵.交流伺服运动控制系统[M].北京:清华大学出版社,2006.3
[5]王成元,夏成宽,杨俊友等.电机现代控制技术[M].北京:机械工业出版社,2006.
[6]许大中.交流电机调速理论[M].浙江大学出版社,1991
[7]李海臣,李军.降低抽油机能耗技术的应用.油田节能,2005. 4
[8]王志坚等.常规游梁式抽油机节能改造的生产实践和探讨.石油矿场机械,2005. 5
[9]谢颖.游梁式抽油机用节能电机工作性能的有限元计算及分析. [硕士论文].哈尔滨:哈尔滨理工大学,2005.
[10]严帅.油田抽油机用稀土永磁同步电动机研究. [硕士论文].西安:西北工业大学,2003.
[11]黄国治,傅丰礼. Y2系列三相异步电动机技术手册[M].北京:机械工业出版社,2004.
[12]杨培东,鲁晓军.永磁电机在石油矿扬应用中的问题及对策.石油矿场机械,2003, 32(4): 82-83.
[13]唐任远.稀土永磁电机发展综述.电气技术,2005, 4: 1-6.
[14]宇富平,刘晓强,高中勇等.永磁电动机在抽油机上的节能效果测试分析.石油矿场机械,2005, 34(1): 83-85.
[15]李华德.电力拖动控制系统(运动控制系统)[M].北京:电子工业出版社,2006.12
[16]陈伯时.电力拖动自动控制系统——运动控制系统[M].北京:机械工业出版社,2007.8.
[17]陈坚.交流电机数学模型及调速系统.国防工业出版社,1989
[18]胡崇岳.现代交流调速技术[M].北京:机械工业出版社,1998
[19] Singh B, Reddy A H N and Mnrthy S S.Hybrid Fuzzy Logic Proportional Plus Conventional Integral Derivative Controller for Permanent Magnet Brnshless DC Motor [A]. Proecedings from Industrial Techn- ology 2000[C]. 2000: 185-191.
[20] LI W Design of a Hybrid Fuzzy Logic Proportional PlusConventional Integral-derivative Controller [J]. IEEETrans. on Fuzzy Systems, 1998, 4(6): 449-463
[21] J. F. Gierras, M. Wing. Permanent magnet motor technology[M]. New York: Marcel Dekker. Inc, 19 97.
[22]林忠岳.电力电子变换技术[M].重庆:重庆大学出版社,1991
[23]龙三平.永磁同步电动机控制系统在抽油机上的应用研究.[硕士论文].哈尔滨:哈尔滨工程大学,2006.
[24] Isao Takahashi, Toshihiko Noguchi. Take a Look Back upon the past Decadeof Direct Torque control [J]. IECON'97,1997,(2):546-551.2003
[25] P.Pillay,R.Krishmn. Modeling,Simulation and Analysis of Permanent Magnet Motor Drives, PartI: The Permanent Magnet Synchronous motor Drive.IEEE Trans.on Industry Applications,25(2), 1989: 265-273
[26] Yen-Shin Lai, Fu-San Shyu, and Yung-Hsin Chang, "Novel Loss ReductionPulse width Modulation T- echnique for Brushless do Motor Drives Fed byMOSFET Inverter"。IEEE TRANSACTIONS ON POWE- R ELECTRONICS, VOL. 19, N0.6, NOVEMBER 2004
[27]张广栋.永磁同步电机直接转矩控制系统的实现分析.[硕十学位论文]. 2000.5
[28]周青苗.永磁同步电动机直接转矩控制理论分析[J].西北工业大学学报,2000.18(2):50-58
[29]完敏,刘贤兴.直接转矩矢量细分控制在永磁同步电机上的应用[[J].兵工自动化,2004,23(3): 56-58
[30]王钦若,杜玉晓.交流电机直接转矩控制技术研究综述[[J].机电工程技术,2005,34(11):13-17.
[31] A. Farrokh Payam. Robust Speed Sensorless Control of Doubly-Fed Induction MachineBased on Inp- ut-Output Feedback Linearization Control Using a Sliding-Mode Observer[J].IEEE PEDES 12-15 Decem- ber, 2006. 1B-05
[32]薛定宇,陈阳泉.基于MATLAB/SIMULINK的系统仿真技术与应用[M].北京:清华大学出版社. 2002.
[33] Toshihiko Noguchi. Trends of Permanent-Magnet Synchronous Machine Drives[J].IEEJ Trans. 2007, (2):125-142.
[34] Yu-seok Jeong, Lorenz, R. D. Jahns, T. M. Seung-Ki Su1.Initial rotor position estimation of an interi- or permanent-magnet synchronous machine using carrier frequency injection methods. Industry Applicat- ions, IEEE Trans.2005.41(1):38-45
[35] K. H. Kim, S. K. Chung, G W. Moon, I. C. Baik and M. J. Youn. Parameter Estimation and control for Permanent Magnet Synchronous Motor Drive Using Model Reference Adaptive Technique[J]. Conf. Rec.I- EEE IECON, 2002, Orlando, Florida, USA, volumel pp: 387-392.
[36] Haque, M.F.Rahman. Influence of Stator Resistance Variation on Direct Torque Controlled Interior P- ermanent Magnet Synchronous Motor Drive Performance and Its Compensation[J]. Conf. Speed dynamics without SRE (a) and with SRE experimental results.Rec. IEEE-IAS annual meeting, 2003, Chicago, Illino- is, USA, pp: 2563-2569.
[37]李勇.基于模糊控制的永磁同步电动机直接转矩控制[J].微电机, 2006,(3):37-39.
[38]陶永华.新型PID控制及其应用[M].北京:机械工业部出版社,1998
[39]杨向宇.永磁同步电机模糊直接转矩控制仿真[J].华南理工大学学报(自然科学版),2006,(4): 51- 55.
[40]诸静.模糊控制原理与应用[M ] .北京:机械工业出版社,1999:32 - 64.
[41] Matic P R ,Blanusa B D ,Bukosavic S N. A novel direct torque and fulx control algorithm for the ind- uction motor drivce [ J ] .Electric Machines and Drivces Conference.2003 ,2(3) :1-4.
[42] SUN Dan, HE Yikang, ZHU J ianguo. Fuzzy Logic Direct Torque Control for Permanent Magnet Sy- nchronous Motors [C].Hangzhou,P. R. China. IEEE the 5 World Congress on Intelligent Control And Aut- omation.4401-4405.
[43] Jin Meng jia, Qiu Jianqi.A Fuzzy DTC Method wi- th a SVW Defuzzification to Permanent MagnetSynchronous Machine [C].Busan, Korea. The 30 Annual Conference of The IEEE Industrial Electronics S- ociety.3196-3199.
[44] Takahashi I,Noguchi T.A new quick-response and high-efficiency control strategy of an induction motor [J].IEEE TransonIndustrialApplications,1986,22(5):821-827.
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