矿井提升机双PWM变频调速系统研究
摘要
矿井提升机是矿山的重要运输设备,它的电气传动装置一直是各国电气传动领域的一个研究热点。目前,我国的矿井提升机的电力拖动方案主要为交流绕线式异步电机转子串电阻调速、晶闸管供电的直流电动机调速、晶闸管交—交变频方案等。针对矿井提升机的四象限运行,高可靠性,调速范围宽等要求,本文提出了将双PWM交—直—交变频调速系统运用于矿井提升机上的研究课题。本课题主要分为整流与逆变两大部分。其中整流侧采用PWM整流器,逆变侧采用PWM逆变的异步电机矢量控制。
本文首先给出了异步电机在任意坐标系下的数学模型,并对其进行了标幺化。对于异步电机的矢量控制,详细分析了直接矢量控制方式以及间接矢量控制各自的优缺点,并采用了一种基于空间矢量调制(SVPWM)的改进间接矢量控制策略。
其次分析了三相电压型PWM整流器(VSR)的工作原理,建立了三相VSR的一般数学模型与同步旋转坐标系下的模型。给出了PWM整流器的控制策略,该策略为按电网电压定向的矢量控制策略,电压外环电流内环的双闭环结构,引入了前馈解耦控制,能对有功和无功功率独立控制。
再次给出了系统的总体结构,并针对其中每个部分进行了设计。包括主电路中电感,电容,功率器件的选型。控制器采用TMS320F2812 DSP,其强大的性能完全能够满足本系统的要求。设计了检测调理电路,包括电压,电流,转速的检测与调理。设计了光纤隔离驱动电路,采用2SD315A作为驱动芯片。设计了系统的硬件保护。编制了系统控制软件,包括转速检测,A/D变换,数字PI,SVPWM生成等子程序。
最后使用Matlab/Simulink对整个系统进行了仿真,验证了控制策略的有效性。制作了实验样机,设计功率为15KW,通过实际实验,证实了双PWM变频调速系统能够实现单位功率因数,能量双向流动,四象限运行。具有对电网谐波污染小,动态性能好,调速范围大的特性,满足了设计要求,对我国矿井提升机调速系统的改进具有一定的的参考价值。
The mine hoist is an important transport equipment during coal mine producing. Its electric driving and control devices are always the research focus in the electric driving field. At present, in our country the electric driving schemes applied to the mine hoist are rotor in series with resistor adjustable speed system, DC motor V-M reversible adjustable speed system, vector control system with thyristor AC-AC frequency conversion, etc. This paper proposes a research issue which applies dual-PWM AC-DC-AC frequency conversion scheme to the mine hoist regarding that the hoist requires high reliability, four-phase operation and wide range of adjustable speed. This research issue can be divided into rectification , which using PWM rectifier, and inverter, which using AC motor vector control.
Firstly, the paper gives the mathematical model of asynchronous machine under arbitrary reference frames and the per-unit model is generalized. An improved indirect vector control scheme based on SVPWM has been proposed by combining direct and indirect vector control, whose merits and defects have been analyzed in details.
Secondly, the analysis of working principle of three-phase voltage source PWM rectifier (VSR) system is given. The mathematical model of three-phase VSR is established in three-phase static and synchronous rotational reference frame. The control strategy of three-phase VSR is voltage-oriented vector control method based on dual-close-loop control using current inner loop and voltage outer loop. The independent control of active power and reactive power is obtained through the feed-forward decoupling method.
Thirdly, the overall structure of the dual-PWM system is given. Each part of the system is designed. The main circuit includes choosing the inductance, capacitance and power switching device. The control device uses TMS320F2812 DSP, which is powerful enough to fulfill the requirements of the system. Sample and conditon circuit is designed, which is used to detect AC and DC voltages, AC currents and the machine rotor speed. The optical fiber isolated driving circuit is built, which chooses 2SD315A as the driving chip. The hardware protection circuit is also got designed. The system control program is composed, which includes rotor speed test, the digital PI regulator, A/D, SVPWM algorithm.
Lastly, the dual-PWM frequency conversion system is simulated based on Matlab/Simulink, which verifies that the control system is correct and effective. The prototype of the experimental system has been built, power rating of which is 15KW. The system is proved to be capable of running in unity power factor, bi-direction powerflow and four-phase operation according to the experimental result. The system has the features of very small harmonic current, good system dynamic performance and wide speed range, which meets the design requirements. This research issue has some reference value to the improvement of mine hoister for our country.
本文首先给出了异步电机在任意坐标系下的数学模型,并对其进行了标幺化。对于异步电机的矢量控制,详细分析了直接矢量控制方式以及间接矢量控制各自的优缺点,并采用了一种基于空间矢量调制(SVPWM)的改进间接矢量控制策略。
其次分析了三相电压型PWM整流器(VSR)的工作原理,建立了三相VSR的一般数学模型与同步旋转坐标系下的模型。给出了PWM整流器的控制策略,该策略为按电网电压定向的矢量控制策略,电压外环电流内环的双闭环结构,引入了前馈解耦控制,能对有功和无功功率独立控制。
再次给出了系统的总体结构,并针对其中每个部分进行了设计。包括主电路中电感,电容,功率器件的选型。控制器采用TMS320F2812 DSP,其强大的性能完全能够满足本系统的要求。设计了检测调理电路,包括电压,电流,转速的检测与调理。设计了光纤隔离驱动电路,采用2SD315A作为驱动芯片。设计了系统的硬件保护。编制了系统控制软件,包括转速检测,A/D变换,数字PI,SVPWM生成等子程序。
最后使用Matlab/Simulink对整个系统进行了仿真,验证了控制策略的有效性。制作了实验样机,设计功率为15KW,通过实际实验,证实了双PWM变频调速系统能够实现单位功率因数,能量双向流动,四象限运行。具有对电网谐波污染小,动态性能好,调速范围大的特性,满足了设计要求,对我国矿井提升机调速系统的改进具有一定的的参考价值。
The mine hoist is an important transport equipment during coal mine producing. Its electric driving and control devices are always the research focus in the electric driving field. At present, in our country the electric driving schemes applied to the mine hoist are rotor in series with resistor adjustable speed system, DC motor V-M reversible adjustable speed system, vector control system with thyristor AC-AC frequency conversion, etc. This paper proposes a research issue which applies dual-PWM AC-DC-AC frequency conversion scheme to the mine hoist regarding that the hoist requires high reliability, four-phase operation and wide range of adjustable speed. This research issue can be divided into rectification , which using PWM rectifier, and inverter, which using AC motor vector control.
Firstly, the paper gives the mathematical model of asynchronous machine under arbitrary reference frames and the per-unit model is generalized. An improved indirect vector control scheme based on SVPWM has been proposed by combining direct and indirect vector control, whose merits and defects have been analyzed in details.
Secondly, the analysis of working principle of three-phase voltage source PWM rectifier (VSR) system is given. The mathematical model of three-phase VSR is established in three-phase static and synchronous rotational reference frame. The control strategy of three-phase VSR is voltage-oriented vector control method based on dual-close-loop control using current inner loop and voltage outer loop. The independent control of active power and reactive power is obtained through the feed-forward decoupling method.
Thirdly, the overall structure of the dual-PWM system is given. Each part of the system is designed. The main circuit includes choosing the inductance, capacitance and power switching device. The control device uses TMS320F2812 DSP, which is powerful enough to fulfill the requirements of the system. Sample and conditon circuit is designed, which is used to detect AC and DC voltages, AC currents and the machine rotor speed. The optical fiber isolated driving circuit is built, which chooses 2SD315A as the driving chip. The hardware protection circuit is also got designed. The system control program is composed, which includes rotor speed test, the digital PI regulator, A/D, SVPWM algorithm.
Lastly, the dual-PWM frequency conversion system is simulated based on Matlab/Simulink, which verifies that the control system is correct and effective. The prototype of the experimental system has been built, power rating of which is 15KW. The system is proved to be capable of running in unity power factor, bi-direction powerflow and four-phase operation according to the experimental result. The system has the features of very small harmonic current, good system dynamic performance and wide speed range, which meets the design requirements. This research issue has some reference value to the improvement of mine hoister for our country.
引文
[1]白晓冬,陈庆荣,王宝纯.提升机的后备保护措施及应用[J].煤矿机电, 2002(4): 45-46.
[2]王正友,刘济林.提升机制动系统故障的信息融合诊断[J].煤炭学报, 2003, 28(6): 650-654.
[3]邓世建,于月亮.矿井提升机延迟保护速度设计方法[J].中国矿业大学学报, 2004, 33(6): 721-725.
[4]叶予光,梁南丁.矿井交流提升系统中PLC电控系统的应用与研究[J].煤矿机械, 2004(9): 128-129.
[5]钟声.矿井提升机同步电机矢量控制系统的研究[硕士学位论文.安徽理工大学: 2007
[6]朱仁初,万伯仁.电力拖动控制系统设计手册.北京:矿山机械. 1993, 7-8.
[7]矿井提升机故障处理和技术改造编委会.矿井提升机故障处理和技术改造.北京:机械工业出版社, 2005:220, 223.
[8]冯树旭.矿井提升机控制系统设计[硕士学位论文].长沙:中南大学, 2005.
[9]陈军.提升机盘式制动器状态监测装置的研制.矿山机械. 1993, 7-8.
[10]陈伯时.电力拖动自动控制系统.北京:机械工业出版社, 1999.
[11]张崇巍,张兴. PWM整流器及其控制.北京:机械工业出版社, 2004.
[12] Busse Alfred, Holtz Joachim. Multiloop control of a unity power factor fast switching AC to DC converter. Proc, Power Electr Specialist Conf. 1982: 171-179.
[13] Akagi Hirofumi etc. Instantaneous reactive power compensators comprising switching devices without energy storage components. IEEE Trans Ind Appl, 1984, IA-20: 625-630.
[14] A.W.Green, J.T.Boys, G.F.Gates. 3-phase voltage sourced reverible rectifier. IEE proceedings, 1988, 6(B5): 363-370.
[15] J.W.Dixon, B.T.Ooi. Indirect current control of a unity power factor sinusoidal current boost type three-phase rectifier. IEEE Trans Power Electron, 1988, 35: 508-515.
[16]王英,张纯江,陈辉明.三相PWM整流器新型相位幅值控制数学模型及其控制策略[J].中国电机工程学报, 2003, 23(I): 85-89.
[17] Green A W, Bous J T. Hysteresis current-forced three-phase voltage sourced reversible rectifier[J]. IEE, PartB, 1989, 135(3): 113-120.
[18] Vladimir B, Vikram K. A new mathematical model and control of a three-phase AC-DC voltage source converter[J]. IEEE Tran. Power Electronics, 1997, 12(1):116-123.
[19]张兴,张崇巍. PWM可逆变流器空间电压矢量控制技术的研究.中国电机工程学报, 2001(10): 102-105.
[20]接峰,黄进.基于DSP的直接功率控制三相PWM整流器.机电工程, 2005, 22(11):28-30
[21]罗悦华,伍小杰,王晶鑫.三相PWM整流器及其控制策略的现状及展望.电气传动. 2006,36(5):3-7.
[22] Toshihiko Noguchi, Hiroaki Tomiki, Seiji Kondo. Direct power control of PWM converter without power-source voltage sensors. IEEE Transaction on industry applications. 1998, 34(3):473-479.
[23] Krishnan,R. Electirc motor drives: modeling, analysis, and control. Prentice Hall, 2001.
[24] Mulukutla S.Sarma. Electric Machines. West Publishing Co..St. Paul. MN. Second Edition.1994.
[25] J.F.Lindsay and MH. Rashid. Electromechanics and Electrical Machinery. Prentice-Hall. Inc.. Englewood Cliffs.HJ.1986.
[26] R. Krishnan. J. F. Lindsay and V. R. Stefanovie. Control characteristics of inverter-fed induction motor. IEEE Trans on Industry Applications., 1983, Vol.IA-19.no.1, pp94-104.
[27] E. Bassi. F. Benzi, S. Bolognani. And G.S. Buja. A field orientation for current fed induction motor (CSIM) drive based on the torque-angle closed loop control. Conf. Record of IEEE-Industry Applicaion Society Annual Meeting. 1989,vol.1, pp. 384-389.
[28] R. Krishnan, W. A. Maslowski, V. R. Stefanovic. Control priciples in current source induction motor drives. Conf. Record of IEEE-Industry Applications Society Annual Meeting. 1980, pp. 605-617.
[29] T.G. Habetler, F. Profumo, M. Pastorelli, and L.M. Tolbert. Direct torque control of induction machines using space vector modulation. IEEE Trans on Industry Applications. 1992, 28(5): 1045-1053.
[30] M. P. Kazmierkowski and A. B. Kasprowicz. Improved direct torque and flux vector control of PWM inverter-fed induction motor drivers. IEEE Trans on Industrial Electronics. 1995, 42(4): 344-350.
[31]熊健等,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
[32]张纯江,张金泉,空间矢量PWM波形的谐波仿真研究,燕山大学学报,2000,24(2):141~144
[33]葛燕燕.基于DSP的SVPWM变频控制技术。变频器世界,技术探讨与研究,1999(7):19~22
[34]李传海等,空间矢量脉宽调制(SVPWM)技术特点及其优化方法,山东大学学报(工学版),2005.4(35):27-31
[35]马小珍,徐金榜,万淑芸.一种改进的PWM整流器空间矢量控制算法.华中科技大学学报(自然科学版),2005;33(2):50~53
[36]徐金榜.三相电压源PWM整流器控制技术研究.[博士论文].武汉:华中科技大学,2004
[37]张兴.PWM整流器及其控制策略的研究.[博士论文].合肥:合肥工业大学电气与自动化工程学院,2003
[38]史伟伟等.三相电压型整流器的数学模型和主电路设计[J].东南大学学报,2002(1):50~55
[39]杨德刚,赵良炳,刘润生.三相高功率因数整流器的建模及闭环控制.电力电子技术. 1999,10(5): 49-51
[40]史伟伟,蒋全,胡敏强等.三相电压型PWM整流器的数学模型和主电路设计,东北大学学报(自然科学版).2002,32(1):50-55
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[48]张强,陶健.新型IGBT集成驱动模块2SD315A应用研究.现代电力, 2003, 20(3,4): 79-83.
[2]王正友,刘济林.提升机制动系统故障的信息融合诊断[J].煤炭学报, 2003, 28(6): 650-654.
[3]邓世建,于月亮.矿井提升机延迟保护速度设计方法[J].中国矿业大学学报, 2004, 33(6): 721-725.
[4]叶予光,梁南丁.矿井交流提升系统中PLC电控系统的应用与研究[J].煤矿机械, 2004(9): 128-129.
[5]钟声.矿井提升机同步电机矢量控制系统的研究[硕士学位论文.安徽理工大学: 2007
[6]朱仁初,万伯仁.电力拖动控制系统设计手册.北京:矿山机械. 1993, 7-8.
[7]矿井提升机故障处理和技术改造编委会.矿井提升机故障处理和技术改造.北京:机械工业出版社, 2005:220, 223.
[8]冯树旭.矿井提升机控制系统设计[硕士学位论文].长沙:中南大学, 2005.
[9]陈军.提升机盘式制动器状态监测装置的研制.矿山机械. 1993, 7-8.
[10]陈伯时.电力拖动自动控制系统.北京:机械工业出版社, 1999.
[11]张崇巍,张兴. PWM整流器及其控制.北京:机械工业出版社, 2004.
[12] Busse Alfred, Holtz Joachim. Multiloop control of a unity power factor fast switching AC to DC converter. Proc, Power Electr Specialist Conf. 1982: 171-179.
[13] Akagi Hirofumi etc. Instantaneous reactive power compensators comprising switching devices without energy storage components. IEEE Trans Ind Appl, 1984, IA-20: 625-630.
[14] A.W.Green, J.T.Boys, G.F.Gates. 3-phase voltage sourced reverible rectifier. IEE proceedings, 1988, 6(B5): 363-370.
[15] J.W.Dixon, B.T.Ooi. Indirect current control of a unity power factor sinusoidal current boost type three-phase rectifier. IEEE Trans Power Electron, 1988, 35: 508-515.
[16]王英,张纯江,陈辉明.三相PWM整流器新型相位幅值控制数学模型及其控制策略[J].中国电机工程学报, 2003, 23(I): 85-89.
[17] Green A W, Bous J T. Hysteresis current-forced three-phase voltage sourced reversible rectifier[J]. IEE, PartB, 1989, 135(3): 113-120.
[18] Vladimir B, Vikram K. A new mathematical model and control of a three-phase AC-DC voltage source converter[J]. IEEE Tran. Power Electronics, 1997, 12(1):116-123.
[19]张兴,张崇巍. PWM可逆变流器空间电压矢量控制技术的研究.中国电机工程学报, 2001(10): 102-105.
[20]接峰,黄进.基于DSP的直接功率控制三相PWM整流器.机电工程, 2005, 22(11):28-30
[21]罗悦华,伍小杰,王晶鑫.三相PWM整流器及其控制策略的现状及展望.电气传动. 2006,36(5):3-7.
[22] Toshihiko Noguchi, Hiroaki Tomiki, Seiji Kondo. Direct power control of PWM converter without power-source voltage sensors. IEEE Transaction on industry applications. 1998, 34(3):473-479.
[23] Krishnan,R. Electirc motor drives: modeling, analysis, and control. Prentice Hall, 2001.
[24] Mulukutla S.Sarma. Electric Machines. West Publishing Co..St. Paul. MN. Second Edition.1994.
[25] J.F.Lindsay and MH. Rashid. Electromechanics and Electrical Machinery. Prentice-Hall. Inc.. Englewood Cliffs.HJ.1986.
[26] R. Krishnan. J. F. Lindsay and V. R. Stefanovie. Control characteristics of inverter-fed induction motor. IEEE Trans on Industry Applications., 1983, Vol.IA-19.no.1, pp94-104.
[27] E. Bassi. F. Benzi, S. Bolognani. And G.S. Buja. A field orientation for current fed induction motor (CSIM) drive based on the torque-angle closed loop control. Conf. Record of IEEE-Industry Applicaion Society Annual Meeting. 1989,vol.1, pp. 384-389.
[28] R. Krishnan, W. A. Maslowski, V. R. Stefanovic. Control priciples in current source induction motor drives. Conf. Record of IEEE-Industry Applications Society Annual Meeting. 1980, pp. 605-617.
[29] T.G. Habetler, F. Profumo, M. Pastorelli, and L.M. Tolbert. Direct torque control of induction machines using space vector modulation. IEEE Trans on Industry Applications. 1992, 28(5): 1045-1053.
[30] M. P. Kazmierkowski and A. B. Kasprowicz. Improved direct torque and flux vector control of PWM inverter-fed induction motor drivers. IEEE Trans on Industrial Electronics. 1995, 42(4): 344-350.
[31]熊健等,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
[32]张纯江,张金泉,空间矢量PWM波形的谐波仿真研究,燕山大学学报,2000,24(2):141~144
[33]葛燕燕.基于DSP的SVPWM变频控制技术。变频器世界,技术探讨与研究,1999(7):19~22
[34]李传海等,空间矢量脉宽调制(SVPWM)技术特点及其优化方法,山东大学学报(工学版),2005.4(35):27-31
[35]马小珍,徐金榜,万淑芸.一种改进的PWM整流器空间矢量控制算法.华中科技大学学报(自然科学版),2005;33(2):50~53
[36]徐金榜.三相电压源PWM整流器控制技术研究.[博士论文].武汉:华中科技大学,2004
[37]张兴.PWM整流器及其控制策略的研究.[博士论文].合肥:合肥工业大学电气与自动化工程学院,2003
[38]史伟伟等.三相电压型整流器的数学模型和主电路设计[J].东南大学学报,2002(1):50~55
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