高速列车牵引传动系统直流电压脉动机理及影响的研究
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摘要
“交—直—交”牵引传动系统中间直流回路属于储能环节,是输入端四象限变流器和负载端逆变器之间的连接纽带,直流回路对整个系统正常运行有至关重要的作用。本文从电路的稳态方程及功率平衡两个角度分析了四象限变流器直流电压二次脉动的产生原因,同时讨论了输入端输入功率、主电路参数对直流电压脉动的影响；基于分析结果,讨论了两种抑制直流电压脉动的方法,其一是通过减小输入功率的二次脉动抑制直流电压的二次脉动,其二是在四象限变流器直流侧并联LC二次滤波器以达到抑制直流电压脉动的目的。
牵引逆变器为牵引电机提供三相变频、变压的交流电。本文详细分析了在异步调制下,直流电压的二次脉动对逆变器输出电流以及电机转矩的影响。根据分析结果,采用频率补偿的方法抑制定子频率100Hz,方波控制下直流电压脉动对逆变器、电机的影响。同时,设计了用于牵引逆变器控制的二次数字陷波器以及低通滤波器滤除直流电压信号的二次脉动。
本文介绍了高速列车的四象限变流器及牵引电机的控制,并基于上述控制原理以搭建了闭环异步调制下仿真模型。仿真结果验证上述分析结果的正确性。针对频率补偿的方法搭建了开环同步调制下的仿真模型,仿真结果证明了方法的可行性。
在理论研究和仿真验证的基础上,本文最后对基于Myway硬件平台的四象限变流器实验系统进行了硬、软件设计。对采用瞬态直接电流控制的四象限变流器进行了实验,实验结果验证了上述分析结论的正确性。
In the "AC-DC-AC" traction drive system, the DC circuit is the key link between input four-quadrant convertor and output inverter. It plays a very important role in the normal operation of the traction system. In this article, two methods, steady-state theory and power balance, are used and the analysis result that the second order rippled input power is the main reason to the rippled DC voltage of the four-quadrant convertor is get. The influence of the input power and the main circuit parameters to the rippled DC voltage is been discussed. Based on the analysis result, two methods are proposed which can be used to reduce the rippled DC voltage. One is based on the theory of reducing the input rippled power, and the other is paralleling a secondary LC filter in the DC voltage of the four-quadrant convertor.
The traction inverter provides VVVF three-phase AC voltage for traction motors. This paper analyses the influence of the rippled DC voltage to the output voltage of the inverter and the motors. According to analytical result, a method of the frequency compensation is been adopted to reduce the influence of the rippled DC voltage to the motor in the one-pulse control mode when the stator frequency is 100Hz. Simultaneously, the second order notch filter and low-pass filter are designed to filter the second order rippled DC voltage signal.
The four-quadrant converter and traction motor control methods for high speed train are introduced in this paper. The simulation model with the control methods above and main circuit parameters of CRH2A EMUs is set up. The simulation result verifies the accuracy of the analysis. The open loop simulation model used the frequency compensation in the isochronous modulation is also set up, and the result shows the feasibility of the method.
Based on the theoretical study and simulation, experimentation system has been designed. The four-quadrant convertor experiment which is under the transient direct current control has been finished. The experimental result proves the correctness of the analysis conclusion.
牵引逆变器为牵引电机提供三相变频、变压的交流电。本文详细分析了在异步调制下,直流电压的二次脉动对逆变器输出电流以及电机转矩的影响。根据分析结果,采用频率补偿的方法抑制定子频率100Hz,方波控制下直流电压脉动对逆变器、电机的影响。同时,设计了用于牵引逆变器控制的二次数字陷波器以及低通滤波器滤除直流电压信号的二次脉动。
本文介绍了高速列车的四象限变流器及牵引电机的控制,并基于上述控制原理以搭建了闭环异步调制下仿真模型。仿真结果验证上述分析结果的正确性。针对频率补偿的方法搭建了开环同步调制下的仿真模型,仿真结果证明了方法的可行性。
在理论研究和仿真验证的基础上,本文最后对基于Myway硬件平台的四象限变流器实验系统进行了硬、软件设计。对采用瞬态直接电流控制的四象限变流器进行了实验,实验结果验证了上述分析结论的正确性。
In the "AC-DC-AC" traction drive system, the DC circuit is the key link between input four-quadrant convertor and output inverter. It plays a very important role in the normal operation of the traction system. In this article, two methods, steady-state theory and power balance, are used and the analysis result that the second order rippled input power is the main reason to the rippled DC voltage of the four-quadrant convertor is get. The influence of the input power and the main circuit parameters to the rippled DC voltage is been discussed. Based on the analysis result, two methods are proposed which can be used to reduce the rippled DC voltage. One is based on the theory of reducing the input rippled power, and the other is paralleling a secondary LC filter in the DC voltage of the four-quadrant convertor.
The traction inverter provides VVVF three-phase AC voltage for traction motors. This paper analyses the influence of the rippled DC voltage to the output voltage of the inverter and the motors. According to analytical result, a method of the frequency compensation is been adopted to reduce the influence of the rippled DC voltage to the motor in the one-pulse control mode when the stator frequency is 100Hz. Simultaneously, the second order notch filter and low-pass filter are designed to filter the second order rippled DC voltage signal.
The four-quadrant converter and traction motor control methods for high speed train are introduced in this paper. The simulation model with the control methods above and main circuit parameters of CRH2A EMUs is set up. The simulation result verifies the accuracy of the analysis. The open loop simulation model used the frequency compensation in the isochronous modulation is also set up, and the result shows the feasibility of the method.
Based on the theoretical study and simulation, experimentation system has been designed. The four-quadrant convertor experiment which is under the transient direct current control has been finished. The experimental result proves the correctness of the analysis conclusion.
引文
[1]张大勇.我国机车电传动技术的发展[J].机车电传动.2007.3：1-4.
[2]陆阳.国外铁路机车及动车组揽胜.北京.北方交通大学出版社.2003.11.
[3]张立伟,宁涛,黄先进.国内外牵引机车参数调研.国家电网公司科技项目《电铁供电关键技术研究》系列报告.2009.
[4]陆阳.我国交直交型电力机车型谱的讨论.铁道机车车辆,2005,第25卷增刊.
[5]杨中平.漫话高速铁路[M].中国铁道出版社.2009.
[6]#12
[7]张曙光.CRH1型动车组[M].中国铁道出版社.2008.
[8]张曙光.CRH2型动车组[M].中国铁道出版社.2008.
[9]邓学寿.CRH2型200km／h动车组牵引传动系统[J].机车电传动.2008(4)：1-7.
[10]许韵武,邓小军,鄢桂珍等,CRH2型200km／h动车组[J].机车电传动,2007(3)：39-44.
[11]张曙光.CRH3型动车组[M].中国铁道出版社.2008.
[12]张曙光.CRH5型动车组[M].中国铁道出版社.2008.
[13]王兆安,黄俊.电力电子技术[M].机械工业出版社.2002.
[14]刘志刚,叶斌,梁晖.电力电子学[M].清华大学出版社,北京交通大学出版社.2004.
[15]Sakda Somkun, Panarit Sethakul Viboon Chunkag. Novel Control Technique of Single-phase PWM Rectifier by Compensating Output Ripple Voltage[J].IEEE,2005(5):969-974.
[16]GW. Chang, Hsin-Wei Lin, Shin-Kuan Chen. Modeling Characteristics of Harmonic Currents Generated by High-Speed Railway Traction Drive Converters[M]. IEEE Trans. Power Delivery, 2004,19(2):766-773.
[17]J.Shen, N.Butterworth. Analysis and design of a three-level PWM converter system for railway-traction applications. IEEE Proc-Electr. Power Appl,144(5),1997.
[18]刘凤君.多电平逆变技术及其应用[M].机械工业出版社.2007.
[19]John G Kassakian, Martin F Schlecht, George C Verghese. Principled of power electronics. MIT USA,1991.
[20]张加胜.电压型PWM四象限变流系统的研究.北京交通大学博士学位论文.1997.
[21]丁雪仁,蔡高厅.工程中的矩阵理论.天津大学出版社.1985.
[22]D.Grahame Holmes, Thomas A.Lipo, Pulse Width Modulation For Power Converters: Principles and Practice [M]. IEEE Press,2003.
[23]盛彩飞.电力机车和动车组谐波电流的仿真研究.北京交通大学硕士学位论文.2009.7.
[24]Folker Renken. The DC-Link Capacitor Current in Pulsed Single-Phase H-Bridge Inverters[J]. IEEE.2005:1-7
[25]Mathsworks. "Matlab help". Sep.2008.
[26]张曙光.铁路高速列车应用基础理论与工程技术[M].科学出版社.2007.
[27]严辉,夏巍,丁刚.基于SVPWM的三电平中点钳位型逆变器的研究,自动化与仪器仪表,2008,(6).
[28]刘志敏,冯晓云,顾扬,谢方.单相三电平PWM变流器预测电流控制及中点电压平衡控制技 术.电工技术学报,2007,22(2).
[29]章志兵,张志学.单相三电平整流器控制方法及中点平衡的研究,机车电传动,2008,(4).
[30]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社.2002.
[31]陈伯时.电力拖动自动控制系统[M].北京.机械工业出版社.1992.
[32]叶斌.电力电子应用技术[M].北京.清华大学出版社.2006.
[33]Michael H. Bierhoff, Friedrich Wilhellm Fuchs, Senior Member. DC-Link Harmonics of Three-Phase Voltage-Source Converters Influenced by the Pulsewidth-Modulation Strategy-An Analysis[J]. IEEE Transactions on Industrial Electronics.2008.55(5):2085-2092.
[34]Bhim Singh, G. Bhuvaneswari, Vipin Garg, Improved Power Quality AC-DC Converter for Electric Multiple Units in Electric Traction[J], IEEE,2006(5).
[35]J. Klima, M. Chomat, L.Schreier. Analytical closed-form investigation of PWM inverter induction motor drive performance under DC bus voltage pulsation[J]. The Institution of Engineering and Technology.2008.2(6):341-352.
[36]Kevin Lee. Power Quality Analysis and New Harmonic and Unbalance Control of Modern Adjustable Speed Drives or Uninterruptible Power Systems Under Nonideal Operating Conditions. Doctoral Dissertation.2008.
[37]M. M. Bakran, H.-G Eckel, Comparison of Multi-System Traction Converters for High-Power Locomotive[J].200435th Annual IEEE Power Electronics Specialists Conference:697-703.
[38]林海雪,周胜军.电气化铁路的谐波标准问题[J].中国电力.1999.9(32)：55-58.
[39]中华人民共和国国家标准一电能质量,公用电网谐波.GB／T 14549-93.
[40]A.D.Mansell, J.Shen. Pulse converters in traction applications[J]. Power Engineering Journal, 1994,8:183-187.
[41]陈燕平,忻力,李中浩.单相电压型脉冲整流器中二次谐振电路的研究[J].机车电传动2010.3(2)：28-32.
[42]Sophcles J Orfanidis. Induction to signal processing[J]. Prentice Hill international Inc.,1996.
[43]付丽琴等.数字信号处理原理及实现[M].北京：国防工业出版社,2004.
[44]石坚,杨永明.50 Hz陷波器在脑电数据采集系统中的应用[J].重庆大学学报,2005,28(8).
[45]戴明桢.数字信号处理的硬件实现[M].北京：航空工业出版社,1998.
[46]Arthur B. Williams, Fred. J.Taylor,宁彦卿,姚金科译.电力滤波器设计.科学出版社.2001.
[47]陆书文.用于磁浮供电的PWM整流器多重化运行研究[硕士学位论文].北京.北京交通大学.2007.
[48]张崇巍,张兴.PWM整流器及其控制.北京.机械工业出版社.2005.
[49]TEXAS INSTRUMENTS. TMS320F28335 PRODUCTION DATA.
[50]谭浩强.C语言设计教程[M].清华大学出版社.2001.
[51]刘和平.TMS320LF240xDSP C语言开发应用[M].北京：北京航空航天出版社,2003.
[52]Timothy Thacker, Ruxi Wang, Dong Dong, Rolando Burgos, Fred Wang, Dushan Boroyevich. Phase-Locked Loops using State Variable Feedback for Sigle-Phase Converter Systems[J]. IEEE.2009:864-870.
[53]罗玛,杨成林,徐德鸿.基于DSP的逆变器数字锁相技术.电力电子技术.2005.39(5).107-108.
[54]#12
[55]Juan Dixon, Luis Moran. A Clean Four-Quadrant Sinusoidal Power Rectifier Using Multistage Converters for Subway Applications[M]. IEEE Trans. Industrial Electronics.2005, 52(3):653-661.
[56]Mitchell D M. Dc-dc switching regulator analysis[J]. New York:McGraw-Hill Book Company, 1998.
[2]陆阳.国外铁路机车及动车组揽胜.北京.北方交通大学出版社.2003.11.
[3]张立伟,宁涛,黄先进.国内外牵引机车参数调研.国家电网公司科技项目《电铁供电关键技术研究》系列报告.2009.
[4]陆阳.我国交直交型电力机车型谱的讨论.铁道机车车辆,2005,第25卷增刊.
[5]杨中平.漫话高速铁路[M].中国铁道出版社.2009.
[6]#12
[7]张曙光.CRH1型动车组[M].中国铁道出版社.2008.
[8]张曙光.CRH2型动车组[M].中国铁道出版社.2008.
[9]邓学寿.CRH2型200km／h动车组牵引传动系统[J].机车电传动.2008(4)：1-7.
[10]许韵武,邓小军,鄢桂珍等,CRH2型200km／h动车组[J].机车电传动,2007(3)：39-44.
[11]张曙光.CRH3型动车组[M].中国铁道出版社.2008.
[12]张曙光.CRH5型动车组[M].中国铁道出版社.2008.
[13]王兆安,黄俊.电力电子技术[M].机械工业出版社.2002.
[14]刘志刚,叶斌,梁晖.电力电子学[M].清华大学出版社,北京交通大学出版社.2004.
[15]Sakda Somkun, Panarit Sethakul Viboon Chunkag. Novel Control Technique of Single-phase PWM Rectifier by Compensating Output Ripple Voltage[J].IEEE,2005(5):969-974.
[16]GW. Chang, Hsin-Wei Lin, Shin-Kuan Chen. Modeling Characteristics of Harmonic Currents Generated by High-Speed Railway Traction Drive Converters[M]. IEEE Trans. Power Delivery, 2004,19(2):766-773.
[17]J.Shen, N.Butterworth. Analysis and design of a three-level PWM converter system for railway-traction applications. IEEE Proc-Electr. Power Appl,144(5),1997.
[18]刘凤君.多电平逆变技术及其应用[M].机械工业出版社.2007.
[19]John G Kassakian, Martin F Schlecht, George C Verghese. Principled of power electronics. MIT USA,1991.
[20]张加胜.电压型PWM四象限变流系统的研究.北京交通大学博士学位论文.1997.
[21]丁雪仁,蔡高厅.工程中的矩阵理论.天津大学出版社.1985.
[22]D.Grahame Holmes, Thomas A.Lipo, Pulse Width Modulation For Power Converters: Principles and Practice [M]. IEEE Press,2003.
[23]盛彩飞.电力机车和动车组谐波电流的仿真研究.北京交通大学硕士学位论文.2009.7.
[24]Folker Renken. The DC-Link Capacitor Current in Pulsed Single-Phase H-Bridge Inverters[J]. IEEE.2005:1-7
[25]Mathsworks. "Matlab help". Sep.2008.
[26]张曙光.铁路高速列车应用基础理论与工程技术[M].科学出版社.2007.
[27]严辉,夏巍,丁刚.基于SVPWM的三电平中点钳位型逆变器的研究,自动化与仪器仪表,2008,(6).
[28]刘志敏,冯晓云,顾扬,谢方.单相三电平PWM变流器预测电流控制及中点电压平衡控制技 术.电工技术学报,2007,22(2).
[29]章志兵,张志学.单相三电平整流器控制方法及中点平衡的研究,机车电传动,2008,(4).
[30]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社.2002.
[31]陈伯时.电力拖动自动控制系统[M].北京.机械工业出版社.1992.
[32]叶斌.电力电子应用技术[M].北京.清华大学出版社.2006.
[33]Michael H. Bierhoff, Friedrich Wilhellm Fuchs, Senior Member. DC-Link Harmonics of Three-Phase Voltage-Source Converters Influenced by the Pulsewidth-Modulation Strategy-An Analysis[J]. IEEE Transactions on Industrial Electronics.2008.55(5):2085-2092.
[34]Bhim Singh, G. Bhuvaneswari, Vipin Garg, Improved Power Quality AC-DC Converter for Electric Multiple Units in Electric Traction[J], IEEE,2006(5).
[35]J. Klima, M. Chomat, L.Schreier. Analytical closed-form investigation of PWM inverter induction motor drive performance under DC bus voltage pulsation[J]. The Institution of Engineering and Technology.2008.2(6):341-352.
[36]Kevin Lee. Power Quality Analysis and New Harmonic and Unbalance Control of Modern Adjustable Speed Drives or Uninterruptible Power Systems Under Nonideal Operating Conditions. Doctoral Dissertation.2008.
[37]M. M. Bakran, H.-G Eckel, Comparison of Multi-System Traction Converters for High-Power Locomotive[J].200435th Annual IEEE Power Electronics Specialists Conference:697-703.
[38]林海雪,周胜军.电气化铁路的谐波标准问题[J].中国电力.1999.9(32)：55-58.
[39]中华人民共和国国家标准一电能质量,公用电网谐波.GB／T 14549-93.
[40]A.D.Mansell, J.Shen. Pulse converters in traction applications[J]. Power Engineering Journal, 1994,8:183-187.
[41]陈燕平,忻力,李中浩.单相电压型脉冲整流器中二次谐振电路的研究[J].机车电传动2010.3(2)：28-32.
[42]Sophcles J Orfanidis. Induction to signal processing[J]. Prentice Hill international Inc.,1996.
[43]付丽琴等.数字信号处理原理及实现[M].北京：国防工业出版社,2004.
[44]石坚,杨永明.50 Hz陷波器在脑电数据采集系统中的应用[J].重庆大学学报,2005,28(8).
[45]戴明桢.数字信号处理的硬件实现[M].北京：航空工业出版社,1998.
[46]Arthur B. Williams, Fred. J.Taylor,宁彦卿,姚金科译.电力滤波器设计.科学出版社.2001.
[47]陆书文.用于磁浮供电的PWM整流器多重化运行研究[硕士学位论文].北京.北京交通大学.2007.
[48]张崇巍,张兴.PWM整流器及其控制.北京.机械工业出版社.2005.
[49]TEXAS INSTRUMENTS. TMS320F28335 PRODUCTION DATA.
[50]谭浩强.C语言设计教程[M].清华大学出版社.2001.
[51]刘和平.TMS320LF240xDSP C语言开发应用[M].北京：北京航空航天出版社,2003.
[52]Timothy Thacker, Ruxi Wang, Dong Dong, Rolando Burgos, Fred Wang, Dushan Boroyevich. Phase-Locked Loops using State Variable Feedback for Sigle-Phase Converter Systems[J]. IEEE.2009:864-870.
[53]罗玛,杨成林,徐德鸿.基于DSP的逆变器数字锁相技术.电力电子技术.2005.39(5).107-108.
[54]#12
[55]Juan Dixon, Luis Moran. A Clean Four-Quadrant Sinusoidal Power Rectifier Using Multistage Converters for Subway Applications[M]. IEEE Trans. Industrial Electronics.2005, 52(3):653-661.
[56]Mitchell D M. Dc-dc switching regulator analysis[J]. New York:McGraw-Hill Book Company, 1998.