定子电流定向控制及其运动特性的研究
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摘要
随着现代科技的进步,近几十年来,微电子技术、计算机技术以及电力电子技术的飞速发展为交流电气传动控制的进步提供了技术保障;而控制理沦的发展则为人们制定先进的交流异步电机控制策略提供了理论依据。按转子磁链定向的矢量控制和按定子磁链定向的直接转矩控制的广泛应用,使交流传动控制系统逐步占主导地位。
矢量控制和直接转矩控制的核心是控制磁链,然而对于交流电机而言定、转子磁链都是中间量,真正决定异步机性能的是定子磁势(电流)。本文抛开这些控制中间量直接控制定子电流,提出定子电流定向控制策略。定子电流定向控制系统吸取转差频率控制同步角度的求解方法确定定子电流d轴分量的旋转角度;遵循矢量控制的思想,将定子电流分解为两相分别进行控制;借鉴直接转矩控制中的以改变角度为主要手段来实现转矩阶跃变化的方法。在控制过程中同时调整其定子电流的幅值和位置,不刻意追求磁链幅值的恒定,和电流转矩一样在限制最大值的前提下,动态调整磁链,实现了转矩的快速响应,提高了系统效率。本论文在电流定向控制理论的指导下,设计了基于单结构电流模型的控制系统结构,以定子电流为控制对象,分析了定子电流定向控制的转矩特性。
针对PMSM的研究现状,在分析PMSM的结构、种类、和磁路特性的基础上,推导出PMSM定子电流定向控制的理论基础,并且在低速运行的状态下进行系统仿真研究。利用TI公司生产的TMS320LF2407A芯片设计了永磁同步电动机位置控制系统的硬件电路,通过仿真和实验证明,定子电流定向控制带大惯性负载的控制优势。
With modern scientific and technological progress, in recent decades, the rapiddevelopment of microelectronics technology, computer technology and power electronicsprovides technical support for the progress of AC electric drive control, and control theorydevelopment provides a theoretical basis for people to develop advanced AC motor controlstrategy.thewideapplicationoftherotorfluxorientedvectorcontroland thestatorfluxorienteddirecttorquecontrolmakeACdrivecontrolsystemdominategradually.
The key of VC and DTC is to control the flux linkage. Whereas, for the AC motor, thestator flux and rotor flux are both middle variables. What determines the performance of ACmotor is stator magnetomotive force (current). In this paper, the stator current oriented controlcontrols the stator current directly instead of those middle variables. The stator current orientedcontrol system deduces the rotating angle of d-axes component of stator current by using thesynchronized-angle solution of slip frequency control for reference. The stator current isdisassembled into two parts to control respectively following the vector control theory. Torquestep change is realized by using the main measure of changing angle in DTC for reference.During the control period, the amplitude and position of stator current are regulated at the sametime. The constant flux amplitude is never pursued painstakingly. Just the same as the currentand torque control, regulate the flux linkage dynamicallyon the premise of maximum limitationand the fast torque response and high efficiency are got. In this paper, on the basis of currentorientation control theory, the control system structure which is based on single-structure currentmodel is established. Starting with stator current, analyse torque characteristic based on statorcurrentorientation.
Against PMSM research Status, on the basis of analysis the structure, types andcharacteristics of magnetic circuit of PMSM, we derive PMSM stator current orientation controltheory basis, and carry out system simulation studies in low-speed operation. UsingTMS320LF2407A chip of TI, we design hardware circuit of the PMSM position control system,simulation and experiment proved stator current orientation control of the inertial loadadvantagesofcontrol.
矢量控制和直接转矩控制的核心是控制磁链,然而对于交流电机而言定、转子磁链都是中间量,真正决定异步机性能的是定子磁势(电流)。本文抛开这些控制中间量直接控制定子电流,提出定子电流定向控制策略。定子电流定向控制系统吸取转差频率控制同步角度的求解方法确定定子电流d轴分量的旋转角度;遵循矢量控制的思想,将定子电流分解为两相分别进行控制;借鉴直接转矩控制中的以改变角度为主要手段来实现转矩阶跃变化的方法。在控制过程中同时调整其定子电流的幅值和位置,不刻意追求磁链幅值的恒定,和电流转矩一样在限制最大值的前提下,动态调整磁链,实现了转矩的快速响应,提高了系统效率。本论文在电流定向控制理论的指导下,设计了基于单结构电流模型的控制系统结构,以定子电流为控制对象,分析了定子电流定向控制的转矩特性。
针对PMSM的研究现状,在分析PMSM的结构、种类、和磁路特性的基础上,推导出PMSM定子电流定向控制的理论基础,并且在低速运行的状态下进行系统仿真研究。利用TI公司生产的TMS320LF2407A芯片设计了永磁同步电动机位置控制系统的硬件电路,通过仿真和实验证明,定子电流定向控制带大惯性负载的控制优势。
With modern scientific and technological progress, in recent decades, the rapiddevelopment of microelectronics technology, computer technology and power electronicsprovides technical support for the progress of AC electric drive control, and control theorydevelopment provides a theoretical basis for people to develop advanced AC motor controlstrategy.thewideapplicationoftherotorfluxorientedvectorcontroland thestatorfluxorienteddirecttorquecontrolmakeACdrivecontrolsystemdominategradually.
The key of VC and DTC is to control the flux linkage. Whereas, for the AC motor, thestator flux and rotor flux are both middle variables. What determines the performance of ACmotor is stator magnetomotive force (current). In this paper, the stator current oriented controlcontrols the stator current directly instead of those middle variables. The stator current orientedcontrol system deduces the rotating angle of d-axes component of stator current by using thesynchronized-angle solution of slip frequency control for reference. The stator current isdisassembled into two parts to control respectively following the vector control theory. Torquestep change is realized by using the main measure of changing angle in DTC for reference.During the control period, the amplitude and position of stator current are regulated at the sametime. The constant flux amplitude is never pursued painstakingly. Just the same as the currentand torque control, regulate the flux linkage dynamicallyon the premise of maximum limitationand the fast torque response and high efficiency are got. In this paper, on the basis of currentorientation control theory, the control system structure which is based on single-structure currentmodel is established. Starting with stator current, analyse torque characteristic based on statorcurrentorientation.
Against PMSM research Status, on the basis of analysis the structure, types andcharacteristics of magnetic circuit of PMSM, we derive PMSM stator current orientation controltheory basis, and carry out system simulation studies in low-speed operation. UsingTMS320LF2407A chip of TI, we design hardware circuit of the PMSM position control system,simulation and experiment proved stator current orientation control of the inertial loadadvantagesofcontrol.
引文
[1] 陈伯时.高性能交流调速系统的发展与演变(I),电力电子技术,2(1),2004:33-35
[2] 陈伯时.电力拖动自动控制系统(第三版).北京:机械工业出版社,2005
[3] 王聪,赵金,于广庆,等译.现代电力电子学与交流传动.北京:机械工业出版社,2005
[4] 王正元,自动化、电力电子和电动机的发展.自动化博览,2006,6:1-4
[5] 叶斌.电力电子应用技术.北京,清华大学出版社,2006
[6] 李华德.交流调速系统.北京:电子工业出版社,2003
[7] 李崇坚.交流同步电机调速系统.北京:科学出版社,2006
[8] 舒志兵.交流伺服运动控制系统.北京:清华大学出版社,2006
[9] 李崇坚.大功率轧机交流调速技术的发展[J].冶金自动化,2004,28(zl):113~119
[10] L.洛伦茨.先进功率半导体器件发展系统工程学的新方向.电力电子,20042(3):9-12
[11] 吴守箴,臧英杰.电气传动脉宽调制控制技术.第二版.北京:机械工业出版社,2003
[12] 杨耕,王焕钢.有关矢量控制和直接转矩控制的一些改进方案,电力电子技术,2(1),2004:24-28
[13] 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):13~26
[14] 马小亮.对异步机矢量控制和直接转矩控制的思考.电力电子,2004,2(1):10-13
[15] 冯朵生,曾岳南.无速度传感器矢量控制原理与实践.北京:机械工业出版社,2006
[16] 李永东,李明才.感应电机高性能无速度传感器控制系统—回顾、现状与展望.电气传动,2004,34(1):4~10
[17] 李家荣.无速度传感器异步电机矢量控制系统的研究.机械与电子,2005,7:25~30
[18] 王 家 军 , 赵 光 宙 , 齐 冬 莲 . 无 速 度 传 感 器 永 磁 同 步 电 动 机 反 推 控 制 . 控 制 理 论 与 应用,2005,22(4):658~660
[19] Xu J X,Lee T H,Pan Y J.On the sliding mode control for DC servo,mechanisms in the presenceof unmodeled dynamics[J].Mechatronics,2003,13:755~770
[20] 宋 立 忠 , 陈 少 昌 , 姚 琼 荟 . 多 输 入 不 确 定 系 统 离 散 变 结 构 控 制 设 计 [J]. 控 制 与 决策,2003,18(4):468~471
[21] Lin F J,Chou W D.An induction motor servo drive using sliding mode controller with geneticalgorithm.Electric Power Systems Research.2003,64(2):93~108
[22] Wai R J,Lin C M,Hsu C F.Adaptive fuzzy sliding mode control for electrical servodrive[J].Fuzzy Sets and Systems,2004,143:295~310
[23] 李鹤轩,李杨 译.异步电动机控制.北京:机械工业出版社,2003
[24] 赵希梅,郭庆鼎,孙宜标.永磁直线同步伺服电机的零相位二自由度 H—鲁棒跟踪控制.电工技术学报,2004,19(10):32~37
[25] 梁艳,李永东.无传感器永磁同步电机矢量控制系统概述.电气传动,2003,33(4):4~9
[26] 胡家兵,贺益康,年衍,等.基于磁饱和凸极效应面贴式 PMSM 零速下无传感器技术[J].中国电机工程学报,2006,26(10):152~157
[27] Young Sam Kim,Sang Kyoon Kim,et al.MRAS based sensorless control of permanent magnetsynchronous motor[C].IEEE.SICE Annual Conference,Fului,Japan,2003,1632~1637
[28] 王晓明,王玲,电动机的 DSP 控制—TI 公司 DSP 应用.北京:北京航空航天大学出版社,2004
[29] 曾毅,李永东,DSP 在现代电力电子与交流电机控制系统中的应用.自动化博览,2003,177-181
[30] Telford,Dwayne,Dunnigan,Matthew W,Williams,Barry W.Online identification of inductionmachine electrical parameters for vector control loop tuning.IEEE Transactions onIndustrial Electronics,2003,50(2):253-261
[31] Karanayil,B,Rahman M.F,Grantham C,Implementation of an on-line resistance estimationusing Artificial Neural Networks for vector controlled induction motor drive.IECONProceedings,2003,2:1703-1708
[32] Karanayil,Baburaj Rahman,Muhammed Fazlur,Grantham,Colin.On-line Stator and RotorResistance Estimation Scheme for Vector Controlled Induction motor Drive using ArtificialNeural Networks.Conference Record - IAS Annual Meeting 2003,1:132-139
[33] 阮毅,王红梅,周家顺,陈伯时,单神经元智能控制交流调速系统,2003 台达电力电子新技术研讨会论文集,杭州,2003.
[34] 林飞,张春朋,宋文超,等.基于转子磁场定向的异步电机输入输出解耦控制,清华大学学报(自然科学版),2003,43(9),1153-1156
[35] 张春朋,林飞,宋文超,等.基于定子电流矢量定向的异步电机转子磁链估计器及其应用研究,中国电机工程学报,2003,23(8),155-158
[36] 谢鸿鸣.交流异步电动机按定子磁链定向的电流矢量控制,[博士学位论文],上海:上海大学,2000
[37] Romeral,Luis,Arias,Antoni;Aldabas,Emiliano;Jayne,Marcel G.Novel direct torque control(DTC) scheme with fuzzy adaptive torque-ripple reduction.IEEE Transactions on IndustrialElectronics,2003,50(3):487-492
[38] Cirrincione Giansalvo,Cirrincione Maurizio,Lu,Chuan,Pucci Marcello,Direct TorqueControl of Induction Motors by Use of the GMR Neural Network Proceedings of theInternational Joint Conference on Neural Networks,2003,3:2106-2111
[39] Kaboli, S, Zolghadri, M.R, Roye, D., Guiraud, J., Crebier, J.-C. Design and implementationof a predictive controller for reducing the torque ripple in direct torque control basedinduction motor drives PESC Record - IEEE Annual Power Electronics Specialists Conference,v 1, 2004 IEEE 35th Annual Power Electronics Specialists Conference, PESC4, 2004, 476-481
[40] Djordje Stojic Slobodan Vukosavic, Induction motro drive based on the stator flux vectorcontrol,Wlectrical Engineering ,2005,87,23-32.
[41] 刘宗富,王旭. 电机控制的若干问题,自动化博览,二十周年纪念专刊,2003,160-162
[42] 汤蕴璆,张奕黄,范瑜.交流电机动态分析.北京:机械工业出版社,2005
[43] 李永东.交流电机数字控制系统.北京:机械工业出版社,2003
[44] 金鹏电子有限公司,B 系列(改进型)中文液晶显示模块使用说明书.
[2] 陈伯时.电力拖动自动控制系统(第三版).北京:机械工业出版社,2005
[3] 王聪,赵金,于广庆,等译.现代电力电子学与交流传动.北京:机械工业出版社,2005
[4] 王正元,自动化、电力电子和电动机的发展.自动化博览,2006,6:1-4
[5] 叶斌.电力电子应用技术.北京,清华大学出版社,2006
[6] 李华德.交流调速系统.北京:电子工业出版社,2003
[7] 李崇坚.交流同步电机调速系统.北京:科学出版社,2006
[8] 舒志兵.交流伺服运动控制系统.北京:清华大学出版社,2006
[9] 李崇坚.大功率轧机交流调速技术的发展[J].冶金自动化,2004,28(zl):113~119
[10] L.洛伦茨.先进功率半导体器件发展系统工程学的新方向.电力电子,20042(3):9-12
[11] 吴守箴,臧英杰.电气传动脉宽调制控制技术.第二版.北京:机械工业出版社,2003
[12] 杨耕,王焕钢.有关矢量控制和直接转矩控制的一些改进方案,电力电子技术,2(1),2004:24-28
[13] 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):13~26
[14] 马小亮.对异步机矢量控制和直接转矩控制的思考.电力电子,2004,2(1):10-13
[15] 冯朵生,曾岳南.无速度传感器矢量控制原理与实践.北京:机械工业出版社,2006
[16] 李永东,李明才.感应电机高性能无速度传感器控制系统—回顾、现状与展望.电气传动,2004,34(1):4~10
[17] 李家荣.无速度传感器异步电机矢量控制系统的研究.机械与电子,2005,7:25~30
[18] 王 家 军 , 赵 光 宙 , 齐 冬 莲 . 无 速 度 传 感 器 永 磁 同 步 电 动 机 反 推 控 制 . 控 制 理 论 与 应用,2005,22(4):658~660
[19] Xu J X,Lee T H,Pan Y J.On the sliding mode control for DC servo,mechanisms in the presenceof unmodeled dynamics[J].Mechatronics,2003,13:755~770
[20] 宋 立 忠 , 陈 少 昌 , 姚 琼 荟 . 多 输 入 不 确 定 系 统 离 散 变 结 构 控 制 设 计 [J]. 控 制 与 决策,2003,18(4):468~471
[21] Lin F J,Chou W D.An induction motor servo drive using sliding mode controller with geneticalgorithm.Electric Power Systems Research.2003,64(2):93~108
[22] Wai R J,Lin C M,Hsu C F.Adaptive fuzzy sliding mode control for electrical servodrive[J].Fuzzy Sets and Systems,2004,143:295~310
[23] 李鹤轩,李杨 译.异步电动机控制.北京:机械工业出版社,2003
[24] 赵希梅,郭庆鼎,孙宜标.永磁直线同步伺服电机的零相位二自由度 H—鲁棒跟踪控制.电工技术学报,2004,19(10):32~37
[25] 梁艳,李永东.无传感器永磁同步电机矢量控制系统概述.电气传动,2003,33(4):4~9
[26] 胡家兵,贺益康,年衍,等.基于磁饱和凸极效应面贴式 PMSM 零速下无传感器技术[J].中国电机工程学报,2006,26(10):152~157
[27] Young Sam Kim,Sang Kyoon Kim,et al.MRAS based sensorless control of permanent magnetsynchronous motor[C].IEEE.SICE Annual Conference,Fului,Japan,2003,1632~1637
[28] 王晓明,王玲,电动机的 DSP 控制—TI 公司 DSP 应用.北京:北京航空航天大学出版社,2004
[29] 曾毅,李永东,DSP 在现代电力电子与交流电机控制系统中的应用.自动化博览,2003,177-181
[30] Telford,Dwayne,Dunnigan,Matthew W,Williams,Barry W.Online identification of inductionmachine electrical parameters for vector control loop tuning.IEEE Transactions onIndustrial Electronics,2003,50(2):253-261
[31] Karanayil,B,Rahman M.F,Grantham C,Implementation of an on-line resistance estimationusing Artificial Neural Networks for vector controlled induction motor drive.IECONProceedings,2003,2:1703-1708
[32] Karanayil,Baburaj Rahman,Muhammed Fazlur,Grantham,Colin.On-line Stator and RotorResistance Estimation Scheme for Vector Controlled Induction motor Drive using ArtificialNeural Networks.Conference Record - IAS Annual Meeting 2003,1:132-139
[33] 阮毅,王红梅,周家顺,陈伯时,单神经元智能控制交流调速系统,2003 台达电力电子新技术研讨会论文集,杭州,2003.
[34] 林飞,张春朋,宋文超,等.基于转子磁场定向的异步电机输入输出解耦控制,清华大学学报(自然科学版),2003,43(9),1153-1156
[35] 张春朋,林飞,宋文超,等.基于定子电流矢量定向的异步电机转子磁链估计器及其应用研究,中国电机工程学报,2003,23(8),155-158
[36] 谢鸿鸣.交流异步电动机按定子磁链定向的电流矢量控制,[博士学位论文],上海:上海大学,2000
[37] Romeral,Luis,Arias,Antoni;Aldabas,Emiliano;Jayne,Marcel G.Novel direct torque control(DTC) scheme with fuzzy adaptive torque-ripple reduction.IEEE Transactions on IndustrialElectronics,2003,50(3):487-492
[38] Cirrincione Giansalvo,Cirrincione Maurizio,Lu,Chuan,Pucci Marcello,Direct TorqueControl of Induction Motors by Use of the GMR Neural Network Proceedings of theInternational Joint Conference on Neural Networks,2003,3:2106-2111
[39] Kaboli, S, Zolghadri, M.R, Roye, D., Guiraud, J., Crebier, J.-C. Design and implementationof a predictive controller for reducing the torque ripple in direct torque control basedinduction motor drives PESC Record - IEEE Annual Power Electronics Specialists Conference,v 1, 2004 IEEE 35th Annual Power Electronics Specialists Conference, PESC4, 2004, 476-481
[40] Djordje Stojic Slobodan Vukosavic, Induction motro drive based on the stator flux vectorcontrol,Wlectrical Engineering ,2005,87,23-32.
[41] 刘宗富,王旭. 电机控制的若干问题,自动化博览,二十周年纪念专刊,2003,160-162
[42] 汤蕴璆,张奕黄,范瑜.交流电机动态分析.北京:机械工业出版社,2005
[43] 李永东.交流电机数字控制系统.北京:机械工业出版社,2003
[44] 金鹏电子有限公司,B 系列(改进型)中文液晶显示模块使用说明书.