变频驱动异步电动机最小损耗快速响应控制研究
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摘要
变频调速技术以其优良的调速性能、显著的节电效果和广泛的适用性已成为现代工业节能降耗、改善控制性能的一种重要手段。但是,无论采用普通压频比控制,还是高性能的矢量控制策略,当电机远离额定工作点运行时,特别是在轻载、低速工况下,其效率远不是最优的。近年来,随着国际能源形势日趋紧张以及人们对机电设备高性能化的要求不断提高,应用广泛的变频驱动异步电动机的最小损耗控制问题引起了人们的强烈关注。特别是随着电动汽车研究热潮的兴起,电动汽车对其异步电机变频驱动系统提出了更加苛刻的要求,不但要求损耗最小,而且要求响应速度快。实际上,同时满足这两方面的要求是相当困难的,迄今为止,还没有满意的解决方案,无论在理论上还是在实践上都存在不少值得探究的问题,特别是快速响应控制问题,目前国内几乎尚未开展这方面的研究。
对于诸如电动汽车这类对节能和动态控制性能都有较高要求的应用场合,实现其异步电机驱动系统的最优控制有三个关键问题:一是如何获取最优转子磁链,实现最小损耗控制;二是设计快速动态响应控制策略,避免因弱磁优化控制而引起的系统动态性能下降;三是设计高性能闭环控制策略,使系统在参数时变、磁链变化大和存在负载扰动等情况下仍具有优良的调速性能。本文以电动汽车电驱动系统为研究背景,综合运用最优化理论和电机控制理论深入研究了其最小损耗控制策略和快速响应控制策略,并应用自抗扰控制理论设计了高性能闭环控制器,通过大量的仿真和实验研究验证了这些新方法的有效性,得到了一些富有创新性的研究成果,为电动汽车电驱动系统效率最优控制提供了有效的解决方案。
本文首先讨论了变频调速及其控制技术、电动汽车电驱动系统及变频驱动异步电动机最小损耗控制的发展历史与研究现状,深入分析了近年来涌现出来的最小损耗控制策略,包括损耗模型控制、在线搜索控制和最小定子电流控制等策略的特点及其存在的不足,并指出了该领域目前的研究热点。
深入分析异步电动机损耗特性和考虑铁损的异步电机数学模型,建立了矢量控制变频驱动异步电机的损耗模型,导出了基于模型的最小损耗控制策略,揭示了最优磁链的变化规律。进而设计了基于TMS320LF2407A DSP和最小损耗控制策略的异步电机变频调速实验系统,完成了大量的实验研究,实验结果表明:在电机稳态运行时,应用最小损耗控制策略能获得满意的节能效果和控制性能,特别是在轻载高速情况下的节能效果更优于重载低速的情况。为了解决最小损耗控制精度受异步
Variable Frequency Variable Speed (VFVS) technology has becoming the primary method to save energy and improve operation performance with its excellent variable speed behavior, remarkable energy-conservation and wide applicability. However, when operation points deflect from rated point, the efficiency of the motors will not be optimal whether by V/F control or vector control, especially in the case of light load and low speed. In recent years, along with tenser international energy situation and increasing requirement of high operation performance, the loss minimization control of IM attracts more and more attention. Now, the research of electric vehicles is no doubt a hotspot, whose drive-train system strictly demands both the least losses and fast response. In fact, to meet both demands is so hard that there has not been any satisfied solution yet. Some existed problems, especially fast response problem, are still to be discussed.As to the cases such as electric vehicles, which have a high demand not only for energy- conservation but also for good control performance, there are three vital problems to solve to realize the optimal control of their drive-train systems. First is how to obtain optimal rotor flux linkage for loss minimization control; Second is to design fast response control strategy to avoid the descending of dynamic performance caused by the flux linkage optimal control; Third is to design high performance closed loop control strategy to make the system keep excellent variable-speed behavior under the situations of time-varied parameters, variable flux linkage and variable load, etc. Under the background of electric vehicles, this paper studies on the loss minimization control strategy and fast response control strategy in detail, and designs a high performance closed-loop controller by the aid of the self-disturbance rejection theory. Simulations and experiments results prove the validity of these new methods, whilst fruitful innovative results are obtained, which provide effective solutions for the efficiency optimal control of the electric vehicles' drive-train systems.In this paper, the development and research situation of the VFVS and its control technology are discussed at first, so are the drive-train system in electric vehicles and the motor's loss minimization control. After that, the loss minimization control strategies have been analyzed in detail, which spring out recently. The research hotspots in this field are pointed out.On the basis of detailed analysis of the asynchronous motor's loss behavior and its mathematical model including the iron losses, a kind of loss model control strategy is deduced and the variety law of the optimal flux linkage is illustrated. And then, an experimental system is designed based on the TMS320LF2407A DSP and the strategy above, and a large number of corresponding experiments are completed. The experimental results show that, the proposed strategy can well satisfy our demand under stable state and speed changing. To be noted, the energy conservation effect in the light-load, high-speed situation is superior to that in the heavy-load, low-speed situation. To solve the problem that the control precision of the strategy above is influenced by the parameters of asynchronous motor, the gradual memory erase RLS algorithm is introduced into the parameter estimation of asynchronous motor's loss model, followed by the loss minimization control strategy considering the motor parameter's time-variant,
which improves the system's precision and robustness.Based on gradient algorithm and golden section method, the search controllers are designed to optimize the efficiency of the asynchronous motor to avoid the parameter change's influence to loss minimization control. The simulation results indicate that the convergence speed of golden section method is obviously superior to that of the gradient algorithm; however in the former search process, the fluctuation of flux linkage is not reduced. So the improved golden section algorithm is proposed, the validity of which is verified through theoretical analysis and experiments. Combined the advantages both of loss model controller and the search controller, a novel hybrid loss minimization control strategy is presented. The steps are as follows: first, get the approximate optimal flux linkage according to the loss model; second, find operation point with the minimal input power by on-line search. Simulation and experiment verify that, this hybrid strategy, which has rapid convergence speed and robustness, is a promising method to efficiency optimization of asynchronous motor.In the traditional loss minimization control system, the improvement of the efficiency is at the cost of deterioration of the dynamic response. Aimed at the problem above, a fast response control strategy is studied based on the current dynamic assignment. The experiment results indicate that this method will decrease the dynamic speed dropping and reduce dynamic adjustment time. Inspired by the ideas of voltage space vector and direct torque control, a new strategy which directly composes the voltage vector is proposed, which realizes the high behavior control in the dynamic process of load variety. Different from both the direct torque control and the classical vector control, this scheme combines vector control's good stable performance and direct torque control's fast dynamical response, whilst it does not increase any hardware in control system. Simulation results show that, this scheme, which has excellent dynamic performance, notably reduces the speed-fall of loss minimization control system when load changes. It is indeed an efficient solution to the contradiction between the loss minimization and fast response control.The asynchronous motor is a complicated, nonlinear, multi-variable, parameter time-variant controlled object. Especially in the drive-train system with loss minimization control strategy to adopt, the change of flux linkage will inevitably bring perturbations into the system and make it unstable. Therefore, a closed loop controller with high performance and its parameter-adjustable scheme are designed by means of nonlinear self-disturbance rejection control theory. Experiment results illustrate that, compared to the classical PI controllers, the proposed controller has faster speed-tracking performance and better anti-disturbance performance, and provides good references for closed loop strategy selection in loss minimization control system.
对于诸如电动汽车这类对节能和动态控制性能都有较高要求的应用场合,实现其异步电机驱动系统的最优控制有三个关键问题:一是如何获取最优转子磁链,实现最小损耗控制;二是设计快速动态响应控制策略,避免因弱磁优化控制而引起的系统动态性能下降;三是设计高性能闭环控制策略,使系统在参数时变、磁链变化大和存在负载扰动等情况下仍具有优良的调速性能。本文以电动汽车电驱动系统为研究背景,综合运用最优化理论和电机控制理论深入研究了其最小损耗控制策略和快速响应控制策略,并应用自抗扰控制理论设计了高性能闭环控制器,通过大量的仿真和实验研究验证了这些新方法的有效性,得到了一些富有创新性的研究成果,为电动汽车电驱动系统效率最优控制提供了有效的解决方案。
本文首先讨论了变频调速及其控制技术、电动汽车电驱动系统及变频驱动异步电动机最小损耗控制的发展历史与研究现状,深入分析了近年来涌现出来的最小损耗控制策略,包括损耗模型控制、在线搜索控制和最小定子电流控制等策略的特点及其存在的不足,并指出了该领域目前的研究热点。
深入分析异步电动机损耗特性和考虑铁损的异步电机数学模型,建立了矢量控制变频驱动异步电机的损耗模型,导出了基于模型的最小损耗控制策略,揭示了最优磁链的变化规律。进而设计了基于TMS320LF2407A DSP和最小损耗控制策略的异步电机变频调速实验系统,完成了大量的实验研究,实验结果表明:在电机稳态运行时,应用最小损耗控制策略能获得满意的节能效果和控制性能,特别是在轻载高速情况下的节能效果更优于重载低速的情况。为了解决最小损耗控制精度受异步
Variable Frequency Variable Speed (VFVS) technology has becoming the primary method to save energy and improve operation performance with its excellent variable speed behavior, remarkable energy-conservation and wide applicability. However, when operation points deflect from rated point, the efficiency of the motors will not be optimal whether by V/F control or vector control, especially in the case of light load and low speed. In recent years, along with tenser international energy situation and increasing requirement of high operation performance, the loss minimization control of IM attracts more and more attention. Now, the research of electric vehicles is no doubt a hotspot, whose drive-train system strictly demands both the least losses and fast response. In fact, to meet both demands is so hard that there has not been any satisfied solution yet. Some existed problems, especially fast response problem, are still to be discussed.As to the cases such as electric vehicles, which have a high demand not only for energy- conservation but also for good control performance, there are three vital problems to solve to realize the optimal control of their drive-train systems. First is how to obtain optimal rotor flux linkage for loss minimization control; Second is to design fast response control strategy to avoid the descending of dynamic performance caused by the flux linkage optimal control; Third is to design high performance closed loop control strategy to make the system keep excellent variable-speed behavior under the situations of time-varied parameters, variable flux linkage and variable load, etc. Under the background of electric vehicles, this paper studies on the loss minimization control strategy and fast response control strategy in detail, and designs a high performance closed-loop controller by the aid of the self-disturbance rejection theory. Simulations and experiments results prove the validity of these new methods, whilst fruitful innovative results are obtained, which provide effective solutions for the efficiency optimal control of the electric vehicles' drive-train systems.In this paper, the development and research situation of the VFVS and its control technology are discussed at first, so are the drive-train system in electric vehicles and the motor's loss minimization control. After that, the loss minimization control strategies have been analyzed in detail, which spring out recently. The research hotspots in this field are pointed out.On the basis of detailed analysis of the asynchronous motor's loss behavior and its mathematical model including the iron losses, a kind of loss model control strategy is deduced and the variety law of the optimal flux linkage is illustrated. And then, an experimental system is designed based on the TMS320LF2407A DSP and the strategy above, and a large number of corresponding experiments are completed. The experimental results show that, the proposed strategy can well satisfy our demand under stable state and speed changing. To be noted, the energy conservation effect in the light-load, high-speed situation is superior to that in the heavy-load, low-speed situation. To solve the problem that the control precision of the strategy above is influenced by the parameters of asynchronous motor, the gradual memory erase RLS algorithm is introduced into the parameter estimation of asynchronous motor's loss model, followed by the loss minimization control strategy considering the motor parameter's time-variant,
which improves the system's precision and robustness.Based on gradient algorithm and golden section method, the search controllers are designed to optimize the efficiency of the asynchronous motor to avoid the parameter change's influence to loss minimization control. The simulation results indicate that the convergence speed of golden section method is obviously superior to that of the gradient algorithm; however in the former search process, the fluctuation of flux linkage is not reduced. So the improved golden section algorithm is proposed, the validity of which is verified through theoretical analysis and experiments. Combined the advantages both of loss model controller and the search controller, a novel hybrid loss minimization control strategy is presented. The steps are as follows: first, get the approximate optimal flux linkage according to the loss model; second, find operation point with the minimal input power by on-line search. Simulation and experiment verify that, this hybrid strategy, which has rapid convergence speed and robustness, is a promising method to efficiency optimization of asynchronous motor.In the traditional loss minimization control system, the improvement of the efficiency is at the cost of deterioration of the dynamic response. Aimed at the problem above, a fast response control strategy is studied based on the current dynamic assignment. The experiment results indicate that this method will decrease the dynamic speed dropping and reduce dynamic adjustment time. Inspired by the ideas of voltage space vector and direct torque control, a new strategy which directly composes the voltage vector is proposed, which realizes the high behavior control in the dynamic process of load variety. Different from both the direct torque control and the classical vector control, this scheme combines vector control's good stable performance and direct torque control's fast dynamical response, whilst it does not increase any hardware in control system. Simulation results show that, this scheme, which has excellent dynamic performance, notably reduces the speed-fall of loss minimization control system when load changes. It is indeed an efficient solution to the contradiction between the loss minimization and fast response control.The asynchronous motor is a complicated, nonlinear, multi-variable, parameter time-variant controlled object. Especially in the drive-train system with loss minimization control strategy to adopt, the change of flux linkage will inevitably bring perturbations into the system and make it unstable. Therefore, a closed loop controller with high performance and its parameter-adjustable scheme are designed by means of nonlinear self-disturbance rejection control theory. Experiment results illustrate that, compared to the classical PI controllers, the proposed controller has faster speed-tracking performance and better anti-disturbance performance, and provides good references for closed loop strategy selection in loss minimization control system.
引文
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