矿山牵引电机车控制系统的研究
发布时间：2018-09-14 09:31
【摘要】：以电气传动驱动的矿山牵引电机车作为矿山广泛使用的一种重要运载工具，其工作环境复杂，供电可靠性低，运行轨道条件差，超载现象突出。因此，矿山牵引电机车需具有大力矩起动、调速平稳、运行可靠、过载能力突出和抗干扰能力强等优越性以满足矿山牵引的要求。 我国矿山牵引电机车大多采用直流串励电动机作为牵引电动机。伴随着电力电子技术、微电子技术、控制理论和信息技术的不断发展，各类电气传动系统正在越来越多的被国内外学者和工程技术人员开发与研究，交流异步电动机调速技术日趋成熟，交流异步电机在矿山牵引领域正逐步取代直流电机。 异步电动机的控制方法可分为基于稳态模型和基于动态模型两种。基于稳态模型的控制方法主要采用转速开环变压变频控制，系统结构简单，成本较低，但调速性能较差；基于动态模型的控制方法主要是矢量控制和直接转矩控制，系统结构复杂，调速性能优越，能够满足高性能控制要求。论文以矿山牵引电机车为研究对象展开研究，主要的研究工作如下： 1.分析研究异步电动机的动态数学模型，在旋转坐标系下根据电动机在不同频率下获取最大输出转矩时的电压电流约束条件进行了弱磁控制分析。研究异步电机的机械特性和牵引电机车的牵引特性，得出异步电机作为牵引电机车的牵引电机，其特性与牵引电机车的牵引特性相吻合。 2.从矿山牵引电机车牵引力出发，把牵引电机车和装载车的各种负载归结为综合负载，以电机车的力矩传递为主线把牵引电机、齿轮箱、轮对和轨道面等各种因素折算到电机侧，建立了矿山牵引电机车双电机拖动一体化模型。 3.针对矿山牵引电机车的实际工况，比较直接转矩控制和矢量控制两种控制方案，在选用矢量控制策略作为电机车控制方案的基础上，提出矿山牵引力矩模式控制方法，结合速度闭环控制，提出了适合于矿山牵引的速度模式和力矩模式混合控制方法。 4.分析直流母线电压波动对矿山牵引控制系统的不利因素，提出了抑制母线电压波动的前馈补偿控制方法，并对控制方法进行了验证。 5.分析研究无速度传感器控制方案，提出了利用转矩电流微分进行同步转速估算的方法，并给出了转速估算环节的核心算法。通过仿真验证表明该方法估算转速算法正确，采用该方法的调速系统具有良好的动、静态性能。能够满足矿山牵引电机车应用的要求。 6.设计了矿山牵引电机车驱动部分的软、硬件系统。通过有速度和无速度传感器矢量控制大、小功率实验平台和牵引电机车产品样机的实际测试，验证控制系统的相关性能指标。给出了在不同实验平台上的实验结果，包括电机特性的相关测试结果，，产品样机在牵引电机车测试平台和矿山现场的实验测试结果。 实验和运行结果表明系统起动力矩大，过载能力强；稳速性能好，动态响应快；调速范围宽，能在低速和弱磁恒功率区域平稳运行；速度和力矩模式灵活切换，满足矿山牵引电机车的要求。
[Abstract]:Electrically driven mine traction locomotive is an important vehicle widely used in mines. It has complex working environment, low reliability of power supply, poor running track conditions and outstanding overload phenomenon. Therefore, mine traction locomotive needs to have a strong torque starting, stable speed regulation, reliable operation, outstanding overload capacity and strong anti-interference ability. And other advantages to meet the requirements of mine traction.
With the continuous development of power electronics, microelectronics, control theory and information technology, more and more scholars and engineers at home and abroad are developing and researching all kinds of electric drive systems, and the speed control technology of AC asynchronous motors. As the technology becomes more mature, AC asynchronous motors are gradually replacing DC motors in the field of mine traction.
The control methods of asynchronous motor can be divided into steady-state model and dynamic model. The control methods based on steady-state model mainly adopt speed open-loop variable voltage and frequency control, the system structure is simple, the cost is low, but the speed control performance is poor. The control methods based on dynamic model mainly include vector control and direct torque control. The structure is complex and the speed regulation performance is superior, which can meet the requirements of high performance control.
1. The dynamic mathematic model of asynchronous motor is analyzed, and the flux-weakening control is analyzed in the rotating coordinate system according to the voltage and current constraints when the motor achieves the maximum output torque at different frequencies. The characteristics of the traction motor are consistent with the traction characteristics of the traction electric locomotive.
2. Starting from the traction force of mine traction electric locomotive, the various loads of traction electric locomotive and loading electric locomotive are summed up as comprehensive loads, and the factors such as traction motor, gearbox, wheelset and track surface are converted to the motor side by the torque transmission of electric locomotive. The integrated model of mine traction electric locomotive with two motors is established.
3. In view of the actual working conditions of mine traction locomotive, the direct torque control and vector control are compared. On the basis of choosing vector control strategy as locomotive control scheme, the mine traction torque mode control method is proposed. Combined with speed closed-loop control, the speed mode and torque mode suitable for mine traction are proposed. Hybrid control method.
4. The unfavorable factors of DC bus voltage fluctuation to mine traction control system are analyzed, and the feedforward compensation control method to restrain bus voltage fluctuation is proposed, and the control method is verified.
5. The sensorless control scheme is analyzed and studied, and the method of estimating synchronous speed by torque current differential is put forward, and the core algorithm of estimating speed is given. The simulation results show that the method is correct, and the speed control system with this method has good dynamic and static performance. Requirements for application of electric locomotive.
6. The software and hardware system of the driving part of the mine traction electric locomotive are designed. The performance indexes of the control system are verified by the actual test of the large and small power experimental platform with speed and sensorless vector control and the prototype of the traction electric locomotive. The experimental results on different experimental platforms are given, including the correlation of the motor characteristics. Test results, the prototype test results of traction motor vehicle test platform and mine site.
The results of experiment and operation show that the system has large starting torque and strong overload capacity, good speed stability and fast dynamic response, wide speed range and stable operation in low speed and weak magnetic constant power region, and flexible switching of speed and torque modes to meet the requirements of mine traction locomotive.
【学位授予单位】：上海大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM922.71
本文编号：2242325
[Abstract]:Electrically driven mine traction locomotive is an important vehicle widely used in mines. It has complex working environment, low reliability of power supply, poor running track conditions and outstanding overload phenomenon. Therefore, mine traction locomotive needs to have a strong torque starting, stable speed regulation, reliable operation, outstanding overload capacity and strong anti-interference ability. And other advantages to meet the requirements of mine traction.
With the continuous development of power electronics, microelectronics, control theory and information technology, more and more scholars and engineers at home and abroad are developing and researching all kinds of electric drive systems, and the speed control technology of AC asynchronous motors. As the technology becomes more mature, AC asynchronous motors are gradually replacing DC motors in the field of mine traction.
The control methods of asynchronous motor can be divided into steady-state model and dynamic model. The control methods based on steady-state model mainly adopt speed open-loop variable voltage and frequency control, the system structure is simple, the cost is low, but the speed control performance is poor. The control methods based on dynamic model mainly include vector control and direct torque control. The structure is complex and the speed regulation performance is superior, which can meet the requirements of high performance control.
1. The dynamic mathematic model of asynchronous motor is analyzed, and the flux-weakening control is analyzed in the rotating coordinate system according to the voltage and current constraints when the motor achieves the maximum output torque at different frequencies. The characteristics of the traction motor are consistent with the traction characteristics of the traction electric locomotive.
2. Starting from the traction force of mine traction electric locomotive, the various loads of traction electric locomotive and loading electric locomotive are summed up as comprehensive loads, and the factors such as traction motor, gearbox, wheelset and track surface are converted to the motor side by the torque transmission of electric locomotive. The integrated model of mine traction electric locomotive with two motors is established.
3. In view of the actual working conditions of mine traction locomotive, the direct torque control and vector control are compared. On the basis of choosing vector control strategy as locomotive control scheme, the mine traction torque mode control method is proposed. Combined with speed closed-loop control, the speed mode and torque mode suitable for mine traction are proposed. Hybrid control method.
4. The unfavorable factors of DC bus voltage fluctuation to mine traction control system are analyzed, and the feedforward compensation control method to restrain bus voltage fluctuation is proposed, and the control method is verified.
5. The sensorless control scheme is analyzed and studied, and the method of estimating synchronous speed by torque current differential is put forward, and the core algorithm of estimating speed is given. The simulation results show that the method is correct, and the speed control system with this method has good dynamic and static performance. Requirements for application of electric locomotive.
6. The software and hardware system of the driving part of the mine traction electric locomotive are designed. The performance indexes of the control system are verified by the actual test of the large and small power experimental platform with speed and sensorless vector control and the prototype of the traction electric locomotive. The experimental results on different experimental platforms are given, including the correlation of the motor characteristics. Test results, the prototype test results of traction motor vehicle test platform and mine site.
The results of experiment and operation show that the system has large starting torque and strong overload capacity, good speed stability and fast dynamic response, wide speed range and stable operation in low speed and weak magnetic constant power region, and flexible switching of speed and torque modes to meet the requirements of mine traction locomotive.
【学位授予单位】：上海大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TM922.71
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