感应电机控制系统传感器故障的容错控制策略研究

发布时间：2018-03-08 15:28

本文选题：传感器故障　切入点：故障诊断　出处：《江南大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着电力电子技术、功率半导体技术以及现代控制理论的发展,感应电机控制技术日益成熟,感应电机控制系统以其价格低廉、控制简单、使用方便、效率高、节能等特点被广泛应用。然而在不恰当的操作或者意外情况下仍然会出现各种故障,一旦发生故障,如不能及时诊断并处理会造成极大的经济损失,甚至人身伤害。另外,在一些特殊的应用场合,当电机系统出现故障时,并不能立即停机维修,必须保持系统的连续运行。因此,为了进一步提高感应电机系统运行的可靠性,减小故障停机时间,降低故障带来的损失,研究感应电机控制系统的故障诊断以及容错控制意义重大。论文针对感应电机控制系统中电流和速度传感器,进行故障诊断及容错控制策略研究。阐述了故障诊断及容错控制的概念,介绍了传感器的故障种类以及针对传感器故障诊断和容错控制的国内外研究现状。详细阐述了感应电机的数学模型以及矢量控制原理,为设计故障诊断及容错控制策略奠定理论基础。感应电机是一个非线性、强耦合、多变量的高阶系统,考虑系统中的不确定性,采用多项式混沌理论设计电流状态观测器,基于该观测器对电流传感器进行状态监测,从而实现对电流传感器的故障诊断及系统的容错控制;再将该观测器与李雅普诺夫原理结合,设计速度估计器,进一步实现对速度的估计,以此实现对速度传感器的故障监测。通过MATLAB仿真验证了上述方法的有效性。同时也分析了在启动阶段该方法对速度估计性能较差的原因。为提高速度估计精度,结合滑模变结构控制和龙贝格观测器,设计状态观测器,大大改进了转子磁链的估计性能,从而提高了电机转速估计精度,为速度传感器的故障诊断及容错控制提供了有效的保障。相比传统的滑模观测器,该观测器结构更加简单,计算观测器增益的方法以及结合李雅普诺夫原理推导速度估计器的过程都更加简便。MATLAB仿真验证了该方法。介绍了dSPACE实时仿真系统以及开发核心板卡DS5202 ACMC,基于该系统搭建了感应电机传感器故障诊断及容错控制策略验证平台,实验结果进一步验证了基于滑模状态观测器的容错控制方法的可行性。
[Abstract]:With the development of power electronics technology, power semiconductor technology and modern control theory, the control technology of induction motor is becoming more and more mature. The control system of induction motor is cheap, simple, easy to use and high efficiency. Energy saving and other characteristics are widely used. However, in improper operation or accidents, there will still be various kinds of failures. Once failure occurs, such as failure to diagnose and deal with it in time will cause great economic loss, even personal injury. In some special applications, when the motor system fails, it is necessary to maintain the continuous operation of the system because it cannot be stopped immediately. Therefore, in order to further improve the reliability of the operation of the induction motor system and reduce the downtime of the fault, It is of great significance to study the fault diagnosis and fault tolerant control of induction motor control system. The concepts of fault diagnosis and fault-tolerant control are introduced. This paper introduces the types of sensor faults and the research status of sensor fault diagnosis and fault-tolerant control at home and abroad, and expounds the mathematical model of induction motor and the principle of vector control in detail. The induction motor is a nonlinear, strongly coupled, multivariable high order system. Considering the uncertainty of the system, the polynomial chaos theory is used to design the current state observer. The state of the current sensor is monitored based on the observer to realize fault diagnosis and fault tolerant control of the current sensor, and the speed estimator is designed by combining the observer with Lyapunov principle. To further estimate the speed, In order to improve the accuracy of speed estimation, the effectiveness of the above method is verified by MATLAB simulation. The reasons for the poor performance of the method in the start-up stage are also analyzed. Combined with sliding mode variable structure control and Romberg observer, the state observer is designed to greatly improve the performance of rotor flux estimation and thus improve the accuracy of motor speed estimation. It provides an effective guarantee for fault diagnosis and fault-tolerant control of speed sensor. Compared with the traditional sliding mode observer, the structure of the observer is simpler. The method of calculating the gain of the observer and the derivation of the speed estimator based on Lyapunov principle are more convenient. MATLAB simulation proves this method. The dSPACE real-time simulation system and the development of the core card DS5202 ACMC are introduced, based on the system. The fault diagnosis and fault-tolerant control strategy verification platform of induction motor sensor is built. The experimental results further verify the feasibility of the fault-tolerant control method based on sliding mode state observer.
【学位授予单位】：江南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM346;TP273

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