双PWM变频调速系统综合控制策略研究

发布时间：2018-06-20 04:03

本文选题：双PWM变频调速系统 + 虚拟磁链　；参考：《北京科技大学》2017年博士论文

【摘要】：交流变频调速装置是现代化工业自动化生产的核心设备,其性能直接影响产品的产量和质量。高性能双PWM变频调速系统的研发与现代化的自动化控制系统相结合,主要体现在电网侧减小系统对电网的污染,保证整流侧单位功率因数运行,减小网侧电流谐波;负载侧交流电机具备高调速精度,快速动、静态响应和低转矩脉振等;变频器本身应提高系统整体运行效率,抑制直流侧母线电压波动,实现双侧能量高效转换。本文以三相两电平四象限双PWM变频器为研究对象,在分析了传统的电流双闭环,直接功率控制和直接转矩控制等常规算法的基础上,重点阐述了整流侧虚拟磁链定向控制、逆变侧无速度传感器控制及双侧一体化协调控制综合策略,在分析双PWM变频调速系统数学模型的基础上从理论分析、仿真和实验三个方面进行了详细展开。本文主要研究工作为:1)对PWM整流侧虚拟磁链方面研究,提出了自适应滑模观测下的虚拟磁链直接功率控制。首先考虑到理想磁链应和虚拟电动势处于完全正交关系的基础上,设计自适应控制律来调整虚拟磁链补偿基准,通过改进虚拟磁链观测器使其快速精准的跟踪网侧电压波动带来的磁链变化,提高整流侧的动态性能,并与传统的饱和抑制法、一阶低通滤波器和纯积分观测方法进行比较分析;针对虚拟磁链估算中的电压计算环节,首次将滑模观测引入PWM整流器虚拟磁链观测器中,选取合适的切换函数来估计出网侧电压,并结合上述设计的自适应控制器得到虚拟磁链值及矢量相位角。比较传统虚拟磁链定向控制策略和所提出策略的动、静态性能,并进行仿真及实验比较分析,最后在自主的整流器实验平台上进行实验算法验证。2)在逆变侧的无速度传感器控制算法研究与应用上,提出了加入自抗扰控制器的自适应滑模无速度传感器控制算法。研究了基于转子磁场定向的无速度传感器工作原理,在传统滑模观测器的基础上,引入新的双曲正切切换函数,设计转子位置和转速估计的自适应律,进行了稳定性分析;考虑到电机运行过程中转速受定子电阻变化影响,运用Lyapunov函数对定子电阻进行在线辨识。为了保证动态响应下的辨识精度,同时减小稳态误差,利用扩张状态观测器实现系统动态补偿线性化,设计了转速环和电流环自抗扰控制器。仿真对比了传统滑模控制和改进算法的动态响应性能及速度估计的精准度,并进行电阻辨识下的仿真比较,同时以实际电驱动系统为被控对象进行实验验证。3)对于双侧PWM一体化协调研究,提出全响应功率补偿的直接功率控制策略。针对功率突变时的母线电压波动问题,在整流侧直接功率控制和逆变侧直接转矩控制的基础上建立双PWM变频调速系统级功率平衡数学模型,通过储能元件和耗能元件分析进行分步功率补偿,仿真对比传统PI外环的性能,并运用于硬件实验平台进行实验验证;结合双侧独立控制研究了整流侧直接功率预测控制和逆变侧直接转矩预测控制的双侧控制策略,包括一步预测和二步预测;在上述系统级功率平衡的基础上,对双侧模型预测控制算法下的直流外环控制进行有效改进,提出基于系统级功率平衡的双侧模型预测一体化协调控制算法,并研究参数摄动下稳定性实验分析,与传统PI控制算法、传统模型预测控制算法和带有逆变侧功率回馈模型预测控制算法进行对比仿真及实验比较分析。4)开发了基于双DSP的双PWM变频调速实验平台,研究控制电路设计和软件设计,并在此平台完成相关算法的实验验证。
[Abstract]:AC variable frequency speed regulating device is the core equipment of modern industrial automation production. Its performance directly affects the production and quality of the product. The development of high performance dual PWM variable frequency speed regulating system is combined with modern automation control system, which is mainly reflected in the pollution of the grid side reducing system to the electric network and ensuring the unit power factor of the rectifier side. In the load side, the AC motor has high speed precision, fast motion, static response and low torque pulse vibration. The frequency converter itself should improve the overall operating efficiency of the system, restrain the voltage fluctuation of the DC side bus and realize the bilateral energy efficient conversion. In this paper, a three phase two electric four quadrant double PWM inverter is used as the research object. On the basis of conventional current double closed loop, direct power control and direct torque control, this paper focuses on the directional control of the virtual magnetic chain on the rectifier side, the speed sensorless control on the inverter side and the integrated strategy of the bilateral integrated coordinated control. The theoretical analysis is based on the analysis of the mathematical model of the dual PWM variable frequency speed control system. Three aspects of simulation and experiment are carried out in detail. The main research work of this paper is: 1) research on the virtual magnetic chain on the PWM rectifier side, and put forward the direct power control of the virtual flux linkage under the adaptive sliding mode observation. Firstly, the adaptive control law is designed on the basis of the perfect relationship between the ideal magnetic chain and the virtual electromotive force. The virtual magnetic chain compensation standard is adjusted. By improving the virtual flux observer, it can quickly and accurately track the change of magnetic chain caused by the voltage fluctuation of the network side, and improve the dynamic performance of the rectifier side, and compare with the traditional saturation suppression method, the first order low pass filter and the pure integral observation method, and the voltage calculation in the virtual flux estimation. The sliding mode observation is introduced into the virtual flux observer of the PWM rectifier for the first time, and the appropriate switching function is selected to estimate the voltage of the network side, and the virtual flux and vector phase angle are obtained with the adaptive controller designed above. The dynamic and static performance of the traditional virtual magnetic chain orientation control strategy and the proposed strategy are compared and simulated. Real and experimental comparison and analysis, finally on the independent rectifier experimental platform for experimental algorithm verification.2) in the research and application of the speed sensorless control algorithm on the inverter side, an adaptive sliding mode sensorless control algorithm with auto disturbance rejection controller is proposed. The speed sensorless based on the rotor field orientation is studied. On the basis of the traditional sliding mode observer, a new hyperbolic tangent switching function is introduced to design the adaptive law of the rotor position and speed estimation, and the stability analysis is carried out. Considering that the speed of the stator is affected by the change of the stator resistance during the operation of the motor, the Lyapunov function is used to identify the stator resistance on-line. The identification precision and the steady state error are reduced. The dynamic compensation linearization of the system is realized by the extended state observer. The rotational speed loop and the current loop auto disturbance rejection controller are designed. The simulation compares the dynamic response performance of the traditional sliding mode control and the improved algorithm and the precision of the speed estimation, and compares the simulation comparison under the resistance identification. The direct power control strategy for the full response power compensation is put forward by the actual electric drive system for the controlled object of the controlled object. The direct power control strategy of the full response power compensation is proposed. The dual PWM frequency conversion is set up on the basis of direct power control of the rectifying side and the direct connection torque control of the inverter side on the basis of the problem of bus voltage fluctuation in the case of power mutation. The mathematical model of the speed system level power balance is used to simulate the performance of the traditional PI outer ring through the analysis of the energy storage element and the energy dissipation element. The performance of the traditional outer ring is simulated and compared, and the experimental verification is carried out on the hardware experimental platform. The bilateral direct power prediction control and the dual side direct torque predictive control are studied with bilateral independent control. The control strategy includes one step prediction and two step prediction. On the basis of the system level power balance, the DC outer loop control under the bilateral model predictive control algorithm is improved effectively. The dual model predictive integrated coordinated control algorithm based on the system level power balance is proposed, and the stability experiment analysis under the parameter perturbation is studied. The traditional PI control algorithm, the traditional model predictive control algorithm and the predictive control algorithm with the inverter side power feedback model predictive control algorithm are compared and compared with the experimental comparison and analysis.4. The dual DSP based dual PWM variable frequency speed regulation experimental platform is developed, and the control circuit design and software design are studied, and the experimental verification of the related algorithms is completed on this platform.
【学位授予单位】：北京科技大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP273

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