低效感應電機永磁化再制造及控制技術研究
發(fā)布時間：2019-02-11 21:34
【摘要】：隨著全球電氣化水平的提高,電能已成為僅次于石油的全球第二大終端消費能源。關于電能的合理開發(fā)和利用越來越多的受到各國政府和機構的關注。在電能開發(fā)方面,基于清潔和可再生能源的核電、風電以及光伏發(fā)電等項目的規(guī)模逐年增長。在電能利用方面,各國和國際組織紛紛出臺相應標準,強制提高用電設備能效。電機作為電能與電能、以及電能與機械能轉換的重要裝置,消耗全球近一半的用電量,超過全球第二大用電設備——照明用電量的兩倍。因此,提升電機以及電機系統(tǒng)能效對于電能資源的合理利用、實現(xiàn)節(jié)能減排具有重要意義。為便于高能效電機系統(tǒng)的推廣,需要在提升電機能效的同時,盡可能降低電機及其控制系統(tǒng)成本。本文在目前市場占有量最大的三相感應電機基礎上,通過將其再制造為永磁同步電機(Permanent Magnet Synchronous Machines,PMSMs),以較小的成本實現(xiàn)現(xiàn)有電機設備的能效提升,并通過高效控制算法充分發(fā)揮再制造電機高效率、高動態(tài)品質的優(yōu)勢。在降低系統(tǒng)成本方面,采用高性能無位置傳感器矢量控制,結合平穩(wěn)的變-工頻切換策略,在降低系統(tǒng)成本的同時,進一步提高系統(tǒng)能效。具體研究內容如下:首先,在不改變低能效三相感應電機定子尺寸和繞組排布的前提下,僅將鼠籠轉子更換為優(yōu)化設計的永磁轉子,實現(xiàn)電機能效提升。通過綜合考慮再制造電機各損耗成分,得到再制造電機效率與磁負荷的關系,并由此預估再制造電機的永磁體尺寸。針對三相感應電機定子較常采用的星接和角接兩種繞組形式,分別以削弱齒諧波和三次諧波為目標,給出相應的空載反電勢優(yōu)化設計方法,并分析角接繞組PMSM在恒功率轉速范圍和能效方面的優(yōu)勢。在此過程中,完成7種機座號共10臺低能效三相感應電機的永磁化再制造。測試數(shù)據(jù)表明,再制造后電機能效等級均有較大提升。最后,給出永磁化再制造工藝流程,并核算再制造電機的成本回收周期。其次,對于PMSM的電感參數(shù),提出僅與電機極槽配合和繞組形式有關的氣隙比磁導系數(shù)的概念,實現(xiàn)電機極槽配合與幾何參數(shù)的解耦。在此基礎上分析相近幾何參數(shù)下,PMSM電感參數(shù)與極槽配合的關系,并通過有限元分析(Finite Element Analysis,FEA)驗證結論的正確性。對于PMSM的定子鐵損,基于Bertotti鐵損公式將其分解到轉子直、交軸系下,得到PMSM定子鐵損關于直、交軸磁鏈的解析表達式,從而有助于PMSM設計及在線效率優(yōu)化控制。同樣,采用FEA驗證了解析計算結果的準確性。在此基礎上,為充分發(fā)揮PMSM高效率、高動態(tài)品質的優(yōu)勢,本文基于損耗模型,提出最大效率電流比控制策略,并通過實驗對比測試不同效率控制策略下,再制造永磁電機的負載效率曲線。再次,為降低再制造電機控制系統(tǒng)成本、提高系統(tǒng)可靠性,本文就PMSM全速域無位置傳感器控制技術展開研究。對于低速區(qū),介紹幾種常見的基于定、轉子軸系的高頻電壓注入法,分析注入法中未考慮的電阻、旋轉電勢壓降以及逆變器非線性對位置觀測誤差的影響,并基于脈振方波注入法提出改進算法,提高對注入電壓誤差的魯棒性。對于電機磁場畸變對注入法位置觀測誤差的影響,本文推導得到位置觀測誤差與電機相電感高次諧波相位的數(shù)學表達式,并通過仿真和實驗加以驗證。此外,通過仿真,研究SVPWM電壓諧波對位置觀測誤差的影響。對于高速區(qū),采用模型法并基于滑模觀測器實現(xiàn)PMSM的無位置傳感器控制。在轉速過渡區(qū),采用基于注入法和模型法的混合無位置傳感器控制策略。實驗結果驗證了上述算法的有效性。最后,針對長期恒頻運行的工作場合,為進一步降低系統(tǒng)成本,提高系統(tǒng)能效,本文研究PMSM的并網(wǎng)切換控制策略。由于再制造的PMSM轉子無阻尼繞組,不具備自啟動能力,因此需由變頻器輔助軟啟動,并采用無位置傳感器控制以降低系統(tǒng)成本。變-工頻切換時,采用數(shù)字鎖相環(huán)檢測電網(wǎng)及變頻器輸出電壓相位,并通過調節(jié)電機轉速和變頻器輸出電壓,使系統(tǒng)滿足并網(wǎng)條件。工-變頻切換時,通過引入輔助開環(huán)控制,實現(xiàn)工頻到無位置傳感器變頻運行的平穩(wěn)過渡。本文基于5臺不同型號的再制造電機實現(xiàn)平穩(wěn)并網(wǎng)切換運行,并對比額定轉速、不同負載下變、工頻運行時的系統(tǒng)效率。
[Abstract]:With the increase of the global electrification level, the electric energy has become the second largest terminal consumer energy after the oil. With regard to the rational exploitation and utilization of electric energy, more and more attention has been paid to Governments and institutions. In terms of energy development, the scale of projects such as nuclear power, wind power and photovoltaic power generation based on clean and renewable energy is increasing year by year. In the aspect of electric energy utilization, countries and international organizations have introduced corresponding standards to force the energy efficiency of electric equipment to be improved. The electric machine, as an important device for converting electric energy and electric energy, as well as electric energy and mechanical energy, consumes nearly half of the world's electricity consumption, which is more than twice the electricity consumption of the second-largest electric equipment in the world. Therefore, the energy efficiency of the lifting motor and the motor system is of great significance to the reasonable utilization of the electric energy resources and the energy-saving and emission reduction. In order to facilitate the popularization of the high energy efficiency motor system, it is necessary to reduce the cost of the motor and its control system as much as possible while improving the energy efficiency of the motor. In this paper, on the basis of the three-phase induction motor with the largest market share, the energy efficiency of the existing motor equipment can be improved by using the permanent magnet synchronous machine (PMSMs) in a small cost, and the high efficiency of the re-manufacturing motor can be fully realized by the high-efficiency control algorithm. and has the advantages of high dynamic quality. in that aspect of reduce the system cost, the high-performance non-position sensor vector control is adopted, and a stable variable-power frequency switching strategy is combined, so that the system cost is reduced, and the energy efficiency of the system is further improved. The specific research contents are as follows: First, on the premise of not changing the stator size and the winding arrangement of the low energy efficiency three-phase induction motor, only the squirrel-cage rotor is replaced with the permanent-magnet rotor with the optimized design, and the energy efficiency of the motor is improved. The relationship between the efficiency of the remanufacturing motor and the magnetic load is obtained by comprehensively considering the loss components of the remanufacturing motor, and the permanent magnet size of the remanufacturing motor is estimated. In order to reduce the harmonic and the third harmonic of the three-phase induction motor, the optimal design method of no-load reverse potential is given, and the advantages of the angle-connected PMSM in the range of constant power and energy efficiency are analyzed. In this process, the permanent magnetization and remanufacturing of seven machine base numbers and 10 low energy efficiency three-phase induction motors are completed. The test data show that the energy efficiency grade of the motor after re-manufacturing is greatly improved. and finally, the process flow of the permanent magnetization remanufacturing is given, and the cost recovery period of the remanufacturing motor is accounted for. Secondly, for the inductive parameters of the PMSM, the concept of the air gap specific to the pole slot of the motor and the form of the winding is proposed, and the decoupling of the fit of the pole slot and the geometric parameter of the motor is realized. Based on the above, the relationship between the PMSM inductance parameter and the pole slot is analyzed, and the validity of the conclusion is verified by the finite element analysis (FEA). For the stator iron loss of the PMSM, based on the Berttoti iron loss formula, it is decomposed into the rotor straight and cross-system, and the analytical expression of the stator iron loss of the PMSM is obtained with respect to the straight and cross-axis magnetic chain, thus contributing to the design of the PMSM and the on-line efficiency optimization control. Similarly, FEA is used to verify the accuracy of the analytical results. On this basis, in order to give full play to the advantage of the high efficiency and high dynamic quality of the PMSM, this paper puts forward the maximum efficiency current ratio control strategy based on the loss model and the load efficiency curve of the permanent magnet motor under the control strategy of different efficiency. Thirdly, in order to reduce the cost of re-manufacturing the motor control system and improve the system reliability, this paper studies the control technology of the position-free sensor in the full-speed field of the PMSM. In the low-speed region, several common high-frequency voltage injection method based on stator and rotor shaft system is introduced, and the influence of the non-considered resistance, rotary electric potential pressure drop and the non-linearity of the inverter on the position observation error is analyzed, and an improved algorithm is proposed based on the pulse-vibration square wave injection method. and the robustness of the injection voltage error is improved. In this paper, the mathematical expression of the position observation error and the high sub-harmonic phase of the motor phase is derived and verified by simulation and experiment. In addition, the influence of the SVPWM voltage harmonic on the position observation error is studied by simulation. For the high-speed region, the model method is adopted and the position-free sensor control of the PMSM is realized based on the sliding mode observer. In the speed transition region, a hybrid sensorless control strategy based on the injection method and the model method is used. The experimental results verify the validity of the algorithm. Finally, aiming at the long-term constant-frequency operation, in order to further reduce the system cost and improve the energy efficiency of the system, this paper studies the network switching control strategy of the PMSM. Since the remanufactured PMSM rotor has no damping windings and does not have self-starting capability, the soft start of the frequency converter is required, and the position-free sensor control is adopted to reduce the system cost. A digital phase-locked loop is adopted to detect the phase of the output voltage of the power grid and the frequency converter when the transformer-power frequency is switched, and the system can meet the network condition by adjusting the rotation speed of the motor and the output voltage of the frequency converter. By introducing the auxiliary open-loop control, the smooth transition of the frequency conversion operation of the power frequency to the position-free sensor is realized by introducing the auxiliary open-loop control. This paper is based on five different types of remanufacturing motors to realize the smooth and network switching operation, and compare the system efficiency at the time of the rated speed, the change of the load and the operation of the power frequency.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TM346
[Abstract]:With the increase of the global electrification level, the electric energy has become the second largest terminal consumer energy after the oil. With regard to the rational exploitation and utilization of electric energy, more and more attention has been paid to Governments and institutions. In terms of energy development, the scale of projects such as nuclear power, wind power and photovoltaic power generation based on clean and renewable energy is increasing year by year. In the aspect of electric energy utilization, countries and international organizations have introduced corresponding standards to force the energy efficiency of electric equipment to be improved. The electric machine, as an important device for converting electric energy and electric energy, as well as electric energy and mechanical energy, consumes nearly half of the world's electricity consumption, which is more than twice the electricity consumption of the second-largest electric equipment in the world. Therefore, the energy efficiency of the lifting motor and the motor system is of great significance to the reasonable utilization of the electric energy resources and the energy-saving and emission reduction. In order to facilitate the popularization of the high energy efficiency motor system, it is necessary to reduce the cost of the motor and its control system as much as possible while improving the energy efficiency of the motor. In this paper, on the basis of the three-phase induction motor with the largest market share, the energy efficiency of the existing motor equipment can be improved by using the permanent magnet synchronous machine (PMSMs) in a small cost, and the high efficiency of the re-manufacturing motor can be fully realized by the high-efficiency control algorithm. and has the advantages of high dynamic quality. in that aspect of reduce the system cost, the high-performance non-position sensor vector control is adopted, and a stable variable-power frequency switching strategy is combined, so that the system cost is reduced, and the energy efficiency of the system is further improved. The specific research contents are as follows: First, on the premise of not changing the stator size and the winding arrangement of the low energy efficiency three-phase induction motor, only the squirrel-cage rotor is replaced with the permanent-magnet rotor with the optimized design, and the energy efficiency of the motor is improved. The relationship between the efficiency of the remanufacturing motor and the magnetic load is obtained by comprehensively considering the loss components of the remanufacturing motor, and the permanent magnet size of the remanufacturing motor is estimated. In order to reduce the harmonic and the third harmonic of the three-phase induction motor, the optimal design method of no-load reverse potential is given, and the advantages of the angle-connected PMSM in the range of constant power and energy efficiency are analyzed. In this process, the permanent magnetization and remanufacturing of seven machine base numbers and 10 low energy efficiency three-phase induction motors are completed. The test data show that the energy efficiency grade of the motor after re-manufacturing is greatly improved. and finally, the process flow of the permanent magnetization remanufacturing is given, and the cost recovery period of the remanufacturing motor is accounted for. Secondly, for the inductive parameters of the PMSM, the concept of the air gap specific to the pole slot of the motor and the form of the winding is proposed, and the decoupling of the fit of the pole slot and the geometric parameter of the motor is realized. Based on the above, the relationship between the PMSM inductance parameter and the pole slot is analyzed, and the validity of the conclusion is verified by the finite element analysis (FEA). For the stator iron loss of the PMSM, based on the Berttoti iron loss formula, it is decomposed into the rotor straight and cross-system, and the analytical expression of the stator iron loss of the PMSM is obtained with respect to the straight and cross-axis magnetic chain, thus contributing to the design of the PMSM and the on-line efficiency optimization control. Similarly, FEA is used to verify the accuracy of the analytical results. On this basis, in order to give full play to the advantage of the high efficiency and high dynamic quality of the PMSM, this paper puts forward the maximum efficiency current ratio control strategy based on the loss model and the load efficiency curve of the permanent magnet motor under the control strategy of different efficiency. Thirdly, in order to reduce the cost of re-manufacturing the motor control system and improve the system reliability, this paper studies the control technology of the position-free sensor in the full-speed field of the PMSM. In the low-speed region, several common high-frequency voltage injection method based on stator and rotor shaft system is introduced, and the influence of the non-considered resistance, rotary electric potential pressure drop and the non-linearity of the inverter on the position observation error is analyzed, and an improved algorithm is proposed based on the pulse-vibration square wave injection method. and the robustness of the injection voltage error is improved. In this paper, the mathematical expression of the position observation error and the high sub-harmonic phase of the motor phase is derived and verified by simulation and experiment. In addition, the influence of the SVPWM voltage harmonic on the position observation error is studied by simulation. For the high-speed region, the model method is adopted and the position-free sensor control of the PMSM is realized based on the sliding mode observer. In the speed transition region, a hybrid sensorless control strategy based on the injection method and the model method is used. The experimental results verify the validity of the algorithm. Finally, aiming at the long-term constant-frequency operation, in order to further reduce the system cost and improve the energy efficiency of the system, this paper studies the network switching control strategy of the PMSM. Since the remanufactured PMSM rotor has no damping windings and does not have self-starting capability, the soft start of the frequency converter is required, and the position-free sensor control is adopted to reduce the system cost. A digital phase-locked loop is adopted to detect the phase of the output voltage of the power grid and the frequency converter when the transformer-power frequency is switched, and the system can meet the network condition by adjusting the rotation speed of the motor and the output voltage of the frequency converter. By introducing the auxiliary open-loop control, the smooth transition of the frequency conversion operation of the power frequency to the position-free sensor is realized by introducing the auxiliary open-loop control. This paper is based on five different types of remanufacturing motors to realize the smooth and network switching operation, and compare the system efficiency at the time of the rated speed, the change of the load and the operation of the power frequency.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TM346
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