發(fā)布時間：2018-09-14 09:31

【摘要】：以電氣傳動驅(qū)動的礦山牽引電機(jī)車作為礦山廣泛使用的一種重要運(yùn)載工具，其工作環(huán)境復(fù)雜，供電可靠性低，運(yùn)行軌道條件差，超載現(xiàn)象突出。因此，礦山牽引電機(jī)車需具有大力矩起動、調(diào)速平穩(wěn)、運(yùn)行可靠、過載能力突出和抗干擾能力強(qiáng)等優(yōu)越性以滿足礦山牽引的要求。 我國礦山牽引電機(jī)車大多采用直流串勵電動機(jī)作為牽引電動機(jī)。伴隨著電力電子技術(shù)、微電子技術(shù)、控制理論和信息技術(shù)的不斷發(fā)展，各類電氣傳動系統(tǒng)正在越來越多的被國內(nèi)外學(xué)者和工程技術(shù)人員開發(fā)與研究，交流異步電動機(jī)調(diào)速技術(shù)日趨成熟，交流異步電機(jī)在礦山牽引領(lǐng)域正逐步取代直流電機(jī)。 異步電動機(jī)的控制方法可分為基于穩(wěn)態(tài)模型和基于動態(tài)模型兩種�；诜�(wěn)態(tài)模型的控制方法主要采用轉(zhuǎn)速開環(huán)變壓變頻控制，系統(tǒng)結(jié)構(gòu)簡單，成本較低，但調(diào)速性能較差；基于動態(tài)模型的控制方法主要是矢量控制和直接轉(zhuǎn)矩控制，系統(tǒng)結(jié)構(gòu)復(fù)雜，調(diào)速性能優(yōu)越，能夠滿足高性能控制要求。論文以礦山牽引電機(jī)車為研究對象展開研究，主要的研究工作如下： 1.分析研究異步電動機(jī)的動態(tài)數(shù)學(xué)模型，在旋轉(zhuǎn)坐標(biāo)系下根據(jù)電動機(jī)在不同頻率下獲取最大輸出轉(zhuǎn)矩時的電壓電流約束條件進(jìn)行了弱磁控制分析。研究異步電機(jī)的機(jī)械特性和牽引電機(jī)車的牽引特性，得出異步電機(jī)作為牽引電機(jī)車的牽引電機(jī)，其特性與牽引電機(jī)車的牽引特性相吻合。 2.從礦山牽引電機(jī)車牽引力出發(fā)，把牽引電機(jī)車和裝載車的各種負(fù)載歸結(jié)為綜合負(fù)載，以電機(jī)車的力矩傳遞為主線把牽引電機(jī)、齒輪箱、輪對和軌道面等各種因素折算到電機(jī)側(cè)，建立了礦山牽引電機(jī)車雙電機(jī)拖動一體化模型。 3.針對礦山牽引電機(jī)車的實(shí)際工況，比較直接轉(zhuǎn)矩控制和矢量控制兩種控制方案，在選用矢量控制策略作為電機(jī)車控制方案的基礎(chǔ)上，提出礦山牽引力矩模式控制方法，結(jié)合速度閉環(huán)控制，提出了適合于礦山牽引的速度模式和力矩模式混合控制方法。 4.分析直流母線電壓波動對礦山牽引控制系統(tǒng)的不利因素，提出了抑制母線電壓波動的前饋補(bǔ)償控制方法，并對控制方法進(jìn)行了驗(yàn)證。 5.分析研究無速度傳感器控制方案，提出了利用轉(zhuǎn)矩電流微分進(jìn)行同步轉(zhuǎn)速估算的方法，并給出了轉(zhuǎn)速估算環(huán)節(jié)的核心算法。通過仿真驗(yàn)證表明該方法估算轉(zhuǎn)速算法正確，采用該方法的調(diào)速系統(tǒng)具有良好的動、靜態(tài)性能。能夠滿足礦山牽引電機(jī)車應(yīng)用的要求。 6.設(shè)計了礦山牽引電機(jī)車驅(qū)動部分的軟、硬件系統(tǒng)。通過有速度和無速度傳感器矢量控制大、小功率實(shí)驗(yàn)平臺和牽引電機(jī)車產(chǎn)品樣機(jī)的實(shí)際測試，驗(yàn)證控制系統(tǒng)的相關(guān)性能指標(biāo)。給出了在不同實(shí)驗(yàn)平臺上的實(shí)驗(yàn)結(jié)果，包括電機(jī)特性的相關(guān)測試結(jié)果，，產(chǎn)品樣機(jī)在牽引電機(jī)車測試平臺和礦山現(xiàn)場的實(shí)驗(yàn)測試結(jié)果。 實(shí)驗(yàn)和運(yùn)行結(jié)果表明系統(tǒng)起動力矩大，過載能力強(qiáng)；穩(wěn)速性能好，動態(tài)響應(yīng)快；調(diào)速范圍寬，能在低速和弱磁恒功率區(qū)域平穩(wěn)運(yùn)行；速度和力矩模式靈活切換，滿足礦山牽引電機(jī)車的要求。
[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.
【學(xué)位授予單位】：上海大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TM922.71

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