本文選題：橋門式起重機 + 電機拖動系統(tǒng)��； 參考：《西南交通大學(xué)》2013年博士論文

【摘要】：起重機大車、小車運行機構(gòu)和起升機構(gòu)的動力裝置多采用三相交流異步電機,實現(xiàn)起重機低能耗、高效率經(jīng)濟運行的關(guān)鍵是對起重機電機拖動系統(tǒng)的有效控制。電機的能效問題包括電機運行時的能源消耗(簡稱能耗)和工作效率兩個方面的問題。 電機運行效率、功率因數(shù)對電機拖動系統(tǒng)能耗產(chǎn)生直接影響,而負(fù)載率是影響電機運行效率和功率因數(shù)的重要運行參數(shù)。一般,當(dāng)負(fù)載率為30～40%時,能實現(xiàn)電機高效運行,當(dāng)負(fù)載率超過60%時,電機的功率因數(shù)接近額定功率因數(shù)。相對于功率因數(shù)曲線,電機的效率曲線具有更寬的高效率區(qū)域。高效運行的電機,其功率因數(shù)不一定高,要使兩者都接近較高值,應(yīng)使電機的負(fù)載率不低于60%。通過分析電機效率數(shù)據(jù)得出電機效率與不同電機功率之間的數(shù)值擬合關(guān)系,電機效率與不同電機功率之間的關(guān)系符合指數(shù)變化規(guī)律。電機效率數(shù)值擬合曲線對于電機的生產(chǎn)和工程中電機選型具有理論指導(dǎo)意義。 對電機運行的經(jīng)濟性進(jìn)行有效判定,必須合理確定電機運行的效率、經(jīng)濟負(fù)載率。根據(jù)電機運行綜合效率和額定綜合效率的比較,將電機運行的經(jīng)濟性分為非經(jīng)濟運行、基本合理運行、經(jīng)濟運行等三種運行工況。電機綜合節(jié)電率的計算方法主要有功率計算法、綜合效率計算法和累積電能計算法三種。電機綜合功率隨電機所拖動負(fù)載轉(zhuǎn)矩按二次拋物線規(guī)律變化,考慮了無功功率引起的線路損耗的情況時,電機的綜合效率曲線低于效率曲線,從電機的綜合效率曲線也可定義電機三種運行工況。由于考慮了無功引起線路損耗的情況,電機最高效率點向負(fù)載率增大的方向偏移,所以經(jīng)濟運行區(qū)域相對變小。 電機拖動系統(tǒng)節(jié)能的重要要求之一就是電機高效運行,這就要求降低電機運行時的內(nèi)部損耗,尤其是電機內(nèi)部的電氣損耗。為了實現(xiàn)具有恒轉(zhuǎn)矩運行和變工況負(fù)載特性的起重機節(jié)能運行,基于電機Г型等效電路,將定子銅耗和鐵耗看作不變損耗,將轉(zhuǎn)子銅耗看作可變損耗,其中不變損耗僅與定子電壓有關(guān),可變損耗僅與起重機負(fù)載轉(zhuǎn)矩有關(guān)。根據(jù)折算前后傳動系統(tǒng)動能不變和功率平衡的原則,得到起重機吊重起升機構(gòu)等效單軸電機拖動系統(tǒng)電機轉(zhuǎn)子側(cè)的等效轉(zhuǎn)動慣量和等效負(fù)載轉(zhuǎn)矩。為了方便計算,同時電機平穩(wěn)運行時,轉(zhuǎn)差率較小,通過求解轉(zhuǎn)差率與負(fù)載轉(zhuǎn)矩之間的近似關(guān)系,得到隨負(fù)載轉(zhuǎn)矩按指數(shù)規(guī)律變化的起重機節(jié)能的最優(yōu)調(diào)節(jié)電壓,以及使電氣總損耗最小的目標(biāo)函數(shù)。起重機以380V的恒定電壓運行時,輕載工況總損耗最大,以220V恒定電壓運行時,在重載工況總損耗最大,按照負(fù)載轉(zhuǎn)矩變化適時調(diào)整的最優(yōu)調(diào)節(jié)電壓運行方式時的節(jié)能效果是顯著的。 對電機定子電壓和頻率同時進(jìn)行控制,使電機根據(jù)負(fù)載變化,具有調(diào)速平穩(wěn)、快速起、制動,并且快速跟蹤負(fù)載轉(zhuǎn)矩的動態(tài)性能,對起重機節(jié)能控制具有重要意義。為了達(dá)到這一目的,針對電機在同步旋轉(zhuǎn)坐標(biāo)系中的數(shù)學(xué)模型,基于電機定、轉(zhuǎn)子轉(zhuǎn)差頻率設(shè)計的電機變頻節(jié)能控制系統(tǒng),通過實時測量電機運行轉(zhuǎn)速,計算轉(zhuǎn)速差,經(jīng)過轉(zhuǎn)速調(diào)節(jié)器計算定子電流轉(zhuǎn)矩分量,從而計算轉(zhuǎn)差頻率,并得到同步旋轉(zhuǎn)坐標(biāo)系的同步旋轉(zhuǎn)角速度,進(jìn)而得到空間矢量變換角。定子電壓轉(zhuǎn)矩分量和勵磁分量由矢量變換角經(jīng)過兩相旋轉(zhuǎn)坐標(biāo)系到三相靜止坐標(biāo)系變換成電壓型逆變器的控制信號,由整流器和逆變器輸出電機定子三相變壓變頻電壓,實現(xiàn)電機以給定轉(zhuǎn)速穩(wěn)定運行,并快速跟蹤變化的負(fù)載轉(zhuǎn)矩。仿真研究表明：閉環(huán)系統(tǒng)的空載起動時間比開環(huán)系統(tǒng)快0.34s,并且電機平穩(wěn)起動,起動階段開環(huán)和閉環(huán)系統(tǒng)的峰值電磁轉(zhuǎn)矩差值達(dá)148N·m；閉環(huán)系統(tǒng)電機消耗的電動率小于開環(huán)系統(tǒng)的電機消耗電功率,尤其是在起動階段開環(huán)系統(tǒng)的峰值功率是閉環(huán)系統(tǒng)峰值功率的2.5倍,電機具有明顯的節(jié)能效果。 基于矢量變換的矢量變頻控制對電機拖動系統(tǒng)的調(diào)速范圍寬,并且屬于轉(zhuǎn)差功率不變型的無極調(diào)速方法,結(jié)合現(xiàn)代控制理論與方法,既能應(yīng)用于對調(diào)速性能要求較高的場合,對電機拖動系統(tǒng)也具有明顯的節(jié)能效果。針對基于內(nèi)擾定義MT坐標(biāo)系中的電機等效結(jié)構(gòu)設(shè)計了起重機電機拖動系統(tǒng)自抗擾控制器,4個一階自抗擾控制器分別控制磁鏈方程的磁鏈、轉(zhuǎn)速方程的轉(zhuǎn)速、勵磁電流方程的定子電流勵磁分量和轉(zhuǎn)矩電流方程的定子電流轉(zhuǎn)矩分量。閉環(huán)系統(tǒng)電機具有良好的起動動態(tài)性能。開環(huán)系統(tǒng)電機負(fù)載起動時的能耗隨負(fù)載轉(zhuǎn)矩的增大而增大,尤其是在重載和滿載時,負(fù)載轉(zhuǎn)矩對起動能耗影響較大；對于閉環(huán)系統(tǒng)電機負(fù)載起動的能耗幾乎不隨負(fù)載轉(zhuǎn)矩的變換而變化；在重載和滿載時,閉環(huán)系統(tǒng)電機起動時的節(jié)能效果是顯著的。滿載時,閉環(huán)系統(tǒng)的節(jié)電率可達(dá)88%,中等載荷時,節(jié)電率可達(dá)64%,輕載時,節(jié)電率可達(dá)55%。
[Abstract]:The key of the crane's low energy consumption and high efficiency economic operation is the effective control of the crane motor dragging system. The energy efficiency of the motor includes two aspects of the energy consumption of the motor (energy consumption) and the working efficiency. It's a problem.
The operation efficiency of the motor has a direct influence on the energy consumption of the motor drive system, and the load rate is an important operating parameter that affects the operating efficiency and the power factor of the motor. Generally, when the load rate is 30 to 40%, the motor can run efficiently. When the load rate exceeds 60%, the power factor of the electric machine is close to the rated power factor. The efficiency curve of the motor has a wider high efficiency area. The power factor of the motor with high efficiency is not necessarily high. To make both of them close to the higher value, the load rate of the motor should not be lower than 60%.. By analyzing the efficiency data of the motor, the numerical fitting relationship between the motor efficiency and the power of different electric machines should be obtained. The efficiency of the motor and the motor efficiency should be obtained. The relationship between different motor powers conforms to the law of exponential change. The numerical fitting curve of the motor efficiency is of theoretical guiding significance to the motor type selection in the motor production and engineering.
The efficiency of motor operation must be determined effectively. The efficiency of motor operation and the rate of economic load must be determined. According to the comparison of the overall efficiency of motor operation and the rated comprehensive efficiency, the economy of motor operation is divided into three operating conditions, such as non economic operation, basic reasonable operation, economic operation and so on. The calculation of the comprehensive electricity saving rate of the motor is calculated. The method mainly includes the power calculation method, the comprehensive efficiency calculation method and the cumulative electric energy calculation method. The comprehensive efficiency curve of the motor is lower than the efficiency curve, and the comprehensive efficiency curve of the motor can also be determined. The total power of the motor is changed with the load torque of the motor by the two parabola law. The overall efficiency curve of the motor is lower than the efficiency curve, and the comprehensive efficiency curve of the motor can be determined. Three For the three operating conditions of the sense motor, the maximum efficiency point of the motor is shifted to the direction of the increase of the load rate because of the loss of the line caused by reactive power, so the economic operation area is relatively smaller.
One of the important requirements for the energy saving of the motor drive system is the efficient operation of the motor. This requires the reduction of the internal loss of the motor, especially the electrical loss in the motor. In order to achieve the energy saving operation of a crane with constant torque operation and variable load characteristics, the copper consumption and iron consumption of the stator are considered based on the equivalent circuit of the electric machine. The constant loss is regarded as a variable loss, in which the constant loss is only related to the stator voltage, and the variable loss is only related to the load torque of the crane. According to the principle of kinetic energy constant and power balance of the transmission system, the equivalent rotation of the rotor side of the crane lifting lifting mechanism equivalent to the single axis motor drag system is obtained. In order to be convenient for calculation, when the motor runs smoothly, the transfer rate is small. By solving the approximate relationship between the transfer rate and the load torque, the optimal regulating voltage of the crane energy saving with the load torque changing according to the exponential law and the objective function to minimize the total electrical loss are obtained. The crane is constant with the 380V. When the voltage runs, the total loss is maximum in the light load condition. When the 220V constant voltage runs, the total loss is maximum in the heavy load condition. The energy saving effect is remarkable when the optimal regulation voltage is adjusted according to the change of the load torque.
Control the voltage and frequency of the motor stator at the same time, so that the motor is stable, fast, braking, and fast tracking the dynamic performance of the load torque according to the change of the load. In order to achieve this goal, the mathematical model of the motor in the synchronous rotating coordinate system is based on the motor setting. The frequency conversion and energy saving control system of the rotor is designed. By measuring the speed of the motor in real time and calculating the speed difference, the stator current torque component is calculated by the speed regulator, and the frequency of the rotation is calculated, and the synchronous rotation angular velocity of the synchronous rotating coordinate system is obtained, and then the space vector transformation angle is obtained. The stator voltage torque is divided into the stator voltage and torque. The quantity and excitation component are transformed from the vector transformation angle to the three-phase static coordinate system to the control signal of the voltage inverter. The three-phase variable frequency voltage of the motor stator is output by the rectifier and the inverter to realize the stable operation of the motor at a given speed, and the load torque is rapidly followed by the change of the load. The unloaded starting time of the loop system is faster than that of the open loop system, and the motor starts smoothly. The peak electromagnetic torque difference between the open loop and the closed loop system is 148N m. The electromotor consumption of the closed loop system is less than that of the open loop system, especially in the starting stage, the peak power of the open loop system is a closed loop system. 2.5 times the peak power, the motor has obvious energy saving effect.
Vector conversion based VVVF control has a wide range of speed regulation for the motor drive system, and it belongs to the non variable rotating speed control method. Combined with the modern control theory and method, it can not only apply to the situation where the speed regulation performance is high, but also have obvious energy saving effect on the motor drive system. The MT based on the internal disturbance definition. The motor equivalent structure in the coordinate system designs the auto disturbance rejection controller for the crane motor drag system. The 4 first order auto disturbance rejection controllers control the magnetic chain of the magnetic chain equation, the speed of the speed equation, the stator current excitation component of the excitation current equation and the stator current torque component of the torque current equation. The closed-loop system motor has good performance. Starting dynamic performance. The energy consumption of the motor load starting in the open loop system increases with the increase of load torque, especially when heavy load and full load, the load torque has great influence on the starting energy consumption; for the closed-loop system, the energy consumption of the motor load starting almost does not change with the load torque transformation; in the heavy load and full load, the closed loop system motor is used. The energy saving effect is remarkable when starting. When the load is full, the power saving rate of the closed loop system can reach 88%. When the medium load is applied, the power saving rate can reach 64%. When the load is light, the power saving rate can reach 55%..
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：TM343.2;TH21

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