本文選題：雙PWM變頻調(diào)速系統(tǒng) + 虛擬磁鏈�。� 參考：《北京科技大學(xué)》2017年博士論文

【摘要】：交流變頻調(diào)速裝置是現(xiàn)代化工業(yè)自動化生產(chǎn)的核心設(shè)備,其性能直接影響產(chǎn)品的產(chǎn)量和質(zhì)量。高性能雙PWM變頻調(diào)速系統(tǒng)的研發(fā)與現(xiàn)代化的自動化控制系統(tǒng)相結(jié)合,主要體現(xiàn)在電網(wǎng)側(cè)減小系統(tǒng)對電網(wǎng)的污染,保證整流側(cè)單位功率因數(shù)運行,減小網(wǎng)側(cè)電流諧波;負載側(cè)交流電機具備高調(diào)速精度,快速動、靜態(tài)響應(yīng)和低轉(zhuǎn)矩脈振等;變頻器本身應(yīng)提高系統(tǒng)整體運行效率,抑制直流側(cè)母線電壓波動,實現(xiàn)雙側(cè)能量高效轉(zhuǎn)換。本文以三相兩電平四象限雙PWM變頻器為研究對象,在分析了傳統(tǒng)的電流雙閉環(huán),直接功率控制和直接轉(zhuǎn)矩控制等常規(guī)算法的基礎(chǔ)上,重點闡述了整流側(cè)虛擬磁鏈定向控制、逆變側(cè)無速度傳感器控制及雙側(cè)一體化協(xié)調(diào)控制綜合策略,在分析雙PWM變頻調(diào)速系統(tǒng)數(shù)學(xué)模型的基礎(chǔ)上從理論分析、仿真和實驗三個方面進行了詳細展開。本文主要研究工作為:1)對PWM整流側(cè)虛擬磁鏈方面研究,提出了自適應(yīng)滑模觀測下的虛擬磁鏈直接功率控制。首先考慮到理想磁鏈應(yīng)和虛擬電動勢處于完全正交關(guān)系的基礎(chǔ)上,設(shè)計自適應(yīng)控制律來調(diào)整虛擬磁鏈補償基準,通過改進虛擬磁鏈觀測器使其快速精準的跟蹤網(wǎng)側(cè)電壓波動帶來的磁鏈變化,提高整流側(cè)的動態(tài)性能,并與傳統(tǒng)的飽和抑制法、一階低通濾波器和純積分觀測方法進行比較分析;針對虛擬磁鏈估算中的電壓計算環(huán)節(jié),首次將滑模觀測引入PWM整流器虛擬磁鏈觀測器中,選取合適的切換函數(shù)來估計出網(wǎng)側(cè)電壓,并結(jié)合上述設(shè)計的自適應(yīng)控制器得到虛擬磁鏈值及矢量相位角。比較傳統(tǒng)虛擬磁鏈定向控制策略和所提出策略的動、靜態(tài)性能,并進行仿真及實驗比較分析,最后在自主的整流器實驗平臺上進行實驗算法驗證。2)在逆變側(cè)的無速度傳感器控制算法研究與應(yīng)用上,提出了加入自抗擾控制器的自適應(yīng)滑模無速度傳感器控制算法。研究了基于轉(zhuǎn)子磁場定向的無速度傳感器工作原理,在傳統(tǒng)滑模觀測器的基礎(chǔ)上,引入新的雙曲正切切換函數(shù),設(shè)計轉(zhuǎn)子位置和轉(zhuǎn)速估計的自適應(yīng)律,進行了穩(wěn)定性分析;考慮到電機運行過程中轉(zhuǎn)速受定子電阻變化影響,運用Lyapunov函數(shù)對定子電阻進行在線辨識。為了保證動態(tài)響應(yīng)下的辨識精度,同時減小穩(wěn)態(tài)誤差,利用擴張狀態(tài)觀測器實現(xiàn)系統(tǒng)動態(tài)補償線性化,設(shè)計了轉(zhuǎn)速環(huán)和電流環(huán)自抗擾控制器。仿真對比了傳統(tǒng)滑模控制和改進算法的動態(tài)響應(yīng)性能及速度估計的精準度,并進行電阻辨識下的仿真比較,同時以實際電驅(qū)動系統(tǒng)為被控對象進行實驗驗證。3)對于雙側(cè)PWM一體化協(xié)調(diào)研究,提出全響應(yīng)功率補償?shù)闹苯庸β士刂撇呗�。針對功率突變時的母線電壓波動問題,在整流側(cè)直接功率控制和逆變側(cè)直接轉(zhuǎn)矩控制的基礎(chǔ)上建立雙PWM變頻調(diào)速系統(tǒng)級功率平衡數(shù)學(xué)模型,通過儲能元件和耗能元件分析進行分步功率補償,仿真對比傳統(tǒng)PI外環(huán)的性能,并運用于硬件實驗平臺進行實驗驗證;結(jié)合雙側(cè)獨立控制研究了整流側(cè)直接功率預(yù)測控制和逆變側(cè)直接轉(zhuǎn)矩預(yù)測控制的雙側(cè)控制策略,包括一步預(yù)測和二步預(yù)測;在上述系統(tǒng)級功率平衡的基礎(chǔ)上,對雙側(cè)模型預(yù)測控制算法下的直流外環(huán)控制進行有效改進,提出基于系統(tǒng)級功率平衡的雙側(cè)模型預(yù)測一體化協(xié)調(diào)控制算法,并研究參數(shù)攝動下穩(wěn)定性實驗分析,與傳統(tǒng)PI控制算法、傳統(tǒng)模型預(yù)測控制算法和帶有逆變側(cè)功率回饋模型預(yù)測控制算法進行對比仿真及實驗比較分析。4)開發(fā)了基于雙DSP的雙PWM變頻調(diào)速實驗平臺,研究控制電路設(shè)計和軟件設(shè)計,并在此平臺完成相關(guān)算法的實驗驗證。
[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.
【學(xué)位授予單位】：北京科技大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：TP273

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