矢量控制在矿井提升系统中的应用研究
|
摘要
本文在广泛考查变频调速控制方式的基础上,针对目前各大煤矿中矿井提升机系统调速方式落后的现状,提出引入矢量控制技术取代传统的转子串、切电阻和晶闸管串级调速方式。系统采用磁链开环的转差频率型矢量控制变频调速方案,从系统控制方式的数学模型出发,阐述了单片机和变频器组成的速度、电流双闭环数字控制系统组成及系统各部分的设计方法,并应用MATLAB软件对此系统进行建模仿真取得了满意的结果。同时提出将模糊控制理论用于提升机速度给定跟踪的思想,即采用模糊控制器替代速度PI控制器,系统仿真结果表明,采用模糊控制策略后系统响应迅速,稳态误差小,对负载等外部因素引起的参数变化不敏感,具有较强的鲁棒性。进一步提高了系统的动静态特性,使提升机系统具有良好的平层性和舒适性。
Based on the wide investigation on variable frequency variable speed methods, this thesis adopts vector control to take the place of traditional rotor series connecting resistance and thyristor cascade methods, according to the state that speed-adjusting methods of many coal-mines’ hoister systems lag behind.The system adopts the flux open-loop slip-frequency vector control variable frequency variable speed scheme. The thesis elaborates the design method of the speed-current dual closed-loop digital control system which includes microchips and frequency inverters on the foundation of mathematical modeling of the systems’ control method, applies MATLAB to model and simulate to the system, and gets satisfied results. Meanwhile, the idea that applies fuzzy-control theory to track the speed of hoister systems, that is taking the fuzzy controller instead of the PI speed-controller, is put forward in this thesis. The results of simulation show that fuzzy control strategy can make the system response rapidly and possess small steady-state error, and the system is insensitive to the parameters’ changes which led by outer factors and have stronger robustness. The new method can make the system’s dynamics and static characteristics better and make the hoister systems possess better flat layer feature and comfortableness.
Based on the wide investigation on variable frequency variable speed methods, this thesis adopts vector control to take the place of traditional rotor series connecting resistance and thyristor cascade methods, according to the state that speed-adjusting methods of many coal-mines’ hoister systems lag behind.The system adopts the flux open-loop slip-frequency vector control variable frequency variable speed scheme. The thesis elaborates the design method of the speed-current dual closed-loop digital control system which includes microchips and frequency inverters on the foundation of mathematical modeling of the systems’ control method, applies MATLAB to model and simulate to the system, and gets satisfied results. Meanwhile, the idea that applies fuzzy-control theory to track the speed of hoister systems, that is taking the fuzzy controller instead of the PI speed-controller, is put forward in this thesis. The results of simulation show that fuzzy control strategy can make the system response rapidly and possess small steady-state error, and the system is insensitive to the parameters’ changes which led by outer factors and have stronger robustness. The new method can make the system’s dynamics and static characteristics better and make the hoister systems possess better flat layer feature and comfortableness.
引文
[01] 张燕宾.变频调速应用实践.机械工业出版社,2000
[02] 何熙文,徐承深,孙翱.INTEL 8XC196MC/MD 高档单片机原理及实用设计.大连理工大学出版社,1995
[03] 孙增圻.智能控制理论与技术.清华大学出版社、广西科学技术出版社,1997
[04] 周绍英,储方杰.交流调速系统.机械工业出版社,1996
[05] 陈伯时.电力拖动自动控制系统.机械工业出版社,1997
[06] 彭鸿才.电机原理及拖动.机械工业出版社,1996
[07] 黄俊,王兆安.电力电子变流技术.机械工业出版社,1996
[08] 易继锴,侯媛彬.智能控制技术.北京工业大学出版社,2003
[09] 闻新,周露,李东江,贝超.MATLAB 模糊逻辑工具箱的分析与应用.科学出版社,2001
[10] 孙亮.MATLAB 语言与控制系统仿真.北京工业大学出版社,2001
[11] 李华.MCS-51 系列单片机实用接口技术.北京航空航天大学出版社,2004
[12] 陈伯时,陈敏逊.交流调速系统.机械工业出版社,1998
[13] 余永权,曾碧.单片机模糊逻辑控制.北京航空航天大学出版社,1995
[14] 韩安荣.通用变频器及其应用Ⅱ.机械工业出版社,2000
[15] 吴守箴,臧应杰.电气传动的脉宽调制技术.机械工业出版社,2000
[16] 黄孙伟,赵刚.基于 Simulink 的交流异步电机矢量控制系统的仿真.天津理工学院学报,2004(12)
[17] 贾建强,韩如龙,左龙.基于 MATLAB/Simulink 交流电机调速系统建模与仿真.电机与控制学报,2000(6)
[18] 赵相宾,年培新.谈我国变频调速技术的发展及应用.电气传动,2000(2)
[19] 赵葵银,唐勇奇.基于 Intel 80C196MC 的交流调速控制系统.电子技术,2001(10)
[20] 刘陵顺,吴光彬,刘爱元.87C196MC 控制的转差频率矢量控制系统.新技术新工艺,2001(8)
[21] 于浩洋,宋清昆,史丽萍,徐泽清.基于 MATLAB/Simulink 的自调整模糊控制器的设计与仿真.微型机与应用,2003(4)
[22] 张兴华.基于 Simulink/PSB 的异步电机变频调速系统的建模与仿真.系统仿真学报,2005(9)
[23] 刘成印,马鹏祥,徐江春.矿井提升机行程检测系统及其可靠性设计.电气传动,2001 (2)
[24] 龚世缨等.电梯理想速度曲线的理论分析及实现方法.电力电子技术,1996(1)
[25] 刘刚,刘海江,孟繁钢.一种可用于变频器再生能量回馈的“斩波—逆变”方法.鞍山钢铁学院学报,1996(8)
[26] 吴隆安,赖寿宏,涂从欢.能量回馈系统的设计与实现.电力电子技术,1995(1)
[27] 李素英,张承慧.全数字矢量控制变频调速驱动系统.测控技术,2000(8)
[28] 王海峰,任章.异步电机矢量变换控制系统的 MATLAB/SIMULINK 仿真.电气传动自动化,2003(4)
[29] 吴忠强,卢志刚.矿井提升机调速系统的一种鲁棒 MRAC 方案.工矿自动化.2002(2)
[30] Wang L .etal.Complex Systems Modeling Via Fuzzy Logic,IEEE Trans.On Systems, Man and Cybertics,1996,269(1):100～106
[31] Ting Cs,Li THS and Kung Fc.An Approach to Systematic Design of the Fuzzy Control System.Fuzzy Sets and Systems,1996,77(2):151～166
[32] Ogato K.Solving Control Systems Problems with MATLAB. Englewood Cliffs, N.J.Prentice Hal1,1994
[33] Wang Linxin.Fuzzy systems are universal approximators.IEEE Fuzzy’92.1992: 1163～1170.
[34] Natick mass.MATLAB User’s Guide.Math Works.Inc,1990
[02] 何熙文,徐承深,孙翱.INTEL 8XC196MC/MD 高档单片机原理及实用设计.大连理工大学出版社,1995
[03] 孙增圻.智能控制理论与技术.清华大学出版社、广西科学技术出版社,1997
[04] 周绍英,储方杰.交流调速系统.机械工业出版社,1996
[05] 陈伯时.电力拖动自动控制系统.机械工业出版社,1997
[06] 彭鸿才.电机原理及拖动.机械工业出版社,1996
[07] 黄俊,王兆安.电力电子变流技术.机械工业出版社,1996
[08] 易继锴,侯媛彬.智能控制技术.北京工业大学出版社,2003
[09] 闻新,周露,李东江,贝超.MATLAB 模糊逻辑工具箱的分析与应用.科学出版社,2001
[10] 孙亮.MATLAB 语言与控制系统仿真.北京工业大学出版社,2001
[11] 李华.MCS-51 系列单片机实用接口技术.北京航空航天大学出版社,2004
[12] 陈伯时,陈敏逊.交流调速系统.机械工业出版社,1998
[13] 余永权,曾碧.单片机模糊逻辑控制.北京航空航天大学出版社,1995
[14] 韩安荣.通用变频器及其应用Ⅱ.机械工业出版社,2000
[15] 吴守箴,臧应杰.电气传动的脉宽调制技术.机械工业出版社,2000
[16] 黄孙伟,赵刚.基于 Simulink 的交流异步电机矢量控制系统的仿真.天津理工学院学报,2004(12)
[17] 贾建强,韩如龙,左龙.基于 MATLAB/Simulink 交流电机调速系统建模与仿真.电机与控制学报,2000(6)
[18] 赵相宾,年培新.谈我国变频调速技术的发展及应用.电气传动,2000(2)
[19] 赵葵银,唐勇奇.基于 Intel 80C196MC 的交流调速控制系统.电子技术,2001(10)
[20] 刘陵顺,吴光彬,刘爱元.87C196MC 控制的转差频率矢量控制系统.新技术新工艺,2001(8)
[21] 于浩洋,宋清昆,史丽萍,徐泽清.基于 MATLAB/Simulink 的自调整模糊控制器的设计与仿真.微型机与应用,2003(4)
[22] 张兴华.基于 Simulink/PSB 的异步电机变频调速系统的建模与仿真.系统仿真学报,2005(9)
[23] 刘成印,马鹏祥,徐江春.矿井提升机行程检测系统及其可靠性设计.电气传动,2001 (2)
[24] 龚世缨等.电梯理想速度曲线的理论分析及实现方法.电力电子技术,1996(1)
[25] 刘刚,刘海江,孟繁钢.一种可用于变频器再生能量回馈的“斩波—逆变”方法.鞍山钢铁学院学报,1996(8)
[26] 吴隆安,赖寿宏,涂从欢.能量回馈系统的设计与实现.电力电子技术,1995(1)
[27] 李素英,张承慧.全数字矢量控制变频调速驱动系统.测控技术,2000(8)
[28] 王海峰,任章.异步电机矢量变换控制系统的 MATLAB/SIMULINK 仿真.电气传动自动化,2003(4)
[29] 吴忠强,卢志刚.矿井提升机调速系统的一种鲁棒 MRAC 方案.工矿自动化.2002(2)
[30] Wang L .etal.Complex Systems Modeling Via Fuzzy Logic,IEEE Trans.On Systems, Man and Cybertics,1996,269(1):100～106
[31] Ting Cs,Li THS and Kung Fc.An Approach to Systematic Design of the Fuzzy Control System.Fuzzy Sets and Systems,1996,77(2):151～166
[32] Ogato K.Solving Control Systems Problems with MATLAB. Englewood Cliffs, N.J.Prentice Hal1,1994
[33] Wang Linxin.Fuzzy systems are universal approximators.IEEE Fuzzy’92.1992: 1163～1170.
[34] Natick mass.MATLAB User’s Guide.Math Works.Inc,1990