基于船舶电力推进系统直接转矩控制技术研究
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摘要
基于船舶电力推进系统直接转矩控制技术研究,以大容量、大转动惯量系统为研究对象,以直接转矩控制理论为基本控制原理,以解决应用于交流电力推进船舶的推进电机控制技术为目的开展了系统研究,为完善和改进目前船舶电力推进系统中存在的问题,掌握电力推进控制系统控制技术,并逐步实现国产化提供理论依据和实践经验。
本文首先对船舶电力推进系统的发展历史和应用现状进行了详细的阐述,并对直接转矩控制技术的发展过程、存在的问题以及目前的研究热点和现状等方面进行了系统描述和研究,从而找出直接转矩控制技术在应用于船舶电力推进系统时的特殊需求,探索适用于船舶电力推进系统的直接转矩控制技术的完善与改进方向。
其次,在建立基本直接转矩控制系统模型的基础上,提出了转矩脉动分析指标,并对输出转矩脉动成因进行了系统分析。以此为出发点,探索减小电磁转矩脉动的改进控制策略。
之后,对零电压矢量在直接转矩中的调节作用以对比分析和定性分析加定量分析计算的方式进行了系统研究,给出了零电压矢量的作用效果与其它相关控制变量的定量关系,为零电压矢量的合理使用提供了理论依据。在此基础上,提出了电压矢量控制扇区12扇区划分的理论和预置区域的零电压矢量插值算法,不需增加主控回路功率器件,解决零电压矢量施加效果的不可预知问题,发挥其对转矩的“独特”调节作用,减小电磁转矩脉动,为大容量、大转动惯量系统实现推进电机加速控制提供控制思想。
通过各控制变量空间矢量关系的数学分析,提出了直接转矩控制预测算法,设计了一个磁链幅值预测单元,提供了磁链幅值增量计算公式和电磁转矩定量预算公式,为直接转矩预测控制技术研究提供理论基础。
通过α角对电压矢量调节作用影响的定性与定量分析,并结合船舶电力推进系统的自身特点与工况要求,以及直接转矩常规控制策略面对大容量、大转动惯量系统所暴露出的问题,系统分析了转矩调节不对称性的成因,探求转矩调节不对称性本质,为在特定的工况时,合理的利用转矩调节的不对称性,对提高控制系统的动态响应速度、保证DTC系统的动态性能和静态调节精度提供理论依据。
最后,针对船舶电力推进系统,在不增加任何外部硬件设备的前提下,基于零电压矢量作用效果的研究结果、“十二扇区划分”、“零电压矢量插值算法”、转矩调节不对称性分析的结论等,设计了“船舶电力推进直接转矩控制自适应控制系统”,并经过与实船测试数据的对比分析,验证其有效性。
In order to master the key control techniques and solve the existing problems in ship electric propulsion system, and provide the theoretical basis and experience for the localization of above control system, the direct torque control (DTC) technique of AC motor drives with high-capacity and large-inertia for the ship electric propulsion system is studied in this article.
Firstly, after studying the developing history and implementation status of ship electric propulsion system and investigating the developing process, existing problems and hotspots in DTC system, the special requirements and the improving direction for DTC technique in ship electric propulsion system are analyzed.
Secondly, based on the establishment of the DTC system models, the reasons for producing output torque ripple are analyzed in detail and the assessment index of torque ripple in DTC system is proposed. Then the control strategies for reducing the torque ripple is discussed.
Thirdly, after the qualitative and quantitative analysis of regulating function of zero voltage vectors to direct torque control, the effect and the quantitative relationship with other variables of zero voltage vectors is discussed, which provides the theoretical basis for the suitable use of zero voltage vectors. Based on that, the 12-sector dividing theory of space vector control and the regional interpolation of zero voltage vectors are proposed. According to above control strategies, the unexpected problems of the applied effect of zero voltage vectors are solved in the conditions of not increasing the numbers of power electronic devices in main control system. The zero voltage vectors possess special regulation function to the electromagnetic torque and can effectively reduce the torque ripple, which provides the control ideas for the ship electric propulsion motor drives with high-capacity and large-inertia.
Fourthly, according to the mathematic analysis for the various space vectors of control variables, the control predictive algorithm of DTC is proposed and the predictive unit of flux linkage amplitude is designed. Then the calculation equations of flux linkage amplitude increment and electromagnetic torque are provided, which provides the theoretical basis for the predictive control technique of the DTC system.
After that, according to the qualitative and quantitative analysis of angleαto the regulating function of voltage vectors and combining the internal characteristics and the operation requirement of the ship electric propulsion system and the problems existing in DTC general control strategy for high-capacity and large-inertia motor drive system, the reasons and essence of non-symmetry of torque regulation is analyzed systematically. The above study provides the theoretical foundation for rational utilization of the non-symmetry of torque regulation; increase the dynamic response speed of the control system, and assurance for the dynamic features and static regulating precision of the DTC system.
Finally, based on the action effect of zero voltage vectors, the dividing theory of 12-sectors, the regional interpolation algorithm of zero voltage vectors, and the analytical conclusions of non-symmetry of torque regulation, the DTC adaptive control system for ship electric propulsion system is designed under the condition of not increase the hardware. Through the comparative analysis with the practical ship testing data, the effectiveness of above conclusions is proved
本文首先对船舶电力推进系统的发展历史和应用现状进行了详细的阐述,并对直接转矩控制技术的发展过程、存在的问题以及目前的研究热点和现状等方面进行了系统描述和研究,从而找出直接转矩控制技术在应用于船舶电力推进系统时的特殊需求,探索适用于船舶电力推进系统的直接转矩控制技术的完善与改进方向。
其次,在建立基本直接转矩控制系统模型的基础上,提出了转矩脉动分析指标,并对输出转矩脉动成因进行了系统分析。以此为出发点,探索减小电磁转矩脉动的改进控制策略。
之后,对零电压矢量在直接转矩中的调节作用以对比分析和定性分析加定量分析计算的方式进行了系统研究,给出了零电压矢量的作用效果与其它相关控制变量的定量关系,为零电压矢量的合理使用提供了理论依据。在此基础上,提出了电压矢量控制扇区12扇区划分的理论和预置区域的零电压矢量插值算法,不需增加主控回路功率器件,解决零电压矢量施加效果的不可预知问题,发挥其对转矩的“独特”调节作用,减小电磁转矩脉动,为大容量、大转动惯量系统实现推进电机加速控制提供控制思想。
通过各控制变量空间矢量关系的数学分析,提出了直接转矩控制预测算法,设计了一个磁链幅值预测单元,提供了磁链幅值增量计算公式和电磁转矩定量预算公式,为直接转矩预测控制技术研究提供理论基础。
通过α角对电压矢量调节作用影响的定性与定量分析,并结合船舶电力推进系统的自身特点与工况要求,以及直接转矩常规控制策略面对大容量、大转动惯量系统所暴露出的问题,系统分析了转矩调节不对称性的成因,探求转矩调节不对称性本质,为在特定的工况时,合理的利用转矩调节的不对称性,对提高控制系统的动态响应速度、保证DTC系统的动态性能和静态调节精度提供理论依据。
最后,针对船舶电力推进系统,在不增加任何外部硬件设备的前提下,基于零电压矢量作用效果的研究结果、“十二扇区划分”、“零电压矢量插值算法”、转矩调节不对称性分析的结论等,设计了“船舶电力推进直接转矩控制自适应控制系统”,并经过与实船测试数据的对比分析,验证其有效性。
In order to master the key control techniques and solve the existing problems in ship electric propulsion system, and provide the theoretical basis and experience for the localization of above control system, the direct torque control (DTC) technique of AC motor drives with high-capacity and large-inertia for the ship electric propulsion system is studied in this article.
Firstly, after studying the developing history and implementation status of ship electric propulsion system and investigating the developing process, existing problems and hotspots in DTC system, the special requirements and the improving direction for DTC technique in ship electric propulsion system are analyzed.
Secondly, based on the establishment of the DTC system models, the reasons for producing output torque ripple are analyzed in detail and the assessment index of torque ripple in DTC system is proposed. Then the control strategies for reducing the torque ripple is discussed.
Thirdly, after the qualitative and quantitative analysis of regulating function of zero voltage vectors to direct torque control, the effect and the quantitative relationship with other variables of zero voltage vectors is discussed, which provides the theoretical basis for the suitable use of zero voltage vectors. Based on that, the 12-sector dividing theory of space vector control and the regional interpolation of zero voltage vectors are proposed. According to above control strategies, the unexpected problems of the applied effect of zero voltage vectors are solved in the conditions of not increasing the numbers of power electronic devices in main control system. The zero voltage vectors possess special regulation function to the electromagnetic torque and can effectively reduce the torque ripple, which provides the control ideas for the ship electric propulsion motor drives with high-capacity and large-inertia.
Fourthly, according to the mathematic analysis for the various space vectors of control variables, the control predictive algorithm of DTC is proposed and the predictive unit of flux linkage amplitude is designed. Then the calculation equations of flux linkage amplitude increment and electromagnetic torque are provided, which provides the theoretical basis for the predictive control technique of the DTC system.
After that, according to the qualitative and quantitative analysis of angleαto the regulating function of voltage vectors and combining the internal characteristics and the operation requirement of the ship electric propulsion system and the problems existing in DTC general control strategy for high-capacity and large-inertia motor drive system, the reasons and essence of non-symmetry of torque regulation is analyzed systematically. The above study provides the theoretical foundation for rational utilization of the non-symmetry of torque regulation; increase the dynamic response speed of the control system, and assurance for the dynamic features and static regulating precision of the DTC system.
Finally, based on the action effect of zero voltage vectors, the dividing theory of 12-sectors, the regional interpolation algorithm of zero voltage vectors, and the analytical conclusions of non-symmetry of torque regulation, the DTC adaptive control system for ship electric propulsion system is designed under the condition of not increase the hardware. Through the comparative analysis with the practical ship testing data, the effectiveness of above conclusions is proved
引文
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