双开关磁阻电机无位置传感器控制系统控制策略研究
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摘要
实时而准确的转子位置信息是开关磁阻电机（SRM）可靠运行和高性能控制的必要前提。然而位置传感器提高了系统成本和复杂度，更重要的是降低了系统的坚固性和适应性，影响系统运行的可靠性，尤其是在潮湿、振动、多尘等环境较恶劣的场合。因此，无位置传感器的SRM控制技术成为国内外的研究热点。
本文以双SRM电牵引采煤机为研究背景，研发无位置传感器的双机电牵引采煤机控制系统，以提高SRM控制系统的可靠性，具有极高的社会效应和经济价值。以三相12/8极18.5kW SRM为研究对象，研究了SRM的磁链特性在线检测、全速度范围的无位置传感器控制、双机交叉耦合同步控制和PWM整流器预测电流控制策略。
在简要分析SRM数学模型、运行特性与控制方式的基础上，对样机进行了堵转试验，获得了静态磁链-电流-转子位置角度的特性曲线族；通过JMAG软件对样机进行了三维有限元分析，其结果验证了堵转试验获得的磁链特性数据的可信度。针对现有堵转试验或有限元分析方法获取磁链特性的局限性，提出了磁链特性在线检测方法，通过DSP中的串行通信接口（SCI）模块，将磁链-电流-转子位置数据发送至上位机，由边界值限制径向基神经网络对所获取的样本数据进行训练，最终获得磁链特性数据，三种功率等级的SRM磁链特性数据实验结果验证了方法的可行性和可移植性。
针对位置传感器的使用带来的不便与弊端，简要介绍了位置传感器反馈与速度反馈原理，在对电感曲线进行傅立叶级数展开和谐波分析的基础上，提出了基于动态电感模型的SRM转子位置估计方法，分析了三相电感的计算方法和傅立叶级数展开系数的变化规律，给出了SRM转子位置角度的计算方法。提出了激励脉冲法与动态电感模型相结合的四象限全速度范围的无传感器控制策略，设计实现了无位置传感器SRM控制器。
针对双机牵引采煤机的功率输出平衡问题，提出了SRM平均转矩在线计算模型。针对现有双机交叉耦合控制采用单一反馈造成负载运行时双机功率偏差问题，提出了速度差与转矩差双反馈交叉耦合双机同步控制策略，同时分析了双SRM无传感器控制系统的主CPU硬件架构与系统软件设计，并给出了模糊控制转矩调节器的设计方法。
针对采煤机SRM双机牵引系统中的整流单元普遍采用不控整流或简单回馈方式，提出满足采煤机在大倾角工作面上可靠实现四象限运行的PWM整流器控制策略。分析了整流器的拓扑结构及低频数学模型，分析了电流控制过程中滞后一拍对整流器性能的影响，给出了波特图分析。在此基础上，提出了无差拍预测电流控制策略，给出了控制算法。
在分析采煤机负载特性的基础上，将依托本文研究成果的SRM无位置传感器控制器应用于国产某型双滚筒电牵引采煤机系统中，牵引实验结果和性能指标验证了本文整体方案的可行性和有效性。
Real-time and accurate rotor position information is a necessary prerequisite forreliable operation and high performance control of switched reluctance motor (SRM).However, shaft position sensor of SRM increases system cost and complexity, themore important is that it reduces robustness and adaptability of the system, affectingthe reliability of the operating system, especially in the humid, vibration, dust andother harsher environment situations. Therefore, sensorless SRM control technologybecomes a research hotspot at home and abroad.
Sensorless control of SRM is studied, using double SRM traction shearer as theresearch background. For the purpose of improving the reliability of SRM controlsystem, it has very high social effects and economic value. Three phase12/8-pole18.5kW SRM is the research object, on-line flux linkage characteristics detectionmethod, position sensorless control over the entire speed range, dual cross-couplingsynchronization control of double motor and predictive current control strategy forPWM rectifier are studied.
On the basis of a brief analysis of mathematical model, operating characteristicsand control mehtod, off-line static flux linkage characteristics experiment is carried on,static flux linkage-current-rotor position angle curves are obtained; three-dimensionalfinite element analysis of prototype SRM is analyzed by JMAG software, the resultsverified the credibility of the flux linkage characteristics data. In order to elimatelimitations of static locked-rotor test or finite element analysis method, on-line fluxlinkage characteristics detection method is proposed, obtaining flux linkagecharacteristics data by the serial communication interface (SCI) module when SRM isoperating. Flux linkage-current-rotor position sample data are sent to host computerand then trained by boundary value constraints radial basis function neural network(BVC-RBF). Ultimately, the flux linkage characteristic data results of three powerlevels of SRM verified feasibility and portability of the on-line detection method.
In order to avoid the inconvenience and drawbacks of SRM position sensor, abrief introduction of position sensor feedback and speed feedback is taken. Fourierseries expansion and harmonic analysis of inductance curve is carried on, rotorposition estimation method based on dynamic inductance model of SRM is proposed.Three-phase inductance calculation method and Fourier series expansion coefficientschange law are given. Calculation method of rotor position angle based on dynamic inductance model is proposed. Excitation pulse method combining with dynamicinductance model method for four-quadrant sensorless control strategy over all speedrange including standstill is proposed, a position sensorless SRM controller isdesigned and achieved.
Considering electrical power output balance of double SRM in traction shearer,on-line SRM average torque calculation model is proposed. Double motor powerdeviation caused by single feedback method has many disadvantages. Dualcross-coupling feedback of speed and torque is proposed. Double position sensorlessSRM control system hardware architecture and software design is produced. Fuzzycontrol regulator design method of double SRM torque is given.
Exsisting topology using diode rectifier or simple feedback method in doubleSRM traction system caused harmonic pollution. Deadbeat predictive current controlstrategy is proposed for the shearer in large inclined work surface and reliablefour-quadrant operation. Rectifier topology and low-frequency mathematical model isanalyzed. PWM rectifer performance caused by one unit delay in current controlperiod and Bode graph analysis are given. On this basis, the deadbeat predictivecurrent control strategy is proposed and control algorithms are given.
On the basis of shearer load characteristics analysis, SRM sensorless controller isapplied to a domestic double drum electrical traction shearer system relying on theresearch of this article, traction experimental results and its performance verified thefeasibility and effectiveness of the overall strategy.
本文以双SRM电牵引采煤机为研究背景，研发无位置传感器的双机电牵引采煤机控制系统，以提高SRM控制系统的可靠性，具有极高的社会效应和经济价值。以三相12/8极18.5kW SRM为研究对象，研究了SRM的磁链特性在线检测、全速度范围的无位置传感器控制、双机交叉耦合同步控制和PWM整流器预测电流控制策略。
在简要分析SRM数学模型、运行特性与控制方式的基础上，对样机进行了堵转试验，获得了静态磁链-电流-转子位置角度的特性曲线族；通过JMAG软件对样机进行了三维有限元分析，其结果验证了堵转试验获得的磁链特性数据的可信度。针对现有堵转试验或有限元分析方法获取磁链特性的局限性，提出了磁链特性在线检测方法，通过DSP中的串行通信接口（SCI）模块，将磁链-电流-转子位置数据发送至上位机，由边界值限制径向基神经网络对所获取的样本数据进行训练，最终获得磁链特性数据，三种功率等级的SRM磁链特性数据实验结果验证了方法的可行性和可移植性。
针对位置传感器的使用带来的不便与弊端，简要介绍了位置传感器反馈与速度反馈原理，在对电感曲线进行傅立叶级数展开和谐波分析的基础上，提出了基于动态电感模型的SRM转子位置估计方法，分析了三相电感的计算方法和傅立叶级数展开系数的变化规律，给出了SRM转子位置角度的计算方法。提出了激励脉冲法与动态电感模型相结合的四象限全速度范围的无传感器控制策略，设计实现了无位置传感器SRM控制器。
针对双机牵引采煤机的功率输出平衡问题，提出了SRM平均转矩在线计算模型。针对现有双机交叉耦合控制采用单一反馈造成负载运行时双机功率偏差问题，提出了速度差与转矩差双反馈交叉耦合双机同步控制策略，同时分析了双SRM无传感器控制系统的主CPU硬件架构与系统软件设计，并给出了模糊控制转矩调节器的设计方法。
针对采煤机SRM双机牵引系统中的整流单元普遍采用不控整流或简单回馈方式，提出满足采煤机在大倾角工作面上可靠实现四象限运行的PWM整流器控制策略。分析了整流器的拓扑结构及低频数学模型，分析了电流控制过程中滞后一拍对整流器性能的影响，给出了波特图分析。在此基础上，提出了无差拍预测电流控制策略，给出了控制算法。
在分析采煤机负载特性的基础上，将依托本文研究成果的SRM无位置传感器控制器应用于国产某型双滚筒电牵引采煤机系统中，牵引实验结果和性能指标验证了本文整体方案的可行性和有效性。
Real-time and accurate rotor position information is a necessary prerequisite forreliable operation and high performance control of switched reluctance motor (SRM).However, shaft position sensor of SRM increases system cost and complexity, themore important is that it reduces robustness and adaptability of the system, affectingthe reliability of the operating system, especially in the humid, vibration, dust andother harsher environment situations. Therefore, sensorless SRM control technologybecomes a research hotspot at home and abroad.
Sensorless control of SRM is studied, using double SRM traction shearer as theresearch background. For the purpose of improving the reliability of SRM controlsystem, it has very high social effects and economic value. Three phase12/8-pole18.5kW SRM is the research object, on-line flux linkage characteristics detectionmethod, position sensorless control over the entire speed range, dual cross-couplingsynchronization control of double motor and predictive current control strategy forPWM rectifier are studied.
On the basis of a brief analysis of mathematical model, operating characteristicsand control mehtod, off-line static flux linkage characteristics experiment is carried on,static flux linkage-current-rotor position angle curves are obtained; three-dimensionalfinite element analysis of prototype SRM is analyzed by JMAG software, the resultsverified the credibility of the flux linkage characteristics data. In order to elimatelimitations of static locked-rotor test or finite element analysis method, on-line fluxlinkage characteristics detection method is proposed, obtaining flux linkagecharacteristics data by the serial communication interface (SCI) module when SRM isoperating. Flux linkage-current-rotor position sample data are sent to host computerand then trained by boundary value constraints radial basis function neural network(BVC-RBF). Ultimately, the flux linkage characteristic data results of three powerlevels of SRM verified feasibility and portability of the on-line detection method.
In order to avoid the inconvenience and drawbacks of SRM position sensor, abrief introduction of position sensor feedback and speed feedback is taken. Fourierseries expansion and harmonic analysis of inductance curve is carried on, rotorposition estimation method based on dynamic inductance model of SRM is proposed.Three-phase inductance calculation method and Fourier series expansion coefficientschange law are given. Calculation method of rotor position angle based on dynamic inductance model is proposed. Excitation pulse method combining with dynamicinductance model method for four-quadrant sensorless control strategy over all speedrange including standstill is proposed, a position sensorless SRM controller isdesigned and achieved.
Considering electrical power output balance of double SRM in traction shearer,on-line SRM average torque calculation model is proposed. Double motor powerdeviation caused by single feedback method has many disadvantages. Dualcross-coupling feedback of speed and torque is proposed. Double position sensorlessSRM control system hardware architecture and software design is produced. Fuzzycontrol regulator design method of double SRM torque is given.
Exsisting topology using diode rectifier or simple feedback method in doubleSRM traction system caused harmonic pollution. Deadbeat predictive current controlstrategy is proposed for the shearer in large inclined work surface and reliablefour-quadrant operation. Rectifier topology and low-frequency mathematical model isanalyzed. PWM rectifer performance caused by one unit delay in current controlperiod and Bode graph analysis are given. On this basis, the deadbeat predictivecurrent control strategy is proposed and control algorithms are given.
On the basis of shearer load characteristics analysis, SRM sensorless controller isapplied to a domestic double drum electrical traction shearer system relying on theresearch of this article, traction experimental results and its performance verified thefeasibility and effectiveness of the overall strategy.
引文
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