感应电机无速度传感器转子磁场定向控制策略研究
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摘要
研究高性能感应电机无速度传感器矢量控制技术符合国家工业现代化的发展趋势,对我国电气自动化水平进一步提高具有重要的意义。针对目前国产矢量变频器产品与进口高性能变频器还存在着较大差距的现状,论文以高性能感应电机无速度传感器矢量控制系统为研究对象,对磁链观测技术、磁场定向鲁棒控制策略以及死区效应补偿等环节进行了深入的理论研究,以及相应的仿真和实验分析。
在分析传统转子磁链观测器所存在局限性的基础上,提出了两种改进的转子磁链观测器。第一种是基于电压模型的改进磁链观测器,为了更有效地抑制积分环节存在的直流偏移和积分饱和问题,采用一个截止频率可根据输出频率进行自调整的低通滤波器来代替电压模型磁链观测器中的反电动势积分环节,并通过一个补偿器来补偿低通滤波器所产生的磁链幅值和相角观测误差。第二种是基于自适应全阶状态观测器的改进磁链观测器,由于转速自适应观测器是一个非线性并且较复杂的模型,为了便于分析,将两相静止坐标系中的观测器输出误差系统变换到同步旋转坐标系中,再通过推导单输入单输出误差系统来得到满足观测器稳定性的条件。同时采用了一种改进的定子电阻自适应率,通过对定子电阻进行在线辨识以提高磁链观测器对电机参数变化的鲁棒性。通过仿真和实验对这两种改进转子磁链观测器的有效性进行了验证。
负载转矩扰动和转子时间常数变化可能会导致感应电机无速度传感器转子磁场定向控制发生失调,对如何提高转子磁场定向控制系统抗负载转矩扰动和转子时间常数变化的鲁棒性进行了研究。在分析扰动转矩对感应电机转子磁场定向控制系统动态模型影响的基础上,提出了一种自适应扰动转矩观测器,并对转速控制器进行扰动转矩前馈补偿以提高系统的抗负载扰动能力。然后,采用一种实用的基于无功功率的模型参考自适应方法对转子时间常数进行在线辨识,通过Popov超稳定性理论对辨识系统的稳定性进行了证明,并分析了这种模型参考自适转子时间常数辨识器对涉及到的其它电机参数的敏感性。实验结果验证了所提出的方案可以提高感应电机无速度传感器转子磁场定向控制对负载转矩扰动和转子时间常数变化的鲁棒性。
由于逆变器死区效应对感应电机相电压状态重构准确性和电流环控制性能有着重要的影响,提出了一种可以同时补偿死区误差电压并消除零电流钳位现象的死区补偿方法。在分析死区效应影响因素以及等效死区时间表达式的基础上,采用平均死区时间补偿法,在两相静止轴系中对等效死区时间所引起的误差电压进行了补偿。为了提高电流极性检测的准确性,利用同步旋转轴系中定子电流的励磁分量和转矩分量经过坐标反变换以后进行低通滤波,然后判断电流在空间坐标系中所处的扇区,从而决定所需要施加的补偿电压。另外,为了改善输出电流波形的质量,将一种零电流钳位效应消除方法结合到上述补偿方法中。通过在11kW感应电机矢量控制系统中进行应用,实验结果证明了所提出的死区补偿算法可以获得较理想的补偿效果。
采用TMS320F2812 DSP作为主控芯片,研制了系列无速度传感器矢量控制变频器样机,并对系统硬件和软件结构设计的主要环节进行了详细分析。实验结果证明了所研制变频器样机具有较好的性能指标,本设计为实现高性能无速度传感器矢量控制变频器的产品化打下了坚实的基础。
Research of high-performance speed sensorless vector control technology is coincident with the development trend of national industrial modernization. And the research also has important practical significance for the improvement of electrical automation of our country. Nowadays, the national vector-controlled inverter products are still left behind at the high-performance import ones. In this dissertation, researches are focused on high-performance speed sensorless vector controlled induction motor drives. Theory analysis, simulations and experiments are performed concerning rotor flux observer, field-oriented robust control and dead-time compensation.
Based on the analysis of limitation of conventional rotor flux observer, two different kinds of improved flux observer are proposed. The first one is based on voltage model method. An improved voltage model flux observer with the programmable low-pass filter (LPF) is proposed. LPF is normally used to replace the pure integrator of back electromotive force to avoid dc drift and saturation problems. However, the LPF estimator introduces magnitude and phase observed errors, results in degraded estimation performance at low frequency. In addition, the LPF with fixed cutoff frequency is difficult to provide good estimation for wide speed range. To solve the problems, an improved programmable LPF rotor flux observer with an error-decaying mechanism is introduced. The other one is the improved full-order flux observer. The observer error system is transformed into synchronous rotation frame to avoid nonlinear and complicated dynamics of the observer. And stability conditions can be achieved through the single-input and single-output error system. To improved parameter robustness of the observer, stator resistance is identified synchronously based on an improved adaptive mechanism. The feasibility of the two proposed observers are verified through the experimental results.
The speed sensorless field-oriented control for induction motor may be detuned due to load torque disturbance and rotor time constant variation. Based on the analysis of dynamic model of field-oriented controlled induction motor considering the load torque disturbance, a novel adaptive disturbance observer is proposed. And disturbance torque feedforward control for speed regulator is designed to obtain satisfactory dynamic response by realizing the compensation for external load disturbance. Then a practical rotor time constant estimation method based on model reference adaptive system with reactive power model is presented. Convergence of the estimator is proved using the Popov’s super-stability theory. And the sensitivity of motor parameters to the model is analyzed. The experimental results verify the validity of the proposed robust control schemes for speed sensorless field-oriented controlled induction motor drives.
Since dead-time effect of the inverter has great influence on phase voltage reconstruction and current controller for speed sensorless vector control system. A novel dead-time compensation strategy is presented to compensate dead-time error voltage and eliminate zero-current clamping effect. The factors influencing dead-time effect are analyzed, and the expression of equivalent dead time is deduced. The average dead-time compensation technique is adopted to compensate error voltage at the stationary frame. To improve the accuracy of current polarity detection, magnetizing and torque current components are transformed into the synchronous rotation frame. Therefore, compensating voltage vector can be determined according to the sector which the current vector locates according to the filtered current components. In addition, a zero-current clamping phenomenon eliminating scheme is adopted to improve the compensation performance. The proposed compensation method was implemented in the vector controlled induction motor. Experimental results demonstrate the feasibility of the dead-time compensation strategy.
Based on the above works, a vector-control driver for series induction motors with TMS320F2812 DSP has been developed. The key parts of hardware and software structures have been designed. Experimental results show that the inverter prototype achieves satisfactory performance. And the research has built stable base for the industrialization of the high-performance speed sensorless vector control inverter.
在分析传统转子磁链观测器所存在局限性的基础上,提出了两种改进的转子磁链观测器。第一种是基于电压模型的改进磁链观测器,为了更有效地抑制积分环节存在的直流偏移和积分饱和问题,采用一个截止频率可根据输出频率进行自调整的低通滤波器来代替电压模型磁链观测器中的反电动势积分环节,并通过一个补偿器来补偿低通滤波器所产生的磁链幅值和相角观测误差。第二种是基于自适应全阶状态观测器的改进磁链观测器,由于转速自适应观测器是一个非线性并且较复杂的模型,为了便于分析,将两相静止坐标系中的观测器输出误差系统变换到同步旋转坐标系中,再通过推导单输入单输出误差系统来得到满足观测器稳定性的条件。同时采用了一种改进的定子电阻自适应率,通过对定子电阻进行在线辨识以提高磁链观测器对电机参数变化的鲁棒性。通过仿真和实验对这两种改进转子磁链观测器的有效性进行了验证。
负载转矩扰动和转子时间常数变化可能会导致感应电机无速度传感器转子磁场定向控制发生失调,对如何提高转子磁场定向控制系统抗负载转矩扰动和转子时间常数变化的鲁棒性进行了研究。在分析扰动转矩对感应电机转子磁场定向控制系统动态模型影响的基础上,提出了一种自适应扰动转矩观测器,并对转速控制器进行扰动转矩前馈补偿以提高系统的抗负载扰动能力。然后,采用一种实用的基于无功功率的模型参考自适应方法对转子时间常数进行在线辨识,通过Popov超稳定性理论对辨识系统的稳定性进行了证明,并分析了这种模型参考自适转子时间常数辨识器对涉及到的其它电机参数的敏感性。实验结果验证了所提出的方案可以提高感应电机无速度传感器转子磁场定向控制对负载转矩扰动和转子时间常数变化的鲁棒性。
由于逆变器死区效应对感应电机相电压状态重构准确性和电流环控制性能有着重要的影响,提出了一种可以同时补偿死区误差电压并消除零电流钳位现象的死区补偿方法。在分析死区效应影响因素以及等效死区时间表达式的基础上,采用平均死区时间补偿法,在两相静止轴系中对等效死区时间所引起的误差电压进行了补偿。为了提高电流极性检测的准确性,利用同步旋转轴系中定子电流的励磁分量和转矩分量经过坐标反变换以后进行低通滤波,然后判断电流在空间坐标系中所处的扇区,从而决定所需要施加的补偿电压。另外,为了改善输出电流波形的质量,将一种零电流钳位效应消除方法结合到上述补偿方法中。通过在11kW感应电机矢量控制系统中进行应用,实验结果证明了所提出的死区补偿算法可以获得较理想的补偿效果。
采用TMS320F2812 DSP作为主控芯片,研制了系列无速度传感器矢量控制变频器样机,并对系统硬件和软件结构设计的主要环节进行了详细分析。实验结果证明了所研制变频器样机具有较好的性能指标,本设计为实现高性能无速度传感器矢量控制变频器的产品化打下了坚实的基础。
Research of high-performance speed sensorless vector control technology is coincident with the development trend of national industrial modernization. And the research also has important practical significance for the improvement of electrical automation of our country. Nowadays, the national vector-controlled inverter products are still left behind at the high-performance import ones. In this dissertation, researches are focused on high-performance speed sensorless vector controlled induction motor drives. Theory analysis, simulations and experiments are performed concerning rotor flux observer, field-oriented robust control and dead-time compensation.
Based on the analysis of limitation of conventional rotor flux observer, two different kinds of improved flux observer are proposed. The first one is based on voltage model method. An improved voltage model flux observer with the programmable low-pass filter (LPF) is proposed. LPF is normally used to replace the pure integrator of back electromotive force to avoid dc drift and saturation problems. However, the LPF estimator introduces magnitude and phase observed errors, results in degraded estimation performance at low frequency. In addition, the LPF with fixed cutoff frequency is difficult to provide good estimation for wide speed range. To solve the problems, an improved programmable LPF rotor flux observer with an error-decaying mechanism is introduced. The other one is the improved full-order flux observer. The observer error system is transformed into synchronous rotation frame to avoid nonlinear and complicated dynamics of the observer. And stability conditions can be achieved through the single-input and single-output error system. To improved parameter robustness of the observer, stator resistance is identified synchronously based on an improved adaptive mechanism. The feasibility of the two proposed observers are verified through the experimental results.
The speed sensorless field-oriented control for induction motor may be detuned due to load torque disturbance and rotor time constant variation. Based on the analysis of dynamic model of field-oriented controlled induction motor considering the load torque disturbance, a novel adaptive disturbance observer is proposed. And disturbance torque feedforward control for speed regulator is designed to obtain satisfactory dynamic response by realizing the compensation for external load disturbance. Then a practical rotor time constant estimation method based on model reference adaptive system with reactive power model is presented. Convergence of the estimator is proved using the Popov’s super-stability theory. And the sensitivity of motor parameters to the model is analyzed. The experimental results verify the validity of the proposed robust control schemes for speed sensorless field-oriented controlled induction motor drives.
Since dead-time effect of the inverter has great influence on phase voltage reconstruction and current controller for speed sensorless vector control system. A novel dead-time compensation strategy is presented to compensate dead-time error voltage and eliminate zero-current clamping effect. The factors influencing dead-time effect are analyzed, and the expression of equivalent dead time is deduced. The average dead-time compensation technique is adopted to compensate error voltage at the stationary frame. To improve the accuracy of current polarity detection, magnetizing and torque current components are transformed into the synchronous rotation frame. Therefore, compensating voltage vector can be determined according to the sector which the current vector locates according to the filtered current components. In addition, a zero-current clamping phenomenon eliminating scheme is adopted to improve the compensation performance. The proposed compensation method was implemented in the vector controlled induction motor. Experimental results demonstrate the feasibility of the dead-time compensation strategy.
Based on the above works, a vector-control driver for series induction motors with TMS320F2812 DSP has been developed. The key parts of hardware and software structures have been designed. Experimental results show that the inverter prototype achieves satisfactory performance. And the research has built stable base for the industrialization of the high-performance speed sensorless vector control inverter.
引文
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