现代直线电机关键控制技术及其应用研究
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摘要
直线电机将电能直接转化为直线运动的机械能,不仅省略了中间传动机构,而且降低了系统损耗,非常适用于直线直驱式系统,其研究发展的主要方向是电机本体优化设计和驱动控制技术,后者主要涉及电力电子和自动控制领域,是提高电机调速性能的必要手段,也是现代直线电机研究的重点内容。
论文围绕直线电机驱动控制技术进行以下几方面研究：
1.介绍了直线电机的原理、结构、分类、发展历程及其在军事、民用、工业自动化、交通运输等领域中的应用,然后讲述了直线电机的v/f控制、矢量控制和直接推力控制策略,并由此引出课题的研究背景和主要研究内容。
2.建立了永磁直线电机数学模型,并在此基础上总结了永磁直线电机常用的矢量控制方法。基于TI公司的浮点DSP处理器TMS320F28335给出了空间矢量脉宽调制的数字化实现方法。根据逆变器电路结构详细分析了死区效应的产生及其对系统的不良影响,并推导得到死区误差电压矢量。由于直线电机大多应用在短行程直驱系统中,运行频率较低,死区效应对其运行状态影响明显。实验研究了电压矢量补偿法和时间补偿法两种死区补偿方法,结果表明这两种死区补偿算法均可有效降低直线电机低速运行时的电流畸变和推力脉动。
3.设计了永磁直线电机伺服控制系统,通过试验比较了位置-速度-电流三环位置伺服控制系统和位置-电流双环位置伺服控制系统的控制性能。建立了基于id=0矢量控制策略的改进型三环位置伺服控制系统,设计了模糊自适应速度PI调节器代替常规速度PI调节器,详细分析了PI调节器参数设计对定位过程中位置误差的影响,并在伺服控制系统中增加了速度、加速度、负载阻力和粘滞摩擦前馈补偿校正环节。以圆筒型永磁直线电机作为研究对象进行了实验验证,测得的速度与位置结果显示,模糊自适应PI调节器有效降低了速度超调,而前馈校正环节则减小了位置跟踪误差。研究表明永磁直线电机采用改进的控制方法可有效提高系统的动态性能与控制精度。
4.研究了永磁直线电机的初始位置检测方法。对于具有饱和凸极效应的表贴式永磁直线电机,基于电感变化的动子位置检测方法可以实现静止状态下的动子初始位置获取。研究中采用脉振高频信号注入法检测直线电机动子初始位置,提出的改进型极值法可有效提取高频电流信号中的动子位置信息。实验结果表明,与脉冲电压法相比改进型高频信号注入法可以有效提取永磁直线电机的动子初始位置,结果稳定、精度较高。
5.研究了永磁直线电机无位置传感器矢量控制系统,系统采用反电势积分法作为无位置传感器控制算法。实验结果表明,通过死区补偿与磁链中值法可有效消除磁链零漂,提高动子位置估算精度。并在此基础上详细分析了电机参数变化对位置估测结果的影响。由于反电势积分法无法在零速下估算动子位置,系统采用开环启动的方法,待电机运行到一定速度后切换到速度闭环控制。提出的q轴电流控制方法实现了速度开环和速度闭环之间的平稳过渡。
6.设计了城市轨道试验线动态无线控制系统,重点探讨了车载变频器驱动电路、检测电路和多重硬件保护电路设计思路,给出了变频器控制程序设计方案和实现流程。基于LabVIEW设计上位机控制程序,实现了系统各组成部分的高效控制。最后对城市轨道试验线系统通讯过程进行测试,提出的指令双校验法解决了通讯中存在的指令传输错误问题,保证了试验线的可靠运行。
The linear motor can directly transform electrical energy into linear moving mechanical energy, the mechanical friction and losses can be reduced in this system without transmission mechanisms. Therefore, it is much suitable for direct drive system. Optimal motor design and driving technology are two main developing directions of the linear motor. The latter involves power electronics and automatic control, and it is the key to improve the adjusting speed performance for motor. It also becomes the focus of the study for modern linear motor.
The dissertation has researched following several areas around the driving technology of linear motor:
1. The principle, structure, classification, development and the applications of linear motor in the fields of military, civil, industrial automation and transportation are introduced. Then, the vlf control, field oriented control (FOC) and direct thrust control (DTC) for linear motor are described, after that the research background and the main contents are pointed out.
2. The mathematic model of the permanent magnet synchronous linear motor (PMLSM) is built, and then several types of FOC for PMLSM are introduced based on this model. Space vector pulse width modulation (SVPWM) is realized by using TI's floating-point digital signal processor (DSP) TMS320F28335. Generation and adverse effects of dead-time effect are analyzed based on the structure of the inverter, and the dead-time error voltage vector is deduced to describe the dead-time effect. Since the linear motor is mostly used in short-stroke direct drive system, dead-time effect has great effect on control performance due to its relative low operation frequency. The voltage vector compensation and time compensation methods used to eliminate the dead-time effect are investigated by the experiment. The results indicate that the dead-time compensation methods can reduce the current distortion and thrust ripple.
3. The servo control system is built with air-cored PMLSM, and the performance of position-speed-current closed-loop system and position-current closed-loop system are discussed by experiment. Improved position-speed-current closed-loop servo control system which built with id=0FOC is proposed. Fuzzy adaptive PI controller is used in servo control system instead of the conventional speed regulator, and position error caused by the parameters of PI controller is analyzed in orientation process. Feedforward compensation correction devices of speed, acceleration, load damping and viscous friction are designed. It is validated by the experiment on tubular air-cored PMLSM. The speed and position are measured, and the measured results of speed and position indicate that the speed overshoot is reduced by fuzzy adaptive PI controller and position tracking error is significantly reduced by feedforward control. The research indicates that the dynamic performance and control accuracy of PMLSM can be improved by adopting the improved control methods combined with fuzzy adaptive PI control and feedforward control.
4. Initial mover position estimation of PMLSM is discussed in the research. Due to the saturation saliency effect of PMLSM, initial mover position can be estimated in stationary state based on inductance variation. Fluctuating high-frequency signal injection is used in this research. Mover position information can be extracted effectively by the improved extreme value method. The experimental results show that the improved high-frequency injection method is more accurate and reliable than available pulse-voltage injection method for the initial mover position estimation.
5. The sensorless FOC system for PMLSM based on back electromotive force (back-EMF) method is built in the research. The dead-time compensation and mean value of flux linkage method are validated to eliminate the flux linkage drift effectively, so the accuracy of mover position estimation is improved significantly. The influence of estimation position due to parameter variation is analyzed by experimental results. Due to Back-EMF sensorless method can'no"t get the mover position of PMLSM at zero-speed, method of current closed-loop and speed open-loop is adopted in startup state, and system is switched to speed-current closed-loop control model when the linear motor speed reached the threshold. By adjusting the q-axis current, a smooth and stable transition between speed open-loop control and speed closed-loop control is realized.
6. A dynamic operation wireless control system in urban rail test line is designed. Drive circuit, signal detection circuit and protection circuit of vehicle inverter are researched in order to meet the high reliability requirements for this system, and control program design and implementation process for inverter are also proposed. In order to contact each part of system efficiently, host computer control system is built with LabVIEW. Finally, the communication of the urban rail test line is tested. By analyzing the experimental results, the method of double-examination is proposed to solve the command transmission error, and reliable operation of the test line is guaranteed at last.
论文围绕直线电机驱动控制技术进行以下几方面研究：
1.介绍了直线电机的原理、结构、分类、发展历程及其在军事、民用、工业自动化、交通运输等领域中的应用,然后讲述了直线电机的v/f控制、矢量控制和直接推力控制策略,并由此引出课题的研究背景和主要研究内容。
2.建立了永磁直线电机数学模型,并在此基础上总结了永磁直线电机常用的矢量控制方法。基于TI公司的浮点DSP处理器TMS320F28335给出了空间矢量脉宽调制的数字化实现方法。根据逆变器电路结构详细分析了死区效应的产生及其对系统的不良影响,并推导得到死区误差电压矢量。由于直线电机大多应用在短行程直驱系统中,运行频率较低,死区效应对其运行状态影响明显。实验研究了电压矢量补偿法和时间补偿法两种死区补偿方法,结果表明这两种死区补偿算法均可有效降低直线电机低速运行时的电流畸变和推力脉动。
3.设计了永磁直线电机伺服控制系统,通过试验比较了位置-速度-电流三环位置伺服控制系统和位置-电流双环位置伺服控制系统的控制性能。建立了基于id=0矢量控制策略的改进型三环位置伺服控制系统,设计了模糊自适应速度PI调节器代替常规速度PI调节器,详细分析了PI调节器参数设计对定位过程中位置误差的影响,并在伺服控制系统中增加了速度、加速度、负载阻力和粘滞摩擦前馈补偿校正环节。以圆筒型永磁直线电机作为研究对象进行了实验验证,测得的速度与位置结果显示,模糊自适应PI调节器有效降低了速度超调,而前馈校正环节则减小了位置跟踪误差。研究表明永磁直线电机采用改进的控制方法可有效提高系统的动态性能与控制精度。
4.研究了永磁直线电机的初始位置检测方法。对于具有饱和凸极效应的表贴式永磁直线电机,基于电感变化的动子位置检测方法可以实现静止状态下的动子初始位置获取。研究中采用脉振高频信号注入法检测直线电机动子初始位置,提出的改进型极值法可有效提取高频电流信号中的动子位置信息。实验结果表明,与脉冲电压法相比改进型高频信号注入法可以有效提取永磁直线电机的动子初始位置,结果稳定、精度较高。
5.研究了永磁直线电机无位置传感器矢量控制系统,系统采用反电势积分法作为无位置传感器控制算法。实验结果表明,通过死区补偿与磁链中值法可有效消除磁链零漂,提高动子位置估算精度。并在此基础上详细分析了电机参数变化对位置估测结果的影响。由于反电势积分法无法在零速下估算动子位置,系统采用开环启动的方法,待电机运行到一定速度后切换到速度闭环控制。提出的q轴电流控制方法实现了速度开环和速度闭环之间的平稳过渡。
6.设计了城市轨道试验线动态无线控制系统,重点探讨了车载变频器驱动电路、检测电路和多重硬件保护电路设计思路,给出了变频器控制程序设计方案和实现流程。基于LabVIEW设计上位机控制程序,实现了系统各组成部分的高效控制。最后对城市轨道试验线系统通讯过程进行测试,提出的指令双校验法解决了通讯中存在的指令传输错误问题,保证了试验线的可靠运行。
The linear motor can directly transform electrical energy into linear moving mechanical energy, the mechanical friction and losses can be reduced in this system without transmission mechanisms. Therefore, it is much suitable for direct drive system. Optimal motor design and driving technology are two main developing directions of the linear motor. The latter involves power electronics and automatic control, and it is the key to improve the adjusting speed performance for motor. It also becomes the focus of the study for modern linear motor.
The dissertation has researched following several areas around the driving technology of linear motor:
1. The principle, structure, classification, development and the applications of linear motor in the fields of military, civil, industrial automation and transportation are introduced. Then, the vlf control, field oriented control (FOC) and direct thrust control (DTC) for linear motor are described, after that the research background and the main contents are pointed out.
2. The mathematic model of the permanent magnet synchronous linear motor (PMLSM) is built, and then several types of FOC for PMLSM are introduced based on this model. Space vector pulse width modulation (SVPWM) is realized by using TI's floating-point digital signal processor (DSP) TMS320F28335. Generation and adverse effects of dead-time effect are analyzed based on the structure of the inverter, and the dead-time error voltage vector is deduced to describe the dead-time effect. Since the linear motor is mostly used in short-stroke direct drive system, dead-time effect has great effect on control performance due to its relative low operation frequency. The voltage vector compensation and time compensation methods used to eliminate the dead-time effect are investigated by the experiment. The results indicate that the dead-time compensation methods can reduce the current distortion and thrust ripple.
3. The servo control system is built with air-cored PMLSM, and the performance of position-speed-current closed-loop system and position-current closed-loop system are discussed by experiment. Improved position-speed-current closed-loop servo control system which built with id=0FOC is proposed. Fuzzy adaptive PI controller is used in servo control system instead of the conventional speed regulator, and position error caused by the parameters of PI controller is analyzed in orientation process. Feedforward compensation correction devices of speed, acceleration, load damping and viscous friction are designed. It is validated by the experiment on tubular air-cored PMLSM. The speed and position are measured, and the measured results of speed and position indicate that the speed overshoot is reduced by fuzzy adaptive PI controller and position tracking error is significantly reduced by feedforward control. The research indicates that the dynamic performance and control accuracy of PMLSM can be improved by adopting the improved control methods combined with fuzzy adaptive PI control and feedforward control.
4. Initial mover position estimation of PMLSM is discussed in the research. Due to the saturation saliency effect of PMLSM, initial mover position can be estimated in stationary state based on inductance variation. Fluctuating high-frequency signal injection is used in this research. Mover position information can be extracted effectively by the improved extreme value method. The experimental results show that the improved high-frequency injection method is more accurate and reliable than available pulse-voltage injection method for the initial mover position estimation.
5. The sensorless FOC system for PMLSM based on back electromotive force (back-EMF) method is built in the research. The dead-time compensation and mean value of flux linkage method are validated to eliminate the flux linkage drift effectively, so the accuracy of mover position estimation is improved significantly. The influence of estimation position due to parameter variation is analyzed by experimental results. Due to Back-EMF sensorless method can'no"t get the mover position of PMLSM at zero-speed, method of current closed-loop and speed open-loop is adopted in startup state, and system is switched to speed-current closed-loop control model when the linear motor speed reached the threshold. By adjusting the q-axis current, a smooth and stable transition between speed open-loop control and speed closed-loop control is realized.
6. A dynamic operation wireless control system in urban rail test line is designed. Drive circuit, signal detection circuit and protection circuit of vehicle inverter are researched in order to meet the high reliability requirements for this system, and control program design and implementation process for inverter are also proposed. In order to contact each part of system efficiently, host computer control system is built with LabVIEW. Finally, the communication of the urban rail test line is tested. By analyzing the experimental results, the method of double-examination is proposed to solve the command transmission error, and reliable operation of the test line is guaranteed at last.
引文
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