电力机车牵引电机在全速度范围的控制策略研究
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摘要
摘要：电力机车牵引电机的控制是电力机车的核心技术之一,其控制性能的优劣对于电力机车的安全稳定运行具有至关重要的作用。本文以国产大功率交流传动电力机车的研究开发为背景,对电力机车牵引传动系统中牵引电机控制的关键问题进行了研究,主要有以下内容：
在非方波调制区,系统性的针对转子时间常数误差和负载大小与磁场定向角度误差之间的关系,以及定向角度误差对电机矢量控制性能的影响进行了详细的理论推导和综合分析。在此基础上通过对不同方法的对比分析采用了一种基于q轴转子磁链的磁场定向角度误差实时校正策略,仿真和实验结果证明该策略能够对各种原因引起的磁场定向角度误差进行良好的校正。
针对方波下逆变器输出电压不能调节导致传统矢量控制不能应用的情况,本文中提出了一种基于电流开环控制的改进型矢量控制策略,并采用基于改进的电压控制器的弱磁策略,保证了电机在方波弱磁区全速度范围的最大转矩控制。
分析了方波工况在基于电流开环控制的改进型矢量控制下磁场定向不准对电机电流指令值和实际值之间偏差的影响,提出了一种方波下基于q轴电流误差的磁场定向误差校正策略,保证了方波下的转矩控制精度。
对两种低载波比下的调制策略——中间60。调制策略和SHEPWM进行了对比研究。重点对两种调制方式下在不同脉冲数下的电压谐波,电机负载下的电流谐波和引起的转矩脉动的变化规律进行了详细的理论分析,比较了两种调制方式的优缺点。对SHEPWM下不同开关角分布对谐波的影响进行了分析。对不同调试方式之间的切换策略进行了分析,提出了一种三相同时切换的切换策略。
提出了一种基于机车速度的全速度范围分段矢量控制策略,对其应用于国产大功率电力机车牵引传动系统后的现场试验情况进行了说明。并针对电力机车的几个特殊问题进行了研究,提出了一种过分相区的直流电压恒定控制策略,保证在过分相区辅助系统的不间断供电；采用了一种基于速度误差的开环转矩控制策略,保证了电力机车的准恒速控制。电力机车现场试验结果良好,已经通过铁道科学研究院的所有型式试验,目前正在上线试运行。
The control of locomotive traction motor is one of the key techonology and its performeance is of great important to the running of electrical locomotive. This dissertation is based on the research and development of domestic high power electrical lomotive and aims to solve some key problems of the motor control in the traction driving system.
First, the relationship between incorrect rotor time constant, load and the rotor flux angle error is analyzed, and the influence of angle error to performance of vector control is detailed researched in this article. A q-axis rotor flux based correction strategy of field orientation in real-time is used based on the compareration of different methods. Simulation and experimental results proved the validity of the strategy.
Second, the output voltage of inverter is constant and can't be adjusted any more under square wave, which make the traditional vector control can't be used. In this article, a modified vector control based on open loop current control is proposed and a max-torque control method based on modified voltage controller is used in order to get maximum torque output in the whole speed range.
Third, based on the influence research of incorrect field orientation on current error between command and actual value, a corrention strategy for field orientation under square wave which is based on the q-axis current error is proposed, thus the accurate torque control can be get even in the one pulse mode.
Fourth, two modulation method:central60°modulation and SHEPWM under low carrier wave ratio are learned. Most attentation is paid on the voltage harmonics and the current harmonics, resulting torque pulsation in induction machine analization. The affects of different initial swithing angle to the harmonic amplitude of the SHEPWM is also researched, and a conclusion is given. The transition between different modulation methods is an important aspent in the multi-mode modulation strategy, a transition strategy that three phases can swith at the same time is proposed.
Fifth, a sectional vector control strategy within the whole speed range is proposed based on the speed of electrical locomotive, and the proposed control and modulation strategy are used in the domestic electrical locomotive. Besides, a constant DC bus voltage control strategy when passing the neutral section is proposed which can achieve uninterrupted power supply for auxiliary system of electric locomotive. A quasi-constant speed control ot locomotive using a proportional controller based on the speed error is used, which can guarantee that the speed error can't exceed2.5km/h. The expremental results of the locomotive using the control strategy and modulation strategy is presented and it showed that the performance of the locomotive is very good and achieves the designed goal of the traction driving system.
在非方波调制区,系统性的针对转子时间常数误差和负载大小与磁场定向角度误差之间的关系,以及定向角度误差对电机矢量控制性能的影响进行了详细的理论推导和综合分析。在此基础上通过对不同方法的对比分析采用了一种基于q轴转子磁链的磁场定向角度误差实时校正策略,仿真和实验结果证明该策略能够对各种原因引起的磁场定向角度误差进行良好的校正。
针对方波下逆变器输出电压不能调节导致传统矢量控制不能应用的情况,本文中提出了一种基于电流开环控制的改进型矢量控制策略,并采用基于改进的电压控制器的弱磁策略,保证了电机在方波弱磁区全速度范围的最大转矩控制。
分析了方波工况在基于电流开环控制的改进型矢量控制下磁场定向不准对电机电流指令值和实际值之间偏差的影响,提出了一种方波下基于q轴电流误差的磁场定向误差校正策略,保证了方波下的转矩控制精度。
对两种低载波比下的调制策略——中间60。调制策略和SHEPWM进行了对比研究。重点对两种调制方式下在不同脉冲数下的电压谐波,电机负载下的电流谐波和引起的转矩脉动的变化规律进行了详细的理论分析,比较了两种调制方式的优缺点。对SHEPWM下不同开关角分布对谐波的影响进行了分析。对不同调试方式之间的切换策略进行了分析,提出了一种三相同时切换的切换策略。
提出了一种基于机车速度的全速度范围分段矢量控制策略,对其应用于国产大功率电力机车牵引传动系统后的现场试验情况进行了说明。并针对电力机车的几个特殊问题进行了研究,提出了一种过分相区的直流电压恒定控制策略,保证在过分相区辅助系统的不间断供电；采用了一种基于速度误差的开环转矩控制策略,保证了电力机车的准恒速控制。电力机车现场试验结果良好,已经通过铁道科学研究院的所有型式试验,目前正在上线试运行。
The control of locomotive traction motor is one of the key techonology and its performeance is of great important to the running of electrical locomotive. This dissertation is based on the research and development of domestic high power electrical lomotive and aims to solve some key problems of the motor control in the traction driving system.
First, the relationship between incorrect rotor time constant, load and the rotor flux angle error is analyzed, and the influence of angle error to performance of vector control is detailed researched in this article. A q-axis rotor flux based correction strategy of field orientation in real-time is used based on the compareration of different methods. Simulation and experimental results proved the validity of the strategy.
Second, the output voltage of inverter is constant and can't be adjusted any more under square wave, which make the traditional vector control can't be used. In this article, a modified vector control based on open loop current control is proposed and a max-torque control method based on modified voltage controller is used in order to get maximum torque output in the whole speed range.
Third, based on the influence research of incorrect field orientation on current error between command and actual value, a corrention strategy for field orientation under square wave which is based on the q-axis current error is proposed, thus the accurate torque control can be get even in the one pulse mode.
Fourth, two modulation method:central60°modulation and SHEPWM under low carrier wave ratio are learned. Most attentation is paid on the voltage harmonics and the current harmonics, resulting torque pulsation in induction machine analization. The affects of different initial swithing angle to the harmonic amplitude of the SHEPWM is also researched, and a conclusion is given. The transition between different modulation methods is an important aspent in the multi-mode modulation strategy, a transition strategy that three phases can swith at the same time is proposed.
Fifth, a sectional vector control strategy within the whole speed range is proposed based on the speed of electrical locomotive, and the proposed control and modulation strategy are used in the domestic electrical locomotive. Besides, a constant DC bus voltage control strategy when passing the neutral section is proposed which can achieve uninterrupted power supply for auxiliary system of electric locomotive. A quasi-constant speed control ot locomotive using a proportional controller based on the speed error is used, which can guarantee that the speed error can't exceed2.5km/h. The expremental results of the locomotive using the control strategy and modulation strategy is presented and it showed that the performance of the locomotive is very good and achieves the designed goal of the traction driving system.
引文
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