矿用电机车的永磁同步电机控制关键技术研究
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摘要
传统的矿用电机车大都采用直流串励电动机作为牵引电机，控制采用串电阻调速或斩波调速，少部分电机车采用三相异步电动机作为牵引电机，控制采用变频调速控制，以上系统具有结构简单、便于操作、初期投入低等优点，在国内矿用电机车中得到广泛的应用。随着矿山企业对安全高效、环保和节能提出更高的要求，采用高新技术替代传统技术显得尤为迫切。利用永磁同步电动机作为牵引电机的控制方案，具有结构简单、效率高、安全性能好、系统可靠等优点，在矿山牵引行业具有广阔的应用前景。
本文针对矿用电机车牵引的要求以及使用频繁、环境恶劣等特点，以无传感器永磁同步电动机的牵引控制系统作为研究对象，围绕矿用机车牵引实践中存在的关键问题，研究相关控制方法并应用于无传感器永磁同步电动机的调速装置，通过大量的工业现场实践工作，使得牵引系统达到了工程应用的要求。本文研究注重理论和实践相结合，紧扣矿用电机车控制的实际问题，研究工作主要包括以下几个方面：
1、无传感器永磁同步电动机需要准确地获取转子位置和转速信息，本文研究和探讨了一种较为简便易行的方案，即基于锁相环（PLL）原理的转子位置估计器。进一步地，本文鉴于三相交流电机数学模型的共性，提出将原先广泛应用于异步电机的静态补偿电压模型（SCVM）方案应用于永磁同步电机的转子位置估计方法。结果表明采用这种转子位置和转速估计的永磁同步电机无传感器矢量控制系统表现出较好的动静态性能。
2、对于如何实现在电动机低速甚至零速条件下仍然能够对转速和转矩实现有效控制，本文研究了两种基于高频信号注入的内置式永磁同步电机（IPMSM）无传感器低速控制方法，即高频脉振电压注入法和高频旋转电压注入法。这两种控制方法都是采用额外注入高频电压信号的方式，通过对电机高频电流响应进行适当的信号处理后提取出用于转子位置和转速估计的偏差信号，所设计的高频注入仿真模型能够实现电机低速甚至零速状态的稳定有效运行，仿真和实际应用结果表明两种方法对电机转子位置和转速都具有良好的跟踪效果。
3、针对永磁电动机调速装置相对封闭，散热性能差的实际问题，论文提出采用降低开关频率的永磁同步电机复矢量控制方法。通过建立永磁同步电机无传感器矢量控制模型，对不同调节器性能的评估分析表明，采用直接设计法的离散复矢量电流控制器具有较强的鲁棒性，其性能表现最优。通过应用该方法，使得调速装置在实际应用过程中降低了发热量，有效解决了设备应用过程中因温升过高而频繁保护的问题，提高了系统的可靠性。
4、无传感器永磁同步电动机初始位置检测的准确性直接决定着电动机的启动特性，论文探讨了基于高频脉振电压注入和高频旋转电压注入的内置式永磁同步电机的两种转子初始位置检测方法，能够在电机的电流响应中得到准确的转子初始位置，仿真和实际应用表明所设计的初始位置仿真模型的有效性和可行性，解决了无传感器条件下内置式永磁同步电动机转子初始位置检测这一关键问题。
5、通过大量的牵引试验和现场工程应用表明，以高性能数字信号处理器为硬件核心，设计满足逆变器控制和电机车控制的调速器控制电路，将如何获取转子位置和转速信息、如何实现转速和转矩控制、如何降低功率器件开关频率等关键控制技术应用于调速装置中，有效解决了电机车采用无传感器永磁同步电动机控制的相关关键问题。工程应用表明，电机车的系统结构更加合理，防爆性能可靠，具有电制动功能，启动平滑，刹车距离短；无论驱动过程还是制动过程，均为无级调速，机械冲击小，极大降低了机械磨损，维护工作量大大降低；同时机车的续航里程大大提高，提高了机车的使用效率。总之，采用永磁同步电动机及其控制系统的矿用电机车具有安全、高效、节能等优点。
Traditional mining electric locomotive mostly adopted DC series excitationmotor as the traction motor which uses serial-resistance speed governing or chopperregulator. A small part of electric locomotives adopted three-phase asynchronousmotor as the traction motor which was frequency control of motor speed. The abovesystems, which had advantages of simple structure and operation, low initialinvestment, have been widely used in domestic mining electric locomotive. Withhigh demands for safety, efficiency, environmental protection and energy savingproposed by mining enterprises, it is particularly urgent to replace traditionaltechnology with high-technology. The control scheme of using permanent magnetsynchronous motor as the traction motor has many advantages such as simplestructure, high efficiency, good safety performance and reliable system, etc. In thefuture this kind of motor will has a broad prospect in mining industry.
In view of the demand of mine electric locomotive traction and thecharacteristic of frequent use and bad environment, etc, traction control system ofsensor-less permanent magnet synchronous motor is considered as research object inthe dissertation. Key practical problems in mine locomotive traction are analysed,related control method is studied and applied to the speed control device of thesensor-less permanent magnet synchronous motor. Through massive practical work,the traction system can match the demand of engineering application. The studytakes into account both theory and practice, aims at practical problems in mineelectric locomotive control, and the main research works include the followingaspects:
1、It is essential to obtain the information of rotor position and speed forsensor-less permanent magnet synchronous motor. A simple solution, that is rotorposition estimator based on the principle of phase lock loop (PLL), is proposed inthis dissertation. Furthermore, in view of generality of the mathematical model of three-phase ac motor. the dissertation originally proposed that static compensationvoltage model (SCVM) scheme which has been widely used in asynchronous motorsis applied to the position estimation method of permanent magnet synchronousmotor rotor. Result indicates that sensor-less permanent magnet synchronous motorvector control system using the rotor position and speed estimation showed gooddynamic and static performance.
2、Aimed at effective control of motor speed and torque at low speed and zerospeed, two kinds of interior permanent magnet synchronous motor (IPMSM)sensor-less control methods at low speed, based on high frequency signal injection,are studied in the dissertation, namely high frequency pulse vibration voltageinjection method and high frequency rotating voltage injection method. Both controlmethod use extra high frequency voltage signal injection method. The error signal ofthe rotor position and speed estimation is extracted by proper signal processing fromthe motor high frequency current response. The design of high frequency injectionsimulation model can achieve stable and effective operation of the motor at lowspeed and zero speed. Simulation and actual application results show that the twomethods have good tracking effect to the motor rotor position and speed.
3、According to the actual problems that permanent magnet motor drive devicehas poor heat dissipation, a new method, reducing the switch frequency ofpermanent magnet synchronous motor complex vector control,is proposed in thedissertation. Through the establishment of permanent magnet synchronous motorsensor-less vector control model, analysis of different controller performanceassessment shows that discrete vector current controller using the direct designmethod has strong robustness and optimal performance. Thus, the speed regulationdevice reduces the calorific value in the process of practical application. Theproblem of frequent protection caused by high temperature is solved and the systemis more reliable.
4、The accuracy of the initial position detection of sensor-less permanent magnet synchronous motor decides directly the motor starting characteristics. It isdiscussed in the dissertation that two initial position detect methods of built-inpermanent magnet synchronous motor’s rotor based on both high frequency pulsevibration voltage injection and high frequency rotating voltage injection. The rotorinitial position can be got accurately in current response of motor. The simulationand actual application shows that the simulation model for the initial position iseffective and feasible. Thus, a critical problem that interior permanent magnetsynchronous motor rotor initial position detection under the sensor-less condition issolved.
5、Under a lot of traction tests and field application, governor control circuit isdesigned to satisfy inverter control and electric locomotive control of highperformance digital signal processor. Key solutions used in the speed control devicesuch as how to obtain the rotor position and speed information, how to realize thespeed and torque control and how to reduce the switching frequency of powerdevices, are proposed to solve key problems about control. The engineeringapplication shows that electric locomotive system structure is more reasonable andhas reliable explosion-proof performance, electric braking function, smooth start andshort braking distance. Whether in driving process or braking process, it is step-lessspeed regulation and has small mechanical shock. The mechanical wear andmaintenance workload is reduced greatly. The mileage and service efficiency of thelocomotive are improved greatly at the same time. In short, permanent magnetsynchronous motor and its control system used in mine electric locomotives have theadvantages of safety, high efficiency and energy saving, etc.
本文针对矿用电机车牵引的要求以及使用频繁、环境恶劣等特点，以无传感器永磁同步电动机的牵引控制系统作为研究对象，围绕矿用机车牵引实践中存在的关键问题，研究相关控制方法并应用于无传感器永磁同步电动机的调速装置，通过大量的工业现场实践工作，使得牵引系统达到了工程应用的要求。本文研究注重理论和实践相结合，紧扣矿用电机车控制的实际问题，研究工作主要包括以下几个方面：
1、无传感器永磁同步电动机需要准确地获取转子位置和转速信息，本文研究和探讨了一种较为简便易行的方案，即基于锁相环（PLL）原理的转子位置估计器。进一步地，本文鉴于三相交流电机数学模型的共性，提出将原先广泛应用于异步电机的静态补偿电压模型（SCVM）方案应用于永磁同步电机的转子位置估计方法。结果表明采用这种转子位置和转速估计的永磁同步电机无传感器矢量控制系统表现出较好的动静态性能。
2、对于如何实现在电动机低速甚至零速条件下仍然能够对转速和转矩实现有效控制，本文研究了两种基于高频信号注入的内置式永磁同步电机（IPMSM）无传感器低速控制方法，即高频脉振电压注入法和高频旋转电压注入法。这两种控制方法都是采用额外注入高频电压信号的方式，通过对电机高频电流响应进行适当的信号处理后提取出用于转子位置和转速估计的偏差信号，所设计的高频注入仿真模型能够实现电机低速甚至零速状态的稳定有效运行，仿真和实际应用结果表明两种方法对电机转子位置和转速都具有良好的跟踪效果。
3、针对永磁电动机调速装置相对封闭，散热性能差的实际问题，论文提出采用降低开关频率的永磁同步电机复矢量控制方法。通过建立永磁同步电机无传感器矢量控制模型，对不同调节器性能的评估分析表明，采用直接设计法的离散复矢量电流控制器具有较强的鲁棒性，其性能表现最优。通过应用该方法，使得调速装置在实际应用过程中降低了发热量，有效解决了设备应用过程中因温升过高而频繁保护的问题，提高了系统的可靠性。
4、无传感器永磁同步电动机初始位置检测的准确性直接决定着电动机的启动特性，论文探讨了基于高频脉振电压注入和高频旋转电压注入的内置式永磁同步电机的两种转子初始位置检测方法，能够在电机的电流响应中得到准确的转子初始位置，仿真和实际应用表明所设计的初始位置仿真模型的有效性和可行性，解决了无传感器条件下内置式永磁同步电动机转子初始位置检测这一关键问题。
5、通过大量的牵引试验和现场工程应用表明，以高性能数字信号处理器为硬件核心，设计满足逆变器控制和电机车控制的调速器控制电路，将如何获取转子位置和转速信息、如何实现转速和转矩控制、如何降低功率器件开关频率等关键控制技术应用于调速装置中，有效解决了电机车采用无传感器永磁同步电动机控制的相关关键问题。工程应用表明，电机车的系统结构更加合理，防爆性能可靠，具有电制动功能，启动平滑，刹车距离短；无论驱动过程还是制动过程，均为无级调速，机械冲击小，极大降低了机械磨损，维护工作量大大降低；同时机车的续航里程大大提高，提高了机车的使用效率。总之，采用永磁同步电动机及其控制系统的矿用电机车具有安全、高效、节能等优点。
Traditional mining electric locomotive mostly adopted DC series excitationmotor as the traction motor which uses serial-resistance speed governing or chopperregulator. A small part of electric locomotives adopted three-phase asynchronousmotor as the traction motor which was frequency control of motor speed. The abovesystems, which had advantages of simple structure and operation, low initialinvestment, have been widely used in domestic mining electric locomotive. Withhigh demands for safety, efficiency, environmental protection and energy savingproposed by mining enterprises, it is particularly urgent to replace traditionaltechnology with high-technology. The control scheme of using permanent magnetsynchronous motor as the traction motor has many advantages such as simplestructure, high efficiency, good safety performance and reliable system, etc. In thefuture this kind of motor will has a broad prospect in mining industry.
In view of the demand of mine electric locomotive traction and thecharacteristic of frequent use and bad environment, etc, traction control system ofsensor-less permanent magnet synchronous motor is considered as research object inthe dissertation. Key practical problems in mine locomotive traction are analysed,related control method is studied and applied to the speed control device of thesensor-less permanent magnet synchronous motor. Through massive practical work,the traction system can match the demand of engineering application. The studytakes into account both theory and practice, aims at practical problems in mineelectric locomotive control, and the main research works include the followingaspects:
1、It is essential to obtain the information of rotor position and speed forsensor-less permanent magnet synchronous motor. A simple solution, that is rotorposition estimator based on the principle of phase lock loop (PLL), is proposed inthis dissertation. Furthermore, in view of generality of the mathematical model of three-phase ac motor. the dissertation originally proposed that static compensationvoltage model (SCVM) scheme which has been widely used in asynchronous motorsis applied to the position estimation method of permanent magnet synchronousmotor rotor. Result indicates that sensor-less permanent magnet synchronous motorvector control system using the rotor position and speed estimation showed gooddynamic and static performance.
2、Aimed at effective control of motor speed and torque at low speed and zerospeed, two kinds of interior permanent magnet synchronous motor (IPMSM)sensor-less control methods at low speed, based on high frequency signal injection,are studied in the dissertation, namely high frequency pulse vibration voltageinjection method and high frequency rotating voltage injection method. Both controlmethod use extra high frequency voltage signal injection method. The error signal ofthe rotor position and speed estimation is extracted by proper signal processing fromthe motor high frequency current response. The design of high frequency injectionsimulation model can achieve stable and effective operation of the motor at lowspeed and zero speed. Simulation and actual application results show that the twomethods have good tracking effect to the motor rotor position and speed.
3、According to the actual problems that permanent magnet motor drive devicehas poor heat dissipation, a new method, reducing the switch frequency ofpermanent magnet synchronous motor complex vector control,is proposed in thedissertation. Through the establishment of permanent magnet synchronous motorsensor-less vector control model, analysis of different controller performanceassessment shows that discrete vector current controller using the direct designmethod has strong robustness and optimal performance. Thus, the speed regulationdevice reduces the calorific value in the process of practical application. Theproblem of frequent protection caused by high temperature is solved and the systemis more reliable.
4、The accuracy of the initial position detection of sensor-less permanent magnet synchronous motor decides directly the motor starting characteristics. It isdiscussed in the dissertation that two initial position detect methods of built-inpermanent magnet synchronous motor’s rotor based on both high frequency pulsevibration voltage injection and high frequency rotating voltage injection. The rotorinitial position can be got accurately in current response of motor. The simulationand actual application shows that the simulation model for the initial position iseffective and feasible. Thus, a critical problem that interior permanent magnetsynchronous motor rotor initial position detection under the sensor-less condition issolved.
5、Under a lot of traction tests and field application, governor control circuit isdesigned to satisfy inverter control and electric locomotive control of highperformance digital signal processor. Key solutions used in the speed control devicesuch as how to obtain the rotor position and speed information, how to realize thespeed and torque control and how to reduce the switching frequency of powerdevices, are proposed to solve key problems about control. The engineeringapplication shows that electric locomotive system structure is more reasonable andhas reliable explosion-proof performance, electric braking function, smooth start andshort braking distance. Whether in driving process or braking process, it is step-lessspeed regulation and has small mechanical shock. The mechanical wear andmaintenance workload is reduced greatly. The mileage and service efficiency of thelocomotive are improved greatly at the same time. In short, permanent magnetsynchronous motor and its control system used in mine electric locomotives have theadvantages of safety, high efficiency and energy saving, etc.
引文
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