【摘要】：感應(yīng)電機由于其具有體積小、重量輕、價格低、轉(zhuǎn)動慣量小和維護簡單等優(yōu)點,在工業(yè)中得到了廣泛的應(yīng)用。轉(zhuǎn)速閉環(huán)是高性能交流調(diào)速系統(tǒng)中必不可少的環(huán)節(jié)。然而,轉(zhuǎn)速傳感器的安裝會帶來諸如成本增加、可靠性降低、應(yīng)用場合受限等負面影響。因此,無速度傳感器控制技術(shù)應(yīng)運而生,并成為了交流調(diào)速領(lǐng)域的研究熱點之一。本文圍繞感應(yīng)電機無速度傳感器矢量控制系統(tǒng)中磁鏈觀測和轉(zhuǎn)速估計兩項關(guān)鍵技術(shù)問題展開深入研究。首先,研究轉(zhuǎn)子磁鏈觀測方法。在按照轉(zhuǎn)子磁鏈定向的矢量控制系統(tǒng)中,轉(zhuǎn)子磁鏈的準確觀測是保證矢量控制系統(tǒng)轉(zhuǎn)子磁鏈定向成功的必要條件。介紹了基于電流模型和電壓模型的轉(zhuǎn)子磁鏈觀測的方法,分析了電機參數(shù)對轉(zhuǎn)子磁鏈觀測器影響,分別推導(dǎo)了兩種方法的觀測轉(zhuǎn)子磁鏈與實際轉(zhuǎn)子磁鏈的比值函數(shù),基于此分析了兩種模型對電機參數(shù)的敏感性。為了在全速范圍內(nèi)都能實現(xiàn)轉(zhuǎn)子磁鏈的準確觀測,結(jié)合兩種模型的優(yōu)勢,推導(dǎo)出電壓電流組合模型磁鏈觀測器,通過一個PI過渡環(huán)節(jié),實現(xiàn)電流模型和電壓模型的高低速平滑切換。采用梯形法完成對電壓電流組合模型磁鏈觀測器的離散化,為構(gòu)建數(shù)字化的感應(yīng)電機無速度矢量控制系統(tǒng)奠定基礎(chǔ)。其次,研究轉(zhuǎn)速估計方法。針對基于全階狀態(tài)觀測器的感應(yīng)電機矢量控制系統(tǒng)存在低速不穩(wěn)定問題,在觀測轉(zhuǎn)子磁鏈定向坐標系下,將轉(zhuǎn)速辨識系統(tǒng)的穩(wěn)定性問題轉(zhuǎn)換為系統(tǒng)零極點的穩(wěn)定性問題。利用勞斯判據(jù)得到了系統(tǒng)低速發(fā)電制動運行時的不穩(wěn)定區(qū)域,給出了一種使不穩(wěn)定區(qū)域最小化的反饋增益矩陣的設(shè)計方法。通過分析轉(zhuǎn)速辨識對定、轉(zhuǎn)子電阻的敏感性,提出一種引入自修正因子的模糊轉(zhuǎn)速自適應(yīng)律設(shè)計方法以減小參數(shù)變化的影響,提高轉(zhuǎn)速辨識的精度。然后,為了進一步實現(xiàn)魯棒性更強的無速度傳感器矢量控制系統(tǒng),提出T-S模糊狀態(tài)觀測器�？紤]感應(yīng)電機的運動方程,利用扇區(qū)化分的方法,構(gòu)建五階感應(yīng)電機T-S模糊狀態(tài)觀測器。由于反饋增益矩陣是保證T-S模糊狀態(tài)觀測器穩(wěn)定的關(guān)鍵,采用Lyapunov理論和D-穩(wěn)定性分析方法,將觀測器的穩(wěn)定性轉(zhuǎn)化為一系列的線性矩陣不等式(LMI),通過Matlab中LMI工具箱求得每一個子系統(tǒng)的反饋增益矩陣。最后,基于Matlab仿真平臺和TMS320F28055電機控制實驗平臺,分別對基于電壓電流組合模型磁鏈觀測器、模糊自適應(yīng)全階磁鏈觀測器、T-S模糊狀態(tài)觀測器的感應(yīng)電機無速度傳感器矢量控制系統(tǒng)做了大量的仿真和實驗研究。驗證了本文所提方法的正確性和有效性。
[Abstract]:Induction motor has been widely used in industry because of its advantages such as small volume, light weight, low price, small moment of inertia and simple maintenance. Speed closed loop is an essential link in high performance AC speed regulation system. However, the installation of rotating speed sensor will bring negative effects such as increased cost, lower reliability and limited application. Therefore, the speed sensorless control technology emerges as the times require, and has become one of the research hotspots in the field of AC speed regulation. This paper focuses on two key technologies of flux observation and speed estimation in sensorless vector control system of induction motor. Firstly, the rotor flux observation method is studied. In the vector control system based on the rotor flux orientation, the accurate observation of the rotor flux is the necessary condition to ensure the rotor flux orientation of the vector control system. The method of rotor flux observation based on current model and voltage model is introduced. The effect of motor parameters on rotor flux observer is analyzed. Based on this, the sensitivity of the two models to motor parameters is analyzed. In order to realize the accurate observation of rotor flux in the full speed range, combined with the advantages of the two models, the combined voltage and current model flux observer is derived, and a PI transition link is adopted. The high and low speed smooth switching between current model and voltage model is realized. The trapezoidal method is used to discretize the flux observer of voltage and current combination model, which lays a foundation for the construction of digital speed vector control system for induction motor. Secondly, the method of speed estimation is studied. Aiming at the problem of low speed instability in the vector control system of induction motor based on full order state observer, the stability problem of speed identification system is transformed into the stability problem of zero pole point in the observed rotor flux oriented coordinate system. The unstable region of the low speed power generation brake is obtained by using the Rouse criterion, and a design method of feedback gain matrix to minimize the unstable region is given. By analyzing the sensitivity of rotor speed identification to stator and rotor resistance, a design method of fuzzy speed adaptive law with self-correction factor is proposed to reduce the influence of parameter change and improve the accuracy of speed identification. Then, in order to achieve a more robust speed sensorless vector control system, T-S fuzzy state observer is proposed. Considering the motion equation of induction motor, the fifth order T-S fuzzy state observer of induction motor is constructed by sectioning method. Because the feedback gain matrix is the key to the stability of T-S fuzzy state observer, Lyapunov theory and D- stability analysis method are used. The stability of the observer is transformed into a series of linear matrix inequalities (LMI),). The feedback gain matrix of each subsystem is obtained by LMI toolbox in Matlab. Finally, based on Matlab simulation platform and TMS320F28055 motor control experiment platform, the flux observer based on voltage and current combination model is proposed. The speed sensorless vector control system of induction motor based on fuzzy adaptive full order flux observer / T-S fuzzy state observer has been studied by simulation and experiments. The correctness and validity of the proposed method are verified.
【學(xué)位授予單位】：西南石油大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM346;TP273

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