基于PCH方法的交流电机建模与控制

【作者】 王海亮；

【导师】 于海生；

【作者基本信息】 青岛大学 ， 电力系统及其自动化， 2006， 硕士

【摘要】 交流电机是一种典型的非线性对象,自身的一些参数以及外部负载都具有不确定性,还有磁饱和、复杂的静动摩擦等问题。本文主要针对异步电动机及永磁同步电动机,运用哈密顿系统理论中的互联和阻尼配置的无源性控制(IDA-PBC)方法进行了调速系统设计,同时对所设计的系统在Matlab/Simulink的软件环境下进行仿真,通过仿真结果验证了所设计的调速系统的正确性。 首先,介绍了耗散系统和一类无源系统——哈密顿系统的一些基础知识。对这类系统的属性,出于稳定控制的考虑,我们从能量成型的角度进行了研究,给出了无源系统的稳定性定理和耗散系统的稳定性定理,讨论了耗散的端口受控哈密顿系统的反馈镇定方法。 其次,以交流电机为对象,利用端口受控哈密顿(PCH)系统理论建立了PCH系统模型。这其中包括永磁同步电机(PMSM)的速度控制模型;异步电动机的速度控制模型。并且分析了各种交流电机PCH系统模型的特性,包括:能量平衡特性,耗散特性,无源特性等等。 再次,在交流电机PCH系统模型的基础上,引入已经较为成熟的互联和阻尼配置的无源性控制方法,针对永磁同步电动机,我们设计了基于i_d=0原理的速度控制器和“最大转矩/电流”MTPA原理的速度控制器;针对异步电动机,我们也设计了速度反馈控制器。同时解决了包括反对称矩阵,阻尼矩阵的配置,期望能量函数的选择,平衡点的求取,稳定性分析等问题。利用Matlab/Simulink仿真软件,对具体典型电机调速系统进行了仿真应用研究。 论文最后对全文所作的工作进行了总结,并指明了未来的研究方向。更多还原

【Abstract】 Alternating Current (AC) machines are a typical nonlinear object. Motor parameters are time-varying and load is uncertain during operation. It also has the problems of magnetic saturation and complicated immobile-kinetic friction. In this paper, a novel speed control method of induction motor and permanent magnet synchronous motor is developed that we use the interconnection and damping assignment passivity-based control method in the theory of Hamiltonian systems. In Matlab/Simulink, the models of Hamiltonian control systems are established. The simulation results show that the control systems are correct.First of all, we introduced some basic information of dissipation system and a kind of passivity system—Hamiltonian system. We research these systems using the method of energy shaping from the stabilization. We have given the stability theory of the passivity system and the stability theory of the dissipation system. We have discussed the feedback stabilization theory of the Port-Controlled Hamiltonian system with dissipation.Secondly, we established the model of AC machine in the theory of the port-controlled Hamiltonian system. These included: the speed control model of permanent magnet synchronous motor (PMSM);the speed control model of induction motor. We analyzed the characteristics of the PCH model of AC machine. These included: energy balance, dissipation, passivity etc.Thirdly, we designed the i_d=0 and "maximum torque per ampere (MTPA)" speed feedback controller of permanent magnet synchronous motor using the method of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC), based on the PCH model of AC machine. We also designed the speed feedback controller of induction motor. And we solved the problems such as: collocating the skew-symmetric matrix and the damp matrix, choosing the desired closed-loop energy function, seeking for the desired equilibrium, analyzing the stability. In Matlab/Simulink, the model of AC machine’s Hamiltonian control system is established.The conclusion of the research work in this dissertation is made and the future research direction is given out also.更多还原