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文库首页硬件开发嵌入式感应电机驱动的控制方案及控制器设计

感应电机驱动的控制方案及控制器设计

感应电机

矢量控制

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感应电机驱动器一直是并且现在是该行业中变速应用的主力军，其功率范围从分马力到兆瓦不等。这些应用包括泵和风扇、造纸厂和纺织厂、地铁和机车推进器、电动和混合动力车辆、机床和机器人、风力发电系统等。本章解释了用于变速应用的感应电机驱动器的控制。可用于感应电机驱动的控制方案有标量控制、矢量或场定向控制、直接转矩和磁通控制以及自适应控制。在本章中，虽然对异步电机标量控制的一些方面进行了研究，但重点是异步电机的矢量控制。

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CHAPTER 5

CONTROL SCHEME AND CONTROLLER DESIGN FOR

INDUCTION MOTOR DRIVES

5.1 Introduction

Induction motor drives have been and are the workhorses in the industry

for variable speed applications in a wide power range that covers from fractional

horsepower to multi-megawatts. These applications include pumps and fans, paper

and textile mills, subway and locomotive propulsions, electric and hybrid vehicles,

machine tools and robotics, wind power generation systems, etc. In this chapter the

control of induction motor drives for variable speed applications is explained. The

control schemes available for the induction motor drives are the scalar control, vector

or field oriented control, direct torque and flux control and adaptive control. In this

chapter special emphasis is on vector control of induction motor, though some aspects

of scalar control for induction machine is studied.

5.2 Scalar Control Of Induction Machine

Scalar control as the name indicates is due to magnitude variation of the

control variables only, and disregards any coupling effect in the machine. For

example the voltage of the machine can be controlled to control the flux, and the

frequency or slip can be controlled to control torque.

However, flux and torque are also functions of frequency and voltage respectively. In

scalar control both the magnitude and the phase alignment of vector variables are

controlled. Scalar controlled drives give somewhat inferior performance than the

other control schemes but they are the easy to implement. In the following sections

scalar control techniques with voltage-fed inverters are discussed.

5.2.1 Open Loop Volts/Hz Control [15]

The open loop Volts/Hz control of an induction motor is far the most popular

method of speed control because of its simplicity and these types of motors are

widely used in industry. Traditionally, induction motors have been used with open

loop 60Hz power supplies for constant speed applications. For adjustable speed

applications, frequency control is natural. However, voltage is required to be

proportional to frequency so that the stator flux (

= ) remains constant if the

stator resistance is neglected. Figure 5.1 shows the block diagram of the open loop

Volts/Hz control method. The power circuit consists of a diode rectifier with a single

or three-phase ac supply, filter and PWM voltage-fed inverter. Ideally no feedback

signals are required for this control scheme. The frequency

is the primary control

variable because it is approximately equal to the rotor speed

neglecting the slip

speed, as it is very small (ideally).

Variable

Voltage

and

Variable

Frequency

Inverter

Induction

Motor

∫

eVv

cos2

)

cos(2

−= eVv

)

cos(2

+= eVv

Supply

−

c tifierDiodeRe

Figure 5.1: Block diagram of the open loop Volts/Hz control for an induction motor.

The phase voltage command is directly generated from the frequency

command by the gain factor ‘g’, as shown, so that the flux

remains constant. If the

stator resistance and the leakage inductance of the machine are neglected then the

flux will also correspond to the air gap flux

or rotor flux

. As the frequency

becomes small at low speed, the

stator resistance tends to absorb the major amount of the stator voltage, thus

weakening the flux.

The boost voltage

is added so that the rated flux and corresponding full

torque become available down to zero speed. The effect of this boost voltage

V at

high frequencies is small. The

signal is integrated to generate the angle signal ,

and the corresponding sinusoidal phase voltages ( v ) signals are generated as

***

cba

−

esa

cos2

=v (5.1)

)cos(2

esb

Vv (5.2)

)cos(2

esc

Vv (5.3)

The PWM converter is merged with the inverter block. Some problems encountered

in the operation of this open loop drive are the following [15]:

(1) The speed of the motor cannot be controlled precisely, because the rotor speed

will be slightly less than the synchronous speed and that in this scheme the

stator frequency and hence the synchronous speed is the only control variable.

(2) The slip speed, being the difference between the synchronous speed and the

electrical rotor speed, cannot be maintained, as the rotor speed is not measured

in this scheme. This can lead to operation in the unstable region of the torque-

speed characteristics.

(3) The effect of the above can make the stator currents exceed the rated current

by a large amount thus endangering the inverter-converter combination.

These problems are to an extent overcome by having an outer loop in the

induction motor drive, in which the actual rotor speed is compared with its

commanded value, and the error is processed through a controller usually a PI

controller and a limiter is used to obtain the slip-speed command.

The limiter ensures that the slip-speed command is within the maximum

allowable slip-speed of the induction motor. The slip-speed command is added to

electrical rotor speed to obtain the stator frequency command. Thereafter the

stator frequency command is processed as in an open loop drive. In the closed

loop induction motor drive the limits on the slip speed, boost voltage and

reference speed are externally adjustable variables. The external adjustment

allows the tuning and matching of the induction motor to the converter and

inverter and the tailoring of its characteristics to match the load requirements.

5.3 Vector Control Of Induction Motor

Scalar control is simple to implement, but the inherent coupling effect

(that is both the flux and the torque are functions of voltage or current and

frequency) gives sluggish response and the system is prone to instability because

of a high order system effect. If the torque is increased by incrementing the slip or

frequency the flux tends to decrease and this flux variation is very slow. The flux

decrease is then compensated by the flux control loop, which has a large time

constant. This temporary dipping of flux reduces the torque sensitivity with slip

and lengthens the response time. The variations in the flux linkages have to be

controlled by the magnitude and frequency of the stator and rotor phase currents

and their instantaneous phases. Normal scalar control of induction machine aims

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