笼型异步电机变压变频调速系统 ( VVVF 系统) ——...
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Transcript of 笼型异步电机变压变频调速系统 ( VVVF 系统) ——...
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VVVF 6
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*PWM
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6.1 m
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m m
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6-1 Eg V Hz Wb f1NskNsm
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6-1 Eg f1 m
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6-1 m f1 f1N Eg 6-2
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Us Eg
6-3
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Us Eg Us b a
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a b
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f1N Us UsN Us = UsN
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6-2 UsmNm
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6.2 -
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55-3 Te= f (s) Us 1 6-4
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ss
6-5
ss Te = fs6-3
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s 16-4Rr' 6-6s1s Te = fs
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s sm6-3
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- 6-4 Te ns Us 1 Us 1
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1. Us /1 6-1 6-7
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6-5 6-9 6-8
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Us /1 Te s1 n 1 6-4
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55-55-5 6-10
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Temax 1 TemaxUs6-4
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6-4
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2. Eg /1 Eg Es Er
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Us Eg /1 6-1 m
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6-116-12
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s6-12 s 6-13
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s 16-12 Rr'2 6-14 s
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6-46-12 Eg /1 s Us /1 s Eg /1
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6-12 s dTe / ds = 0Eg /1 6-15 6-16
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6-16Eg /1 Temax Us /1 Eg /1
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Temax Eg /1
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3. Er /1 Er /1 6-17
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6-18 6-6
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6-6 Er /1 Eg /1 Us /1 ab c
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Er /1 Er /1
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6-16-1 Eg m Er rm 6-19
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rm = Constant Er /1 6-7
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4 1 Us /1 = Constant
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2Eg /1 rm = Constant
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3 Er /1 rm Er /1 = Constant rm
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Us= UsN 6-4 6-20
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6-10
6-21 6-7
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6-7
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PI
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6-22
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6-22
6-23
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dTe /dt = 0
6-24
6-25
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6-8
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55-45-55-4
5-5
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1s=0Te= 0 sm Temax
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3
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12
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12
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1123
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U1I1R1R2/SI2ImEm
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T-1U1I1R1I2/ImR2/SR2/ST-1
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T-10
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T-1
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Us1Er /1
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6.3 (PWM)(SPWM)PWM(SHEPWM)PWM(CHBPWM)PWM(SVPWM)
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PWM --
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2080PWM
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PWMPWM1PWMPWM2PWM3PWM
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PWMPWMPWM
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PWMPWMPWM1
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THD 23mU1m
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m
011Nm=0.8~0.94,
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59
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KHz
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(SPWM)1. PWM Carrier waveModulation wave
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Sinusoidal pulse width modulationSPWMSPWM
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2. SPWMSPWMSPWM
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PWM
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1PWM
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2PWM
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36-18Ni
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u(t)N
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i
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K=1 N
.
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N=1 k=2N-1
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3. PWM SPWM
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SPWM
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N2NSPWM
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SPWM
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2
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Tc
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tDD DABA tAB tBd
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M 0 a
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SPWMd
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Tc /2MTc /2
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PWMSPWMPWM816DSP
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0.86433
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12033m=1.220%m1.2
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4. PWM fc fr N N = fc / fr PWM
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1 fc fr N PWM1/4
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fr N fr N PWM
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2 N fr N N 3
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PWMNfr fc fr fc
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PWM
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3 fr NN fr N fr N
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4
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5. PWM
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6-20 PWMSPWM
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6-20PWMurU urV urWUVW ucuUN uVN uWN UVWN uUV+Ud- Ud uUNN
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PWM PWMPWM
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PWMCurrent Hysteresis Band PWM CHBPWM PWM PWM A6-22
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1. 6-22A
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2h i*a ia ia hHBC ABC
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PWM6-23 ia < i*a i*a - ia h HBCV1iai*aHBCiaia = i*a + h ia = h HBCV1 V4
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VT4VD4VT4 HBC VT1VT1VD4 6-23
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6-23
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6-23ia Ia0.5 Ud Ia-0.5 Ud
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PWM 6-24 PWM
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PWMSPWM
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6-23 6-23
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f
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f
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PWMPWM(SVPWM)SVPWM
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SPWM
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PWMSVPWMSpace Vector PWM
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1. uA0 uB0 uC0 6-25
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uA0 uB0 uC0 120120 us 3/2
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us 1 us 6-39 Is s
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2. 6-40 us Is s
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6-40 6-41 6-42
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6-43 ms1
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6-416-436-44
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2 6-26
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3. 1 PWM -6-27
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6-27 -
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1808 6 2 VT1VT3VT5 VT2VT4VT6
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1
VT6 VT1 VT2
100
2
VT1 VT2 VT3
110
2
VT2 VT3 VT4
010
4
VT3 VT4 VT5
011
5
VT4 VT5 VT6
001
6
VT5 VT6 VT1
101
7
VT1 VT3 VT5
111
8
VT2 VT4 VT6
000
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6 /3 /3
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a 100VT6VT1VT2 UAO = Ud / 2 UBO = UCO = - Ud /2
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b100 u1UdAX
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c110 u1 /3110 u2 u1 /3 /3
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d /3 6 2 6-28d
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2
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6-29 1 /3 6-28d u1 6-296-41
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/3 t u1 1 |u1| u16-29 6-45 6-46
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6-47 6-48 6O6
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u1 t /3 i 6-30 6-30
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4. SVPWM
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PWMPWM [31]
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6-31 11 12 13 14 4
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6-32 6-32 T0 us
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1 t1 t2 6-32 6-49
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2 6-396-50 = 120
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36-51 6-27Ud0 Ud
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6-52
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6-526-49
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t1 t2 6-53 6-54
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T0 T0 t1+ t2 u7 u8 u7 u8 6-55 0
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66Sector/3
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66-33 6
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SVPWM T0 us
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T0 PWM 6-32t1 t2t7 t8 4 u1u2u7 u8 100110111 000 4
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127887211u1 2u2 100110111000000111110100
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1278 81277218000100110111111110100000
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T0 6-34
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424
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SVPWM1) 6 T0 T0 T0
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2) 3) 4) PWM5) SVPWMSPWM15%
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PWMPWM PWM,PWMPWM
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PWMPWM 1 1 2 2mPWMSelected Harmonics Elimination PWMSHEPWM
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6-21 PWM
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6-21PWMk
6-26
Ud 1PWMi
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k6-26 6-21PWM1/41/4 m m
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m-1 m=5 4 571113 6-26
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1 2 1/4 2m = - 1 2m-1 ...
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2PWM PWMPWMPWM
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3PWMPWM 6
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PWM PWM12PWM 2 GTR
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2KHz PWMPWMPWMPWM
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1PWMPWMPWMPWM2PWMPWM3
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PWM33PWM
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4PWM
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PWMBJT
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10~20 IGBT2~5 PWM1
- M3~iAiA>0iA
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1SPWM2 3ASPWM AABCD
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VD1VD4VT1A VT1VT4
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ACEDFB
- VD1VD4FAiA SPWMiA0 VT1VD4A iA
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tdiAiA Etd iASPWM
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2E
T1NSPWMN=ft/f rftf r
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td
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1SPWM
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cf1f1N
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6.4
-
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6.2-
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- IGBT IPM PWM--0.5~500KVA
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12 6-37-
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1.
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2. URPWMUIC
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CK
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C
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6-38
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PWM
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PWMPWMPWM81632DSPRISC
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PWMPWMPWM
A/DCPU
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U/f - U / f 6.2.2
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U / f
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PWM6-39
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PWM6-39 PWM
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0.
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d / dt d / dt
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1.
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6.2.2 Eg /1 m 6-12
6-12
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6-59 s = s1
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s s1 s Llr'
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6-61 6-61s ms s
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2. 6-61s 6-12
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s Tes Te Temax s smax6-40 m Te=f (s )
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6-12 dTe / ds = 0
6-63 6-62
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s 6-64 Tes
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mm Eg/1 m 6-65
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Eg/1Us/1 = Us Eg/1 - Us = f (1, Is)
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6-41 -OUs /1=Const.Eg/1=Const.
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Us 1 Is Eg/1 m
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1 s sm Te s 2 Us = f (1 , Is) m
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3.
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FBS
PWMM3 ~ASR6-42
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ASR s* 1*
6-66
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1 Is Us = f (1 , Is) Us* Us* 1* PWM
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6-66 s* 1* 1
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ASR sm Tem
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1 m m
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2Us = f (1 , Is)
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3 1 = s +
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6.5
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1.
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Ud n Tm Tl Ts
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2. 1
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6-43
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2
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3
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1120 2 3 4
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6-44
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ABC A abc a A
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1.
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Rs, RrA, B, C, a, b, c iA, iB, iC, ia, ib, ic uA, uB, uC, ua, ub, uc
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p d /dt6-67a 6-67b
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2. 6-68a 6-68b
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L 66 LAA LBB LCCLaaLbbLcc
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Lls Llr Lms Lmr
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Lms = Lmr
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6-69 6-70
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1
-
120
6-71 6-72
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6-44 Lms 6-736-746-75
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6-69~6-756-68a 6-76
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6-77 6-78
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6-79
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6-68b6-67b 6-80 Ldi /dt (dL / d)i
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3. 6-81
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6-82 m = / np
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6-816-826-77~6-796-83
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6-83 6-84
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6-796-84 6-85
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i
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4. 6-86 TL J D K
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D = 0 K = 0 6-87
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5. 6-766-806-856-87 6-88
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6-43 16-76
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212 er Te L 3 12 1
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1. 66
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6-46 FA C F C A F d direct axis d ACq quadrature axis
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6-46
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q q d pseudo - stationary coils
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d
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A B C F 1 A-B-C a
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1a
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2Fi1b
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b 9090 F abba
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3c
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c M T im it F F
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a b M T M MT
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abc iAiB iC ii imit
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c MT
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iAiB iC ii imit
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2. --3/2 ABC 3/2
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ABC A N3N2
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AN2iN3iAN3iCN3iBN2i60o60oCB
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6-89
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6-90
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u,i,
-
E
-
/
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2/3
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6-896-91
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C3/2 6-92
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Y iA + iB + iC = 0 iC = iA iB 6-926-936-94
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6-95
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3. 2s/2r b c MT 2s/2r s r
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ii imit 1 Fs Fs is
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MT Fs is 1 imit MT M is i i imit
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2s/2r
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6-96 6-97
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6-96 (6-98)
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(6-99)
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4. /K/P is M s imit is s /K/P
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6-1006-101
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s 0~ 90tans 0 ~ s
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6-102 6-1026-101 s
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6.6.2ABC
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dq
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d A s ps = dqs d q dqr dq
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6-67a6-68a 6-85 3/2 C2s/2r dq
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ABC dq3/2C2s/2r
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6-98dA
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ABCdq0A
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1dqo dA d
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dq0
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dq0
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dq
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1 dq 6-103a 6-103b
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dq dq
dq
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3/2dqdqABC 66
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dq 6-50 dq
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2AA
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ABCAdq0
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dq0BC
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6-104
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6-103b6-104 dq 6-105
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6-1056-67a462 6-105 R Lp
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6-106a
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6-106a 6-106b
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6.6.2ABC L 4 4 4
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3ABCdqo6-85
dq0dq
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3 dq 6-107 6-87
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6-103a6-1046-1056-1076-86dqABC
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6-1046-105 dq 6-516-51a d6-51b q4
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dq
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2. dqs= 0 dqr= - dq 6-105 6-108
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6-109 6-103a
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C2s/2r
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6-108~6-110 KronTwo Axis Primitive Machine 6-110 6-107
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3. dq dqs 1 dq dqr = 1 - = s 6-105
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6-111
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ABCdq
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4dqdd06-111
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dq
-
dq
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6.6.441559 4 isd isq ird irq 4 sd sq rd rq
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isd isq rd rq
isd isq sd sq
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1. r is 6-103bdq 6-103b
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6-1046-104
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dqs = 1 dqr = 1 - = s urd = urq = 0 6-112
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6-103b34
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6-113 6-107
-
6-103b6-112 ird irqsd sq 6-1136-87 6-114
-
6-115 6-116 6-117
-
6-118
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6-114~6-118 6-119 6-120
-
2. s is 6-103b6-112 ird irqrd rq 6-121 6-122
-
6-123 6-124
-
6-125 6-126 6-127
-
6.6
-
6.6.3 iA iB iC / ii im it
-
r Mim T it
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ABC 3/2 im it
-
6-52 3/2/; VR; MA
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Vector Control System
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6-53
-
VR-1VR2/33/26-53
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/dq
-
d MMagnetization q 90 TTorque MT Field Orientation
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6-128
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6-113 mtdq6-129 6-130
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6-131 6-1326-1336-134
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6-132 6-135
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6-131 6-136 6-137
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6-1366-137 6-136r ism ismr
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6-1366-1376-1356-1296-546-52 r ism ist r Te ist r
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6-54
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6-53ARASRr 6-55 r Te
-
6-55
-
ASRr r r ARASR
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r 6-55^
-
r
-
1. 3/2 is is 6-10934 6-138 6-139
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6-138a 6-139b 6-108 34 ur = ur = 0
-
6-140 6-141 6-1406-141r r r
-
6-56
-
r r
-
2. iA iB iC 3/2 is is MT ismist6-1366-135 r s s 1
-
6-57
-
Rr Tr Lm Lr Tr
-
1
-
G
-
12GG
-
482-484
-
482~484485~487
-
y 489491
-
6-55r r r 6.7.2r
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CHBPWM6-59aPWM6-59b
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1CHBPWM6-59a
-
2PWM6-59b
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3 PWM CHBPWM
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PWM 6-60
-
ASR
-
Tr Lm 6-135
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6-61--kWPWM
-
6-61
-
1ASR
i*st *s
-
r
-
2 i*sm *r 6-137
Tr p + 1
ism
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3 i*smi*st /K/P i*s *s ACR90
-
4 *s 6-135
-
6.7 DTC ( Direct Torque Control)
-
12
-
0900
-
100t1t2 t1t2
-
000111110s1s2s3s4s5s6011101010001100 t2100
-
312 101
-
120102 101001011010100110123456abc101 000111
-
s1s2s6s4s3s5110010011001011100101110001010100101110010011001102ABCD
-
103 102BS102CD100
-
103===100123456 s1,s2,,s6P100
-
101 ,165432===101N
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ASRATRAMCDMCAZS1104104AMCAZSDMCASRATRTQASSPNUi
-
DMC101 DMC DMC
-
AMC
105
-
ATRTQPN105 ATR1TQ2PN
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- < - > TQ=1PN=0ASSDMC - > - < TQ=0PN=1ASS
-
- < TQ=1PN=1ASSDMC - > TQ=0PN=0 TQPN
-
TQPN110201311400
-
011S1
-
010106106
- > - > =0 < -
-
PN=1TQ=1NYNYTQ=1YYNN107YN
-
1234
-
4
-
U1U2U3U4U5U6108397
-
108
-
397 U1U6,1091 (a)
-
2 (b) 3 +U3 -U4
109(a)(b)
-
(1)U3U4
-
(2)U1U6(3)U1U6 110(a)(b)
-
110(a)t(b) +
-
110(a) +U3U4U3110(b)t0,t1t1U4t2
-
t2+U3U4(b)
-
-U1U6
-
VCDTCVC1- PWM SVPWM
-
2VC-
-
34
-
(DTC)(VC)
-
-DTC-
-
1. DTC 6-1086-109
-
6-146 6-147 6-63
-
6-63
-
30%
-
399400
-
i-n3-64ABCABC
-
30%
-
2. 6-110 6-109
-
6-1106-148 DTC6-64
-
6-64
-
DTC1-
2
-
DTC
-
DTCVC
-
VC Te rr
-
DTC DTC Te s -
6-1
-
6-1
-
[] DTC
6-1DTCVC
-
6.8 d-qd
-
424q423
-
dq
-
q
-
d
-
c4-30431432
-
1 2
-
6.9 1 2
-
U f 220Vf=50HZ) =1Wb1Wb 1Wb220V,
-
3 CSIVSICSIVSI
-
CSI4 5
-
1
-
D
-
PI1PI2ABPI3C
-
1
- PIPI3E0
-
KT=0.5=0.707
-
PI3M3~uiq2
-
PI2A1/(Tfs+1)1/(Tfs+1)442PI
-
PI2H
-
0.707,KTf=0.54-111d
-
PI2M3~ui4-111
-
3
-
PI11/(Tws+1)1/(Tws+1)
-
PI1
-
PI
-
PI1PI2VSIF(w)PI3M3~abc
-
6.101234
-
PI1
-
411041114112
-
24116
-
4119
-
1232PI
-
PI41264125
-
4128 4127 =0 PI
-
q
-
PI PI
-
1
-
054052
-
MT
-
055
-
ASRPG
-
058MT
-
T
-
0532~0534T0532
-
n
-
051405150535
-
1 VFVV
-
2