四象限變流器pwm雙閉環(huán)控制系統(tǒng)的計(jì)算機(jī)仿真

1、<p>　　四象限變流器PWM雙閉環(huán)控制系統(tǒng)的計(jì)算機(jī)仿真</p><p>　　摘 要:介紹了使用SABER對(duì)四象限變流器PWM雙閉環(huán)控制系統(tǒng)進(jìn)行計(jì)算機(jī)仿真的一套方</p><p>　　法,闡述了PWM雙閉環(huán)控制原理,將部分仿真波形與實(shí)際試驗(yàn)波形進(jìn)行了對(duì)比,表明仿真結(jié)果是可</p><p><b>　　信的。</b></p>

2、<p>　　關(guān)鍵詞:四象限變流器;脈寬調(diào)制;控制系統(tǒng);計(jì)算機(jī)仿真</p><p>　　ComputersimulationofPWMdoubleclosed-loop</p><p>　　controlsystemfor4-qconverter</p><p><b>　　LIBo</b></p><p>

3、　　(RollingStockResearchInstitute,ChinaAcademyofRailwaySciences,Beijing100081,China)</p><p>　　Abstract:AcomputersimulationmethodusingSABERforPWMdoubleclosed-loopcontrolsystemfor4-qconverteris</p><p

4、>　　introduced.TheprincipleofPWMdoubleclosed-loopisdescribed.Comparisonofsomesimulationwaveformswithmeasuredtest</p><p>　　waveformsshowsthesimulationresultsarebelievable.</p><p>　　Keywords:4-q

5、converter;PWM;controlsystem;computersimulation</p><p><b>　　1． 引言</b></p><p>　　自從70年代產(chǎn)生四象限變流這種獨(dú)特的交直變換拓?fù)浣Y(jié)構(gòu)以來,四象限變流器便作為交流傳動(dòng)電力機(jī)車交直交傳動(dòng)系統(tǒng)的電網(wǎng)側(cè)變流器,扮演著重要角色。簡(jiǎn)言之,通過四象限變流器的控制,對(duì)電網(wǎng)側(cè),可以使電網(wǎng)電流波形接近于正弦

6、,電網(wǎng)功率因數(shù)接近于1,最大程度地提高電網(wǎng)的經(jīng)濟(jì)效益,減少電網(wǎng)對(duì)周圍環(huán)境的電磁污染;對(duì)直流側(cè),在電網(wǎng)電壓或負(fù)載發(fā)生變化</p><p>　　時(shí),能夠維持直流中間電壓的穩(wěn)定,給電機(jī)側(cè)逆變器提供良好的工作條件。而且,四象限變流器可以實(shí)現(xiàn)牽引與再生工況間快速平滑地轉(zhuǎn)換。80年代以來,隨著計(jì)算機(jī)的飛速發(fā)展,計(jì)算機(jī)仿真技術(shù)已逐步深入到科研、產(chǎn)品開發(fā)等各個(gè)領(lǐng)域。在電力電子領(lǐng)域,通過使用計(jì)算機(jī)仿真技術(shù),設(shè)計(jì)者在設(shè)計(jì)階段就能全面

7、考察系統(tǒng)的動(dòng)靜態(tài)特性,選擇合理的系統(tǒng)結(jié)構(gòu)及參數(shù),在最大程度上避免設(shè)計(jì)的盲目性,提高試驗(yàn)的一次成功率,縮短研制周期、節(jié)約研制成本。這種利用計(jì)算機(jī)仿真技術(shù)進(jìn)行輔助設(shè)計(jì)的方法已成為電力電子研究領(lǐng)域的發(fā)展方向。本文介紹了使用SABER軟件對(duì)四象限變流器PWM雙閉環(huán)控制系統(tǒng)進(jìn)行計(jì)算機(jī)仿真的過程,并給出了仿真波形及相對(duì)照的部分實(shí)際試驗(yàn)波形。</p><p>　　2. SABER簡(jiǎn)介</p><p>　

8、　SABER是美國ANALOGY公司開發(fā)的一種可用于電力電子、自動(dòng)控制、光電、電磁、機(jī)械、液壓、熱工等領(lǐng)域的計(jì)算機(jī)仿真軟件。從結(jié)構(gòu)上看,它主要由3部分組成:SABERSKETCH、SABERGUIDE和SABERSCOPE。SABERSKETCH用于以圖形方式輸入被仿真的系統(tǒng);SABERGUIDE把輸入的系統(tǒng)當(dāng)作一個(gè)網(wǎng)絡(luò),首先通過網(wǎng)絡(luò)列表(Netlist)提取系統(tǒng)的結(jié)構(gòu)信息,然后通過直流分析(DCAnalysis)得到系統(tǒng)的靜態(tài)工作點(diǎn),

9、在此基礎(chǔ)上再對(duì)系統(tǒng)進(jìn)行時(shí)域(TimeDomain)及頻域(FrequencyDomain)范圍內(nèi)的各種分析;當(dāng)對(duì)系統(tǒng)完成分析計(jì)算后,便可用SABERSCOPE觀看所有變量的波形,并對(duì)波形進(jìn)行各種分析運(yùn)算。</p><p>　　SABER的優(yōu)點(diǎn)可概述如下:</p><p>　　(1)SABER秉承了模塊化、自頂向下、層次化(Hierarchy)的設(shè)計(jì)思想,增強(qiáng)了設(shè)計(jì)的科學(xué)性,提高了設(shè)計(jì)效率。

10、</p><p>　　(2)SABER具有豐富的模型,它的模型庫中包括了電力電子、機(jī)械、液壓等領(lǐng)域的各種常用模型。同時(shí),SABER還給用戶提供了一個(gè)硬件級(jí)的建模語言MAST。使用MAST語言,可以方便地構(gòu)造出自己的模型。</p><p>　　(3)SABER提供了強(qiáng)大的系統(tǒng)分析功能。設(shè)計(jì)者可以從各個(gè)方面對(duì)系統(tǒng)進(jìn)行考察。在時(shí)域方面有直流分析(DCAnalysis)、瞬態(tài)分析(Transien

11、tAnalysis)等;在頻域方面有傅立葉分析(FFT)、頻響分析(Small-SignalFrequencyAnalysis)、畸變分析(Small-SignalDistortionAnalysis)等。SABER還可用于應(yīng)力分析(StressAnalysis)及統(tǒng)計(jì)學(xué)方面的蒙特卡羅分析(MonteCarloAnalysis)。SABER還有一個(gè)非常實(shí)用的分析功能——參數(shù)敏感性分析(Parametric</p><

12、p>　　SensitivityAnalysis),利用這種分析功能,設(shè)計(jì)者可以控制一個(gè)或幾個(gè)參數(shù)在一定的范圍內(nèi)變化,觀察它們對(duì)系統(tǒng)特性的影響,從而找出它們最合適的數(shù)值來。</p><p>　　(4)SABER不僅對(duì)數(shù)?；旌舷到y(tǒng)仿真得心應(yīng)手,而且可以對(duì)由電力電子、電磁、機(jī)械、液壓等數(shù)個(gè)不同系統(tǒng)構(gòu)成的一個(gè)混合系統(tǒng)進(jìn)行仿真。這種強(qiáng)大的混合仿真能力其實(shí)是SABER的最大優(yōu)點(diǎn)。</p><p>

13、;　　3. 四象限變流器PWM雙閉環(huán)控制原理</p><p>　　四象限變流器PWM雙閉環(huán)控制系統(tǒng)的工作原理及各種參數(shù)的計(jì)算方法在文獻(xiàn)[1]和[2]中已做了詳盡論述,在此僅對(duì)四象限變流器PWM雙閉環(huán)控制原理做一簡(jiǎn)述。</p><p>　　四象限變流器作為交直交傳動(dòng)系統(tǒng)中的電網(wǎng)側(cè)變流器,其實(shí)質(zhì)是交流電網(wǎng)與直流中間回路進(jìn)行能量交換的中間介質(zhì)。當(dāng)負(fù)載增加時(shí),它從電網(wǎng)吸取更多的能量供給直流側(cè);當(dāng)負(fù)

14、載減小時(shí),它將直流側(cè)多余的能量返送給電網(wǎng);當(dāng)由牽引轉(zhuǎn)入再生時(shí),它使直流側(cè)由從電網(wǎng)吸收能量變?yōu)橄螂娋W(wǎng)輸送能量,反之亦然。在對(duì)能量的這些控制過程中,四象限變流器通過PWM雙閉環(huán)控制算法來實(shí)現(xiàn)維持直流中間電壓穩(wěn)定,使電網(wǎng)功率因數(shù)接近于1,電網(wǎng)電流波形接近于正弦等控制特性。</p><p>　　由四象限變流器的瞬時(shí)功率平衡公式uNiN=UdId可以看出,四象限變流器對(duì)能量的控制實(shí)際體現(xiàn)在對(duì)iN的控制上,對(duì)Ud和功率因數(shù)的

15、控制最終都是通過控制iN來實(shí)現(xiàn)。</p><p>　　在控制過程中只要保持矢量U→L與U→N的正交,就可保證電網(wǎng)的基波功率因數(shù)等于1。四象限變流器PWM雙閉環(huán)控制正是基于此原理實(shí)現(xiàn)的。以Ud給定值與反饋值之差作為電壓調(diào)節(jié)器的輸入,以U給定值與反饋值之差作為相位調(diào)節(jié)器的輸入,2個(gè)調(diào)節(jié)器的輸出經(jīng)PWM調(diào)制對(duì)矢量U→S1進(jìn)行控制,達(dá)到穩(wěn)定Ud和保證U=0的目的,從而實(shí)現(xiàn)電壓、相位雙閉環(huán)控制。</p>&l

16、t;p><b>　　4.計(jì)算機(jī)仿真</b></p><p>　　4.1 仿真系統(tǒng)構(gòu)成</p><p>　　整個(gè)仿真系統(tǒng)由主電路及控制電路構(gòu)成。主電路根據(jù)圖1來構(gòu)建。交流側(cè)使用理想交流電壓源,因?yàn)檫M(jìn)行的是系統(tǒng)級(jí)仿真,所以對(duì)GTO元件做了合理簡(jiǎn)化,將其近似為理想開關(guān)。主電路中的電阻、電感、電容器、理想開關(guān)、交流電壓源等均采用SABER提供的模型。</p>

17、<p>　　四象限變流器PWM雙閉環(huán)控制系統(tǒng)的計(jì)算機(jī)仿真圖4 仿真系統(tǒng)結(jié)構(gòu)圖控制電路構(gòu)建,包括濾波器、整形、相位檢測(cè)、軟啟動(dòng)控制器、相位調(diào)節(jié)器、電壓調(diào)節(jié)器、PWM控制器、直流中間電壓動(dòng)態(tài)過壓限制器等模塊。除濾波器采用SABER提供的模型外,其余模塊均使用MAST語言自己建立。這個(gè)仿真系統(tǒng)充分利用了SABER的數(shù)?；旌戏抡婀δ?達(dá)到了將四象限變流器主電路與控制電路結(jié)合起來進(jìn)行仿真的目的</p><p>

18、;　　負(fù)載的急劇突變有可能使四象限變流器不能及時(shí)將直流側(cè)能量返送給交流側(cè),從而使直流中間電壓快速上升,造成過壓,對(duì)系統(tǒng)產(chǎn)生嚴(yán)重?fù)p害。因此,應(yīng)在直流側(cè)加入一個(gè)保護(hù)環(huán)節(jié)——直流中間電壓動(dòng)態(tài)過壓限制器。當(dāng)直流中間電壓快速上升,四象限變流器來不及將其調(diào)回給定值時(shí),直流中間電壓動(dòng)態(tài)過壓限制器工作,通過斬波限壓的方式,將直流中間電壓限制在保護(hù)值以下,協(xié)助四象限變流器將直流中間電壓調(diào)回到給定值上。</p><p><b&

19、gt;　　4.2 仿真策略</b></p><p>　　主電路參數(shù):uN=1200V,給定值Ud為2600V,系統(tǒng)額定輸出功率為1200kW。</p><p>　　在仿真過程中,用在直流側(cè)投切電阻的方法來模擬負(fù)載的突變。負(fù)載分3次投入,每投入1個(gè)電阻,系統(tǒng)輸出功率升高400kW,第3個(gè)電阻投入后,系統(tǒng)輸出功率升為1200kW。然后,將3個(gè)電阻一起切除,與此同時(shí),將一個(gè)串直流電壓

20、源、電阻和電感的支路投入,模擬由滿功率牽引突然轉(zhuǎn)為滿功率再生的情況。通過這些操作,可以觀察直流中間電壓Ud和電網(wǎng)電流iN的動(dòng)態(tài)響應(yīng),衡量控制系統(tǒng)的動(dòng)態(tài)調(diào)節(jié)性能。</p><p><b>　　4.3 仿真結(jié)果</b></p><p>　　當(dāng)直流中間環(huán)節(jié)出現(xiàn)過壓時(shí),直流中間電壓動(dòng)態(tài)過壓限制器將會(huì)進(jìn)行限壓,比較了有和沒有直流中間電壓動(dòng)態(tài)過壓限制器時(shí)直流中間電壓的波形。從中可

21、以看出,通過限制器的動(dòng)作,過電壓的波峰被削掉了,直流中間電壓被限制在保護(hù)值以下。</p><p><b>　　5. 結(jié)論</b></p><p>　　通過SABER的仿真,證明了四象限變流器PWM雙閉環(huán)控制系統(tǒng)具有良好的控制性能,可以滿足大功率交流傳動(dòng)電力機(jī)車對(duì)四象限變流器控制的要求。通過對(duì)四象限變流器PWM雙閉環(huán)控制系統(tǒng)的仿真,也說明了SABER的確是一個(gè)優(yōu)秀的仿真

22、軟件,是電力電子設(shè)計(jì)者得力的CAD工具。在國家“九五”重點(diǎn)攻關(guān)課題“200kmh動(dòng)力分散交流傳動(dòng)電動(dòng)車組牽引變流器及其控制系統(tǒng)的研制”中,應(yīng)充分利用計(jì)算機(jī)仿真這一先進(jìn)的設(shè)計(jì)手段,以提高設(shè)計(jì)質(zhì)量。</p><p><b>　　參考文獻(xiàn):</b></p><p>　　[1]邵公寅,李中浩.四象限變流器系統(tǒng)[J].鐵道學(xué)報(bào),1983,(3).</p><

23、p>　　[2]陳鴻蔭,張 黎.四象限變流器兩相兩重供電的數(shù)字控制系統(tǒng)[J].</p><p>　　鐵道學(xué)報(bào),1983,(9).</p><p>　　[3]ShenJTaufiqJA.Computeraideddesignofthecontrolsystemofa3-level</p><p>　　highpowerPWMconverterforrailwayt

24、ractionapplication[C].ANALOGY</p><p>　　POWERELECTRONICSSEMINAR,1996.</p><p>　　[4]李 軍,桂武鳴.用Saber作交直交系統(tǒng)仿真[J].機(jī)車電傳動(dòng),</p><p><b>　　1997,(4).</b></p><p>　　[5]李 軍.

25、一個(gè)四象限變流器系統(tǒng)的計(jì)算機(jī)仿真[J].機(jī)車電傳動(dòng),</p><p><b>　　1996,(6).</b></p><p>　　1. Preface</p><p>　　Since the 70's produced four quadrants to change to flow this kind of to hand over

26、to keep the transformation to rush toward the structure specially, four quadrants change to flow the machine and then be the exchanges spreads to move the electric power motorcycle to hand over to keep hand over to sprea

27、d the charged barbed wire net side of move the system to change to flow the machine, the impersonation emphasizes the important person color.Chien speech, pass the control that four quadrants chang</p><p>　　

28、Hour, can maintain the direct current in the center the stability of the electric voltage, go against to change the machine to provide the good work condition to the electrical engineering side.And, four quadrants change

29、 to flow the machine and can carry out to lead to convert with the reborn work condition quickly and smoothly.Since 80's, fly along with the calculator to develop soon, the calculator imitate the true technique to h

30、ave already gone deep into each realms, such as research and the</p><p>　　2. Brief introduction of SABER</p><p>　　SABER is the American ANALOGY company develops a kind of and can used for electr

31、ic power electronics, automatic control, the light electricity, electromagnetism, machine, liquid's press, hot work etc. realm of calculator imitate the true software.See from the structure, it mainly is constitute b

32、y 3 parts: SABERSKETCH, SABERGUIDE and SABERSCOPE.The SABERSKETCH used for is imitate with the sketch method importation true system; the SABERGUIDE chases the importation of in the light of network of s</p><

33、p>　　The SABER advantage can say all as follows:</p><p>　　(1)The SABER takes orders the mold piece to turn, from the crest get down, the layer turn( Hierarchy) of design thought, strengthenned science of d

34、esign, raise the design efficiency.</p><p>　　(2)The SABER has abundant model, including the electric power electronics, machine, liquid to press various in common use model of the realm of etc. in its model

35、database.At the same time, the SABER returns to provide a hardware class for customer to set up the mold language MAST.Use the language of MAST, can construct the model of an oneself expediently.</p><p>　　(3

36、)The SABER provided the strong system analysis function.Design can carry on the investigation to the system from the each aspect.At the area contain direct current analysis( DCAnalysis), in a sudden the analysis( Transi

37、entAnalysis) etc.; have the to sign the leaf's analysis( FFT), to ring the analysis( Small- SignalFrequencyAnalysis), the mutation analysis( Small- SignalDistortionAnalysis)...etc. in the area of .The SABER can also

38、used for should the dint analysis( StressAnalysis) and covaria</p><p>　　SensitivityAnalysis), the one who make use of this kind of analysis function, design can control an or a few parameterses within the sc

39、ope of certain variety, observe the influence of them upon the system characteristic, thus find out their quite the cheese number.</p><p>　　(4)SABER not only the logarithms mold admixture system really imit

40、ate with proficiency, and can to really be pressed a hybrid system that several different systems of etc. constitute by the electric power electronics, electromagnetism, machine, liquid to carry on imitate.This kind of s

41、trong admixture imitates biggest advantage that the true ability is a SABER in fact.</p><p>　　3. Four quadrants change to flow the machine PWM double to shut the wreath control principle</p><p>

42、　　Four quadrants change to flow the machine PWM double calculation method of the work principle and various parameter that shuts the wreath control system to have already done the detailed treatise in cultural heritage[

43、1] and[2], changing to flow the machine PWM double to shut the wreath control principle to do a Chien to say to four quadrants only here.</p><p>　　Four quadrants change to flow the machine conduct and action

44、s to hand over to keep hand over to spread to move the charged barbed wire net in the system side to change to flow the machine, in fact quality is the exchanges charged barbed wire net and direct currents in the center

45、the back track carries on the energy commutation of middle lie the quality.When the load increase, it absorbs more energies to supply the direct current side from the charged barbed wire net; be When the load let up, it

46、</p><p>　　Change the equilibrium formula uNiN of moment power of flow the machine from four quadrants= the UdId can see, four quadrants change to flow the machine to the actual body of the control of the ene

47、rgy now to iN control up, to Ud and the control of the power factors end is all to pass to control the iN to carry out.</p><p>　　In control process as long as keep the vector U → L and U → the N is hand over

48、, can guarantee that a power of factor of the charged barbed wire net be equal to 1.Four quadrants change to flow the machine PWM double to shut the wreath control exactly according to this principle realization of.With

49、the Ud give settle value and feedback the bad value is the importation of the electric voltage modulator, with the U give settle value and feedback value of bad conduct and actions mutually the importat</p><p&

50、gt;　　4.The calculator really imitate</p><p>　　4.1 Imitate the true system constitute</p><p>　　Whole imitate the true system to be constitute by the main electric circuit and the control electric

51、 circuit.Main electric circuit according to figure 1 to set up.Communicate the side usage ideal exchanges electric voltage source, what to carry on really is a system class to imitate, so did the reasonable simplificat

52、ion to the component of GTO, looking like it as the ideal switch.The electric resistance, the electricity feeling, capacitor, ideal switch, the exchanges electric voltage source...</p><p>　　Four quadrants ch

53、ange to flow the machine PWM double calculator that shuts the wreath control system to imitate the true figure 4 imitate the true system structure diagram control electric circuit to set up, include the filter, orthope

54、dics, mutually an examination, soft start controller, mutually a modulator, electric voltage modulator, controller of PWM, direct current in the center the electric voltage dynamic state leads to press to limit the machi

55、ne etc. mold piece.In addition to filter ad</p><p>　　The nasty play mutation of the load probably make four quadrants change flow the machine can't return the direct current side energy to give the excha

56、nges side in time, thus making direct current in the center fast rising of electric voltage, resulted in press, produce the serious damage to the system.Therefore, should join a protection link- direct current in the dir

57、ect current side in the center the electric voltage dynamic state lead press the restrict machine.When direct current in the cente</p><p>　　4.2 Imitate the true strategy</p><p>　　Main electric c

58、ircuit parameter: uN=1200 Vs, give settle to be worth the Ud as 2600 Vs, the system sum settles to output the power as 1200 kWs.</p><p>　　In imitate true process, use the mutation that the method that slices

59、 the electric resistance in the direct current side hurl imitates the load.The load divides to throw in 3 times, throwing in 1 electric resistance each time, the system outputs the power to go up the 400 kWs, the 3 elect

60、ric resistance devotion after, system output the power advances to the 1200 kWs.Then, be lead by the full power 3 electric resistances cut off together, at the same time, pay a direct current electric voltage so</p>

61、;<p>　　4.3 Imitate the true result</p><p>　　When direct current in the center the link appears to press, direct current in the center the electric voltage dynamic state lead to press to limit the mach

62、ine and will carry on limit's press, relatively to have and have no direct current in the center the electric voltage dynamic state lead press to limit the machine hour direct current in the center a form of the elec

63、tric voltage.From in can see, pass the action of limit the machine, the wave crest that conduct electricity to press is pared, t</p><p>　　5. Conclusion</p><p>　　Really imitate through a SABER, p

64、roved that four quadrants change to flow the machine PWM double to shut the wreath control system to have the good control function, can satisfy the big power exchanges to spread to move the electric power motorcycle to

65、change the request of flow the machine control to four quadrants.Really pass to change to flow the machine PWM double to shut the wreath control system to imitate to four quadrants, also explained that the SABER is reall