異步電動(dòng)機(jī)矢量控制調(diào)速系統(tǒng)中英文資料對(duì)照外文翻譯文獻(xiàn)綜述TheDesignoftheVectorControlSystemofAsynchronousMotorAbstract:Amongvariousmodesoftheasynchronousmotorspeedcontrol,vectorcontrolhastheadvantagesoffastresponse,stability,transmissionofhigh-performanceandwidespeedrange.Fortheneedoftheasynchronousmotorspeedcontrol,thedesignuses89C196asthecontroller,andintroducesthedesignsofhardwareandsoftwareindetails.TheDesigniscompletedeffectively,withgoodperformancesimplestructureandgoodprospectsofdevelopment.Keywords:Asynchronousmotor,89C196,Vectorcontrol1.IntroductionACasynchronousmotorisahigherorder,multi-variable,non-linear,andstrongcouplingobject,usingtheconceptofparametersreconstructionandstatereconstructionofmoderncontroltheorytoachievedecouplingbetweentheexcitationcomponentoftheACmotorstatorcurrentandthetorquecomponent,andthecontrolprocessofACmotorisequivalenttothecontrolprocessofDCmotor,thedynamicperformanceofACspeedregulationsystemobtainingnotableimprovement,thusmakesDCspeedreplacingACspeedpossiblefinally.ThecurrentgovernorofthehigherproductionprocesshasbeenmoreuseofFrequencyControldeviceswithvector-control.2.VectorControlWiththecriterionofproducingconsistentrotatingmagnetomotiveforce,thestatorACcurrentiA,i,iCby3S/2Sconversioninthethree-phasecoordinatesystem,canbeequivalenttoACcurrentis，is，intwo-phasestaticcoordinatesystem,throughvectorrotationtransformationdqofthere-orientationoftherotormagneticfield,EquivalenttoasynchronousrotationcoordinatesoftheDCcurrentie，ie.Whenobserversatcorecoordinateswiththerotationtogether,ACmachinedq#becomesDCmachine.Ofthese,theACinductionmotorrotortotalflux屮，ithasbecometherequivalentoftheDCmotorflux,windingsdeequivalenttotheexcitationwindingsofDCmotor,ieequivalenttotheexcitationcurrent,windingsqeequivalenttofalsestaticwindings,iedqequivalenttothearmaturecurrentproportionaltotorque.Afterthetransformationabove,ACasynchronousmotorhasbeenequivalenttoDCmotor.Asaresult,imitatingthecontrolmethodofDCmotor,obtainingthecontrolvariableofDCmotor,throughthecorrespondingcoordinatesanti-transformation,cancontroltheasynchronousmotor.Asaresultofcoordinatetransformationofthecurrent(onbehalfofmagneticmomentum)spacevector,thus,thiscontrolsystemachievedthroughcoordinatetransformationcalledthevectorcontrolsystem,referredtoVCsystem.Accordingtothisidea,couldconstitutethevectorcontrolsystemthatcancontrol屮andierqdirectly,asshowninFigure1.InthefigureagivenandfeedbacksignalthroughthecontrollersimilartothecontrollerthatDCspeedcontrolsystemhasused,producinggivensignalie*oftheqsexcitationcurrentandgivensignalie*ofthearmaturecurrent,aftertheanti-rotationtransformdsVR-1obtainingie*andie*,obtainsi*,i*,i*by3S/2Sconversion.AddingthethreesignalsqsdsABCcontrolledbycurrentandfrequencysignalwobtainedbycontrollertotheinvertercontrolledbycurrent,canoutputthree-phasefrequencyconversioncurrentthatasynchronousmotorneedsforspeed.3.TheContentandThoughtoftheDesignThissystemuses80C196ascontroller,consistsofdetectionunitofstatorthree-phasecurrentunitofkeyboardinput,LCDdisplaymodules,givenunitofsimulationspeeddetectionunitofstatorthree-phasevoltage,feedbackunitofspeedandoutputunitofcontrolsignals.SystemblockdiagramshowninFigure2,thesystemapplies16bitsMCU80C196ascontrolcore,withsomehardwareanalogcircuitscomposingthevectorcontrolsystemofasynchronousmotor.Ontheonehand,80C196throughtheA/Dmoduleof80C196,speedgunandthegivenspeedfeedbacksignalshasbeenobtained,obtaininggiventorqueofsaturatedlimitingthroughspeedregulator,toobtainthegiventorquecurrent;Useagivenfunctiongeneratortoobtaingivenrotorflux,throughobservationobtainingrealflux,throughfluxregulationobtaininggivenexcitationcurrentofgivenstatorcurrent,thentheexcitationcurrentandthetorquecurrentsynthesisthroughtheK/Ptransformation,obtainingamplitudeandphasestatorcurrent,afteramplitudeofstatorcurrentcomparedtothetestingcurrent,controlthesizeofstatorcurrentthroughcurrentregulator.;ontheotherhand,thestatorcurrentfrequencyiscalculatedbythesimultaneousconversionrateforthetimeconstantofthecontrolinverter,regularlywithtimer,throughP1,submittingtriggerwordtocompletethetriggeroftheinverter.4.TheDesignofHardwareandSoftwareThehardwarecircuitsofthesystemmainlyconsistsofAC-DC-ACcurrentinvertercircuit,SCRtriggerinvertercircuit,rectifierSCRtriggercircuit,thespeedgivenwiththegunfeedbackcircuit,currentcentralregulationcircuit,protectioncircuitandothertypicalcircuits.Thedesignofsoftwareincludes:speedregulatorcontrolandfluxdetectionandregulation.AC-DC-ACCurrentConverterCircuitThemaincircuitusesAC-DC-ACCurrentConverterinthesystemasshowninFigure3,andmainfeaturescanbeknownasfollows:Maincircuitwithsimplestructureandfewercomponents.Forthefour-quadrantoperation,whenthebrakeofpowerhappens,thecurrentdirectionofthemaincircuitkeepsthesame,justchangingthepolarityofthevoltage,rectifierworkinginthestateofinverter,inverterworkinginthestateofrectifier.Theinvertercanbeeasilyentered,regenerativebraking,fastdynamicresponse.Thevoltageinverterhastoconnecttoagroupofinvertersinordertoregenerativebraking,bringingtheelectricenergybacktopowergrids.Sincethemiddleusingareactor,currentlimit,isconstantcurrentsource.CoupledwithcurrentLoopconditioning,currentlimit,soitcantolerateinstantaneousloadshort-circuit,automaticprotection,therebyenhancingtheprotectionofovercurrentandoperationalreliabilityThecurrentinvertercanconverterwithforceandtheoutputcurrentinstantaneousvalueiscontrolledbycurrentinverter,meetingthevectorcontrolrequirementsofACmotors.ConvertercapacitorcharginganddischargingcurrentsfromtheDCcircuitfilterbythesuppressionreactor,unlikeagreaterinrushcurrentinvoltageinverter,thecapacitor'sutilizationisofhighlevelCurrentinverterandtheloadmotorformawhole,andtheenergystorageofthemotorwindingsisalsoinvolvedintheconverter,andlessdependentonthevoltageinverter,soithasacertainloadcapacity.InverterSCRtriggerdrivecircuitTheInverterSCRtriggerdrivecircuitasshowninFigure4.InvertertriggersignaliscontrolledbyP1of80C196,slipsignaloutputtingthroughP1viaPWMregulationintheSCMthroughthephotoelectricisolationtoenlarge,tocontrolthetriggeroftheinverter.ThesystemusesP1.6ascontrolandusesP1.0~P1.5tocontrolsixSCRinvertersseparately,sothetriggercircuitsiscomposedbysixcircuitsabove.TheprinciplesofdrivecircuitofSCRtriggerinverterareasfollows:whenthePWMfromP1ishighsignalafterandgate,photoelectricisolationisnoton,compositepipeinastateofon-saturated,theleftsideofthetransformerformingcircuit,andthatthepowerofthesignalamplifies(currentenlarges);whenthePWMfromP1islowsignalafterandgate,photoelectricisolationison,compositepipeinastateofcut-off,andtheleftsideofthetransformercannotformcircuit;thus,compositepipeequivalenttoaswitch,anditsfrequencyreliedonthefrequencyofthePWM,sotheleftsideofthetransformerformACsignals,totriggerSCRinverteraftertransformerdecompression,half-waverectifierandfilter.CurrentLoopconditioningcircuitsAfterthevectorcalculation,outputtinggivencurrentthroughD/Amodule,testingfeedbackcurrentbythecurrenttestingcircuit,sendingthemtothesimulatoroftheP1regulatortoregulate,caneliminatestaticdifferenceandimprovethespeedofregulation.Theoutputoftheanalogdevicescanberegardedasthephase-shiftingcontrolsignalsoftherectifiertrigger.CurrentLoopconditioningcircuitsasshowninfigure5.ThecontrolofspeedregulatorSpeedregulatorusesdual-modecontrol.SettingavalueTNofspeederror,whenthesystemismorethanthedeviation(morethan10percentoftheratedfrequency),asroughlocationofthestart,usingon-offcontrol,atthistime,speedregulatorisinthestateofamplitudelimit,equivalenttospeedloopbeingopen-loop,sothecurrentloopisinthestateofthemostconstantcurrentregulation.Thus,itcanplaytheoverloadabilityofmotorfullyandmaketheprocessofregulationfastestpossibly.Whenthesystementersintoastateofsmalldeviation,thesystemusesPIlinearcontrolinsteadofon-offcontrol.Asresult,absorbingthebenefitsofnon-linearandlinear,thesystemmeetsstabilityandaccuracy.Thespeedregulatorflowchartisasshowninfigure6.FluxRegulationSlipfrequencyvectorcontrolsystemcanbeaffectedbythemotorparameters,sothattheactualfluxandthegivenfluxappearadeviation.Thissystemisofobservationandfeedbackintheamplitudeofthemagneticflux,regulatingfluxoftherotor,actualfluxwiththechangesofgivenflux.Fluxregulatorisalsothesameasthespeedregulator,usingPIregulator.Thediscreteformulais:TOC\o"1-5"\h\zi(n)=i(n一1)+k{Ae(n)+Te(n)}/t(1)mmmiSinPlusaremindertoforecastforcorrection:I=2i(n)一i(n一1)(2)mmmIntheformula,kisproportionalcoefficient,tisintegralcoefficient,Tissamplingperiod,mnsIistheactualoutputvalue.mAe二e(n)一e(n一1)(3)ne=①*(n)一①(n)(4)n22Whenitisinthestateoflowfrequency(f<5HZ),r1cannotbeignored,thephasedifferencebetweenVandEenlarges,andtheformulaV~V'nolongersetsup.Throughthe1111Approximaterotorfluxobserverandtheformula①=IL=(V一Ir)/&-1Ltoobserve2m1m1T10m11thefluxamplitude,onlyopen-loopcontrolofflux,thatis,tocalculatefromagivenflux,andthatisI=①*/L.Inaddition,inordertoavoiddisorders,ortooweakandtoostrongmagnetic,limitingm2mtheoutputiinpreparationforthesoftware,makingitintherangesfrom75%to115%ratedmvalue.5.DesignSummaryThistextresearchesthevectorcontrolvariablespeedcontrolsystemoftheasynchronousmotordesign.TheSCM80C196andtheexternalhardwarecompletetheasynchronousmotorspeedvectorcontrolsystemdesignefficiently,andmeetthetimingcontrolrequirements.Thevectorcontrolsystemdesignthinksclearly,hasagoodspeedperformanceandsimplestructure.Ithasawiderangeofuseandagoodprospectofdevelopmentfromtheanalysisanddesignofthespeedasynchronousmotorvectorcontrolsystems.

Theinnovations:Completethedataacquisitionofthespeedandvoltage,outputthecontrolsignalandsavethedeviceseffectivelywiththehelpofthe80C196microcontrollerownedA/D,D/A.BecausetheCurrentSourceInverterusesforcedconverter,themaximumoperatingfrequencyisfreefromthepowergridfrequency.Anditiswithwidespeedrange.Thissystemusesconstantfluxtokeeptheconstantfluxstably.Usestatorphysicalvoltageamplitudetoapproximatetheobservedfluxamplitudevalue.Themagneticfluxovercomestheimpactoftheparameterschanges.Thiswayissimpleandeffective.CDController±LFigure1.VectorControlSystemPrincipleG1VBC13Gil50A1200V1010KUVD7^DTORAj5OA2OOO1BAAVD103￡6G4G650A1200VKfVI450A1200VIVT150A1200VIVEHr5OA2OOOV'C4GVH5[JR.15rTiorVKIUVT550^1200^105QA-18OO5門(mén)§J=G12?)2uJrKHC?VT11n?lll5QA-'CUG13E二R13|5QA/18OO5G15Z0苛『冒~~||S^W12rVT14'VD6VD6^F50A'2000V105QA1800]D14G16,5QA.'20dnr10_2uFCl0.2uI^tOJuFRJ201!C20.2uF5QA.118005'vm0.2uF、OA】oocrv50A.2000VrwvY150mHVD9-3007j|^VDlCl-3Figure4.InverterSCRtriggerdrivecircuitFigure6.FluxregulationflowchartReferencesHisaoKubotaandKoukiMatsuse.(1994).SpeedSensorlessField-OrientedControlofInductionMotorwithRotorResistanceAdaptation.IEEETrans.Ind.Appl.,vo1.30,No.5,pp.1219-1224.Li,Da,Yang,Qingdong,andLiu,Quan.(2007).TheDSPpermanentmagnetsynchronouslinearmotorvectorcontrolsystem.Micro-computerinformation,09-2:195-196Liu,Wei.(2007).Theapplicationdesignaboutvectorcontrolofcurrentloopcontrol.Micro-computerinformation,07-1:68-70Zhao,Tao,Jiang,WeiDong,Chen,Quan,andRen,Tao.(2006).Theresearchaboutthepermanentmagnetmotordrivesystembasesonthedual-modecontrol.Powerelectronicstechnology,40(5):32-34異步電動(dòng)機(jī)矢量控制調(diào)速系統(tǒng)設(shè)計(jì)摘要:異步電動(dòng)機(jī)的各種調(diào)速方式中，矢量控制的調(diào)速方式響應(yīng)快、穩(wěn)定性好、傳動(dòng)性能高、調(diào)速范圍寬。針對(duì)異步電動(dòng)機(jī)的調(diào)速需要，設(shè)計(jì)以80C196為控制器的矢量控制調(diào)速系統(tǒng)，并詳細(xì)介紹了系統(tǒng)的硬件設(shè)計(jì)和軟件設(shè)計(jì)。該系統(tǒng)有效地完成了異步電動(dòng)機(jī)矢量控制調(diào)速系統(tǒng)設(shè)計(jì)，調(diào)速性能好、結(jié)構(gòu)簡(jiǎn)單，具有很好的發(fā)展前景。關(guān)鍵詞：異步電動(dòng)機(jī)，89C196，矢量控制引言交流異步電動(dòng)機(jī)是一個(gè)高階、多變量、非線(xiàn)性、強(qiáng)藕合的被控對(duì)象，采用參數(shù)重構(gòu)和狀態(tài)重構(gòu)的現(xiàn)代控制理論概念可以實(shí)現(xiàn)交流電動(dòng)機(jī)定子電流的勵(lì)磁分量和轉(zhuǎn)矩分量之間的解藕，實(shí)現(xiàn)了將交流電動(dòng)機(jī)的控制過(guò)程等效為直流電動(dòng)機(jī)的控制過(guò)程，使交流調(diào)速系統(tǒng)的動(dòng)態(tài)性能得到顯著的改善和提高，從而使交流調(diào)速最終取代直流調(diào)速成為可能。目前對(duì)調(diào)速特性要求較高的生產(chǎn)工藝已較多地采用矢量控制型變頻調(diào)速裝置。矢量控制以產(chǎn)生完全一致的旋轉(zhuǎn)磁動(dòng)勢(shì)為準(zhǔn)則，在三相坐標(biāo)系下的定子交流電流'A，仃,iC通過(guò)3S/2S變換，可以等效成兩相靜止坐標(biāo)系下的交流電流is，is，再通過(guò)按轉(zhuǎn)子磁場(chǎng)定向的矢量旋轉(zhuǎn)變換，可以等效成同步dq旋轉(zhuǎn)坐標(biāo)系下的直流電流'd，ie。當(dāng)觀(guān)察者站在鐵心上與坐標(biāo)系一起旋轉(zhuǎn)時(shí)，交流機(jī)就變成了直流機(jī)。dq其中，交流異步電動(dòng)機(jī)的轉(zhuǎn)子總磁通屮，就變成了等效的直流電動(dòng)機(jī)的磁通，de繞組相當(dāng)于直流電機(jī)的r勵(lì)磁繞組，'e相當(dāng)于勵(lì)磁電流。qe繞組相當(dāng)于偽靜止繞組，ie相當(dāng)于與轉(zhuǎn)矩成正比的電樞電流。異步電dq動(dòng)機(jī)經(jīng)過(guò)如上的變換后就等效成了直流電動(dòng)機(jī)。因而，可以模仿直流電機(jī)的控制方法，求得直流電機(jī)的控制量，再經(jīng)過(guò)相應(yīng)的坐標(biāo)反變換，就能夠控制異步電動(dòng)機(jī)了。由于進(jìn)行坐標(biāo)變換的是電流（代表磁動(dòng)勢(shì)）的空間矢量，所以，這樣通過(guò)坐標(biāo)變換實(shí)現(xiàn)的控制系統(tǒng)就叫作矢量控制系統(tǒng)，簡(jiǎn)稱(chēng)VC系統(tǒng)。按照這種設(shè)想，可以構(gòu)成直接控制屮和ie的矢量控制系統(tǒng)，如圖1所示。圖中給定和反饋信號(hào)經(jīng)過(guò)類(lèi)似于直流凋速系統(tǒng)rq所用的控制器，產(chǎn)生勵(lì)磁電流的給定信號(hào)ie*和電樞電流的給定信號(hào)ie*，經(jīng)過(guò)反旋轉(zhuǎn)變換VR-1得到ie*和qsdsqsie*，再經(jīng)過(guò)2S/3S變換得到i*、i*、i*。把這三個(gè)電流控制信號(hào)和由控制器得到的頻率信號(hào)?加到電dsABC1流控制的變頻器上，即可輸出異步電動(dòng)機(jī)調(diào)速所需的三相變頻電流。設(shè)計(jì)內(nèi)容及設(shè)計(jì)思想本系統(tǒng)以單片機(jī)80C196為控制器，由定子三相電流檢測(cè)單元、鍵盤(pán)輸入單元、LCD顯示單元、模擬轉(zhuǎn)速給定單元、定子三相電壓檢測(cè)單元、轉(zhuǎn)速反饋單元、控制信號(hào)輸出單元等部分組成。如圖2所示，系統(tǒng)是以16位單片機(jī)80C196為控制核心，由一些硬件模擬電路組成異步電動(dòng)機(jī)的矢量控制變頻凋速系統(tǒng)。一方面，通過(guò)8OC196的A/D模塊獲得轉(zhuǎn)速給定及測(cè)速反饋的速度信號(hào)，經(jīng)過(guò)速度調(diào)節(jié)器獲得飽和限幅的轉(zhuǎn)矩給定，從而獲得給定的轉(zhuǎn)矩電流；利用函數(shù)發(fā)生器獲得給定轉(zhuǎn)子磁通，經(jīng)磁通觀(guān)測(cè)獲得實(shí)際轉(zhuǎn)子磁通，再經(jīng)磁通調(diào)節(jié)獲得定子電流給定勵(lì)磁分量電流，然后經(jīng)過(guò)K/P變換將給定的勵(lì)磁電流和轉(zhuǎn)矩電流合成，得到定子電流的幅值和相位，定子電流的幅值與電流互感器的檢測(cè)電流相比較后通過(guò)電流調(diào)節(jié)器去控制定子電流的大?。涣硪环矫?，定子電流的頻率是把計(jì)算得到的同步速度轉(zhuǎn)換為控制逆變器的時(shí)間常數(shù)，用定時(shí)器定時(shí)，通過(guò)單片機(jī)上的P1口，送出觸發(fā)字來(lái)完成逆變器的觸發(fā)。硬件電路及軟件設(shè)計(jì)本系統(tǒng)硬件電路主要由交一直一交電流型變頻器電路、逆變晶閘管觸發(fā)電路、整流晶閘管觸發(fā)電路、速度給定與測(cè)速反饋電路、電流環(huán)調(diào)節(jié)電路、保護(hù)電路等典型電路組成；軟件設(shè)計(jì)主要包括：速度調(diào)節(jié)器控制和磁通檢測(cè)與調(diào)節(jié)兩部分。4．1交一直一交電流型變頻器電路系統(tǒng)的主回路采用圖3所示的交一直一交變頻器，由圖可知它具有以下主要特點(diǎn)：1）主回路結(jié)構(gòu)簡(jiǎn)單，使用的元器件少。便于四象限運(yùn)行，當(dāng)再生發(fā)電制動(dòng)時(shí)，主回路電流方向不變，只改變電壓極性，整流器工作于逆變狀態(tài)，逆變器工作于整流狀態(tài)?？煞奖愕倪M(jìn)入逆變，進(jìn)行再生制動(dòng)，動(dòng)態(tài)響應(yīng)快。而電壓型變頻器必須另接一組逆變器才能進(jìn)行再生制動(dòng)，把電能回饋給電網(wǎng)。2）由于中間采用的是電抗器，故具有限流作用，是恒流源。再加上本系統(tǒng)設(shè)有電流環(huán)調(diào)節(jié)、限流，所以可耐受負(fù)載瞬時(shí)短路，自動(dòng)進(jìn)行保護(hù)，從而提高了過(guò)流保護(hù)和運(yùn)行可靠性。3）此電流型逆變器帶強(qiáng)迫換流，電流型逆變器所控制的是輸出電流瞬時(shí)值，符合交流電動(dòng)機(jī)矢量控制的要求。換流電容器的充放電電流由直流回路的濾波電抗器所抑制，不像電壓型逆變器中有較大的浪涌電流，故換流電容器的利用率較高。4）電流型逆變器與負(fù)載電動(dòng)機(jī)形成一個(gè)整體，電動(dòng)機(jī)繞組的儲(chǔ)能也參與換流，故其換流能力依賴(lài)于負(fù)載電流，而較少依賴(lài)于逆變器電壓，因此有一定的負(fù)載能力。4.2逆變晶閘管觸發(fā)驅(qū)動(dòng)電路逆變晶閘管觸發(fā)驅(qū)動(dòng)電路如圖4所示。逆變觸發(fā)信號(hào)由單片機(jī)8OC196的P1口控制，轉(zhuǎn)差信號(hào)在單片機(jī)內(nèi)經(jīng)PWM調(diào)節(jié)后由P1I：I輸出，經(jīng)光電隔離器隔離放大，去控制逆變晶閘管的觸發(fā)端。本系統(tǒng)用P1.6作為控制端，用P1.0-P1.5作為另一端分別控制6個(gè)逆變晶閘管，故逆變晶閘管觸發(fā)電路由6個(gè)如圖4所示的電路組成。逆變晶閘管觸發(fā)驅(qū)動(dòng)電路原理如下：由P1口輸出的PWM經(jīng)與門(mén)后是高電平信號(hào)時(shí)，光電

隔離管不導(dǎo)通，復(fù)合管處于飽和導(dǎo)通狀態(tài)，變壓器左邊形成回路，并且此信號(hào)經(jīng)復(fù)合管功率放大(電流放大)；當(dāng)從Pl口輸出的PWM經(jīng)與門(mén)后為低電平時(shí)，光電隔離管導(dǎo)通，復(fù)合管基極電流幾乎為零，復(fù)合管處于截止?fàn)顟B(tài)，變壓器左邊就不會(huì)形成回路；這樣，復(fù)合管就相當(dāng)于一個(gè)電子開(kāi)關(guān)，這個(gè)開(kāi)關(guān)的通斷頻率由PWM的頻率決定，從而使變壓器左邊形成交流信號(hào)，經(jīng)變壓器降壓、半波整流、濾波后去觸發(fā)逆變晶閘管。4．3電流環(huán)調(diào)節(jié)電路由80C196經(jīng)過(guò)矢量計(jì)算，再由它的D/A模塊輸出電流給定，由電流檢測(cè)電路檢測(cè)到反饋電流，同時(shí)把他們送人到模擬器件的Pl調(diào)節(jié)器中進(jìn)行調(diào)節(jié)，以消除靜差并能提高