[毕业设计精品]双闭环直流调速系统的仿真研究

毕业设计（论文）开题报告学生姓名：学号：专业：电气工程及其自动化班级：06电气2班设计（论文）题目：双闭环直流调速系统的仿真研究指导教师：二级学院：机电工程学院2010年03月24日1.选题的背景与意义1.1选题的背景当前全球经济快速发展，有两条显著的相互交织的主线：能源和环境。能源的紧张不仅制约了相当多发展中国家的经济增长，也为许多发达国家带来了相当大的问题。随着全球能源消耗的增加，地球的矿物能源已面临枯竭、环境问题也日益突出，在世界各地的大、中城市，大气污染物中约40%70%来自内燃机汽车的尾气排放。作为能源消耗大户之一的电机在节能方面是大有潜力可挖的。世界银行一个专家组的调查报告中指出：中国大城市的污染状况目前是全世界最为严重的，全世界空气污染最严重的20个城市中，有10个在中国，而中国华北、华g1008的大城市调查中，大气污染的70%来自g1122汽车的尾气排放，电g2172汽车g1209g1866g1393g19764电能g20549g2172车g17754，电能在g20549g2172汽车行g20554g17819g12255中g3534g7424不排放有g4487气g1319，g4557环境不g1262g17908g6116污染g12573g10317g9869g1363g5483电g2172汽车的g11752g12362g17246来g17246g2475g2052重g16282。而电机调速g13007g13491是电g2172汽车的重g16213g18108g2010，是电g2172汽车的g5527g14051。电g2172汽车的g20549g2172g16025g13634有许多g12193，g11464g8981电机g1363g11004g12628g1427，g1867有g14403g3921的g2563g2172g5627和调速g5627，是目前g1363g11004最g5203g8879的一g12193。a1a2a3g3g11464g8981调速g13007g13491在g5049矿g1237g1006g5224g11004g5203g8879，是电力g6314g2172g6523制g13007g13491的一个重g16213的g11752g12362方g2533。g2345g19393环g13007g13491g17227g2172电g8981不是最大，g6212g2172g17908g6116的g2172g5589g1571g5058大，g6164有g2465g20316g18129在一个调节g3132g990，g2454g6980g6984g4462g3268g19602，不能随g5527g6164g17947地g6523制电g8981和g17728g11709的g2172g5589g17819g12255。a1a4a3g11013g1122g10628在一g14336g4557g11464g8981电g2172机的调速和g17728g11709g6523制g5627能g16213g8726g20652，g1866中最g1868g3423的是g17728速g16电g8981g2464g19393环g6523制的g11464g8981调速g13007g13491。g4557g6251电g13605电g2399g6212g2172和g6251g17139g17745g6212g2172g18129有g5468g3921的调节作g11004。g31.2国内外研究现状1.2.1直流调速可控直流电源g42g16g48g13007g13491：g11013交g8981电g2172机g708g5334g8505机g6122g2528g8505机g709g6314g2172g11464g8981发电机g42g4466g10628g2476g8981，g11013g42g13485g19668g16213调速的g11464g8981电g2172机g48g1391电，调节g42的g2181g11925电g8981g76a5g2375可g6925g2476g1866g17767出电g2399g56，g1186而调节电g2172机的g17728速g81。g3g10317g9869：g4557调速g5627能g16213g8726不g20652，g16786g3803多，g1319g12227大，g17165g11004g20652，g6940g10587g1314维护不方g1427。g3Vg16g48g13007g13491：晶闸管g6984g8981g16025g13634，逐g8505取代了旋g17728g2476g8981机组和离子g6314g2172g2476g8981g16025g13634，g1363g2476g8981技术产生了根g7424g5627的g2476革。如图1.2.1a，图中VT是晶闸管可g6523g6984g8981g3132，通g17819调节触发g16025g13634g42T的g6523制电g2399g56a6来移g2172触发脉冲的相位，g2375可g6925g2476平均g6984g8981电g2399g56a7，g1186而g4466g10628平滑调速。g3g10317g9869：晶闸管的g2345g2533导电g5627g1363电g8981不允许g2465g2533，易损坏g3132件，较g42g16g48g13007g13491大大的提g20652了g13007g13491的g2172g5589g5627能。g3g3g3PWg48脉宽调制:为了节能，并g4466行无触g9869g6523制，g10628在多g6925g11004电力电子开关g3132件，如快速晶闸管、g42TO、Ig42BTg12573。采g11004g12628g2345的g2345管g6523制时，称作g11464g8981斩波g3132，后来逐渐发展g6116采g11004各g12193脉冲宽度调制开关的电路，g13491称脉宽调制g2476换g3132。如图1.2.1bg6164示，g1866中VTg11004开关符号表示任何一g12193电力电子开关g3132件，VD表示续g8981二极管。g3g3g3PWg48g13007g13491的优g17246g5627：g3g7081g709g3主电路线路g12628g2345，g19668g16213的功g10587g3132件少g3g7082g709g3开关频g10587g20652，电g8981容易连续，谐波少，电机损耗及发热g18129较小g3g7083g709g3g1314速g5627能g3921，稳速精度g20652，调速范围宽，可达1：10000左右g3MUs+_VTVDL+_a01.2.1ba8a9a10a11-a12a13a14a15a16a17a18a19a0+_MLa20a21a22VTa23a24a25GT+_UcUda01.2.1aa26a27a28a12a13a14a29a30a15a16a31V-Ma15a16a32g7084g709g3若与快速响g5224的电g2172机配合，则g13007g13491频带宽，g2172g5589响g5224块，g2172g5589g6251g6212能力强。g3g7085g709g3功g10587开关g3132件g5049作在开关状g5589，导通损耗小，当开关频g10587适当时，开关损耗也不大，因而g16025g13634g6940g10587较g20652。g3g7086g709g3g11464g8981电源采g11004不g6523g6984g8981时，电g13605功g10587因g6980比相g6523g6984g8981g3132g20652。g31.2.2转速、电流设计的控制方式a)PIg6523制g3132与模糊g6523制的结合g3贾g1008耀，曾志刚a33a34a35在g1866文章中采g11004的方案是当误g5058小g1122某一阈值ea36时，采g11004PIg6523制，g1209提g20652g13007g13491的g6523制精度；当误g5058大g1122某一阈值ea36时，采g11004模糊g6523制，g1209提g20652g13007g13491相g5224速度，加快相g5224g17819g12255，抑制超调。结构如图1.2.2a示。这g12193g6523制方案g19602g9869在g1122如何选择切换条件g1209g9397g17287平稳切换和不产生g13007g13491g6403g14645g10628g16949。g3g3g3g3b)g3534g7424g3423g17935g17765g6523制g3g12255g5438，g4397g7207g7138a33a37a36a35在g16782文中采g11004的方案是g3534g1122g3534g7424g3423g17935g17765g6523制。当g16786g16757内环时选g11004g3534g7424g3423g6523制g3132的g1128g5589g6523制方g5347，g1363g17139g17745电g8981稳g4462，g1867有快速g5627和g9801g8975的g17331g17406g5627；g16786g16757g3818环时则选g11004g3534g7424g3423g6523制g3132的g1073g5589g6523制方g5347g1209g1363g17139g17745速度稳g4462，加大g17139g17745g17728速的g11840g10317g5627。结构如图1.2.2bg6164示。较模糊g6523制的方案有g6523制g12651g8873g12628g2345，易g1122g5049g12255g5224g11004和g1867有g14403g3921的g6523制g5627能的优g9869。g6523制方案的前提在g1122如何选择稳g4462的g6523制g4557g16949。g3g3g70)g16757g12651机g6980g4395g6523制与PIg6523制g3132相结合g3a38a39a40a41a42a43a44a45a46a47a48ra46a47a48ceu1a491.2.2ba50a51a52a53a54a43a55a56a57a58a59de/dta60a61a41a42a43PIa62a63a43a64a65a66a67a68a41a44a45eecr(t)y(t)a491.2.2aPIa41a42a43a69a60a61a41a42a55a70a71g10591g7459g17839，g16215g10245g4080a72a73a74a75g16782文中在采g11004PI调节g3132g6523制的g2528时g17836加g1849g6980g4395g2282的最优g13485g4462g5353导g7366线和g6980g4395g7828g8991环节，来消g19512g17767g1849g13485g4462与g2465g20316g17767出之g19400的误g5058，g1363g17767出g17728速精g11842g17331g17406g17767g1849g13485g4462，g4466g10628无g19757g5058。g8504文在g3534g7424g5785况g9397g17287的g5785况g991g13783g15397g2052当电源g13485g4462g2475g2052g5190g6212的g5785况，根g6466g17767g1849与g17767出有无g1571g5058来选择g3800g10714的g5430g5347：当不g4396在g1571g5058时，选择前g20316方案g11464g6521g4570g17767g1849g17877g14279g13007g13491电g2399g13485g4462g12483；当g4396在g1571g5058时，g13007g13491选择采g11004PI调节g1955小g1571g5058后g1889加g14279g13007g13491的g17767g1849g12483，来消g19512g5190g6212，g14731g5483g3921的g19757g5589精度，结合g6980g4395g7828g8991环节提g20652g13007g13491响g5224精度。优g9869是可g1209及时消g19512g2464g19393环g13007g13491前g20045通g17959之g3818的g6212g2172，提g20652g13007g13491稳g4462精度，相g5224g7366线也g5468g10714g5831，在g4557g17728速有g10317g8542g16213g8726g6523制g13007g13491中，可精g11842g4466g10628g6523制g1867有g4466g11004的g1227值。不g17287在g1122g4466g19481g6817作g16786g16757比较g21647g9914。g3g71)g10628代g6523制g10714g16782与g6980g4395g6523制相结合g3Bg82g3g47g76g88g15g3g60g88ag81g84g76g81g74g3g59g76ag15g3g45g76eg3g38g75eg81a76a77a78a79在g16782文提出一g12193g7044g3423方g8873，g2045g11004g10628代g6523制g10714g16782和g6980g4395g6523制g9538g8981的结合，g7379代g1268g13491PID能g3827g7368g20652地g6523制精度，g4600g1866是在g5468多的g5190g6212g991g15这g1427是自g6251g6212g6523制g3132g708g36Dg53g38g709。g4439在电力g13007g13491g6523制，机g5214g1294g7393g6523制，g2282g5049g17819g12255g6523制g12573有g6164g5224g11004。g8504文中，g13783g15397g2052g2464g19393环g1867有时g9394g5627，带有两个g17819g9400g3132的g36Dg53g38g1284g12651g4439g1216之g19400的相互作g11004并g4557g4439g1216g17839行g15929g1619，最后通g17819g1235g11507g5483出较g3921的g6523制g5627能。g8504g12193方g8873的优g9869在g1122g4557g13007g13491时g2476和不g11842g4462g5627g5190g6212g1867有g14403g3921适g5224能力，g1306g2454g6980不易g6984g4462和g5224g11004的并不g5203g8879。g3e)g5049g12255g16786g16757方g8873g3g3534g1122g1268g13491的g5049g12255g16786g16757g2454g6980来g3800g10714g2464g19393环g11464g8981调速g13007g13491，在g4032g4471g5515，g19901g14533，g7458g5203g4451a76a77a80a79及g4014g5326g13430a76a77a81a79的g16782文中g18129g17839行了一g4462的g12628g2282g3800g10714，g17829g1296g3800g10714，g19489g19466g3800g10714，g6365g10043g1820内环后g3818环的一g14336g2419则，g1820g16786g16757电g8981环，g9994后g4570电g8981环当g6116是g17728速环的一g18108g2010，g16786g16757g17728速环。电g8981环g16786g16757g6116g1868g3423g3Ig3423g13007g13491，g17728速环g16786g16757g6116g1868g3423g3IIg3423g13007g13491，g9994后g6365g10043g16786g16757g16213g8726g2010g2047g5483出g36g38g53，g36g54g53调节g3132的g2454g6980。g2045g11004matlab/sg76mg88lg76g81kg1235g11507g5049g1867g4557g11464g8981调速g13007g13491g17839行g2454g6980调试，可g1209非常g11464观地观察电g2172机电g8981和g17728速响g5224g5785况g17839行g19757g5589和g2172g5589g2010析。g8504文g1235g11507结果与g10714g5831电g2172机g2563g2172g10317g5627有一g4462g5058距，通g17819大量的调试g1235g11507，最后g5483出最佳波g5430。g3g10591祖亮g15侯北平a76a82a79的g16782文中采取的方g8873与g4032g4471g5515g6164提出的方g8873大致是相g2528的。g3534g1122快、准、稳的g13007g13491g16786g16757g2419则，电g8981调节g3132和g17728速调节g3132g4466g10628串级g6523制，g1186而可g1209无限逼g17829g10714g5831g17227g2172g17819g12255。采g11004g5049g12255g16786g16757方g8873，g5326立g6980学模g3423，g2045g11004g54g76mg88lg76g81kg17839行g13007g13491g1235g11507。通g17819g4557g2464g19393环调速g13007g13491的g11752g12362，验证了饱和非线g5627g6523制和准时g19400最优g6523制两个鲜g7138的g10317g9869。g3马青a76a83a79的g16782文中g3534g1122Pg82wersystemg5049g1867箱，g1209调速g13007g13491的g1268递函g6980为g3534础，采g11004g5049g12255g16786g16757方g8873g4557电g8981环，g17728速环g17839行g16786g16757，g9994后通g17819g1235g11507g5483出结果验证g16786g16757符合g16213g8726。Pg82wersystemg5049g1867箱g1235g11507不g19668g16213忽略非线g5627因素，g11464g8981电源和电位g3132的内阻，也不g19668g16213关g5527g13007g13491是否g3800在Vg16g48g13007g13491开环机械g10317g5627的连续段。g4557电机调速g1867有g14403g3921的g6523制作g11004。g3g59g76ag82g16kag81g3Wag81g74a76a77a84a79在g16782文提出的g16786g16757方g8873是采g11004g1235g11507最优的方g8873g6365g10043电g8981g6523制的g16213g8726决g4462调节g3132属g1122哪g12193g1868g3423g13007g13491g1820内环后g3818环的准则g17839行。通g17819g2454g6980的g16213g8726g16786g16757g16757g12651，g16786g4462PI的初始值，g1363g11004g48atlabg1235g11507图g5430，g9994后g6365g10043g54g76mg88lg76g81k模g3423PI调节优g2282条件去g17839一g8505优g2282调节g3132的g2454g6980，g11464g2052g7366线与g4466g19481g16213g8726g5785况和g19668g16213g5468g6521g17829。g8504g12193方g8873可g1209最终达g2052g16786g16757的g16213g8726，不g19668g16213任何经验，仅通g17819多次调试g1235g11507g5483g2052最优g7366线g2454g6980。不g17287之g3800也g1427就是g17819g12255虽g12628g2345，g1306g19668g2465复调试，g17819g12255g21647g9914，浪g17165时g19400。g31.3研究方向就目前而言，g11464g8981调速g13007g13491仍g9994是自g2172调速g13007g13491的主g16213g5430g5347，在许多g5049g1006g18108门，如轧钢、矿山采掘、纺织、g17908纸g12573g19668g16213g20652g5627能调速的场合g18129g5483g2052了g5203g8879的g5224g11004。a763a85g11752g12362g11464g8981电机的可g6523电源g18108g2010，g4557调速精度、调速范围、g19757g5589g10317g5627、g2172g5589响g5224及能源节约g12573方面g18129有重g16213的意义。电机调速问题是自g2172g2282领域比较重g16213的问题之一，不g2528领域g4557调速g5627能的g16213g8726不g2528，因g8504g4557调速g13007g13491方面g17839一g8505g11752g12362。1.4进展情况g2464g19393环g11464g8981调速g13007g13491g1867有g14403g3921的g2563制g2172g5627能，宜g1122在大范围内平滑调速，在许多g19668g16213调速g6122快速正g2465g2533的电力g6314g2172领域中g5483g2052了g5203g8879的g5224g11004。g17829年来，g20652g5627能交g8981调速技术发展g5468快，交g8981调速g13007g13491正逐g8505取代g11464g8981调速g13007g13491。g9994而，g11464g8981g6314g2172g6523制g13007g13491毕竟在g10714g16782g990和g4466践g990g18129比较g6116熟，而且g1186g6523制的角度来看，g4439又是交g8981g6314g2172g6523制g13007g13491的g3534础。g10628在电气公司g17246来g17246多，g2010出来也g17246来g17246多，g2419因是g11464g8981调速g13007g13491经济g6940益大，一些大g3423的公司如西门子、三菱g12573，g16786g16757电路，g3818购电子，采g11004大量的g2464g19393环g16786g16757电g2172汽车，适g5224当代的g16213g8726。g31.5存在问题g7081g709采g11004SIMULINK/MATLABg1235g11507g4557g2464g19393环g13007g13491必须g17839行g6980学g5326模，并且g2464g19393环g11464g8981调速g13007g13491g19668做如g991的假g16786：忽略各g12193非线g5627因素，假g4462各环节的g17767g1849g17767出关g13007g18129是线g5627的；假g4462只在V-Mg13007g13491开环机械g10317g5627的连续段；忽略g11464g8981电源和电位g3132的内阻g12573g12573。a864a87g7082g709电力电子g3132件g7424身的开关g4396在非线g5627，g13485g4466验的g2010析带来一g4462的复杂g5627和g3268g19602。g7083g709可g6523g11464g8981电源为晶闸管-电g2172机g4396在晶闸管g2345g2533导电g5627和g4557g17819电g2399、g17819电g8981敏感g12573问题。2.研究内容与拟解决的主要问题2.1研究的主要内容g7424文g1186g11464g8981电g2172机的g5049作g2419g10714g1849手，g5326立了g2464g19393环g11464g8981调速g13007g13491的g6980学模g3423，并详细g2010析了g13007g13491的g2419g10714及g1866g19757g5589和g2172g5589g5627能。g9994后g6365g10043自g2172g6523制g2419g10714和电力g6314g2172g6523制g2419g10714，g4557g2464g19393环调速g13007g13491的g16786g16757g2454g6980g17839行g2010析和g16757g12651，g2045g11004g48g36Tg47g36Bg4557g13007g13491g17839行了各g12193g2454g6980g13485g4462g991的g1235g11507，通g17819g1235g11507g4466g10628g2464g19393环g11464g8981调速。2.2拟解决的关键问题g7081g709如何选择g11464g8981调速g13007g13491电g8981环和g17728速环的g6523制方g8873g3g7082g709如何选择g11464g8981调速g13007g13491的可g6523g11464g8981电源g3g7083g709如何解决g13007g13491的非线g5627，大g9394后、强耦合的g16213g8726g3g7084g709如何g1363g1235g11507结果与g10714g16782g7368g6521g17829g33.技术路线、研究方案与可行性分析3.1系统框图及电流、转速环设计框图a88a89a90a91a92a93a94a95a96a97a98a99a100a101a102a103a104a105a106a107a88U*nUc-IdLnUd0Un+-+-UiWASR(sWACR(s)KsTss+11/RTls+1RTmsU*iId1/Ce+E3.2研究方案本文首先采用晶闸管可控整流器供电的V-M系统，通过调节控制电压Ua108，从而移动触发装置GT输出脉冲的相位，改整流器输出的电压Ua109进而调节电动机转速。然后基于传统的工程设计参数来处理双闭环直流调速系统，按照先内环后外环的一般原则，先设计电流环，然后将电流环当成是转速环的一部分，设计转速环。电流环设计成典型I型系统，转速环设计成典型II型系统，然后按照设计要求分别得出ACR，ASR调节器的参数。最后利用matlab/simulink仿真工具对直流调速系统进行参数调试，观察电动机电流和转速响应情况进行静态和动态分析。4.实施计划实施进g5242g4445g6502g726g21g19g20g19g5192g22g7388g23g7097g794g21g19g20g19g5192g22g7388g20g24g7097，g4448成相g1863文g10498g17176g7021的g19417g16847g727g21g19g20g19g5192g22g7388g20g25g7097g794g21g19g20g19g5192g22g7388g20g28g7097，g4448成文g10498g13520g17860g6788g1901g727g21g19g20g19g5192g22g7388g21g19g7097g794g21g19g20g19g5192g22g7388g21g24g7097，g4448成g14533文文g10498g17176g7021g13775g16805和g5332g20076g6265g2590g6788g1901g727g21g19g20g19g5192g22g7388g21g25g7097g794g21g19g20g19g5192g23g7388g20g21g7097，分析双闭环直流调速系统g21g19g20g19g5192g23g7388g20g22g7097g794g21g19g20g19g5192g24g7388g22g7097，g4448成双闭环直流调速系统的设计g21g19g20g19g5192g24g7388g23g7097g794g21g19g20g19g5192g24g7388g21g23g7097，进行MATg47Ag37仿真，得出仿真g13479g7536a110a111a112a113a114a115a116a117a118a119a120a121a122a123a124a125a126a122a123a124a127a128a129a130a131a132a122a123a133a134a135a127a128a136a137a138a130a139a140a141a142a143a144a145a146a147a148a149a150a122a123a124a130a151a152a153a124a154a155a156a138a145a146a147a148a149a150a145a146a147a148a149a150a157a158a133a134a135a127a128a136a137a138a130a139a140a141a142a143a144a157a158a124a125a126a129a159a160a161a160a161a162a122a123a124a136a157a158a124a125a126a163a129g21g19g20g19g5192g24g7388g21g24g7097g794g21g19g20g19g5192g24g7388g22g20g7097，g8617g1006g16782文g6788g1901。a164a165a166a167a166a167a168a161a169a170a171a172a173a174a175a176a173a177a178a179a151a180a160a122a181a182a183a184a123a122a185a133a158a130a186a187a188a189a190a191a192a193a168a194a195a196a197a198a199a200a201a202a203a204a205a206a207a208a209a209a210a207a208a211a212a211a213a214a211a215a216a211a217a196a218a208a195a219a220a221a222a223a196a224a225a226a227a228a227a229a230a231a232a216a233a227a229a230a231a232a218a234a195a196a235a236a196a237a238a239a240a241a242a243a207a208a209a209a210a196a217a210a216a244a211a196a218a211a195a245a246a247a248a249a250a251a252a223a196a253a254a234a255a100a0a255a1a63a2a3a4a231a232a5a6a201a7a8a218a194a195a196a122a9a239a10a11a10a126a196a208a209a209a42a207a208a207a208a42a212a12a213a214a13a216a12a209a196a218a42a195a129a14a222a223a196a253a254a131a15a16a134a17a18a19a18a20a134a21a65a22a23a63a2a3a4a231a232a7a8a24a25a218a194a195a196a196a6a26a199a200a201a228a227a206a196a208a209a209a13a212a208a213a196a218a215a195a245a110a27a248a144a235a28a252a223a196a253a254a146a29a234a30a0a29a31a32a23a33a34a35a3a4a231a232a7a8a24a25a218a194a195a196a151a36a37a199a10a11a196a208a209a209a13a207a211a207a208a12a212a12a213a214a217a216a13a196a218a210a195a154a38a222a223a196a63a2a224a227a237a33a34a35a3a4a231a232a39a40a146a29a234a30a0a29a31a32a23a7a8a218a194a195a196a156a41a239a43a196a208a209a209a211a159a208a160a214a211a209a216a211a211a196a218a217a195a161a36a248a162a44a45a252a223a196a253a254a131a0a46a65a47a229a230a3a4a231a232a23a24a25a218a194a195a196a51a224a199a200a196a208a209a209a13a248a244a248a211a12a212a244a160a214a208a208a216a208a215a196a218a244a195a166a45a48a207a168a49a50a252a223a196a253a254a65a47a229a230a23a63a2a224a237a3a4a231a232a234a255a100a0a255a1a7a8a196a218a194a195a224a237a224a52a199a200a196a208a209a209a208a212a215a213a214a208a216a215a196a218a13a195a56a53a247a248a172a54a55a252a223a196a253a254a65a47a229a230a23a63a2a224a227a237a3a4a231a232a7a8a24a25a218a194a195a196a175a45a224a225a176a252a57a37a10a58a10a126a196a208a209a209a244a212a12a213a214a210a13a216a217a12a196a218a12a209a195a43a158a248a161a59a60a252a223a196a253a254a253a116a61a62a64a229a230a23a3a4a231a232a7a8a24a25a218a194a195a196a185a66a67a239a68a10a10a126a189a190a69a201a70a67a239a43a242a196a208a209a209a211a207a244a207a208a215a212a42a213a214a211a209a216a211a211a196a218a12a12a195a56a71a41a248a245a72a252a223a196a224a237a201a226a227a253a73a159a196a211a242a160a218a234a195a196a197a51a68a10a241a242a243a196a208a209a209a215a207a215a196a42a244a216a42a13a196a218a12a208a195a198a74a247a75a200a7