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数字单周期电流控制在电磁悬浮系统中的应用

蒋启龙 梁达 阎枫

蒋启龙, 梁达, 阎枫. 数字单周期电流控制在电磁悬浮系统中的应用[J]. 西南交通大学学报, 2019, 54(1): 1-8, 22. doi: 10.3969/j.issn.0258-2724.20170771
引用本文: 蒋启龙, 梁达, 阎枫. 数字单周期电流控制在电磁悬浮系统中的应用[J]. 西南交通大学学报, 2019, 54(1): 1-8, 22. doi: 10.3969/j.issn.0258-2724.20170771
JIANG Qilong, LIANG Da, YAN Feng. Application of Digital One-Cycle Control for Current in Electromagnetic Suspension System[J]. Journal of Southwest Jiaotong University, 2019, 54(1): 1-8, 22. doi: 10.3969/j.issn.0258-2724.20170771
Citation: JIANG Qilong, LIANG Da, YAN Feng. Application of Digital One-Cycle Control for Current in Electromagnetic Suspension System[J]. Journal of Southwest Jiaotong University, 2019, 54(1): 1-8, 22. doi: 10.3969/j.issn.0258-2724.20170771

数字单周期电流控制在电磁悬浮系统中的应用

doi: 10.3969/j.issn.0258-2724.20170771
详细信息
    作者简介:

    蒋启龙(1969—),男,教授,博士,研究方向为电力电子技术、电力传动与控制、磁浮列车与磁浮技术,E-mail: double_long@126.com

  • 中图分类号: V221.3

Application of Digital One-Cycle Control for Current in Electromagnetic Suspension System

  • 摘要: 在串级控制的电磁悬浮系统中,电流环的响应速度和精度对整个悬浮控制起着至关重要的作用. 为了加快悬浮系统电流环的响应速度以及减小跟随误差,基于TMS320F28335设计了EMS (electromagnetic suspension system)的数字单周期控制(digital one-cycle control,D-OCC)电流控制器. 以悬浮斩波器为研究对象,建立起D-OCC的数学模型,对额定悬浮工作点处斩波器电流的D-OCC算法进行了详细推导;通过Simulink平台对算法进行仿真验证,并将D-OCC的电流环投入到实际悬浮系统中进行悬浮实验. 实验结果表明:对频率为5 Hz,幅值为3 A的方波信号进行跟随时,传统PID控制在方波上升沿和下降沿均存在一定的超调,且稳定后存在不小于20 mA的跟随误差,D-OCC在调节过程中不存在超调,且稳定后没有跟随误差,说明D-OCC算法能够实现对指令电流快速、准确跟随;采用电流环D-OCC的悬浮系统起浮过程需要约0.4 s的调整时间,并且悬浮稳定后可以克服50%荷载扰动和1.5 mm气隙扰动,说明该方法可以实现系统稳定悬浮,且具有较强的鲁棒性能.

     

  • 图 1  悬浮系统气隙-电流双环控制结构

    Figure 1.  Air gap-current double loop control structure of EMS

    图 2  悬浮斩波器电路及D-OCC原理示意

    Figure 2.  Schematic diagram of chopper circuit and D-OCC

    图 3  不同电流状态增-减计数PWM模式D-OCC波形

    Figure 3.  Waveform of D-OCC based on up-down count PWM mode in different current states

    图 4  D-OCC电流跟随仿真波形

    Figure 4.  Current follow simulation waveform based on D-OCC

    图 5  数字单周期电流控制悬浮系统起浮及加减载仿真波形   

    Figure 5.  Simulation waveforms of levitation system using current D-OCC with conditions of no-load floating,50% loading and load shedding

    图 6  数字单周期电流控制悬浮系统气隙扰动仿真波形

    Figure 6.  Simulation waveform of air gap disturbance condition in levitation system using current D-OCC

    图 7  两种控制方式空载起浮及50%加减载气隙波形比较   

    Figure 7.  Comparison of air gap waveforms in two control modes with conditions of no-load floating,50% loading and load shedding

    图 8  两种控制方式1 mm气隙扰动时气隙波形比较

    Figure 8.  Comparison of air gap waveforms in two control modes with 1 mm air gap disturbance

    图 9  单电磁铁模型机械结构

    Figure 9.  Single electromagnet model mechanical structure

    图 10  单周期电流控制悬浮系统起浮实验波形

    Figure 10.  Experimental waveform of floating condition in EMS using current D-OCC

    图 11  单周期电流控制悬浮系统加减载实验波形

    Figure 11.  Experimental waveform of loading and load shedding condition in EMS using current D-OCC

    图 12  单周期电流控制悬浮系统气隙扰动实验波形

    Figure 12.  Experimental waveform of air gap disturbance condition in EMS using current D-OCC

    表  1  单电磁铁模型参数

    Table  1.   Single electromagnet model parameters

    参数 符号 取值
    电磁铁等效荷载/kg m 6.5
    电磁铁磁极面积/m2 A 0.003 75
    电磁铁线圈数/匝 N 500
    真空磁导率/(H•m–1 μ 4 ${\text{π}}$ × 10–7
    初始悬浮气隙/m z0 0.006 5
    下载: 导出CSV

    表  2  仿真参数

    Table  2.   Simulation parameters

    参数 符号 取值
    直流母线电压/V UDC 48
    开关频率/kHz f 20
    线圈等效电阻/Ω R0 2
    线圈等效电感/mH L0 90.62
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-11-03
  • 修回日期:  2018-05-16
  • 网络出版日期:  2018-05-30
  • 刊出日期:  2019-02-01

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