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外文翻譯
英文翻譯
Switched Reluctance Motors Drive for the Electrical Traction in Shearer
Abstract—The paper presented the double Switched Reluctance motors parallel drive system for the electrical traction in shearer. The system components, such as the Switched Reluctance motor, the main circuit of the power converter and the controller, were described. The control strategies of the closed-loop rotor speed control with PI algorithm and balancing the distribution of the loads with fuzzy logic algorithm were given. The tests results were also presented. It is shown that the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1 and in the Switched Reluctance motor 2 is within ±10%.
Keywords- switched reluctance; motor control; shearer; coal
mine; electrical drive
I. INTRODUCTION
The underground surroundings of the coal mines are very execrable. One side, it is the moist, high dust and inflammable surroundings. On the other side, the space of roadway is limited since it is necessary to save the investment of exploiting coal mines so that it is difficult to maintain the equipments. In the modern coal mines, the automatization equipments could be used widely. The faults of the automatization equipments could affect the production and the benefit of the coal mines. The shearer is the mining equipment that coal could be cut from the coal wall. The traditional shearer was driven by the hydrostatic transmission system. The fault ratio of the hydrostatic transmission system is high since the fluid in hydrostatic transmission system could be polluted easily. The faults of the hydrostatic transmission system could affect the production and the benefit of the coal mines directly. The fault ratio of the motor drive system is lower than that of the hydrostatic transmission system, but it is difficult to cool the motor drive system in coal mines since the motor drive system should be installed within the flameproof enclosure for safety protection. The motor drive system is also one of the pivotal parts in the automatization equipments. The development of the novel types of the motor drive system had been attached importance to by the coal mines. The Switched Reluctance motor drive could become the main equipments for adjustable speed electrical drive system in coal mines [1], because it has the high operational reliability and the fault tolerant ability [2]. The Switched Reluctance motor drive made up of the double-salient pole Switched Reluctance motor, the unipolar power converter and the controller is firm in the motor and in the power converter. There is no brush structure in the motor and no fault of ambipolar power converter in the power converter [3][4]. The Switched Reluctance motor drive could be operated at the condition of lacked phases fault depended on the independence of each phase in the motor and the power converter [5]. There is no winding in the rotor so that there is no copper loss in the loss and there is only little iron loss in the rotor. It is easy to cool the motor since it is not necessary to cool the rotor. The shearer driven by the
Switched Reluctance motor drive had been developed. The paper presented the developed prototype.
II. SYSTEM COMPONENTS
The developed Switched Reluctance motors drive for the electrical traction in shearer is a type of the double Switched Reluctance motors parallel drive system. The system is made up of two Switched Reluctance motors, a control box
installed the power converter and the controller. The adopted two Switched Reluctance motors are all three-phase 12/8 structure Switched Reluctance motor, which were shown in Figure 1. Figure 1. Photograph of the two three-phase
12/8 structure Switched Reluctance motor
The two Switched Reluctance motors were packing by the explosion-proof enclosure, respectively. The rated output power of one motor is 40 KW at the rotor speed 1155 r/min, and the adjustable speed range is from 100 r/min to 1500r/min.
The power converter consists of two three-phase asymmetric bridge power converter in parallel. The IGBTs were used as the main switches. Three-phase 380V AC power source was rectificated and supplied to the power converter. The main circuit of the power converter was shown in Figure 2.
In the controller, there were the rotor position detection circuit, the commutation circuit, the current and voltage protection circuit, the main switches’ gate driver circuit and the digital controller for rotor speed closed-loop and balancing the distribution of the loads.
III. CONTROL STRATEGY
The two Switched Reluctance motor could all drive the shearer by the transmission outfit in the same traction guide way so that the rotor speed of the two Switched Reluctance motors could be synchronized.
The closed-loop rotor speed control of the double Switched Reluctance motors parallel drive system could be implemented by PI algorithm. In the Switched Reluctance motor 1, the triggered signals of the main switches in the power converter are modulated by PWM signal, the comparison of the given rotor speed and the practical rotor speed are made and the duty ratio of PWM signal are regulated as follows,
where, ng is the given rotor speed, nf is the practical rotor
speed, e is the difference of the rotor speed, is the increment of the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, Ki is the integral coefficient, Kp is the proportion coefficient, ek is the difference of the rotor speed at k time, ek-1 is the difference of the rotor speed at k-1 time, D1(k) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k time, and D1(k-1) is the duty ratio of PWM signal of the Switched Reluctance motor 1 at k-1 time.
The output power of the Switched Reluctance motor
drive system is approximately in proportion to the
average DC supplied current of the power converter as
follows, where, P2 is the output power of the Switched Reluctance motor drive system, Iin is the average DC supplied current of the power converter.
In the Switched Reluctance motor 2, the triggered signals of the main switches in the power converter are also modulated by PWM signal. The balancing the distribution of the loads between the two Switched Reluctance motors could be implemented by fuzzy logic algorithm. In the fuzzy logic regulator, there are two input control parameters, one is the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and the other is the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors. The output control parameter is the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2. The block diagram of the double Switched Reluctance motors parallel drive system for the electrical traction in shearer was shown in Figure 3.
The deviation of the average DC supplied current of
the power converter between the two Switched Reluctance motors at the moment of ti is
:
where, ei-1 is the deviation of the average DC supplied
current of the power converter between the two Switched
Reluctance motors at the moment of ti-1. The duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti is
where, is the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti and D2(i-1) is the duty ratio of the PWM signal of the Switched Reluctance motor 2 at the moment of ti-1.
The fuzzy logic algorithm could be expressed as
follows,
if and then U~ =
i = 1,2,…, m, j = 1,2, …,n
where, E~ is the fuzzy set of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, E~C is the fuzzy set of the variation of the deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors, and U~ is the fuzzy set of the increment of the duty ratio of the PWM signal of the Switched Reluctance motor 2.
The continuous deviation of the average DC supplied current of the power converter between the two Switched Reluctance motors could be changed into the discrete amount at the interval [-5, +5], based on the equations as follows,
[ ]
The discrete increment of the duty ratio of PWM signal of the Switched Reluctance motor 2 at the interval [-5, +5] could be changed into the continuous amount at the interval [-1.0%, +1.0%], based on the equations as follows,
There is a decision forms of the fuzzy logic algorithm based on the above principles, which was stored in the programme storage cell of the controller.
While the difference of the distribution of the loads between the two Switched Reluctance motors could be got, the duty ratio of PWM signal of the Switched Reluctance motor 2 will be regulated based on the decision forms of the fuzzy logic algorithm and the distribution of the loads between the two Switched Reluctance motors could be balanced.
IV. TESTED RESULTS
The developed double Switched Reluctance motors parallel drive system prototype had been tested experimentally. Table I gives the tests results, where is the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 1, is the relative deviation of the average DC supplied current of the power converter in the Switched Reluctance motor 2, and,
×
It is shown that the relative deviation of the average DC supplied current of the power converter in the Switched
Reluctance motor 1 and in the Switched Reluctance motor
2 is within
V. CONCLUSION
The paper presented the double Switched Reluctance motors parallel drive system for the electrical traction in shearer. The novel type of the shearer in coal mines driven by the Switched Reluctance motors drive system contributes to reduce the fault ratio of the shearer, enhance the operational reliability of the shearer and increase the benefit of the coal mines directly. The drive type of the double Switched Reluctance motors parallel drive system could also contribute to enhance the operational reliability compared with the drive type of the single Switched Reluctance motor drive system.
中文譯文
開關(guān)磁阻電動(dòng)機(jī)驅(qū)動(dòng)電牽引采煤機(jī)
摘要-本文介紹了雙開關(guān)磁阻電動(dòng)機(jī)并聯(lián)傳動(dòng)系統(tǒng)控制驅(qū)動(dòng)電牽引采煤機(jī)。 本文介紹了系統(tǒng)的各個(gè)組件，如開關(guān)磁阻電機(jī)，主電路中的功率變換器和控制器等。 這里給出了它的控制原理，它主要是用PI算法和載荷均勻分布的模糊算法獲得信號(hào)來(lái)控制電機(jī)轉(zhuǎn)速這樣一個(gè)閉環(huán)系統(tǒng)。 這里也列出了它的測(cè)試結(jié)果。測(cè)試結(jié)果表明，在磁阻電動(dòng)機(jī)1上供應(yīng)的平均直流電流于在磁阻電動(dòng)機(jī)2上的相對(duì)誤差在10％以內(nèi)。
關(guān)鍵詞：開關(guān)磁阻； 電機(jī)控制； 采煤機(jī)； 煤礦；電牽引。
1、導(dǎo)言
地下礦井周圍的環(huán)境是相當(dāng)惡劣的。 一方面，它非常潮濕和高粉塵并且屬于易燃易爆環(huán)境。 而在另一方面，井下的空間是非常有限的，因?yàn)樗?jié)約開采礦井的投資，所以這些給井下設(shè)備的維護(hù)帶來(lái)了很大的困難。 在現(xiàn)代煤礦開采過(guò)程中，自動(dòng)化設(shè)備得到了廣泛的使用，但是自動(dòng)化設(shè)備的故障，可以影響到煤礦的正常生產(chǎn)和生產(chǎn)效益。 采煤機(jī)是可以將煤從煤壁中開采下來(lái)的采礦設(shè)備。傳統(tǒng)的采煤機(jī)是用液壓傳動(dòng)系統(tǒng)驅(qū)動(dòng)的，但是由于液壓系統(tǒng)中的油液很容易被污染所以導(dǎo)致液壓系統(tǒng)的故障率很高。液壓傳動(dòng)系統(tǒng)的故障可能直接影響礦井的生產(chǎn)和效益。電機(jī)驅(qū)動(dòng)系統(tǒng)的故障率相對(duì)液壓傳動(dòng)系統(tǒng)是比較低的，但是由于電機(jī)安裝在防暴外殼中所以給電機(jī)的冷卻帶來(lái)了困難。 電機(jī)驅(qū)動(dòng)系統(tǒng)也自動(dòng)化設(shè)備是其中的關(guān)鍵部件，所以發(fā)展新型電動(dòng)機(jī)調(diào)速系統(tǒng)一直是煤礦開采重視的問(wèn)題。 開關(guān)磁阻電機(jī)驅(qū)動(dòng)之所以能成為煤礦主要設(shè)備的調(diào)速電氣傳動(dòng)系統(tǒng)，[1] 因?yàn)樗哂休^高的運(yùn)行可靠性和容錯(cuò)能力[2] 。 開關(guān)磁阻電機(jī)驅(qū)動(dòng)由雙凸極開關(guān)磁阻電機(jī)，單極功率變換器和控制器組成，它們被固定在電機(jī)和電力變換器中。 在電機(jī)中沒(méi)有電刷結(jié)構(gòu)，并且雙極功率變換器的功率變換器的故障率比較低。 開關(guān)磁阻電動(dòng)機(jī)可以用在電機(jī)和功率變換器相故障少，而且每種相故障取決于其本身的情況下。開關(guān)磁阻電機(jī)中沒(méi)有繞組轉(zhuǎn)子等，所以沒(méi)有銅損的損失，只有在轉(zhuǎn)動(dòng)過(guò)程中很少的鐵損。這樣開關(guān)磁阻電機(jī)就很容易冷卻了，因?yàn)樗鼪](méi)有必要冷卻轉(zhuǎn)子。 采煤機(jī)用的開關(guān)磁阻電機(jī)驅(qū)動(dòng)已經(jīng)研制成功。 文章中給出了樣機(jī)。
二、系統(tǒng)組件
研制成功的驅(qū)動(dòng)電牽引采煤機(jī)的開關(guān)磁阻電機(jī)驅(qū)動(dòng)是一種雙重開關(guān)磁阻電動(dòng)機(jī)并聯(lián)驅(qū)動(dòng)的系統(tǒng)。 該系統(tǒng)是由兩個(gè)開關(guān)磁阻電動(dòng)機(jī)和一個(gè)安裝功率變換器和控制器的控制箱。 通過(guò)兩個(gè)開關(guān)磁阻電動(dòng)機(jī)都是三相12 / 8結(jié)構(gòu)。開關(guān)磁阻電機(jī)如圖1所示。 兩個(gè)開關(guān)磁阻電動(dòng)機(jī)都分別包在防爆外殼中。其中電機(jī)額定功率40千瓦，額定轉(zhuǎn)速1155轉(zhuǎn)/分鐘，調(diào)速范圍從100轉(zhuǎn)/分鐘到1500r/min 。
功率轉(zhuǎn)換包括兩個(gè)三相對(duì)稱橋功率轉(zhuǎn)換器并聯(lián)。 該IGBT的則作為主開關(guān)。 三相380V交流電源被整流并供應(yīng)給電源轉(zhuǎn)換器。主電路中的功率變換器如圖2所示。IGBTS是主要使用的開關(guān)磁阻電機(jī)。
在控制器中，有轉(zhuǎn)子位置檢測(cè)電路，整流電路，電壓和電流的保護(hù)電路，主開關(guān)的柵極驅(qū)動(dòng)電路和閉環(huán)轉(zhuǎn)速，負(fù)荷平衡分布的數(shù)字控制器。
三 控制策略
這兩個(gè)開關(guān)磁阻電機(jī)都可以在相同的牽引導(dǎo)軌上驅(qū)動(dòng)所有采煤機(jī)的輸電裝備，因此這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)轉(zhuǎn)子的轉(zhuǎn)速就可以達(dá)到同步。
這個(gè)以閉環(huán)系統(tǒng)控制轉(zhuǎn)速的雙重開關(guān)磁阻電動(dòng)機(jī)驅(qū)動(dòng)系統(tǒng)時(shí)可以采用PI算法。 在開關(guān)磁阻電動(dòng)機(jī)1中，功率變換器中主開關(guān)的觸發(fā)信號(hào)是通過(guò)調(diào)制PWM信號(hào)來(lái)給定的，當(dāng)比較給定轉(zhuǎn)速和實(shí)際轉(zhuǎn)速時(shí)，所用占空比的PWM 信號(hào)，其規(guī)定如下：
在上式中，ng表示給定的轉(zhuǎn)速，nf表示實(shí)際的速度，e表示給定和實(shí)際轉(zhuǎn)速之間的偏差，表示開關(guān)磁阻電動(dòng)機(jī)1在K時(shí)刻時(shí)PWM信號(hào)占空比的變化量，Ki表示積分系數(shù)，Kp是比例系數(shù)，ek表示在k時(shí)刻時(shí)轉(zhuǎn)子轉(zhuǎn)速的差值，ek－1表示在k－1時(shí)刻時(shí)轉(zhuǎn)子轉(zhuǎn)速的差別，D1(k)表示k時(shí)刻時(shí)開關(guān)磁阻電機(jī)1上PWM的占空比，D1(K-1)表示k－1時(shí)刻時(shí)開關(guān)磁阻電機(jī)1上PWM的占空比。
開關(guān)磁阻電動(dòng)機(jī)調(diào)速系統(tǒng)的輸出功率是與所供應(yīng)的直流電流成比例的，其轉(zhuǎn)換關(guān)系如下： 在此式中，P2是開關(guān)磁阻電動(dòng)機(jī)調(diào)速系統(tǒng)的輸出功率，表示電源轉(zhuǎn)換器所供應(yīng)的直流電流的平均值。
圖2 主電路中的功率轉(zhuǎn)換器
在開關(guān)磁阻電動(dòng)機(jī)2 中，電源轉(zhuǎn)換中主開關(guān)的觸發(fā)信號(hào)也是通過(guò)PWM信號(hào)所給定的。 這兩開關(guān)磁阻電動(dòng)機(jī)可以通過(guò)模糊邏輯算法來(lái)平衡其所承受的載荷。 在模糊邏輯算法的調(diào)節(jié)中，有兩個(gè)輸入控制參數(shù)，一個(gè)是電力轉(zhuǎn)換器供應(yīng)這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)的直流電流平均值之間的偏差，另一個(gè)是電力轉(zhuǎn)換器供應(yīng)這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)的直流電流平均值之間偏差的變化。 輸出參數(shù)是開關(guān)磁阻電動(dòng)機(jī) 2的PWM信號(hào)占空比的增量。在圖3的方框圖中給出了電牽引采煤機(jī)中雙重開關(guān)磁阻電動(dòng)機(jī)的并聯(lián)驅(qū)動(dòng)系統(tǒng)。
在Ti時(shí)刻電力轉(zhuǎn)換器供應(yīng)給這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)的直流電流的平均值的偏差為：：
上式中，ei-1表示在ti－1時(shí)刻電力轉(zhuǎn)換器供應(yīng)給這兩個(gè)磁阻電動(dòng)機(jī)開關(guān)的平均直流電流的偏差。在ti時(shí)刻開關(guān)磁阻電機(jī)2的PWM信號(hào)的占空比為：
上式中， 表示在ti時(shí)刻時(shí)開關(guān)磁阻電機(jī)2的PWM信號(hào)占空比的增量，表示在ti－1時(shí)刻時(shí)開關(guān)磁阻電機(jī)2的PWM信號(hào)的占空比。
圖3 電采煤機(jī)中的雙磁阻開關(guān)并聯(lián)系統(tǒng)方塊圖
這種模糊邏輯算法可以表示成如下形式：
if and then U~ =
i = 1,2,…, m, j = 1,2, …,n
上式中，表示電源轉(zhuǎn)換器供應(yīng)給這一對(duì)開關(guān)磁阻電動(dòng)機(jī)的平均直流電流的偏差的模糊值，表示電源轉(zhuǎn)換器供應(yīng)給這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)的平均直流電流偏差的變化的模糊值，表示開關(guān)磁阻電動(dòng)機(jī)2的PWM信號(hào)占空比增量的模糊值。
電力轉(zhuǎn)換器供應(yīng)給這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)的平均直流電流之間的連續(xù)偏差可以在區(qū)間[ -5 ，+5 ]的范圍內(nèi)變化，其理論根據(jù)如下：
在區(qū)間[-5 ，+5]范圍內(nèi)，開關(guān)磁阻電動(dòng)機(jī)2的PWM信號(hào)占空比的離散增量可以表示成在區(qū)間[-1.0%, +1.0%]內(nèi)的連續(xù)變化，其理論根據(jù)如下：
基于上述原則模糊邏輯算法就形成了既定形式，這將被儲(chǔ)存在控制器的存儲(chǔ)空間中。
當(dāng)這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)之間負(fù)載有差異時(shí)，基于模糊邏輯算法的既定形式開關(guān)磁阻電機(jī)2的PWM信號(hào)的占空比能夠得到調(diào)整，從而這兩個(gè)開關(guān)磁阻電動(dòng)機(jī)上的負(fù)載便可以達(dá)到平衡。
四、測(cè)試結(jié)果
研制成功的雙開關(guān)磁阻電機(jī)并聯(lián)驅(qū)動(dòng)系統(tǒng)樣機(jī)已經(jīng)進(jìn)行了測(cè)試實(shí)驗(yàn)。 表一給出了測(cè)試結(jié)果，其中是開關(guān)磁阻電動(dòng)機(jī)1中，供應(yīng)給電源轉(zhuǎn)換開關(guān)的平均直流電流相對(duì)誤差，是開關(guān)磁阻電動(dòng)機(jī)2中，供應(yīng)給電源轉(zhuǎn)換開關(guān)的平均直流電流相對(duì)誤差。
測(cè)試結(jié)果表明，磁阻開關(guān)電動(dòng)機(jī)中供給電源轉(zhuǎn)換開關(guān)的電流偏差在之內(nèi)。
五、結(jié)論
文中描述了電牽引采煤用的雙開關(guān)磁阻電動(dòng)機(jī)并聯(lián)傳動(dòng)系統(tǒng)。 在礦區(qū)使用的開關(guān)磁阻電動(dòng)機(jī)調(diào)速系統(tǒng)驅(qū)動(dòng)的新型采煤機(jī)大大降低了采煤機(jī)的故障率，提高采煤機(jī)的運(yùn)行可靠性能直接提高煤礦的經(jīng)濟(jì)效益。 驅(qū)動(dòng)型的雙重開關(guān)磁阻電動(dòng)機(jī)并聯(lián)驅(qū)動(dòng)系統(tǒng)相比驅(qū)動(dòng)型的單一開關(guān)磁阻電動(dòng)機(jī)調(diào)速系統(tǒng)也有助于提高運(yùn)行可靠性。