论文总字数：25700字

摘 要

车体和车辆的核心部分以及车辆国产化的重点和难点是地铁的牵引传动系统。保证地铁安全平稳运行的基础条件正是地铁牵引系统良好的控制稳定性。然而，逆变器直流侧振荡这一种不稳定现象，在地铁牵引传动系统的研制及试验中得以发现。本文研究的正是这一现象和它的解决方法。

首先，本文讲解了地铁以及电力牵引传动控制系统的发展和现状，并且简单展示了该控制系统的组成构架。

其次，本文讨论的电力牵引传动控制系统中采用的是三相异步电机，因此研究了它的数学模型，并且引申出矢量控制理论。本文随后简单介绍了其中的基于转子磁场定向的矢量控制原理，以及与之相关的较常用的电流模型与电压模型。

之后，本文介绍了逆变电路的原理，为后面对牵引变流器的讲解打下基础。

最后，文中分析了直流侧的振荡产生机理并且建立了地铁牵引变流器的一种关注直流侧的系统小信号模型。为进行稳定性控制，提出了一种用高、低通滤波器来提取直流侧的电压谐振分量，然后使用直流侧的电压振荡比来对给定的牵引或者制动转矩进行修正的直流侧振荡抑制策略。对提出的这种直流侧振荡抑制策略采用模型仿真进行了验证以及研究。

关键词：电力牵引传动控制系统；矢量控制；牵引变流器；直流侧振荡

The DC-side oscillation mechanism of the metro traction system and corresponding countermeasures

Abstract

Metro traction system is the core of motor car, which is also the key point of the vehicle localization. AC electric traction drive system is mainly made of pantograph, LC filter, traction converters, three-phase AC traction motor, gearbox, and so on. The well control of the stabilization of the metro traction system is the fundamental condition for safe operation of the metro. However, in the development and test of the metro traction drive system, people found an unstable oscillation phenomenon---the DC-side oscillation of the converter. What is researched in the thesis is precisely this phenomenon and its countermeasures.

First, this paper introduces the development and current status of the subway as well as the electric traction drive control system, consisting of a brief introduction to the framework of the system.

Secondly, it is three-phase asynchronous motors that are used in the electric traction drive control system discussed here, so we studied its mathematical models, and come out of the vector control theory. The core idea of the vector control theory is as follows: simulate the asynchronous motor model into the model of the DC motor by transforming coordinate; decompose the stator current to divide it into two components, making it capable of independently controlling the torque and the magnetic field, achieving orthogonal solution coupled control; control the amplitude and phase of the components of both torque and magnetic field at the same time in order to control the stator current vector. The control methods of the metro main drive system are slip frequency control, rotating rotor field oriented vector control, direct Torque Control, and so forth. This article then introduces the principle of the rotating rotor field oriented vector control and the commonly used current model and voltage model.

Thereafter, the paper introduces the principle of the inverter circuit, laying the

foundation of the following explanation of traction converters. Most inverters used in China now are two-level voltage source inverters which use one converter control two motors calling “frame control” mode.

Finally, this paper analyzes the DC-side oscillation mechanism of the metro traction system and establishes the small-signal model of the metro traction converter system which concerns the DC side. We use high and low-pass filter to extract the DC side voltage resonance component and propose a DC-side oscillation suppression strategy which is based on using DC side voltage oscillation ratio to fix a given traction / braking torque. In this way, the stabilization of the system can be guaranteed. We used model simulation to study and verify this DC-side oscillation suppression tactics.

Keywords: electric traction drive control system; vector control; traction converters; DC-side oscillation.

目录

中文摘要 I

Abstract II

第一章 绪论 1

1.1地铁发展背景和概况 1

1.2电力牵引传动控制系统的发展历史 1

1.3电力牵引传动控制系统的现状 2

第二章 矢量变换及异步电机的数学模型 5

2.1矢量变换 5

2.1.1 矢量控制的基本原理 5

2.1.2 坐标变换 6

2.2异步电机的数学模型 8

2.2.1 在三相静止坐标系中的数学模型 10

2.2.2 在静止坐标系上的数学模型 12

2.2.3 在同步旋转dq坐标系上的数学模型 13

2.3基于转子磁场定向的矢量控制原理 14

2.3.1 转子磁场定向矢量控制原理 14

2.3.2 转子磁链模型 15

第三章 逆变电路 18

3.1逆变电路的基本工作原理 18

3.2 电压型逆变电路 19

3.2.1 半桥逆变电路 20

3.2.2 三相逆变电路 22

3.3 PWM逆变电路 24

3.3.1 PWM控制的基本原理 25

3.3.2 单项桥式 PWM逆变电路 26

3.4 地铁主传动系统的牵引逆变器 28

3.4.1 VVVF逆变器控制模式 28

3.4.2 牵引逆变器的控制方案 28

第四章 直流侧振荡机理及对策研究 29

4.1 牵引电传动系统主电路 29

4.2 直流侧振荡原理分析 30

4.3 直流侧振荡抑制策略 32

4.4 仿真和实验研究 34

结语 38

参考文献 39

致谢 41

附录 42

第一章 绪论

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