4 电力电子技术与电力传动_第四章.ppt

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1、4电力电子技术与电力传动_第四章 ANHUI UNIVERSITY OF TECHNOLOGY1电力电子技术的作用电力电子技术的作用 2电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY ANHUI UNIVERSITY OF TECHNOLOGY ANHUI UNIVERSITY OF TECHNOLOGY ANHUI UNIVERSITY OF TECHNOLOGY传统电力技术如何将交流电变为直流电？基本原理缺点1电力电子技术的作用（续）电力电子技术的作用（续）例例1 6电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF T

2、ECHNOLOGY1电力电子技术的作用（续）电力电子技术的作用（续）例例2 如何用电力电子开关器件实现电能的变换？DC/DC直流降压电路7电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY方案一方案一:电阻降压电阻降压8电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY方案二方案二:串联晶体管串联晶体管9电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY方案三方案三:串联单刀双掷开关串联单刀双掷开关,理想开关理想开关,无损耗无损耗串联串联LC,滤出谐波滤出谐波,滤

3、波器的截止频率滤波器的截止频率 如何用一系列等幅不等宽的脉冲等幅不等宽的脉冲来代替一个正弦半波SPWM 波Ou（C C）ttOut ANHUI UNIVERSITY OF TECHNOLOGY直流电机数学模型的性质直流电机数学模型的性质 直流电机的磁通由励磁绕组产生，可以在电枢合上电源以前建立起来而不参与系统的动态过程（弱磁调速时除外），因此它的动态数学模型只是一个单输入和单输出系统。交流电机的矢量控制交流电机的矢量控制直流电机直流电机模型模型Udn92电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY二极直流电机的物理模型dqFACifiaic励磁

4、绕组电枢绕组补偿绕组 ANHUI UNIVERSITY OF TECHNOLOGYl交流电机是多变量、强耦合的模型结构交流电机是多变量、强耦合的模型结构 由于这些原因，异步电机是一个多变量（多输入多输出）系统，而电压（电流）、频率、磁通、转速之间又互相都有影响，所以是强耦合的多变量系统，可以先用右图来定性地表示。A1A2Us1(Is)异步电机的多变量、强耦合模型结构 94电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY交流电机绕组的等效物理模型ABCABCiAiBiCF1a）三相交流绕组 ANHUI UNIVERSITY OF TECHNOLOGY

5、96电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY 基本思想基本思想ABC坐标系 坐标系dq坐标系3/2变换C2s/2r以产生同样的旋转磁动势为准则，在三相坐标系上的定子交流电流 iA、iB、iC，通过三相/两相变换可以等效成两相静止坐标系上的交流电流 i、i，再通过同步旋转变换，可以等效成同步旋转坐标系上的直流电流 im 和 it。97电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY如果观察者站到铁心上与坐标系一起旋转，他所看到的便是一台直流电机，可以控制使交流电机的转子总磁通 r 就是等效直流电机

6、的磁通，则M绕组相当于直流电机的励磁绕组，im 相当于励磁电流，T 绕组相当于伪静止的电枢绕组，it 相当于与转矩成正比的电枢电流。98电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY旋转的直流绕组与等效直流电机模型1FMTimitMT ANHUI UNIVERSITY OF TECHNOLOGY ANHUI UNIVERSITY OF TECHNOLOGY异步电动机的坐标变换结构图3/2三相/两相变换;VR同步旋转变换;M轴与轴（A轴）的夹角 3/2VR 等效直流等效直流电动机模型电动机模型ABC iAiBiCitimii异步电动机异步电动机 异

7、步电机的坐标变换结构图101电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY既然异步电机经过坐标变换可以等效成直流电机，那么，模仿直流电机的控制策略，得到直流电机的控制量，经过相应的坐标反变换，就能够控制异步电机了。由于进行坐标变换的是电流（代表磁动势）的空间矢量，所以这样通过坐标变换实现的控制系统就叫作矢量控制系统（Vector Control System），控制系统的原理结构如下图所示。102电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY 矢量控制系统原理结构图 控制器控制器VR-12/3电流控

8、制电流控制变频器变频器3/2VR等效直流电等效直流电动机模型动机模型+i*mi*t 1i*i*i*Ai*Bi*CiAiBiCiiimit反馈信号异步电动机给定信号 矢量控制系统原理结构图103电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY在设计矢量控制系统时，可以认为，在控制器后面引入的反旋转变换器VR-1与电机内部的旋转变换环节VR抵消，2/3变换器与电机内部的3/2变换环节抵消，如果再忽略变频器中可能产生的滞后，则上图中虚线框内的部分可以完全删去，剩下的就是直流调速系统了。104电气工程专业导论电气工程专业导论 ANHUI UNIVERSIT

9、Y OF TECHNOLOGY 设计控制器时省略后的部分设计控制器时省略后的部分控制器控制器VR-12/3电流控制电流控制变频器变频器3/2VR等效直流等效直流电机模型电机模型+i*mi*t 1i*1i*1i*Ai*Bi*CiAiBiCiiimit反馈信号异步电动机给定信号 105电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY可以想象，这样的矢量控制交流变压变频调速系统在静、动态性能上完全能够与直流调速系统相媲美。106电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY3 3 3 3、特殊电机传动、特殊

10、电机传动、特殊电机传动、特殊电机传动 永磁无刷直流电机（永磁无刷直流电机（永磁无刷直流电机（永磁无刷直流电机（PMBLDCMPMBLDCMPMBLDCMPMBLDCM）图4-36 结构及定子三相绕组波形107电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY 三相永磁同步电机（三相永磁同步电机（三相永磁同步电机（三相永磁同步电机（PMSMPMSMPMSMPMSM）图4-37 结构及定子绕组波形PMBLDCMPMBLDCM 与与PMSMPMSM的区别：的区别：的区别：的区别：（1 1）正反直流电）正反直流电）正反直流电）正反直流电 VS VS 正弦交流

11、电正弦交流电正弦交流电正弦交流电（2 2 2 2）转子位置分次检测）转子位置分次检测）转子位置分次检测）转子位置分次检测 VS VS 连续实时检测连续实时检测连续实时检测连续实时检测108电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY 同步磁阻电机（同步磁阻电机（同步磁阻电机（同步磁阻电机（SyncrelSyncrelSyncrelSyncrel）图4-38 开关磁阻电机结构与控制 开关磁阻电机开关磁阻电机开关磁阻电机开关磁阻电机 (SRM)(SRM)(SRM)(SRM)磁阻：磁阻：磁阻：磁阻：解决永磁体的失磁问题解决永磁体的失磁问题解决永磁体的

12、失磁问题解决永磁体的失磁问题同步磁阻电机与开关磁阻电机区别：同步磁阻电机与开关磁阻电机区别：同步磁阻电机与开关磁阻电机区别：同步磁阻电机与开关磁阻电机区别：定转子之间气隙磁场正弦分布定转子之间气隙磁场正弦分布定转子之间气隙磁场正弦分布定转子之间气隙磁场正弦分布 VS VS 非正弦分布非正弦分布非正弦分布非正弦分布109电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY谢谢大家！110电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY4.14.1 Role of Power Electronics Role

13、of Power Electronics4.24.2 Features of Power Electronics Features of Power Electronics4.34.3 Research Topics on Power Electronics Research Topics on Power Electronics4.44.4 Main Applications of Power Electronics Main Applications of Power Electronics4.54.5 Development Trends of Power Electronics Dev

14、elopment Trends of Power Electronics4.64.6 General introduction to Electric Drives General introduction to Electric DrivesChapter 4 Power Electronics and Electric Drives111电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYp There is nearly 40%of the power converted by power electronic converters,while

15、electric power accounts for about 40%in world energy use.pp Power electronics defined by IEEE as follows:Power electronics(PE)is the technology associated with the efficient conversion,control and conditioning of electric power by static means from its available input form into the desired electrica

16、l output form.pp In a word，its a technology that convert a raw form of power source to a desired form by using electronic device as the switch,that is,power conversion.pp Combination of electronics,power,and control,the power electronics deals with efficient power conversion based on control theory,

17、computer tools,and electronic switches.4.14.1 Role of Power ElectronicsRole of Power Electronics112电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYBasic Block Diagram of Power Electronic circuit：power inpower in power outpower out control control LoadLoad converter converter 113电气工程专业导论电气工程专业导论 ANHUI

18、 UNIVERSITY OF TECHNOLOGY 12kV/1.5kA,thyristor114电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYControlled power switches115电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY160Mvar/42kV Static Var Generator,Norway116电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY4.2 Features of Power Electronics4.2 Fe

19、atures of Power ElectronicspInterstitial to three areas of electrical engineering(Power,Electronics,Control)is power electronics,a novel interdisciplinary.pFeatures:1.1.Power controlled by electronic technology;widely including basic theory,professional theory and technology,such as:solid state phys

20、ics,electromagnetism,circuit;power systems,electronics,heat transfer control systems,motor&drives,communication,signal processing,microelectronics;electromagnetic measurement,computer simulation and CAD;2.2.Energy transfer by A/D,D/A technology;3.3.interdisciplinary synthesis.117电气工程专业导论电气工程专业导论 ANH

21、UI UNIVERSITY OF TECHNOLOGY4.3 Research Topics on Power Electronics4.3 Research Topics on Power Electronics Power semiconductor devicesConverter topology designControl and regulationEnergy storage devicesCircuits packing and manufacturingElectromagnetic Interference and Compatibility(EMI,EMC)Motor d

22、rivePower quality118电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY Diode,Thyristor,GTO,VDMOS,BJT,IGBT,IGCT and their circuit symbols.Diode1.Power semiconductor devices(the core of power electronics)119电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYThyristor120电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TE

23、CHNOLOGYGTO(gate-turn-off thyristor)121电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYVDMOS(Vertical Double-diffused MOSFET)122电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYabBJT(Power Bipolar Junction Transistor)Also called GTR(Giant Transistor)123电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYIGB

24、T(Insulated Gate Bipolar Transistor)124电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYIGCT(Intergrated Gate Commutated Thyristor)125电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYpFour types of converters categorized by power conversion forms：AC/DC converterRectifier；DC/DC converterDC chopper；DC/AC

25、converterInverter；AC/AC converterPower controller,Cycloconverter；pA good design of the converter includes several aspects such as:Function Factor,EMC,Heat Sink and Structure Compatibility.InputOutput2.Converter topology design126电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYComputer control and reg

26、ulation3.Control and RegulationAll power electronicapplications contain control and regulation:Static power conversion and control;Static power supply;Motion control,etc.127电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY4.Energy storage component in power electronicsppIncluding:magnetic element and

27、Including:magnetic element and capacitor.capacitor.ppThere are more kinds of magnetic There are more kinds of magnetic materials in power electronic technology,materials in power electronic technology,such as soft magnetic alloy(Fe-Ni alloy,such as soft magnetic alloy(Fe-Ni alloy,Fe-Al alloy,and Fe-

28、Co-V alloy,etc),Fe-Al alloy,and Fe-Co-V alloy,etc),ferrite(ferrite(MnMn-Zn ferrite,Mg-Zn ferrite,-Zn ferrite,Mg-Zn ferrite,etc),new amorphous and etc),new amorphous and microcrystalline soft magnetic material microcrystalline soft magnetic material(Fe-based amorphous,Co-based(Fe-based amorphous,Co-b

29、ased amorphous,etc).amorphous,etc).ppCapacitor is a energy storage and filter Capacitor is a energy storage and filter component paired with magnetic component paired with magnetic ponent.ppPlanar transformer in Planar transformer in PCBPCB128电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY5.Packagin

30、g and manufacturing of electronic circuitppThe packaging technique in power semiconductor devices includes The packaging technique in power semiconductor devices includes material,manufacturing process,radiating management,and layout material,manufacturing process,radiating management,and layout opt

31、imization problem corresponding with electrical characteristics of optimization problem corresponding with electrical characteristics of devices.devices.ppIntelligent IGBT module packagingIntelligent IGBT module packaging129电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY6.EMI and EMCppPower electron

32、ics technology operates in Power electronics technology operates in du/du/dtdt and and di/dtdi/dt.Obviously it.Obviously it is a big EMI source when the power electronics system is working;is a big EMI source when the power electronics system is working;ppEMI and EMC are important research content i

33、n power electronics EMI and EMC are important research content in power electronics technology.technology.ppThe power electronics equipment is in EMI experimentThe power electronics equipment is in EMI experiment.130电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY7.Motor controlppElectric drive syste

34、m can also be called as power drive system and Electric drive system can also be called as power drive system and motor speed control system.motor speed control system.Including:speed control drive for process,Including:speed control drive for process,speed control drive for speed control drive for

35、energy saving,traction speed control drive and accurate,special speed energy saving,traction speed control drive and accurate,special speed control drive.control drive.ppAC motor and vector control speed regulation AC motor and vector control speed regulation frequency inverterfrequency inverter131电

36、气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY8.Power stability and power quality controlppIncludes:voltage quality,Includes:voltage quality,current quality,power supply current quality,power supply quality and power quality and power consumption quality.consumption quality.ppFACTS device:static FAC

37、TS device:static varvar compensator (SVC),compensator (SVC),thyristorthyristor-controlled series switched controlled series switched capacitor(TSSC),capacitor(TSSC),thyristorthyristor-controlled series capacitor,controlled series capacitor,unified power flow controller unified power flow controller(

38、UPFC),etc.(UPFC),etc.ppCustomer power technology:Customer power technology:APF,DVR,SVC,SSCB,etc.APF,DVR,SVC,SSCB,etc.ppPower quality control diagram using Power quality control diagram using SVC,DVR,and APF.SVC,DVR,and APF.132电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYppMain application areasMai

39、n application areas:Source design;Source design;Motor drive;Motor drive;Power system;Power system;Automobile industry;Automobile industry;Green lighting;Green lighting;New energy exploitation.New energy exploitation.4.4 Main Applications of Power Electronics Technology4.4 Main Applications of Power

40、Electronics Technology133电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYppIntegrationIntegrationppModulationModulationppIntellectualizationIntellectualizationppHigh frequencyHigh frequencyppConstant improvement of device efficiencyConstant improvement of device efficiencyppContinuously extended volt

41、age application rangeContinuously extended voltage application range4.5 Development Trend of 4.5 Development Trend of Power Electronics Technology Power Electronics Technology134电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYp DC motor and AC motorp Regulating the motor torque and speed to adapt to

42、the loads by using power electronic converters4.6 General introduction to Electric Drives4.6 General introduction to Electric DrivesTypical electric drives system Power sourcePE converterMotorLoadInstructions and monitors Driver135电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY1.DC motor drives1.DC

43、motor drives Te：electromagnetic torqueCT：torque constantCe：EMF constant：main magnetic fluxIa：armature currentEa：armature windings back-EMF：motor speed,rad/sUa：power supplyRa：resistance of the motors armature windingsFrom(4-1),(4-2)From(4-1),(4-2)formulas,motor torque and speed could formulas,motor t

44、orque and speed could be regulated by armature current or power supply of the be regulated by armature current or power supply of the motor.motor.(4-1)(4-2)136电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY Voltage control Voltage control AC/DC rectifier：Full-wave rectifier Phase controlled rectifie

45、r PWM rectifier Output voltage waveforms137电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYDC/DC chopper:(a)(b)Underground train DC/DC chopper(a)Topology (b)Waveform Ua138电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY2.AC motor drives2.AC motor drives DC/AC inverter motor drive139电气工程专业导论电气工程专业导论 AN

46、HUI UNIVERSITY OF TECHNOLOGY Single phase inverterSingle phase inverter SPWM SPWM Topology and waveforms 140电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY Three-phase inverterThree-phase inverterTopology and waveforms141电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY Pulse Width ModulationPulse Wid

47、th Modulation Principle:Principle:Nearly equal effects generated when different shapes but same areas narrow pulses were applied to a inertia element.PWM theory142电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGYDifferent modulation depths Effects on motorsEffects on motors：（：（：（：（harmonicsharmonics）(

48、1)du/dt(1)du/dt (2)Common mode voltage in motor neutral point(2)Common mode voltage in motor neutral point143电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY3.Special motor drives3.Special motor drives P Permanent magnet brushless DC motor(PMBLDCM)ermanent magnet brushless DC motor(PMBLDCM)Structure

49、and stator armature waveforms144电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY Three phase permanent magnet synchronous motor(PMSM)Three phase permanent magnet synchronous motor(PMSM)Structure and stator armature waveformsPMBLDCMPMBLDCM and and PMSM differences:PMSM differences:(1)Positive and nega

50、tive DC (1)Positive and negative DC VS VS Sinusoidal AC,power supplySinusoidal AC,power supply(2)Discontinuous detection (2)Discontinuous detection VS VS Continuous detection,rotor positionContinuous detection,rotor position145电气工程专业导论电气工程专业导论 ANHUI UNIVERSITY OF TECHNOLOGY Synchronous reluctance mo