Regulisani elektromotorni pogoni sa asinhronim mašinama vektorsko upravljanje
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1 Regulisani elektromotorni pogoni sa asinhronim mašinama vektorsko upravljanje Istorijski pregled Načini realizacije Određivanje parametara regulatora Pregled karakteristika Prevazilaženje nedostataka
2 Prva publikacija Indirektno vektorsko upravljanje K. Hasse, O dinamici brzinski regulisanog pogona sa asinhronom mašinom sa kratkospojenim rotorom napajanom iz pretvarača Doktorska disertacija na Visokoj tehničkoj školi Darmštadt, K. Hasse, Zur Dynamik drehzahlgeregelter Antriebe mit stromrichtergespeisten Asynchronkurzschlußläufer maschinen, Ph.D. dissertation, TH Darmstadt, 1969.
3 Prva publikacija Direktno vektorsko upravljanje F. Blaschke, "The principle of field orientation as applied to the new TRANSVECTOR closed loop control system for rotating field machines," Siemens Rev., vol. 34, pp , 1972.
4 Načini realizacije vektorskog upravljanja Indirektno vektorsko upravljanje Feed-Forward Na osnovu zadatih struja izračunava se rotorska učestanost ( r ) Zbir rotorske učestanosti i brzine se koristi kao brzina referentnog sistema, a ugao sistema se dobija integracijom brzine referentnog sistema. Varijanta sa integracijom učestanosti rotorskih struja je bolje prilagođena realizacijama sa enkoderom. Direktno vektorsko upravljanje Feed-Back Ugao referentnog sistema se određuje iz proračuna flukseva (na bazi merenja struja, podataka o naponu i brzini). ože se realizovati i bez podatka o uglu (brzini) vratila motora.
5 Indirektno vektorsko upravljanje sa strujno regulisanim IŠ invertorom i ds i ds qd, a, b, c i i i CRPW 1 T r r r abc,, rs ( i, i, i ) a b c E 1 T 1 r p E Enkoder, davač pozicije vratila motora CRPW Current Regulated Pulse Width odulated inverter
6 Principijelna blok šema strujno regulisanog IŠ (CRPW) invertora DC+ komparatori i as i bs i cs i as i bs i cs u as u bs u cs DC-
7 Prikaz rada histerezisnog regulatora struje 1 10 i s u as 0.5 [r.j.] 0 i as i as 8 [r.j.] u as vreme[r.j.]
8 Indirektno vektorsko upravljanje sa IŠ invertorom i regulacijom struje u sinhrono rotirajućem koordinatnom sistemu i ds Reg.q i ds Reg.d u qs u ds qd, abc,, rs u abcs IŠ (PW) S 1 S 6 E qd, i, i, i abc,, as bs cs 1 T r rs r r 1 T 1 r p
9 Direktno vektorsko upravljanje sa IŠ invertorom i regulacijom struje u sinhrono rotirajućem koordinatnom sistemu i ds Reg.q i ds Reg.d u qs u ds qd, rs abc,, u abcs IŠ (PW) S 1 S 6 u dc E rs rq rd i ds r Estimacija u s, u s i s i s, S abc,, abc,, S 1 6 u dc uas, ubs, ucs ias, ibs, ics
10 Struktura bloka estimacije u direktnom vektorskom upravljanju (naponski estimator flukseva) t s s s s 0 t u R i dt s s s s 0 u R i dt 2 Lr Lr Lr r s i s 2 Lr Lr Lr r s i s cos s r 2 2 r r sin s r 2 2 r r
11 Struktura bloka estimacije u direktnom vektorskom upravljanju (strujni estimator flukseva) t R r r i s r r L 0 r dt t R r r i s r r L 0 r dt cos s r 2 2 r r sin s r 2 2 r r
12 Određivanje parametara regulatora na primeru r ˆdr Reg. fluksa Reg. brzine m e i ds ˆdr i dqs Reg. struje i dqs u dqs q,d q,d a,b,c rs a,b,c u abc IŠ i abcs 6 3 rs ˆdr odel E
13 odel za izračunavanje (estimaciju) ugla θ rs i rotorskog fluksa ˆdr
14 Regulacija struje (q- osa) Ki Ti Reg. struje u qs IŠ (PW) K a T c u qs e q 1 R s T ože se primeniti kompenzacija vremenske konstante i modulni optimum. T 2 s r r L L L Strujni regulatori u q i d osi su simetrični, može se koristiti ista struktura i parametri regulatora. R s
15 Regulacija fluksa r K T Reg. fluksa ids 1 Te Strujna regulacija ids T r dr ˆdr T r ože se primeniti kompenzacija vremenske konstante i modulni optimum.
16 Regulacija brzine K T Reg. brzine m e K m 1 ˆ dr iqs 1 Te Strujna regulacija iqs K m dr m e m m 1 pt m Filter merene brzine K p T p K m 3 P 2 L r ože se primeniti simetrični optimum.
17 Rad u proširenom opsegu brzina (slabljenje polja) Soft Start Reg. brzine r ˆdr m e ˆdr Reg. fluksa i dqs i ds Vektorsko upravljanje ˆdr u abc IŠ i abcs 6 3 E
18 Pogon sa regulacijom pozicije K Soft Start Reg. brzine r ˆdr m e ˆdr Reg. fluksa i dqs i ds ˆdr Vektorsko upravljanje u abc IŠ i abcs 6 3 d dt E
19 Pregled karakteristika Prednosti: Brz i precizan odziv momenta motora. Optimalno iskorišćenje motora. Precizna regulacija brzine i pozicije. Koristi se isti energetski pretvarač. Povećana energetska efikasnost pri opterećenjima manjim od nazivnog. Nedostaci: Potrebno više davača struje (min. 2). Potreban davač na vratilu (enkoder, rezolver). Potrebno poznavanje parametara motora. Zbog složenijeg algoritma koristi se procesor viših performansi.
20 Prevazilaženje nedostataka Nedostaci: Potrebno više davača struje (min. 2). Potreban davač na vratilu (enkoder, rezolver). Poznavanje parametara motora. Koristi se procesor viših performansi. Postoji mogućnost da se signali faznih struja motora rekonstruišu iz signala struje jednosmernog međukola. Davačima su pale cene. Ukoliko su parametri motora tačno određeni i poznati, može se raditi bez davača na vratilu. Još uvek se ne postižu dobri rezultati na malim brzinama (učestanostima). Izuzetno važno pri radu bez davača na vratilu. Parametri motora se određuju veoma precizno prilikom puštanja pogona u rad. U toku rada pogona se vrši kontinualno praćenje parametara motora auto tuning. Procesorima visokih performansi su pale cene. Ipak, ovo je često izgovor za veću cenu pogona.
21 Za one koji žele više... Sledećeg časa Regulisani pogon sa direktnom kontrolom momenta asinhronog motora Laboratorijske vežbe Praktikum Regulisani pogon sa vektorski upravljanim asinhronim motorom Primena industrijskih pretvarača učestanosti za upravljanje asinhronim pogonom Seminarski rad (uz podršku nastavnika i literature) Energetski efikasni elektromotorni pogoni (S) Elektromotorni pogoni bez davača brzine Srednje-naponski frekventni pretvarači za pogon asinhronog motora i drugo... Literatura Predmet Digitalno upravljanje pretvaračima i pogonima
Regulisani elektromotorni pogoni sa asinhronim mašinama Direktna kontrola momenta
Regulisani elektromotorni pogoni sa asinhronim mašinama Direktna kontrola momenta Istorijski pregled Opis metode Način realizacije Podešavanje parametara regulatora brine Pregled karakteristika Prevazilaženje
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