POSITION AND SPEED CONTROL OF ELECTROMECHANICAL ACTUATOR FOR AEROSPACE APPLICATIONS

Transcription

1 I Todć et l Uprvljnje položjem brznom elektromehnčkog ktutor EA z prmjene u zrčnom protoru POSITION AND SPEED CONTROL OF ELECTROECANICAL ACTUATOR FOR AEROSPACE APPLICATIONS ISSN Prnt ISSN Onlne UDC/UD :68558]: Ivn Todć rko loš rko Pvšć Orgnl centfc pper n focu of th pper control of electromechncl ctutor EA for eropce pplcton Control of EA done ung poton regultor nd control whch combne poton nd peed regultor hown The mn gudelne to decree power loe hetng nd current conumpton n the ytem One of the mportnt re wthn the feld of vrble peed motor drve re the ytem opertonl boundre Preently the opertonl boundre of vrble peed motor drve re et bed on the opertonl boundre of ngle peed motor e by lmtng current nd power to rted vlue Th reult n under-utlzton of the ytem nd plce the motor t rk of exceve power loe In th pper the frt prt repreent generl concept of electromechncl ctutor nd mthemtcl modellng of the ytem; then the control of poton nd peed of electromechncl ctutor EA by ung controller preented The econd prt how multon of our own degn of control peed nd poton by controller ung SIULIN nd ATLAB oftwre eyword: bruhle DC motor electromechncl ctutor EA controller poton control peed control multon Uprvljnje položjem brznom elektromehnčkog ktutor EA z prmjene u zrčnom protoru Izvorn znntven člnk Težšte ovog rd je uprvljnje elektromehnčkm ktutorom EA z prmjene u zrčnom protoru Uprvljnje EA je otvreno uporbom pozcjkog regultor uprvljnj koje kombnr položj brznu regultor Onovn mjernc bl je mnjenje gubtk nge zgrjvnj potrošnje truje u utvu edno od vžnh područj u okvru pogon promjenljvm brznm motor u opertvne grnce utv Dn e opertvne grnce pogon promjenljvm brznm motor potvljju n onovu opertvnh grnc pogon n bz proječnh vrjednot npr ogrnčenjm truje nge n preporučene vrjednot To dovod do nedovoljne korštenot utv velkh gubtk korne nge U ovom rdu u prvom djelu je prevljen onovn koncept elektromehnčkog ktutor EA njegov mtemtčk model ztm je prkzno uprvljnje položjem brznom elektromehnčkog ctutor uporbom regultor U drugom djelu uporedo e dje prkz mulcj vltte kontrukcje uprvljnj položjem brznom pomoću regultor uporbom SIULIN- u ATLAB-u ljučne rječ: DC motor bez četkc elektromehnčk ktutor EA regultor pozcjko uprvljnje brznko uprvljnje mulcje Introducton In reference to the lterture [ ] nd mny other not cted here for the better prt of 0 th century mot moton control ytem were degned to operte t fxed peed ny extng ytem tll operte bed on peed determned by the frequency of the power grd owever the mot effcent opertng peed for mny pplcton uch fn blower nd centrfugl pump dfferent from tht enforced by the grd frequency Alo mny hgh performnce pplcton uch robot mchne tool nd the hybrd vehcle requre vrble peed operton to begn wth A reult mjor trnton from ngle peed ytem to vrble peed ytem n progre The trnton from ngle peed drve to vrble peed drve h been n effect nce the 970 when movement towrd conervton of energy nd protecton of the envronment were ntted About eventy percent of ll electrcl energy converted nto mechncl energy by motor n the ndutrlzed world Th my be the mot mportnt fctor behnd tody hgh demnd for more effcent moton control ytem A lrge body of reerch vlble on vrble peed drve due to the gnfcnt ndutrl nd commercl nteret n uch ytem owever ome re of mportnce mert further nvetgton One uch re the opertonl boundry of motor drve The opertonl boundre of vrble peed motor drve re beng ncorrectly et bed on the opertonl boundre of ngle peed motor drve e by lmtng current nd power to rted vlue The opertonl boundry of ny motor drve mut be et bed on the mxmum poble power lo v peed profle for the gven motor Alo ll control trtege for mchne mut be nlyed nd compred bed on uch n opertonl boundry [3] Generl concept nd mthemtcl model of EA Lner ctutor devce tht pple force n lner mnner oppoed to rottonlly lke n electrc motor Electro-mechncl ctutor re mlr to mechncl ctutor except tht the control knob or hndle replced wth n electrc motor Rotry moton of the motor converted to lner dplcement of the ctutor The mn equton ued to decrbe electromechncl ctutor bed on Euler equton nd Frdy lw: dωr T T F ω e m r The ngulr poton my be obtned by ntegrton of the ngulr velocty: θ r ω r Tehnčk vjenk

2 Poton nd peed control of electromechncl ctutor for eropce pplcton Now we need to ntroduce equton to decrbe reltonhp between current voltge nd beck electromotve force nd rotor velocty [4 5] Next equton re expreed n the phe reference frme ABC frme: d L R 3 db L R b 3 dc d db e [ v v p λ ω Φ ' Φ' Φ' ] b [ v v p λ ω Φ' Φ ' Φ' ] b bc bc Generted electromgnetc torque gven by: Φ' Φ' ' T p λ Φ 4 where [6 7]: - nuodl flux rbuton b b λ 5 3p - trpezodl flux rbuton λ 6 p DC motor whch w under our conderton h trpezodl flux rbuton The followng equton wll be ued for clculton of electromotve force: C Φ' trp C f coθe coθe; trp coθe trp f coθe gn coθe trp; coθe > trp π flt 80 trp n where: flt bck EF flt re [degree] We cn ue nuodl flux rbuton f we et flt 0 Electrcl ngle : θe p θ r 8 Cb Φ' b trp π Cb f co θe 3 9 Cc Φ' c trp π Cc f co θe 3 c c r r b b c c 3 7 I Todć et l Lod torque clculted um of coulomb frcton of motor lod torque nd coulomb nd vcou frcton n gerbox: T T T T T 0 m f A gf gv All thoe equton re mplemented n SIULIN model to multe electromechncl ctutor ytem 3 Control of EA Uully pule-wh modulton crcut ued for control of DC bruhle motor n EA pplcton The pule-wh modulton gnl re generted ccordng to polrty nd ntenty of nput gnl The brdge power drvng crcut pple dfferent voltge to two end of the motor ccordng to the nput gnl to rotte the motor hft n dfferent drecton Input gnl n pule-wh modulton crcut the reult of control of dered gnl poton/deflecton or dered peed We wll compre control of EA bed on poton controller nd combned controller whch multneouly control poton nd peed 3 Poton controller nd dynmc chrctertc The mn gudelne of control of DC bruhle motor mjor prt of EA to control t nput current For clculton of utble poton controller we wll need to determne trnfer functon of EA ytem [ref Chpter 4 of th pper] It wll be umed tht DC bruhle motor cn be preented by equvlent electrc crcut [8 9 0] Fg Fgure Schemtc of motor model preented by equvlent electrc crcut where: C Totl nert nert of motor nd t lod kg m Torque contnt N m/a G Gerbox rto R A Retnce n phe A Ω L A Inductnce n phe A I A Current n phe A A V A Bck EF n phe A V V Power upply V The trnfer functon for the motor: 854 Techncl Gzette

3 I Todć et l Uprvljnje položjem brznom elektromehnčkog ktutor EA z prmjene u zrčnom protoru G I C I C I V G v θ ω ω ω θ The trnfer functon for regultor: 0 A d p 3 Fgure Block dgrm of DC bruhle motor nd poton regultor The trnfer functon for the ctutor ytem cn be wrtten []: A G p d p d 5 Ung ATLAB clculton we cn obtn of our electromechncl ctutor ytem: Fgure 3 Bode dgrm of poton controller 3 Combned regultor poton nd peed controller The mn gudelne to mpoe ome donl control on the me ytem Poton regultor wll ty unchnged Impoed component output gnl from the peed controller Speed controller wll tke effect on the whole ytem lke donl dfferentl component o coeffcent n peed controller need to be the me order lke dfferentl component n poton controller Fgure 4 Block dgrm of DC bruhle motor nd peed regultor The generl trnfer functon for regultor nd poton controller : G I θ 7 0 A d p 8 9 Ung ATLAB clculton we cn obtn of our electromechncl ctutor ytem: Fgure 5 Bode dgrm of peed controller Fgure 6 Block dgrm of DC bruhle motor nd combned poton nd peed regultor Tehnčk vjenk

4 Poton nd peed control of electromechncl ctutor for eropce pplcton Combned regultor wll be bed on um of repone of both poton nd peed regultor 4 odel of EA I Todć et l odel of EA ued n multon preented n Fg 7 n prt re: Object /Fn Lever mechnm Plnetry roller crew 3 Gerhed 4 nd DC bruhle motor 5 Controller cont of drver nd DSP Fgure 7 Rough chemtc of EA ued n the multon n m m Rted peed nd torque of motor n v v Rted peed nd torque of plnetry roller crew L Lever rm length S v Led D n Nomnl dmeter k Inert of control urfce θ k Deflecton of control urfce mx xmum output torque 5 Reult In th pper SIULIN ued for degn of controller for both poton nd velocty controller of EA nd for modellng of EA ytem To llutrte the bove mentoned everl ere of reult follow well Smulnk chemtc of electromechncl ytem Fg 8 Smulton reult on nput gnl 0 deg 6 z ued to compre mll gnl bndwh of both ytem Fg 9 to Fg Smulton reult on nput gnl 6 deg 3 z ued to compre repone of both ytem on mxmum requrement Fg 3 to Fg 6 Smulton reult on two dfferent nput gnl bed on gudnce lgorthm nd utoplot ued to compre repone of both ytem n reltc conon Fg 7 to Fg 0 Fgure 8 SIULIN chemtc of EA 856 Techncl Gzette

5 I Todć et l Uprvljnje položjem brznom elektromehnčkog ktutor EA z prmjene u zrčnom protoru Fgure 9 Angle repone of poton controller nd combned poton peed controller Fgure 0 Angulr peed of poton controller nd combned poton peed controller Fgure Current conumpton from bttery n ce of poton controller combned poton peed controller Fgure etng n DC bruhle motor n ce of poton controller nd combned poton peed controller Tehnčk vjenk

6 Poton nd peed control of electromechncl ctutor for eropce pplcton I Todć et l Fgure 3 Angulr peed of poton controller nd combned poton peed controller Fgure 4 Current conumpton from bttery n ce of poton controller nd combned poton peed controller Fgure 5 etng n DC bruhle motor n ce of poton controller nd combned poton peed controller Fgure 6 Angle repone of poton controller nd combned poton peed controller 858 Techncl Gzette

7 I Todć et l Uprvljnje položjem brznom elektromehnčkog ktutor EA z prmjene u zrčnom protoru Fgure 7 Angle repone of poton controller nd combned poton peed controller Fgure 8 Current conumpton from bttery n ce of poton controller nd combned poton peed controller Fgure 9 etng n DC bruhle motor n ce of poton controller nd combned poton peed controller Fgure 0 Angulr peed of poton controller nd combned poton peed controller Tehnčk vjenk

8 Poton nd peed control of electromechncl ctutor for eropce pplcton I Todć et l 6 Concluon vng n mnd obtned reult one cn conclude tht: Smll gnl bndwh of both type of regulton wll be the me but repone of combned regultor wll be moother; On mxmum requrement combned regulton cn produce more overhoot but n eropce pplcton tht type of gnl wll never be ued n rel tuton; Combned regulton generte le noe for lower level of error; Reult how tht by ung combned controller we cn reduce current conumpton from bttery Tht wll hve beneft le hetng n the ytem nd poblty of longer flght for the me power upply n one ytem; Control lternton chnge of type of control could be done n oftwre code no hrdwre chnge needed Author' ddree Sc Ivn Todć Atnt Lecturer Unverty of Belgrde Fculty of echncl Engneerng rljce rje Belgrde Serb E-ml: vntodc@gmlcom Dr rko loš Aocte Profeor Unverty of Belgrde Fculty of echncl Engneerng rljce rje Belgrde Serb E-ml: mmlo@mbgcr Dr rko Pvšć Aocte Profeor Unverty of Belgrde Fculty of echncl Engneerng rljce rje Belgrde Serb E-ml: mpvc@mbgcr 7 Reference [] Cown R; yer W N Degn of gh Power Electromechncl Actutor for Thrut Vector Control // 7th ont Propulon Conference / Scrmento CA USA 99 AIAA [] Wer RA; Cown R Development nd Tet of Electromechncl Actutor for Thrut Vector Control // 9th ont Propulon Conference / onterey CA USA 993 AIAA [3] rnkovć Z; rnkovć D; Petrovć G; lć P odellng nd Smulton of Dynmc Behvour of Electrc otor Drven echnm // Tehnck vjenk- Techcl Gzette 9 40 pp [4] Grener D; Dent L A; Akhrf O; Bonneux Y; LePoufle B Expermentl Nonlner Torque Control of Permnent-gnet Synchronou otor Ung Slency // IEEE Trncton on Automtc Control pp [5] Trounce C; Round S D; Duke R Evluton of Drect Torque Control ung Spce Vector odulton for Electrc Vehcle Applcton Unverty of Cnterbury New Zelnd 00 [6] Chon IEEE Pre Sere on Power Engneerng: odelng nd gh-performnce Control of Electrc chne Wley-IEEE Pre New York USA 005 [7] nellmn D C Bruhle Permnent gnet otor Degn cgrw-ll 994 [8] cclure A Smplfed Approch to DC otor odelng for Dynmc Stblty Anly // Applcton Report SLUA076 Tex Intrument USA 000 [9] Schntock D E; kew T A Identfcton of Contnuou-Tme Lner nd Nonlner odel of n Electromechncl Actutor // ournl of Propulon nd Power pp [0] Schntock D E; Scott D A; kew T A odelng nd Etmton for Electromechncl Thrut Vector Control of Rocket Engne // ournl of Propulon nd Power pp [] hn A; Todć I; loš ; Stefnovć Z; Blgojevć Dj Control of Electro-echncl Actutor for Aeropce Applcton // Strojrtvo pp Techncl Gzette