Available online at ScienceDirect. Procedia Engineering 129 (2015 ) International Conference on Industrial Engineering

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1 Available online at wwwsciencedirectcom ciencedirect Procedia Engineering International Conerence on Industrial Engineering Automatic control system o seed o synchronous motor Gasiyarov VR, aklakov A, Voronin, aklakova EA* outh Ural tate University, 76, enin Avenue, Chelyabinsk, , Russian Federation Abstract he article deals a mathematical model o an automatic control system on the basis o ield oriented control method o a synchronous motor he synchronous motor with electromagnet exitation as object control has been considered by a system o dierential equations he roosed the automatic control system consists o two closed current loo, closed torque loo and model o synchronous motor Exerimental results o the automatic control system are resented in this aer 05 he Authors Published by Elsevier td 05 he Authors Published by Elsevier td his is an oen access article under the CC BY-NC-ND license htt://creativecommonsorg/licenses/by-nc-nd/40/ Peer-review under resonsibility o the organizing committee o the International Conerence on Industrial Engineering ICIE- Peer-review 05 under resonsibility o the organizing committee o the International Conerence on Industrial Engineering ICIE-05 eywords: closed-loo system, synchronous motor, electric drive, dynamycal mode, mathematical model Introduction A modern automatic AC electric drives have ound alication in metallurgy industry, eg o rolling mills hese AC electric drives are imlemented as a system «requency converter synchronous motor» tator winding o the synchronous motor is usually sulied by the back-to-back convertor, which consist o active ront end AFE rectiier and voltage source inverter VI Both the AFE and VI oerate on the rincile ulse-width modulation P [, ] Rotor winding is sulied by a nonreversible thyristor converter ynchronous motors are selected or high ower systems at a wide range o adjustable seed he main advantages o synchronous drives are high energy eiciency [3] and good energy characteristics A research object is the automatic control system o seed o synchronous motor with arameters: U=3000 V P=000 k I s =379 A =68 rad/s J=45000 kgm =9099 knm =0 Hz R s = ohm * Corresonding author el: address: karyakina-katya@yandexru he Authors Published by Elsevier td his is an oen access article under the CC BY-NC-ND license htt://creativecommonsorg/licenses/by-nc-nd/40/ Peer-review under resonsibility o the organizing committee o the International Conerence on Industrial Engineering ICIE-05 doi:006/jroeng05008

2 58 VR Gasiyarov et al / Procedia Engineering Nomenclature u, u, u rd d-q stator winding voltage and rotor winding voltage i, i, i rd d-q stator current and rotor current R s, R hase stator active resistance and rotor active resistance,, rd d-q stator winding inductances and rotor winding inductance d coeicient o mutual inductance between stator winding and rotor winding,, rd d-q stator lux and rotor lux rotation seed o d-q system alace oerator μ small time constant x, x d-q stator winding reactance resistances i stator current eedback coeicient c the convertor coeicient break requency quantity o ole airs seed eedback coeicient nd, nq d-q stator lux eedback coeicients rotor current eedback coeicient n coeicient current sensor coeicient seed sensor torque no-load rotor current I 0 athematical descrition or synchronous motor Oeration o all electric motors is determined on the basis o laws o electromagnetic induction It makes the ossible o generalizing roerties o electric motors into one model A tyical AC motor is described non-linear dierential equations on the basis o a movement equation o electrodynamics system olution the system o dierential equations is comlex because o variable coeicients In the world literature such equations are simliied by Park s transormation a-b-c/d-q-0 and Clarke s transormation a-b-c/-- he transormation a-bc/d-q-0 is a mathematical transormation o the reerence rame o system a-b-c in the rotating system d-q-0 he transormation a-b-c/-- is a mathematical transormation o the reerence rame o system a-b-c in the reerence rame o system -- hus, it allows one to relace the three-hase AC motor by the two-hase uniied electrical machine and consider synchronous motor in the rame d-q [4] u Rs i u Rs i urd R i i d i i i d i

3 VR Gasiyarov et al / Procedia Engineering odel or closed-loo system o synchronous motor 3 odel or a closed current loo and a closed lux loo he synchronous motor is considered in the rame d-q, because the closed-loo system has two closed current loos which are located on d-axis and q-axis Formation o electromagnetic torque in a transient rocess is required determined resonse o both the closed current loo and the closed lux loo [5] However, crucial imortance or resonse is has the closed current loo urning o the closed current loo and the closed lux loo is carried out by standard transient rocess, which accords to the Butterworth ilter [6] ranser unctions o current controllers on d-axis and q-axis are resented as ollows: id iq x / R / R s s x i c / R i c s / R s 3 here is comensation unit o cross-connection on electromotive orce rotation in the system It is alied in order to oscillation o the system reduced when seed increases Due to comensation unit, isolation the closed current loos in the rame d-q and the closed lux loo is achieved in the system [7] he block diagram o closed current loos, transient rocess and bode lot o the requency resonse o a system is shown Fig he closed current loos in the rame d-q which have been tuned using the magnitude otimum method have a ste-resonse overshoot 43% [8] Bode lot o the closed current loos in the rame d-q aears an asymtote with gradient -0 db and cuto requency c =/ μ =/ 00=50 rad/s, and hase margin is equal to 5 It conirms stability o the closed current loos Fig a he block diagram o closed current loos b transient rocess o the closed current loos in the rame d-q c bode lot o the requency resonse o the closed current loos in the rame d-q he closed lux loo is built similar o closed current loos ranser unctions o lux controller are resented as ollows:

4 60 VR Gasiyarov et al / Procedia Engineering / / R R 4 3 odel or a closed seed loo orque is necessary to create on motor shat or adjustment o synchronous motor seed he seed controller erorms such unction he outut voltage o the seed controller acts on nonlinearity units,, 3 orming necessary magnitude o torque [9] ignal o the nonlinearity units, act on the current controllers and the lux controller he unctions the nonlinearity units,, 3 have the orm [0]: 3 3 i i 6 3 / 3 0 d I 7 A closed seed loo is tuned both the magnitude otimum method and the symmetrical otimum deending uon requirements or the droo o the system automatic control [] ranser unction o seed controller, which is tuned using the magnitude otimum method is resented as ollows: 8 J 8 ranser unction o seed controller, which is tuned using the symmetrical otimum is resented as ollows: J i 9 he block diagram o the automatic control system o synchronous motor is shown Fig he transient rocess o torque and seed is shown Fig 3 he closed seed loo, which has been tuned using the symmetrical otimum method, has a ste-resonse overshoot 43% []

5 VR Gasiyarov et al / Procedia Engineering Fig he block diagram o the automatic control system o synchronous motor Fig 3 he transient rocess o torque and seed o synchronous motor 4 Conclusion his article introduced a method o develoment the mathematical model o the automatic control system the synchronous motor he automatic control system the synchronous motor has a cascade structure and consists o two closed current loo, closed torque loo and model o synchronous motor he current control loos are subordinated to the seed control loo he transer unctions o current controllers on d-axis and q-axis, lux controller and seed controller are given he seed controller uses PI control [3] he mathematical model o the automatic control system the synchronous motor is realized in atlab/imulink alication he develoed model is allowed to theoretical research o dynamic modes o synchronous motors Future work will involve assessing the oscillation double mass system

6 6 VR Gasiyarov et al / Procedia Engineering Reerences [] A aklakov, AA Radionov, EC evaluation o three level NPC converter based on sace vector P, Proceedings o the 05 IEEE North est Russia ection Young Researchers in Electrical and Electronic Engineering Conerence, ElConRusN DOI: 009/EIConRusN [] AA Radionov, A aklakov, EA aryakina, New control method o back to back converter, 05 International iberian Conerence on Control and Communications, IBCON 05 - Proceedings, 05 DOI: 009/IBCON [3] AA Radionov, O alakhov, N Baskov, A onkov, Davydkin, he design eatures o the converters or synchronous motors vector-ulsed launch control, Proceedings - 00 IEEE Region 8 International Conerence on Comutational echnologies in Electrical and Electronics Engineering, IBIRCON DOI: 009/IBIRCON [4] OV lezhanovskij, H Dackovskij, I uznecov, istemy odchinennogo regulirovanija jelektrorivodov eremennogo toka s ventil'nymi reobrazovateljami, Energoatomizdat, oscow, 983 [5] AA Radionov, A Evdokimov, A arandaev, VR hramshin, Inormation and measurement system or control o technical state o asynchronous electric motors with grou suly rom requency converter, th International Conerence on Actual Problems o Electronic Instrument Engineering, APEIE 04 Proceedings DOI: 009/APEIE [6] PV hilyaev, IYu Andryushin, VV Golovin, AA Radionov, A arandaev, VR hramshin, Algorithms o a digital automatic system or tension and loo control in a wide-stri hot-rolling mill, Russian Electrical Engineering DOI: 0303/ X [7] AA Radionov, VR Gasiyarov, OA Gasiyarova, Automatic ga control o Plan View Pattern Control echatronics ystem, 05 International iberian Conerence on Control and Communications, IBCON 05 Proceedings 05 DOI: 009/IBCON [8] J eidauer, R esser, Electrical drives, iemens Aktiengesellschat, Berlin and unich, 00 [9] VR hramshin, A Evdokimov, GP ornilov, AA Radionov, A arandaev, ystem or seed mode control o the electric drives o the continuous train o the hot-rolling mill, 05 International iberian Conerence on Control and Communications, IBCON 05 Proceedings DOI: 009/IBCON [0] VR Gasiyarov, EA aklakova, athematical Descrition o ain Electric Drive o Hot Plate ill 5000, Russian Internet Journal o Electrical Engineering [] PC rause, O asynczuk, D udho, Analysis o Electric achinery and Drive ystems: books in the IEEE ress series on ower engineering, IEEE, UA, 00 [] A aklakov, AA Radionov, Integration rosects o electric drives based on back to back converters in industrial smart grid, 04 th International Conerence on Actual Problems o Electronic Instrument Engineering, APEIE 04 - Proceedings, DOI: 009/APEIE [3] AA Radionov, A aklakov, VR Gasiyarov, mart Grid or main electric drive o late mill rolling stand, Proceedings o 04 International Conerence on echanical Engineering, Automation and Control ystems, EAC 04, 04 DOI: 009/EAC