Regulisani elektromotorni pogoni sa asinhronim mašinama Direktna kontrola momenta
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1 Regulisani elektromotorni pogoni sa asinhronim mašinama Direktna kontrola momenta Istorijski pregled Opis metode Način realizacije Podešavanje parametara regulatora brine Pregled karakteristika Prevazilaženje nedostataka
2 Direktna kontrola momenta DTC (Direct Torque Control) Jedna metoda upravljanja trenutnim vrednostima momenta i fluksa. Pruža određene prednosti u odnosu na vektorsko upravljanje. Metoda je bazirana na topologiji naponskog invertora. Može se prilagoditi i pogonima sa strujnim invertorima.
3 Istorijski pregled Kompanija ABB je 995. ponudila na tržište prvi industrijski pretvarač sa direktnom kontrolom momenta ACS 600. IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO. 5. SEPTEMBER/OCTOBER 986 A New Quick-Response and High-Efficiency Control Strategy of an Induction Motor ISAO TAKAHASHI, MEMBER, IEEE, AND TOSHIHIKO NOGUCHI
4 Šta je cilj? Struktura regulisanog pogona koju želimo da ostvarimo: U dc Reg. brzine m e Reg. momenta S m - ˆ - ˆ e m s Reg. fluksa S Izbor vektora 6 - ˆs S mˆ e S ˆ Model motora (adaptivni) T -T R R6 U dc i abcs M E
5 Stacionarni referentni sistem d uqs Rs iqs qs dt () d u R i p (2) dt ds s ds ds d dt - () 0 Rr iqr qr dr d dt (4) 0 Rr idr dr qr rs L i M i (5) qs s qs qr L i M i (6) ds s ds dr L i M i (7) qr r qr qs L i M i (8) dr r dr ds me P ( iqs ds - ids qs ) (9) 2 0 Statorske jednačine Rotorske jednačine Jednačina momenta
6 Jednačina momenta u vektorskoj formi me P is s P is s sin 2 2 m e i s m e s
7 U s q j X I j I R s s s s s s I s E s I s s d Fazorski dijagram statorskih veličina Uvek nam je potreban stalan fluks. Struja, odnosno moment motora se može podešavati podešavanjem trenutne vrednosti vektora napona.
8 bs Transformacije statorskih as veličina cs bs cs d as bs cs rs =0, rs (0) = 0 as q rs 0 f K qd0s s abcs f f f f abcs as bs cs f f f f qd0s qs ds 0s f T T
9 Stacionarni koordinatni sistem Matrice transformacije statorskih veličina K s -0,5-0, ,5 0,5 0,5 K - s 0-0,5-2 -0,5 2
10 Šema energetskog pretvarača pogona sa asinhronim motorom ~ R R T R C Vdc T R a u a T R T R5 b u b T R2 T R4 T R6 c u c ~ AM diodni ispravljač kolo za kočenje filter u međukolu PWM invertor u a Pontencijal u odnosu na negativnu šinu jednosmernog međukola
11 Vrednosti potencijala u a u funkciji stanja prekidača u grani a T u a Tranzistor T R Tranzistor T R2 Stanje S a V dc uključen isključen 0 isključen uključen 0
12 u u u as bs cs Definicije napona i struja motora u stacionarnom koordinatnom sistemu Međufazni naponi računati pomoću potencijala prema negativnoj šini jednosmernog međukola: u u -u ab a b u u -u bc b c u u -u ca c a Fazni naponi u odnosu na zvezdište motora: u u u ab bc ca - u - u - u ca ab bc u qs u as u u - u u i ds cs bs cb qs Naponi motora u stacionarnom koordinatnom sistemu: Struje motora u stacionarnom koordinatnom sistemu: i as i i -i ds cs bs Uvažen je koeficijent 2/ u transformaciji.
13 Izlazni naponi invertora u skladu sa odgovarajućim stanjima prekidača V 5 V 6 (0,,0) (,,0) V 4 (0,,) (V 7, V 8 ) 2 (0,0) V V (,0,0) q=a V (0,0,) d V 2 (,0,)
14 Prikaz napona i struja u stacionarnom koordinatnom sistemu Mala efektivna vrednost napona Velika efektivna vrednost napona Napon Struja
15 Stanje invertora Prekidačka stanja invertora i naponi mašine T2 Stanje grana Potencijal priključka motora Linijski naponi Fazni naponi qd komponente S a S b S c u a u b u c u ab u bc u ca u as u bs u cs u qs u ds V 0 0 V dc 0 0 V dc 0 -V dc 2 V - V - V 2 V 0 V 2 0 V dc 0 V dc V dc -V dc 0 V V dc 0 -V dc V dc V V dc V dc -V dc 0 V dc V V dc 0 -V dc V dc 0 V 6 0 V dc V dc 0 0 V dc -V dc V - V 2 - V - V V 2 - V - V V 2 V V V 2 V V - V 2 - V V - V V dc V dc 2 - V 0 - V V V V 8 V dc V dc V dc V - dc V - dc
16 Izračunavanje vektora fluksa (intenziteta i ugla) Integracija naponskih jednačina u - R i dt e dt qs qs s qs qs u - R i dt e dt ds ds s ds ds 2 2 s qs ds s - qs tg ds 0 ds cos s ds s sin s qs s
17 Podela na sektore za identifikaciju položaja statorskog fluksa V 5 V 6 60 S 5 S 6 s 2 V 4 S 4 qs S V q s S ds S 2 s s V V 2 d
18 s 2 s 2 s 4 s 4 5 s 5 2 s Ugao s S Ugao θ φs definisan u odnosu na d-osu
19 Drugi način određivanja sektora u kom se nalazi statorski fluks T ds s 2 - s ds s 2 2 ds ds - s 2 qs qs qs qs qs qs qs S θ φ s uvek ima pozitivnu vrednost
20 Prekidačke logike za fluks i moment Odnos fluksa prema zadatoj vrednosti s s s s Prekidačka fun. S φ 0 T5 Odnos momenta prema zadatoj vrednosti e - e e m m m e e e e -m m - m m e - e - e m m m Prekidačka fun. S m 0 - T6
21 Komparatori fluksa i momenta S φ s s S m m e m e - 2me
22 Efekat uključenja naponskih vektora na fluks V 5 V 6 e d s dt Rs 0 V 4 V q V t V t 2 2 V t i s V t 4 4 s 6 V t 6 6 V V 2 4 d 2
23 Tabela upravljanja invertorom Prekidačke funkcije S θ Sektor u kom se nalazi fluks T7 S φ S m S S 2 S S 4 S 5 S 6 V 6 V V 2 V V 4 V 5 0 V 8 V 7 V 8 V 7 V 8 V 7 - V 2 V V 4 V 5 V 6 V V 5 V 6 V V 2 V V V 7 V 8 V 7 V 8 V 7 V 8 - V V 4 V 5 V 6 V V 2
24 ~ Implementacija DTC upravljanja V dc invertor a b c AM Т R Т R2 Т R Т R4 Т R5 Т R6 T T T S a S b S c ibs ics uabs ubcs T 7 S m T 6 V i m e 2 P T 2 iqs s K s ids R s R s uds s K s u qs m e m e S S T 5 T fs s s 2 2 s ds qs qs fs arctg ds ds qs
25 Regulisani elektromotorni pogon sa direktnom kontrolom momenta U dc Reg. brzine m e Reg. momenta S m - ˆ - ˆ e m s Reg. fluksa S Izbor vektora 6 - ˆs S mˆ e S ˆ Model motora (adaptivni) T -T R R6 U dc i abcs M E
26 Rad u proširenom opsegu brzina (slabljenje polja) U dc Reg. brzine m e Reg. momenta S m - ˆ - ˆ e m s Reg. fluksa S Izbor vektora 6 - ˆs S mˆ e S ˆ Model motora (adaptivni) T -T R R6 U dc i abcs M E
27 Podešavanje parametara regulatora brzine - K T Reg. brzine m e Te Regulacija momenta m e m m - pt m Filter merene brzine K p T p T e Vreme uspona momenta na zadatu naglu poromenu referentne vrednosti (step komandu) od do 5 ms
28 Podešavanje parametara regulatora brzine - K T Reg. brzine m e Regulacija momenta pt e m e m m - pt m Filter merene brzine K p T p Može se primeniti simetrični optimum. Parametre regulatora brzine diktira aplikacija.
29 Karakteristike Direktno upravljanje fluksom i momentom. Indirektno upravljanje strujom motora (nema regulatora struje). Približno sinusne statorske struje i statorski fluks. Vrlo brz odziv momenta. Učestanost komutacije invertora zavisi od širine histerezisa u komparatorima.
30 Prednosti Koristi se stacionarni referentni sistem, nema obrtne transformacije. Ne koristi se IŠM (PWM) blok, direktno se zadaju stanja prekidača u invertoru. Minimalno vreme odziva momenta. Jednostavni regulatori (histerezisni) sa tabelarnim implementacijama. Manji broj izračunavanja u odnosu na vektorsko upravljanje. Manji broj parametara motora se koristi u algoritmu.
31 Nedostaci klasične implementacije DTC algoritma Odsustvo regulatora struje može dovesti do problema sa velikim trenutnim vrednostima struje. Tokom uspostavljanja fluksa u mašini (magnetizacije) se mora koristiti drugi algoritam. Potrebni estimatori fluksa i momenta, koji zavise od parametara (samo od R s ) motora. Promenljiva učestanost komutacije invertora. Veće odstupanje momenta od zadate vrednosti (veći ripl).
32 Nedostaci: Prevazilaženje nedostataka Problemi sa velikim trenutnim vrednostima struje. Tokom magnetizacije se mora koristiti drugi algoritam. Potrebno poznavanje parametara motora (R s ). Struja se može ograničiti primenom nultog vektora u algoritam se ugrađuje zaštitna funkcija koja ograničava struju. Malom modifikacijom tabele se može postići da isti algoritam radi i tokom uspostavljanja fluksa. Tokom magnetizacije ne dozvoljava se komanda momenta, nema rotacije motora. Parametri motora se određuju veoma precizno prilikom puštanja pogona u rad. Otpor statora je veličina koja se može odrediti i u toku rada pogona. Promenljiva učestanost komutacije invertora. Veći ripl momenta. U digitalnim implementacijama algoritam se izvršava periodično, pa se i promena stanja invertora dešava periodično. Manji broj komutacija (promena stanja) nego sa IŠM (PWM) modulacijom. Ripl zavisi od širine histerezisa i od učestanosti izvršavanja algoritma. Radi se na modifikacijama algoritma koje će smanjiti ovaj problem.
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