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Industrial Electrical Engineering and Automation Elenergiteknik1 Control.
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Transcript of Industrial Electrical Engineering and Automation Elenergiteknik1 Control.
Indu
stria
l Ele
ctric
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ngin
eerin
g an
d A
utom
atio
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Elenergiteknik 1
Control
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Elenergiteknik 2
Position control
position
reference positio
ncontrol
speed referenc
e speedcontro
l
currentreference
current
control
Motor
speed
current
position
+ -
equip
acc/torq/curr
motorvoltage
+ -
+ -
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Elenergiteknik 3
Speed control
11
sTs
sJ 1
speed referenc
e ω* current loop
inertia Speed ω
+ -
Kw
torque referenc
e -+
loadtorque
torque
sw
s
w
ss
w
s
w
L
TJk
TJk
TTs
kTJs
kJs
JTT
dtdTT
dtdJ
4
21
21
1
1
2
2*
Torque referenc
e
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Elenergiteknik 4
DC-motor
m
0a
x
y
ai
fi
A rm atu re w in d in g
C om pen sation w idn in g
C om m u tation po le
F ield w in d in g
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Elenergiteknik 5
Detailed picture of the rotor
ai a
i
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Elenergiteknik 6
Current control of DC-motor
Current referenc
e current control
voltage
Mod
4QC Motor
Current
+ -
torque referenc
e
m1
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Elenergiteknik 7
Current control of DC-motor, cont’d
mraaia
mrs
aaaa
mra
aaaa
aaaa
kkikikku
kT
kikiLku
dtdiLRe
dtdiLiRu
**
* 1
0
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Elenergiteknik 8
Puls width modulation
Carrier wave voltage reference
Output voltage0 0.005 0.01 0.015
0
20
40
60
80
100
0 0.005 0.01 0.015
0
20
40
60
80
100
sa 0 va +50
- 50
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Elenergiteknik 9
4Q PWM• 1 voltage, 2 potentials • infinite number of
combainations of va* and vb* for u=va-vb.
• Set va*=u*/2 och vb*=-u*/2
i L, R + e -
id
sa
+ u -
sb 0 va vb
+Ud/2
-Ud/2
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Elenergiteknik 10
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01-200
0
200
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01-200
0
200
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01-200
0
200
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.010
200
400
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01-5
0
5
varef
vbref
va
vb
ua
ia
Control of a 4-kv. DC conv:• va*=u*/2• vb*=-u*/2• Example:
– Udc=300 V– u*=100 V
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Elenergiteknik 11
Permanent magnetized synchrounous motor, PMSM
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Elenergiteknik 12
3-phase PMSM
a+ a+
a- a-b+
b+
b -b -
c+c+
c-c-
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Elenergiteknik 13
Vektor control of a PMSM-motor
isx-regisx
*
isy*
isx-reg
usx*
usy*
e+jΘr 2Φ/3Φ Mod 3fas-
omr
2Φ/3Φ e-jΘr
Motor
+ -
+ -
isa,b,c
usa,b,cusα,β
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Elenergiteknik 14
Convertion of current from stator to rotor coordinates
titii
titii
titijtiti
eieii
sssy
sssx
ssss
tjs
js
xys
rr
sincos
sincos
sincossincos
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Elenergiteknik 15
Current control PMSM
msy
sx
msxss
sysyssyssy
syss
sxsxssxssx
ms
msss
ssssss
Ti
andi
where
iLT
iiLiRu
iLT
iiLiRu
Ti
jiLjT
iiLiRu
**
*
**
**
**
**
**
0
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Elenergiteknik 16
Convertion of stator voltage from
rotor to stator coordinates
tutuu
tutuu
tutujtutu
eueuu
sxsys
sysxs
sxsysysx
tjxys
jxyss
rr
sincos
sincos
sincossincos
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Elenergiteknik 17
Conversion from two phases αβ-frame to three phases abc-frame
ssc
ssb
sa
uuu
uuu
uu
23
21
32
23
21
32
32
m
x
y
au
bu
cu
m
x
y
u
usu
su
r
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Elenergiteknik 18
The 3-phase voltage
-400
-300
-200
-100
0
100
200
300
400
0 50 100 150 200 250 300 350 400
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Elenergiteknik 19
Symmetrized motor voltage
-800
-600
-400
-200
0
200
400
600
800
0 0,002 0,004 0,006 0,008 0,01 0,012 0,014 0,016 0,018 0,02
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Elenergiteknik 20
Control of 3-phase converter
• Symmetration of references 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
-500
0
500
uaref & tri
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02-500
0
500va
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02-500
0
500vo
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02-500
0
500ua
varef tri
va
v0
u=va-v0 grundton 50 Hz
2minmax
**
**
**
z
zcc
zbb
zaa
u
uuvuuvuuv
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Elenergiteknik 21
3-phase output voltage as vector
)(21
23
32 3
43
2
cba
jc
jba
uuju
eueuujuuu
)100(u )110(u )010(u )011(u
)001(u )101(u )000(u )111(u
id
sa 0 va
+Ud/2
-Ud/2
sb vb sc vc
+ uab - + ubc - - uca +
+ ua -
+ ub -
+ uc - vo