《电力电子电机控制系统仿真技术》洪乃刚第5章课件.ppt

1、 晶闸管-直流电动机系统是直流调速最基本的组成，它主要由整流变压器、晶闸管整流器、平波电抗器L和直流电动机组成 30KW 220V 136A 1460rpm DC-MOTOR ud2ud110uctv+-uca1ucav+-ubc1ubcv+-uab2uabv+-uAB1uABv+-u2v+-u1tspeedifidiaiAv+-ca0blockv+-bcv+-abABCabcTransformerABCThree-Phase SourceABCabcThree-PhaseTransformer1TeStepLd30/piGain90-6*u1FcnEDemuxTLmA+F+A-F-dcDC

2、Machinei+-i+-Clockalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge 在调速系统中直流电动机一般采用它励方式，为了简化模型励磁由直流电源模块E供电。同步变压器、触发器、移相控制Fen和给定模块Uc组成驱动控制电路，触发器6pulse generator的同步电压信号连接如图 CCUUmaxmin9090 负载转矩输入端TL用 step模块设定加载时间和加载转矩 三相变压器采取/Y型连接，原边电压为380V（线电压），副边相电压为 VIRRUUnomarecnom126cos34.2)(min2hIpnCULnomn

3、omnoma00021.01361460222204.01.1921.19(3)电枢绕组和励磁绕组间互感Laf：HIKLCKrVnIRUCfEafeEnomnomanome84.05.1/26.1/26.1132.0260260min/.132.0146013621.022000.511.50500100015002000t/sn/rpm00.511.5050100150200250300t/sud2/VVUct1030（电机在时空载起动，稳态转速为1440转/分 加载稳定后电压为218V 00.511.5-1000100200300400500t/sid/A02004006000500100

4、0150020002500Te/N.mn/rpmAB11.0051.011.0151.02-400-2000200400t/sud Ud/V,id/AUdudid11.0051.011.0151.02-400-2000200400t/sud Ud/V,id/AUdudid45757511.011.021.031.04-600-400-2000200400600t/suAB/V,iA/AuABiA11.011.021.031.04-400-2000200400t/suab/V,ia/Auabia00.511.50500100015002000t/=sn/rpmUc=7.5VUc=5VUc=2.5

5、VUc=10V00.511.50100200300400500t/sid/AUc=7.5VUc=5VUc=2.5VUc=10V30KW 220V 136A 1460rpm DC-MOTOR -unuctKp10un*ud2ud1uctv+-u2v+-u1tspeedalphan-feedifidv+-ca0blockv+-bcv+-abABCThree-Phase SourceABCabcThree-PhaseTransformer(Two Windings)1ABCabcThree-PhaseTransformer(Two Windings)TeStepSaturationLdKpGain1

6、30/piGain90-6*u1FcnDemuxTLmA+F+A-F-dcDC MachineClockalpha_degABBCCABlockpulses6-Pulse 220VpulsesABCK A VT-bridge00.511.50500100015002000t/sn/rpmUn*=10Un*=5Un*=0.500.511.50100200300400500t/sid/AUn*=10Un*=5Un*=0.520731460D00.511.50500100015002000t/sn/rpmKp=20Kp=5Kp=0.5Kp=10000.511.5-10-5051015t/sUct/V

7、Kp=20Kp=5Kp=0.5Kp=10030KW 220V 136A 1460rpm DC-MOTOR -unUcUngUngun*ud2ud1uctv+-u2v+-u1tspeedalphan-feed1ifidv+-ca0blockv+-bcalphav+-abABCThree-Phase SourceABCabcThree-PhaseTransformer(Two Windings)1ABCabcThree-PhaseTransformer(Two Windings)TeStep0.5s 171.4N.mLd30/piGain90-6*u1FcnEDemuxTLmA+F+A-F-dcD

8、C MachineClockPI controllerASRalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge00.511.5050010001500t/sn/rpmPI 调 节 器P 调 节 器1460rpm00.511.5-1000100200300400500t/sid/API 调 节 器P 调 节 器30KW 220V 136A 1460rpm DC-MOTOR -unuctKp(Ung-Un)Ung-uif10un*ud2ud1v+-u2v+-u1tspeedalphan-feedifidfidbatai-feed1v+-

9、ca0blockv+-bcv+-abABCThree-Phase SourceABCabcThree-PhaseTransformer(Two Windings)1ABCabcThree-PhaseTransformer(Two Windings)TeStepSaturationLdKpGain130/piGain90-6*u1FcnEDemuxDead Zone0 10.4TLmA+F+A-F-dcDC MachineClockalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge74.013610*NnmifIUK在实际系统中ifK

10、死区范围相当于稳压管稳压值，死区范围可以根据电流限制要求选取。取电流互感器的变换系数，00.511.50100200300400500t/sid/A无 电 流 截 止 负 反 馈有 电 流 截 止 负 反 馈00.511.5050010001500t/sn/rpm无 电 流 截 止 负 反 馈有 电 流 截 止 负 反 馈-Un-Ui10un*tTon.s+11n-filterAlphaTon.s+1n-feednid1Toi.s+1i-filterBetaToi.s+1i-feedRTm.sTm1/RTl.s+1TeSaturationKsTs.s+1SCRRampClock1CeCePI

11、controllerASRPI controllerACR05.01365.110*nomimIUsTm128.0sTl065.0电机转矩时间常数 电磁时间常数 电流反馈系数 sTs0017.0sTTToisi0037.0002.00017.0三相晶闸管整流电路平均失控时间电流环的小时间常数为)1(1)(SKKSSKSWIiPiiiPiACRiIiK1其中：sTli065.047.22205.00037.0231.0065.02siiiPKTRK转速反馈系数rVnUnomnommin/.00685.0146010转速环按典型系统设计，并选中频段宽度h=5，转速调节器的传递函数为：)1(1)(S

12、KKSSKSWInPnnnPnASRsTThhToninn087.0)01.00037.02(5)2(42.170174.031.000685.052128.0131.005.062)1(nmePnRThTChK仿真算法ode15，仿真时间1.5s。0.8秒时加额定负载。00.511.50500100015002000time(s)n (r/m)00.511.5-1000100200time(s)id (A)ud2ud1uctv+-u2v+-u1tspeedifidiaiABATAToi.s+1i-feed1Toi.s+1i-Filtv+-ca0blockv+-bcv+-ab10Un*ABCa

13、bcTransformerABCThree-Phase SourceABCabcThree-PhaseTransformerTeStep1Ton.s+1N-FiltalphaTon.s+1N-FeedLd30/piGain(90-6*u)FcnEDemuxTLmA+F+A-F-dcDC Mi+-i+-ClockPI controllerASRPI controllerACRalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge00.511.5050010001500t/sn/rpmUn*=10Un*=5Un*=100.511.5-100

14、0100200300t/sid/AUn*=10Un*=5Un*=1EETTETTTTTETTETTUonononoffond)12(EETTUond占空比,TTon .11 1Out1SelectorSignal(s)PulsesPWM Generator1Signal(s)PulsesPWM GeneratorMux0.0011In1In1Out1DC-PWM11pulse1pulse2pulse3pulse41Out1t4t3t2tProduct2Product1Signal(s)PulsesPWM GeneratorMuxdoubleData1 doubleData 2 0Compare

15、12In21In1In1In2Out1DC-PWM2UctUct1Uct2uoudtnificiav+-ABC+-Universal Bridge1gAB+-Universal BridgeUdABCThree-Phase SourceTeStepSignProduct2MultimeterInMeanMean ValueManual Switch9.55E1DemuxDemuxIn1Out1DC-PWM1TLmA+F+A-F-dcDC M-0.8Constant20.8Constant1Co Clock1HIKLCKrVnIRUCfEafeEnomnomanome796.05.0/398.0

16、/398.00417.0260260min/.0417.024009.24.3110VVVns5.1378.0/110/VVVDCAC5.10134.2/5.137334.2/3直流电源电压 二极管整流器交流侧三相线电压012345-1-0.500.51t/sUct012345-4000-2000020004000t/sn/rpm2.4952.52.5052.51-200-1000100200t/sud/V012345-60-40-2002040t/s id/A-30-20-1001020-3000-2000-10000100020003000ABVUctUct1Uct2uoudtnifici

17、av+-ABC+-Universal Bridge1gAB+-Universal BridgeUdABCThree-Phase SourceTeStepSignProduct2MultimeterInMeanMean ValueManual Switch9.55E1DemuxDemuxIn1In2Out1DC-PWM2TLmA+F+A-F-dcDC M-0.8Constant20.8Constant1Co Clock12.4952.52.5052.5100.20.40.60.81t/spulse12.4952.52.5052.5100.20.40.60.81t/spulse22.4952.52

18、.5052.5100.20.40.60.81t/spulse32.4952.52.5052.5100.20.40.60.81t/spulse4012345-4000-2000020004000t/sn/rpm2.4952.52.5052.51-200-1000100200t/sud/VUn*1alphan-feednifiav+-gAB+-Universal BridgeUn*UdTeTLSignProductIn1Out1PWMInMeanMean ValuebataToi.s+1I-feed30/piE1EDemuxTLmA+F+A-F-dcPI controllerASRPI controllerACR012345-15-10-5051015t/sUn*012345-3000-2000-10000100020003000t/sn/rpm 转速给定 转速响应 直流PWM可逆系统主要模块参数表5.5012345-150-100-50050100150t/sUd/V012345-30-20-1001020t/sia/A电压波形（平均值）