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Controlul Direct Al Cuplului PDF
Controlul Direct Al Cuplului PDF
1. Introducere
Tehnica controlului direct al cuplului (eng.
Direct Torque Control-DTC) se caracterizeaz
prin simplitatea schemei de control, fr
transformri de coordonate din reper mobil n
reper fix i invers, prin timp minim de rspuns
n cuplu [1].
ncepnd din 1996, firma ABB deine
patent i utilizeaz metoda DTC n
echipamente sale industriale comerciale.
Schema original DTC propus de ctre
Takahashi [1], are la baz un controler
analogic, care permite execuia algoritmului
de control n timp continuu, comanda de
tensiune fiind disponibil n orice moment,
iar frecvena de actualizare a comenzii fiind
limitat doar de frecvena maxim de
comutaie a invertorului. Metoda utilizeaz n
mod eficient fazorii de tensiune disponibili la
s = (u s Rs i s )dt
(1)
s = (u s Rs is )dt
s = u s Rs is dt
(2)
m=
3
p s i s s i s
2
(3)
35
36
S (k ) SC (k )
2
u s (k ) = U d (k ) S A (k ) B
3
2
2
S (k ) SC (k )
u s (k ) = U d (k ) B
(5)
unde:
U d (k ) : este valoarea tensiunii continue
din circuitul intermediar, eantionat n
perioada PWM curent;
S A (k ) , S B (k ) , SC (k ) : sunt funciile de
comutaie pentru perioada PWM curent,
determinate n perioada anterioar.
Cuplul instantaneu se calculeaz tot
pentru sfritul perioadei PWM [17], cu
relaia (6):
m(k ) =
3
p s (k ) is (k ) s (k ) is (k ) (6)
2
unde:
s (k ) , s (k ) i is (k ) , is (k ) : sunt
componentele fluxului magnetic i
curentului de la sfritul perioadei.
Curenii de faz de la sfrit de perioad
sunt obinui prin extrapolare, cunoscnd
valorile eantionate la nceputul i mijlocul
perioadei.
3. Rezultate
s (k ) = s (k 1) + T (us (k ) Rs is (k ))
(4)
(
k
)
(
k
1
)
T
u
(
k
)
R
i
(
k
)
s
s
s
unde:
s (k ) :
sunt
componentele
100
80
60
40
20
0
0.3998
0.4
0.4002
0.4004
0.4006
0.400
0.4
0.4002
0.4004
0.4006
0.400
0.4006
0.400
0.4006
0.400
0
0.3998
1.02
1.01
1
0.99
(4)
0.98
0.3998
0.4
0.4002
(5)
0.4004
37
1
0.8
0.6
(6)
0.4
(7)
0.2
0
0.3998
0.4
0.4002
0.4004
timp [s]
38
i s _a [ur]
i s _a [ur]
0
-1
-2
-2
0
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
0.5
0
-0.5
-1
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
0.4
0.6
0.8
1.2
1.4
1.6
1.8
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
0.2
0.4
0.6
0.8
1
1.2
timp [s]
1.4
1.6
1.8
0
-0.5
-1
2
1
0
2
1
0
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
1.5
1.5
v itez a [ur]
v itez a [ur]
0.2
0.5
m , m s [ur]
m , m s [ur]
0.5
0
0.5
0
0.2
0.4
0.6
0.8
1
1.2
timp [s]
1.4
1.6
1.8
0
1
ps i s _alf a , ps i s [ur]
ps i s _alf a , ps i s [ur]
0
-1
39
7. Resurse bibliografice
[1] TAKAHASHI I, NOGUCHI T, A New Quickresponse and High Efficiency Control Strategy
of an Induction Motor, in IEEE Trans. Ind.
Applicat., IA, 22, 1986; pp. 820827.
[2] PAURC SV, Comenzi moderne n sisteme de
acionri
electrice
[Modern
Control
Techniques, in Electric Drive Systems],
Bucharest: Editura MatrixRom; 2011, 100p.
[3] KAZMIERKOWSKI
MP,
FRANQUELO
L,
RODRIGUETZ J, PEREZ M, LEON J, "High
Performance Motor Drives", in IEEE Industrial
Electronics Magazine 2011; vol.5 (nr 3), pp.6
26.
[4] TOH C, IDRIS N, YATIM A, Constant and high
switching frequency torque controller for DTC
drives in IEEE Power Electron. Lett., 2005;
vol. 3 (no. 2), pp. 7680.
[5] LASCU C, BOLDEA I, BLAABJERG F, Direct
torque control via feedback linearization for
permanent magnet synchronous motor drives,
in Optimization of Electric and Electronic
Equipment (OPTIM 2012); pp. 338343.
[6] BARSOUM N, Performance of Direct Torque
Control Implemented in Speed Drive, in
Transaction on Machines, Power Electronics
and Drives, 2012; p. 59-64.
[7] PAURC SV, COVRIG M, GHEORGHE , ENESCU
C, A Modality of using Direct Torque Control
for Improving the Efficiency of the Power
Presses, in U.P.B. Scientific Bulletin, Series C
Electric Engineering and Computer Science,
2011, vol. 73 (nr. 2), pp.263-272.
[8] PAURC SV, COVRIG M, .a., Direct Torque
Control with Variable Voltage Duty Ratio for
Inverter Fed Induction Motor Drives, in
Proceedings of the 10th WSEAS International
Conference on Automatic Control, Modelling &
Simulation (ACMOS08), 2008, Turkey, pp. 343347.
[9] PAURC SV, SARCA A, COVRIG M, A Simple
Method of Torque Ripple Reduction for Direct
Torque Control of PWM Inverter-Fed Induction
Machine Drives, in Annals of the University of
Craiova, Electric Engineering series, No. 30, 8th
International Conference on Applied and
Theoretical Electricity, ICATE 2006; pp. 147152.
[10] PAURC SV, COVRIG M, CEPISCA C,
SERITAN G, Proposed Schemes for Improving
the Steady State Behaviour of Direct Torque
Controlled Induction Motor in Proceedings of
the 7th WSEAS International Conference on
POWER SYSTEMS PE'07, 2007, China, pp. 53-58.
[11] LASCU C, BOLDEA I, BLAABJERG F,
Variable-structure direct torque control - a
class of fast and robust controllers for
induction machine drives, in IEEE Transactions
on Industrial Electronics 2004, 51 (nr. 4), pp.
785-792.
40
8. Biography
Sanda Victorinne PAURC was
born in Giurgiu (Romania), on
February 2, 1974.
She graduated the University
Politehnica of Bucharest, Faculty
of Electric Engineering, in 2000.
She received Master degree in 2002 and the PhD
degree in electric engineering from the
University Politehnica of Bucharest, in 2010.
She is a lecturer at the University Politehnica
of Bucharest.
Her research interests concern Robotics,
Software Engineering in Embedded Systems,
Electric Drives and Power Electronics.
Mihaela IANUS was born in
Bucharest
(Romania),
on
September 6, 1989.
She is currently a student at
University
Politehnica
of
Bucharest, Faculty of Electric
Engineering. Her research interests concern
Robotics and Electric Drives.
Cristian BDESCU was born
Campulung Muscel (Romania),
October 11, 1983.
He is currently a student
University
Politehnica
Bucharest, Faculty of Electric
in
on
at
of
Engineering.
His research interests concern Robotics, Electric
Drives and Power Electronics.