Documente Academic
Documente Profesional
Documente Cultură
ACTIONARI ELECTRICE
DE CURENT CONTINUU
Editura ICPE
1999
PREFATA
1
obtinute în urma simularii functionarii masinii de curent
continuu.
Autorii îsi propun sa continue în anul urmator cu
volumele:
„ACTIONARI ELECTRICE CU MASINI DE CURENT
ALTERNATIV”. Volumul cuprinde notiuni legate de sistemele
de actionari electrice cu masini asincrone si sincrone. Sunt
analizate cele mai moderne solutii de comanda a acestor
masini;
„COMANDA SISTEMELOR DE ACTIONARI
ELECTRICE”. In volum sunt prezentate aspecte legate de
functionarea sistemelor de actionari electrice în bucla închisa,
precum si cele legate de comanda numerica a actionarilor
electrice. Tot aici sunt analizate problemele ce trebuie
rezolvate în momentul implementarii comenzii numerice cu
ajutorul automatelor programabile, a controlerelor industriale
sau a procesoarelor numerice de semnal (Digital Signal
Processors).
Bucuresti, 1999
Autorii
__________________________________________________________________________________________________________
__________
2
CUPRINS
PREFATA 1
.................................................................................
CUPRINS 3
..................................................................................
CAPITOLUL 1 .............................................................. 9
........
GENERALITATI PRIVIND ELEMENTELE
SISTEMELOR DE ACTIONARI ELECTRICE ........ 9
1.1. SCURT ISTORIC AL ACTIONARILOR
ELECTRICE 9
........................................................
1.2. STRUCTURA GENERALA A UNUI SAE 10
........
1.3. MECANICA SISTEMULUI DE ACTIONARE
ELECTRICA 17
........................................................
1.3.1. Ecuatia generala de miscare 18
........................
1.3.2. Componentele cuplului de sarcina 21
..............
1.3.3. Exemple de cupluri de sarcina 23
....................
1.3.4. Clasificarea cuplului de sarcina 25
..................
1.3.5. Stabilitatea statica de functionare 26
...............
1.4. SISTEMUL CONVERTOR - MASINA 28
.............
1.5. REGLAREA VITEZEI UNUI SISTEM DE
__________________________________________________________________________________________________________
__________
3
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
ACTIONARE ELECTRICA 30
...............................
1.6. SPECIFICAtIILE NECESARE UNUI SISTEM
DE ACTIONARE ELECTRICA 33
.........................
1.7. ELEMENTE DE MECANICA ACTIONARII ... 33
1.7.1. Legile corpului solid 33
...................................
1.7.2. Raportarea cuplurilor si fortelor la
acelasi arbore 37
..........................................................
1.7.3. Raportarea momentelor de inertie si a
masei la acelasi arbore 40
................................
1.8. EFECTE TERMICE ÎN MASINILE
ELECTRICE 41
........................................................
1.8.1. Pierderile de putere si restrictiile de
temperatura 41
.................................................
1.8.2. ¥ncalzirea masinilor electrice 42
......................
1.8.3. Servicii de functionare 45
................................
1.9. DISPOZITIVE SEMICONDUCTOARE DE
PUTERE FOLOSITE ÎN SISTEMELE DE
ACTIONARI ELECTRICE 49
.................................
1.10 PROBLEME 53
. ........................................................
1.10.1. Probleme rezolvate 53
.....................................
1.10.2. Probleme propuse 58
.......................................
1.11 BIBLIOGRAFIE 59
. ..................................................
CAPITOLUL 2 .............................................................. 61
__________________________________________________________________________________________________________
__________
4
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
........
MASINI DE CURENT CONTINUU FOLOSITE ¥N
SAE 61
...............................................................................
2.1. RELATIILE REGIMULUI STATIC DE
FUNCTIONARE 61
.................................................
2.1.1. Masini de curent continuu cu excitatie
separata si derivatie 61
.....................................
2.1.2. Masini de curent continuu cu excitatie
serie si mixta 67
........................................................
2.2. METODE DE PORNIRE A MASINII DE
CURENT CONTINUU 69
........................................
2.2.1. Masini de curent continuu cu excitatie
separata sau derivatie 69
..................................
2.2.1.1. Pornire prin conectare directa la
retea 70
.................................................
2.2.1.2. Pornirea reostatica 72
...........................
2.2.1.3. Pornirea prin variatia tensiunii de
alimentare 81
........................................
2.2.2. Masini de curent continuu cu excitatie 81
serie
2.3. METODE DE FRÂNARE A MASINII DE
CURENT CONTINUU 83
........................................
2.3.1. Masini de curent continuu cu excitatie
separata sau derivatie 83
..................................
2.3.1.1. Frânarea propriu-zisa prin
inversarea sensului de rotatie 83
__________________________________________________________________________________________________________
__________
5
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
...........
2.3.1.2. Frânarea prin contraconectare 85
.........
2.3.1.3. Frânarea dinamica recuperativa 86
.......
2.3.1.4. Frânarea dinamica 87
nerecuperativa ...
2.3.2. Masini de curent continuu cu excitatie 89
serie
2.3.2.1. Frânarea propriu-zisa prin
inversarea sensului de rotatie 89
...........
2.3.2.2. Frânarea prin contraconectare 90
.........
2.3.2.3. Frânarea dinamica recuperativa 90
.......
2.3.2.4. Frânarea dinamica 90
nerecuperativa ...
2.4. METODE DE REGLARE A VITEZEI
MASINII DE CURENT CONTINUU 91
.................
2.4.1. Reglajul reostatic 91
........................................
2.4.2. Reglarea tensiunii de alimentare 92
.................
2.4.3. Reglarea câmpului de excitatie 94
...................
2.4.4. Reglarea vitezei prin combinarea
metodelor 2 si 3 95
...........................................
2.5. FUNCTIA DE TRANSFER A UNEI MASINI
DE CURENT CONTINUU 96
.................................
2.5.1. Masina de curent continuu cu excitatie
separata 96
.......................................................
2.5.1.1. Reglarea tensiunii de alimentare 97
__________________________________________________________________________________________________________
__________
6
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
......
2.5.1.2. Reglarea câmpului de excitatie 10
........ 0
2.5.2. Masina de curent continuu cu excitatie
serie 10
............................................................. 2
2.6 PROBLEME 10
........................................................ 4
2.6.1. Probleme rezolvate 10
..................................... 4
2.6.2. Probleme propuse 10
....................................... 7
2.7. BIBLIOGRAFIE 10
.................................................. 9
CAPITOLUL 3 .............................................................. 11
........ 0
SISTEME DE ACTIONARE ELECTRICA MASINA
DE CURENT CONTINUU - CHOPPER ...... 11
0
3.1. PRINCIPII DE FUNCTIONARE; TEHNICI
DE REGLARE 11
........................................................... 0
3.2. SISTEM DE ACTIONARE ELECTRICA
MOTOR DE CURENT CONTINUU -
CHOPPER 11
............................................................ 6
3.3. ECUATIILE STATICE DE FUNCTIONARE
PENTRU REGIM DE FUNCTIONARE
STABIL 11
................................................................ 8
3.4. PRINCIPIUL DE FUNTIONARE AL UNUI
CHOPPER 12
............................................................ 3
3.5. MASINI DE CURENT CONTINUU
ALIMENTATE DE LA CHOPPERE 13
.................. 6
3.5.1. Analiza functionarii masinilor de
__________________________________________________________________________________________________________
__________
7
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
8
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
........ 3
SISTEME DE ACTIONARE ELECTRICA MASINA
DE CURENT CONTINUU - CONVERTOR STATIC
.................................................. 17
3
4.1. GENERALITATI 17
3
4.2. MASINA DE CURENT CONTINUU CU
EXCITATIE SEPARATA ALIMENTATA DE
LA UN CONVERTOR STATIC
MONOFAZAT COMPLET COMANDAT 17
................................... 7
4.2.1. Ipoteze de lucru 17
........................................... 8
4.2.2. Principiul de functionare 17
............................. 9
4.2.2.1. Regimul de functionare continua 17
..... 9
4.2.2.2. Regimul de functionare 18
discontinua 4
4.2.3. Analiza generala a functionarii 18
actionarii ... 6
4.2.3.1. Metoda numerica 18
............................. 7
4.2.3.2. Metoda analitica 18
.............................. 8
4.2.4. Evaluarea performantelor 19
............................ 1
4.3. ¥MBUNATATIREA FACTORULUI DE
PUTERE 19
............................................................... 3
4.3.1. Controlul unghiului de defazaj 19
.................... 5
4.3.1.1. Convertor complet comandat 19
.......... 5
4.3.1.2. Convertor semicomandat 19
................. 8
__________________________________________________________________________________________________________
__________
9
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
10
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
11
CAPITOLUL 1
9
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
10
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
11
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Sistemul de
Conducere
Sistemul de
Comandå¿i Control
x ye
Sistemul de zi Sistemul
Comandå Informatic
xe zc zr y
Sursåde ze zm Mecanism
Energie CE CEM CM Productiv
Electricå
xp yp
Sistemul de
For¡å
Mediul
Exterior
12
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
13
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
14
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
Semnale de comandå
15
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Ie¿ire
Comandå Motor Sarcinå
Senzori ¿i traductoare
__________________________________________________________________________________________________________
__________
16
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
Amplificator
Ceas extern de putere
r(n)
Unitate de Convertor
y(n) DSP AP Motor
comandå D/A
Convertor Senzori ¿i
Sarcinå
A/D traductoare
min
(1.1)
max
__________________________________________________________________________________________________________
__________
17
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
zm y
CEM CM MP
a).
E E
f fs m ms
( m) (J)
v v
b). c).
Fig.
Fig. 1.5. Elementele în 1.2 ale unui SAE.
miscare
__________________________________________________________________________________________________________
__________
18
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
d
- pentru miscarea de rotatie m ms J (1.1.b)
dt
unde termenii:
dv
m fi - reprezinta forta de inertie (1.2.a)
dt
__________________________________________________________________________________________________________
__________
19
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
d
J md - reprezinta cuplul dinamic (1.2.b)
dt
20
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
( ) (1.5.a)
n
m
( s ) (1.5.b)
Mn
ms
s (1.5.c)
Mns
21
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
m
(ms) caracteristica
0 mecanicå a ma¿inii
A
(m) caracteristica
mecanicå a sarcinii
m
0
MA Mm ms
__________________________________________________________________________________________________________
__________
22
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
m F m F
0 0
m s0 m
Cuplul de frecåri statice fC
m fv
a) b)
Fig. 1.7. Cuplul datorat frecarilor si componentele sale.
unde:
mfv : cuplul de frecari vâscoase, proportional cu viteza;
mfC : cuplul de frecare coulombiana, independent de
viteza;
ms0 : cuplul de frecare aditional, care este prezent
numai în starea de repaus (sau viteze foarte
mici);
mra : cuplul datorat rezistentei aerului, proportional cu
patratul vitezei.
23
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
B m mfC C m
2
ms
Dar, în cele mai multe cazuri, cuplul de frecari
coulombiene si cel datorat rezistentei aerului sunt mult mai
mici decât cuplul de frecari vâscoase si neglijabile fata de cel
cerut de catre sarcina:
mfC C m
2
B m (1.7.a)
d m
m ms J (1.7.b)
dt
d m
m ms J B m (1.8)
dt
Daca cuplul dezvoltat de catre masina m si cel cerut de
sarcina mS, nu sunt constante în timp, atunci ecuatia 1.8 este
o ecuatie diferentiala neliniara, ce poate fi rezolvata numai
numeric. Expresia cea mai des utilizata pentru ecuatia
cuplului este cea din relatia 1.9, în care este neglijat si cuplul
de frecari vâscoase:
d m
m ms J (1.9)
dt
__________________________________________________________________________________________________________
__________
24
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
m sarc m sarc
a) b)
m m
A B
A' B'
C
m sarc m sarc
c) d)
__________________________________________________________________________________________________________
__________
25
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
m
vitezå mare
vitezå micå
m sarc
e)
26
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
27
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Me Mse (1.10)
d m
0 (1.11)
dt echilib ru
d m m
Me m Mse mS J (1.12)
dt
dm
m m (1.14)
d m
dms
ms m (1.15)
d m
__________________________________________________________________________________________________________
__________
28
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
d( m) dms dm
J m 0 (1.16)
dt d m d m
1 dmS dm
t
J d d m
m m0 e m (1.17)
dms dm
0 (1.18)
d m d m
m
Cuplul motor m
A Cuplul motor
Cuplul de sarcinå
Cuplul de sarcinå
B
0 C
0
m m
__________________________________________________________________________________________________________
__________
29
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
a) b)
Fig. 1.9. Stabilitatea statica de functionare.
__________________________________________________________________________________________________________
__________
30
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
viteza
maximå m
puterea
maximå mb cuplul
în regim maxim
tranzitoriu în regim
tranzitoriu
II I
III IV M
- mb
puterea
maximå cuplul
în regim maxim
continuu în regim
continuu
31
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
32
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
m caracteristica
mecanicå a
A
m1 F1 sarcinii
B II I
C m2 F2
a). 0 m
m caracteristica
mecanicå a
sarcinii
F C
2 m1 B
II I A
F1 m2
b). 0 m
m
caracteristica
A m1 mecanicå a
F1 sarcinii
B
II I
C
0 m
III IV
D m2 cuplul
maxim
F2
E
c).
33
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
34
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
dv
f fs m (1.19)
dt
__________________________________________________________________________________________________________
__________
35
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
J r 2 dm (1.21)
V
GD2 dn
m ms (1.23)
375 dt
__________________________________________________________________________________________________________
__________
36
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
Tabelul 1.2.
__________________________________________________________________________________________________________
__________
37
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
2
GDG
si ecuatia 1.27 devine: J (1.29)
4g
2
cu GDG moment de giratie.
2. Cilindru gol
R1 R2
38
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
m 2 R
J r 2dm r 2 2Lr dr (1.30)
0 R g
1
R4 R14
J 2L 2 (1.31)
g 4
Dar:
G L R22 R12 (1.32)
2 R2 R22
RG 1 (1.34)
2
__________________________________________________________________________________________________________
__________
39
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
m
Ma¿ina
de lucru
Ma¿ina
principalå
s
Ma¿ina
principalå
m
1 2
Ma¿ina
de lucru
s
__________________________________________________________________________________________________________
__________
40
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
MS M
M' s (1.37)
i1 i 2 in itotal
Ms Ms
M' (1.38)
i1 i2 in 1 2 n itotal total
In cazul transmisiilor elastice, apare o diferenta între
viteza reala a masinii de lucru si cea ideala. Acelasi fenomen
apare si în cazul transmisiilor cu curele, datorita efectului de
patinare a curelei. De aceea este necesara introducerea
notiunii de alunecare, definita cu ajutorul relatiei urmatoare:
s idealå s realå
s (1.39)
s idealå
m
i (1.40)
s idealå 1 s
__________________________________________________________________________________________________________
__________
41
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
M, m
Sarcina
Ma¿ina
principalå
m vS
FS
m
2
m
2
12 22 n2
Je Jm J1 J2 Jn (1.42)
2 2 2 2 2
__________________________________________________________________________________________________________
__________
42
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
n 1 m v2
Je Jm Jk k s2 (1.46)
k 1 m
i j j
2
j 1
__________________________________________________________________________________________________________
__________
43
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
44
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
p2 A ma (1.48)
__________________________________________________________________________________________________________
__________
45
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
d ma
C p1 A ma
dt
d
C p1 A
dt
(1.49 - 1.52)
d
C A p1
dt
C d
p1 /A
A dt
P1 P2
__________________________________________________________________________________________________________
__________
46
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
t final 1 et / T
p10 (1.53 - 1.54)
final
A
Schimbul de energie termica este prezentat în figura
1.17 sub forma ariei hasurate:
Schimbul de
energie termicå
final înmagazinatå
t
__________________________________________________________________________________________________________
__________
47
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
P,
max
0 functionare P
t
Fig. 1.18. Serviciul de functionare S1.
__________________________________________________________________________________________________________
__________
48
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
P,
max
P
functionare repaus
Fig. 1.19. Serviciul de functionare S2.
Timpul de functionare este mic, astfel încât nu se
ajunge la un echilibru termic, dar urmeaza o pauza suficient
de mare, permitându-i masinii sa se raceasca complet.
Timpul de functionare este normat la 10, 30, 60 sau 90
minute. Acest serviciu tip de functionare este întâlnit mai ales
în cazul aplicatiilor electrocasnice.
P,
max
2
1
P
__________________________________________________________________________________________________________
__________
49
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
t
repaus functionare
Fig. 1.20. Serviciul de functionare S3.
P,
P
__________________________________________________________________________________________________________
__________
50
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
51
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
52
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
53
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
54
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
55
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1.10. PROBLEME
c m
2
a m b 0
a a2 4bc
m1,2
2c
__________________________________________________________________________________________________________
__________
56
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
m1 1,1 m1
M' M 1,1a m1 b a m1 b 0,1a m1
M' S M S 1,21c 2 c 2 0,21c 2
m1 m1 m1
0,21c m
2
0,1a m1
1
0,21c m1 0,1a
a
m1 0,476
c
Punctul 1 va fi static stabil daca aceasta ultima relatie
este verificata. Pentru al doilea punct vom avea:
a
m2 0,476
c
a a2 4bc a
0,476
2c c
a a2 4bc 0,952 a
a2 4bc 0,048 a
__________________________________________________________________________________________________________
__________
57
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Rezolvare : a)
DT / 2
m DT / 2
r4 LT DT4
JT r dm 2
r 2
2
LT dr 2LT
0 0 4 32
0
JT 0,675kgm2
b)
Jtotal J m J' S J' T
1 1
J' S m
2
mv2
2 2
2 2
v D / 2
J' S m m S T
m m
2
D
m 1 DT / 2
D1 DT
2
m
D2
m
m 4D2
2
D2
J' T JT S JT 1
m D22
2 2
0,08 0,2 0,08 2
Jtotal 0,4 150 0,675 0,475kgm
4 0,3 0,3
__________________________________________________________________________________________________________
__________
58
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
t final 1 et / T
daca t , final1 45o C . Supratemperatura este
proportionala cu pierderile de putere. Deci:
final ~ P k I 2 ~ P12
rezulta:
final1 P k I 2 P2
1 11 1
final2 P2 k2 I 22 P22
2 final2 1 e15/ 45 40o C
final2 2 1
P2 P1
final1
P1
1 e 1/ 3
1
40 1
P2 3,5
1 e 1/ 3
40
6,574kW
__________________________________________________________________________________________________________
__________
59
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
T T T T
Q1 ~ P12 P22 P32 P42
4 4 4 4
T
P12 P22 P32 P42
4
T
P12 4P12 9P12 16P12 7,5 P12 T
4
Utilizarea unui volant montat pe arborele motorului, ne
conduce la:
__________________________________________________________________________________________________________
__________
60
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
2
Q2 ~ PmedT
P2 P22 P32 P42 P1 2P1 3P1 4P1
Pmed 1 2,5 P1
4 4
Q2 ~ 6,25 P12 T
Q1 Q2 7,5 6,25
Q 100 100 16,67%
Q1 7,5
PR5. Sa se determine constanta termica a motorului de
curent continuu MFD 112.2, care are urmatoarele date:
puterea nominala 11,1 kW, masa 86 kg si randamentul
nominal de 85%. Masina functioneaza în serviciul S1, iar
supratemperatura finala este final = 50oC.
P10
A
final
61
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
M S M
A S
B
M M
M M
MS
M M
MS
C D
M M
__________________________________________________________________________________________________________
__________
62
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
1.11. BIBLIOGRAFIE
__________________________________________________________________________________________________________
__________
63
CAPITOLUL 2
__________________________________________________________________________________________________________
__________
61
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
IA
I abs IE
A1 Ex. A1 E1
F1
UA M F2
IE UA M Ex.
A2
A2 IA E2
UE
(a) (b)
Fig. 2.1. Masini de curent continuu cu
excitatie separata (a) si derivatie (b).
__________________________________________________________________________________________________________
__________
62
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
IA RA
A1
UA
M E = k
A2
U A RA I A E U p
p
E N k
2a (2.1 - 2.4)
M k I A
M MS
63
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
UA
unde: se noteaza cu 0 si se numeste viteza de
k
mers în gol a masinii.
U An RAI An
K k
n
(2.7)
1 U I Pn 1 U An
RA An An
2
1 n
2 I An 2 I An
(2.8)
unde: n randamentul nominal al masinii, (marimile notate
cu indicele n, fiind marimile nominale).
64
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
0
M
Fig. 2.3. Caracteristica mecanica a unei masini de curent continuu
cu excitatie separata.
U An U An
0 si M pn k (2.9)
k RA
U An U An RA I An
0 n k k
rcm 100 100
0 U An
(2.10)
k
R I
A An 100%
U An
__________________________________________________________________________________________________________
__________
65
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
P E I A k I A k I A M (2.11)
iar cuplul nominal la arborele masinii, cu relatia:
P
Mn n (2.12)
n
66
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
U An
RAn (2.13)
I An
1 r Am
(2.14 - 2.15)
1 rAi A
¥n aceste relatii cuplul electromagnetic si curentul prin
indusul masinii au aceeasi valoare:
M k I A I
m A iA (2.16)
Mn k I An I An
I A = I Ex.
Ex. A1
UA M
D1 D2
A2
a)
__________________________________________________________________________________________________________
__________
67
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
I abs I Ex.
A1 E1
Ex.1
UA M
Ex. 2
D1 D2
IA A2
E2
b)
U A RA RE I A
(2.17)
k k
U A RA RE M
(2.18)
k k 2
Din ultima relatie se observa ca în absenta cuplului de
sarcina (IA=0), viteza masinii ar creste foarte mult. De aceea,
nu este permisa functionarea în gol a masinii cu excitatie
serie. Caracteristica mecanica a masinii, prezentata în figura
2.5, este o caracteristica ”moale”. La sarcini mici corespund
viteze mari, iar la sarcini mari, viteze mici, aspect deosebit de
util mai ales în cazul sistemelor de tractiune electrica.
__________________________________________________________________________________________________________
__________
68
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
0
M
Fig. 2.5. Caracteristica mecanica a masinii
de curent continuu serie.
M k I A k k I E I A M EAI E I A M EA I A
2
(2.19)
unde: MEA este o constanta egala cu produsul dintre
k pN / 2a si k, constanta de proportionalitate cu
fluxul, având dimensiunea unei inductivitati (H).
__________________________________________________________________________________________________________
__________
69
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
70
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
K1 So
F1 Q F3
+
K2 S p1 S p2
K2
E1 K1
- F2 M
E2
U
A
K2 K1
K2 F4
K1
F6 K1 K2
1 2 3 4 5 6 7 8
2 1
2 3
6 5
7 8
Fig. 2.6. Schema secventiala de pornire prin conectare directa a
masinii de curent continuu cu excitatie derivatie.
__________________________________________________________________________________________________________
__________
71
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
unde: F sigurante;
K bobinele contactoarelor de curent continuu, cu
contactele lor;
S butoane de pornire/oprire.
Functionarea schemei:
72
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
UA
I pmax (2.21)
RA Rp
sau cu:
I pmax UA
i pmax
I An
I An RA Rp (2.22)
__________________________________________________________________________________________________________
__________
73
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
G
0 N 2'
2 R = RA
1'
1 2
R = RA + Rp1
1
0' R = RA + Rp1+ Rp2
0 I An I p I pmaxI
min
__________________________________________________________________________________________________________
__________
74
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
RA Rp I p2 min
RA I p2
max
2
I pmax R Rp
2 A (2.26 - 2.28)
Ip RA
min
U A I pmax RA Rp
Pentru aflarea valorii treptelor reostatului de pornire,
trebuie cunoscute doua dintre urmatoarele trei marimi:
valoarea curentului minim de pornire, valoarea curentului
maxim de pornire si respectiv numarul de trepte ale
reostatului de pornire.
Cu ajutorul relatiilor 2.23 - 2.28, pentru valorile treptelor
reostatului de pornire se obtin urmatoarele relatii:
Rp1 RA 1
(2.29)
Rp2 RA 1
rA r p 2 rA
1
rA r p (2.31 - 2.33)
i pmax
1
2
r A i pmax
iar relatia pentru o treapta a reostatului de pornire, la cazul
general este:
r pk r A 1 k1 (2.34)
__________________________________________________________________________________________________________
__________
75
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
L
TA A
RA
(2.35 - 2.36)
J RA
Tem
k 2
Existenta unei trepte a reostatului de pornire în circuitul
indusului va duce la micsorarea constantei electrice de timp si
la cresterea celei electromecanice, astfel:
LA
TAk (2.37)
RA Rpk
J RA Rpk
Temk (2.38)
k 2
Conform acestei observatii, în figura 2.8 este prezentat
modul de variatie al curentului prin indusul masinii si al vitezei
acesteia în functie de timp, în cazul folosirii unui reostat de
pornire cu doua trepte.
Pornirea reostatica automata a unei masini de curent
continuu se poate realiza prin folosirea unor scheme de
comanda secventiala. ¥n literatura de specialitate sunt
cunoscute mai multe solutii posibile pentru îndeplinirea
acestui deziderat. Se poate realiza o pornire automata
secventiala în functie de timp, în functie de viteza sau în
functie de valoarea curentului.
__________________________________________________________________________________________________________
__________
76
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
N
2
1
0 t1 t2 t
a)
iA
Ip
min
I pmax
I An
0 t1 t2 t b)
Functionarea schemei:
__________________________________________________________________________________________________________
__________
77
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
K1 F3
So K T1
F1 Q F2
+ Rp1 K2
Sp
Rp2 K3 K T2
K1
- F Rp3 K4
1
Ex.
E1 E2 K T3
M K T3 K T2 K T1
K 1 K2 K3 K4
F2 F3
K1
1 2 3 4 5 6 7 8 9 10
10 9 8 2 3 3 3
2
7
__________________________________________________________________________________________________________
__________
78
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
Functionarea schemei:
__________________________________________________________________________________________________________
__________
79
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
F3
K1 K1
So K T1 K 2 K T2
F1 Q F2
+ Rp1 K2
Sp
K K2 K K3
K I1 I1 I2
K3 K1
- F Rp2 K I2
1
Ex.
E1 E2
M
K1 K T1 K2 K T2 K3
F2 F3
K1
1 2 3 4 5 6 7 8 9
7 9 2 7 3 9 4
52 7 9
6 8
Functionarea schemei:
80
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
F3
K1 So K2
F1 Q F2
+ Rp1 K2 Sp
K T2 K
T1
K3 K1
- F1 Rp2
K T2
Ex.
E1 E2
M
K1 K T1 K2 K3
F2 F3
K1
1 2 3 4 5 6 7 8
8 3 7 4 4
53 6
U An RA Rp I A k
d (2.42 - 2.43)
M k I A J MS
dt
J
d
k 2 k U M
An S
dt RA Rp RA Rp
d UAn RA Rp MS
(2.44 - 2.45)
J RA Rp
k 2 dt k k 2
Cu ajutorul relatiei 2.38 si cu notatia:
final
U An RA Rp MS (2.46)
k k 2
__________________________________________________________________________________________________________
__________
81
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
t / Temk t / T
t ini¡ial e final 1 e emk
(2.47)
final ini¡ial final e t / Temk
1 final
tk Temk ln
2 final
(2.48)
M MS
Temk ln max
Mmin MS
__________________________________________________________________________________________________________
__________
82
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
UAn
limit (2.49)
k
U An U An n
limit
k n U An RA RE I An 1 RA RE I An
n U An
(2.50)
ki limit i 1
RA RE Rp I Ai
k
(2.51)
U An
__________________________________________________________________________________________________________
__________
83
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
E'
F'
d' d
D'
D Caracteristica
I pmax C' c' c
limitå
C 2
Caracteristica
I pmin B' b' b naturalå
B 1
Caracteristica
a reostaticå (R + Rp1 )
A' A Rp1 R p2 R 0 I S I pmin I pmax
R I
R total
R=RA + RE Caracteristica
UAn/ I pmin
R total= UAn / I pmax reostaticå (R + Rp1 + Rp2 )
__________________________________________________________________________________________________________
__________
84
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
E I E Ex v S
U
m
a)
__________________________________________________________________________________________________________
__________
85
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
0
A RA
B
RA + RF
1
Motor C
M
0 MS RA + RF
2
Generator
D
RA + RF
3
b)
Fig. 2.13. Frânarea propriu-zisa prin inversarea sensului de rotatie.
U An RA RF
cob MS (2.52)
k k 2
si rezulta:
U An k k 2 cob
RF RA (2.53)
MS MS
__________________________________________________________________________________________________________
__________
86
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
RF
M MS
Sarcinå
U An M
IA E I E Ex
U a)
B
0
A RA
Generator Motor
M
C 0 MS
Motor Generator
RA + RF
E
RA + RF
- 0
D
b)
Fig. 2.14. Frânarea prin contraconectare: a) schema electrica;
b) caracteristica mecanica de frânare prin contraconectare.
Metoda consta în schimbarea polaritatii tensiunii de
alimentare, simultan cu introducerea în serie cu indusul
masinii a unei rezistente de frânare. Schema electrica
corespunzatoare acestui procedeu si caracteristica mecanica
pentru frânarea prin contraconectare sunt prezentate în figura
2.14.
Procedeul este folosit mai ales acolo unde este
necesara obtinerea unui timp mic de frânare. Cuplul maxim
de frânare este limitat în general la aproximativ 2 2,5 ori
__________________________________________________________________________________________________________
__________
87
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
U An RA RF
M (2.54)
k k 2
unde valoarea cuplului este negativa, el având sensul
schimbat fata de cazul în care masina functiona în regim de
motor. Masina frâneaza si poate fi oprita în punctul C. Daca
procesul continua, va avea loc reversarea, adica schimbarea
sensului vitezei unghiulare a masinii.
Pentru accelerarea în acest nou sens, se poate realiza
o scoatere secventiala a treptelor rezistentei de frânare,
similar cu cazul pornirii reostatice.
__________________________________________________________________________________________________________
__________
88
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
A
0
M
0 Mn
RA RF I F
k
RA RF M F (2.55)
k 2
unde valoarea curentului de frânare, respectiv a cuplului de
frânare sunt negative. Dezavantajul acestui procedeu consta
în scaderea cuplului de frânare odata cu scaderea vitezei
masinii.
__________________________________________________________________________________________________________
__________
89
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
MS
M
Sarcinå
RF M
IA E I E Ex
B
0
A RA
RA + RF
Generator Motor M
0 MS
U A RA RF I F k
d
k I F J dt
J RA RF d
0
k 2 dt (2.56 - 2.60)
J RA RF
TemF
k 2
d
TemF 0
dt
__________________________________________________________________________________________________________
__________
90
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
t / TemF
0 e (2.61)
k t / TemF
iF e (2.62)
RA RF
iA
I An
Tem
F
0
0 t
IF
0 Tem
F
t
91
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
U An RA RE RF
IF (2.63)
k k
sau:
RA RE RF
limitå 1 I F (2.64)
U An
92
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
RA RE RF
IF (2.65)
k
93
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
caracteristica
mecanicå
naturalå caracteristica
mecanicå
naturalå
0 0
M M
__________________________________________________________________________________________________________
__________
94
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
Ex. Ex.
M.As. G M Sarcina
Y/
RE1 RE2
+
-
3 x 380 V
EG UG RAG I AG k G G
U M EM RAM I AM k M M RAM I AM
U M UG
(2.66 - 2.68)
si rezulta pentru viteza masinii relatia:
__________________________________________________________________________________________________________
__________
95
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
k G R RAM
M G AG IA (2.69.a)
k M k M
k G R RAM
M G AG M (2.69.b)
k M k 2M
Din relatiile 2.69 rezulta ca viteza sarcinii poate fi
reglata atât prin modificarea tensiunii generatorului G, cât si
prin slabirea câmpului de excitatie a motorului M. Astfel, cu
ajutorul grupului generator - motor, cunoscut si sub numele
de Grup Ward - Leonhard, dupa numele inventatorilor, se
poate realiza o gama de reglare a vitezei de aproximativ 1:20.
Actionarea poate functiona în patru cadrane. Inversarea
sensului de mers se face prin schimbarea sensului curentului
de excitatie al generatorului G. Aceasta metoda de reglare a
vitezei este folosita la actionarea laminoarelor, a masinilor -
unelte grele (raboteze, strunguri carusel), instalatiilor de
ridicat si transportat (teleferice de persoane, masini de
extractie miniere), a locomotivelor diesel - electrice, etc.
Dintre avantajele actionarii mentionam: timp mic de
pornire, frânarea se poate face lin, nu sunt necesare
rezistente suplimentare în circuitul indusului masinii M. Dar,
actionarea prezinta si o serie de dezavantaje ce trebuie luate
în considerare: putere instalata mare, gabarit mare,
randament inferior actionarilor cu convertizoare cu dispozitive
semiconductoare de putere (produsul randamentelor celor trei
masini de puteri apropiate), cost ridicat, întretinere
pretentioasa datorita uzurii colectoarelor si a periilor.
¥n general, pe axul masinii asincrone este cuplata o
masina de curent continuu de putere mica cu magneti
permanenti. Ea este folosita pentru alimentarea excitatiilor
masinilor de curent continuu din cadrul grupului si poarta
numele de masina excitatoare.
96
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
caracteristica
mecanicå
caracteristica naturalå
mecanicå
naturalå
0 0
M M
(a) masina derivatie (separata) (b) masina
serie
Fig. 2.20. Caracteristicile mecanice ale masinii de curent continuu
în cazul reglarii câmpului de excitatie.
97
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
98
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
P, M, IA
IA
bazå
0
max
reglarea tensiunii reglarea
de alimentare câmpului
de excita¡ie
__________________________________________________________________________________________________________
__________
99
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
di A
uA RAi A L A eA
dt
eA k
(2.70 - 2.73)
m k i A
d
m mS B J
dt
J
Tmv (2.76)
B
cu ajutorul relatiilor 2.35 - 2.36, din 2.74, pentru curent
obtinem:
U A (s) k (s)
I A (s) (2.77)
RA 1 s TA
100
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
M S(s)
-
UA (s) 1 / RA IA(s) M(s) 1/B (s)
+ (1+TA ) k (1+Tmv )
+
-
E(s)=k (s)
k
1 M(s)
(s) (2.79)
B 1 s Tmv
__________________________________________________________________________________________________________
__________
101
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
k I A (s)
U A (s) k
B 1 s Tmv
I A (s) (2.80)
RA 1 s TA
U A (s)
I A (s) 1
k 2
RA 1 s TA RA B 1 s TA 1 s Tmv
I A (s) B 1 s Tmv
U A (s) k 2 RA B RA B TA Tmv s RA B TATmv s2
(2.81 - 2.82)
Cu folosirea notatiilor:
J RA
Tem1
B RA k 2
(2.83 - 2.84)
B
K1
B RA k 2
rezulta:
I A (s) K 1 1 s Tmv
U A (s) T
1 Tem1 1 A s Tem1 TA s2
Tmv (2.85)
K 1 1 Tmv
1 s T1 1 s T2
102
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
(s) k 1
U A (s) B RA k 2 T
1 Tem1 1 A s Tem1 TA s2
Tmv
(2.86)
di E
U E RE i E LE (2.87)
dt
m k I A kA i E (2.88)
__________________________________________________________________________________________________________
__________
103
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
d
kA i E mS B J (2.89)
dt
k A I E (s) M S(s)
(s)
B s J
kA UE M S(s)
(2.92)
B 1 s Tmv RE 1 s TE B 1 s Tmv
kA UE 1 M S(s)
B RE 1 s Tmv 1 s TE B 1 s Tmv
L
unde: TE E (2.93)
RE
MS (s)
__________________________________________________________________________________________________________
__________
104
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
L A LE L'A
T' A (2.94)
RA RE R'A
__________________________________________________________________________________________________________
__________
105
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
di A
uA R'Ai A L'A eA
dt
eA k
(2.95 - 2.98)
m k i A
d
m mS B J
dt
k f ( I A ) (2.99)
-
UA (s) 1 IA(s) M(s) 1/B (s)
+ k ' (1+T’mv
R'A(1+T'A)+R +
- )
E(s)
k
__________________________________________________________________________________________________________
__________
106
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
2.6. PROBLEME
__________________________________________________________________________________________________________
__________
107
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Mm MS K n k n I An
si rezulta:
k n I An 3,82 20
K , Nm / rads1
146
n 500
2 n 2
60 60
500
U An k n I An 220 3,82 2 60
RA R 12
K 2 1,46 2 250
k n 3,82 60
R 11
PR2. Un motor de curent continuu cu excitatie separata are
urmatoarele date nominale:
U An 230V
nn 500rot / min
I An 100A
RA 0,1
__________________________________________________________________________________________________________
__________
108
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
nn 500
n 2 2 52,4rad / s
60 60
En 220
k n 4,2Wb
n 52,4
En 220 400
E1 1 2 176V
n 52,4 60
U A1 E1 RA I A 176 10 186V
b)
E2 k 2 2 K k n 2
800
K 4,2 2 351,9 K
60
k n I A1 k 2 I A2
k n 1 100
I A2 I A1 I A1
k 2 K K
U A RA I A2 k 2 2
1
0,1 100 351,9 K 230
K
351,9 K 2 230 K 10 0
109
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
P
nAs 1500 1 0,02 2As rot / min ?
PnAs
c). Care va fi turatia nominala a motorului de curent
continuu, daca turatia motorului asincron scade cu
puterea dezvoltata relativa conform relatiei
anterioare?
__________________________________________________________________________________________________________
__________
110
Ma¿ini de Curent Continuu folosite în Sistemele de Ac¡ionåri Electrice
__________________________________________________________________________________________________________
__________
111
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
2.7. BIBLIOGRAFIE
__________________________________________________________________________________________________________
__________
112
CAPITOLUL 3
__________________________________________________________________________________________________________
__________
110
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
111
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Observatii:
Daca se reduce (sau elimina) zona regimului de
curent întrerupt, raspunsul actionarii este sensibil
îmbunatatit (ca si controlul – reglarea vitezei);
Pentru reducerea pierderilor ar fi util sa se
foloseasca un redresor cu un numar ridicat de
pulsuri, pentru a putea obtine ondulatii ale
curentului de frecvente mai mari si astfel mai mici
în amplitudine. Dar în acelasi timp, factorul de
utilizare al tiristoarelor ar scadea la 2/p, ceea ce
implica o crestere substantiala a pretului de cost.
Ex
U0
M
__________________________________________________________________________________________________________
__________
112
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
t
t
113
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1 T 1 T
UA uAdt Udt U (3.1.)
T 0 T 0
L i
i
A
u
L
U0 u M
A
i
E
__________________________________________________________________________________________________________
__________
114
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
di
uA U0 uL U0 L (3.2)
dt
U 0 U Ab uL
1 T di 1 i1
uL L dt L di 0
T 0 dt T i
1
1 T
(3.3)
U AB U Adt U A (1 )
T T
U AB U
UA 0
1 1
Observatii:
__________________________________________________________________________________________________________
__________
115
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
116
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
Chopper
Us
M
+
-
Observatii:
Curentul prin sursa nu este continuu. El este în
pulsuri, ceea ce implica existenta unei puteri
active cerute de la sursa de valoare mare, un timp
mic (pulsuri de putere), care poate duce la variatii
ale tensiunii de alimentare. Armonica
fundamentala a formei de curent are aceeasi
frecventa cu cea a curentului. Ele sunt nedorite
datorita unor posibile interferente cu alte sarcini
de curent continuu, producând astfel interferente
__________________________________________________________________________________________________________
__________
117
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
i i
a2 A
E
i
A
i i
a1 a2
0 0 t
t T t t T T
Ipoteze de lucru:
__________________________________________________________________________________________________________
__________
118
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
di A
RAi A L A E Us
dt
i A (0) i A1
(3.4.a)
solutia este:
t
U E U E TA
iA s i A1 s e
RA RA
T
U E U E TA
i A (T) i A2 s i A1 s e
RA RA
(3.4.b)
__________________________________________________________________________________________________________
__________
119
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
t ' t T
di A
RAi A L E0
dt'
i A (t ' 0) i A (t T ) i A2
(3.5.a)
solutia este:
t'
E E TA
iA i A2 e
RA RA
T(1 )
E E TA
i A (t T(1 )) i A1 i A2 e
RA RA
(3.5.b)
T
1
U eTA E
i A1 s
RA T
1 RA
TA
e
(3.6)
T
U s 1 e TA E
i A2
RA T RA
TA
1 e
__________________________________________________________________________________________________________
__________
120
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
T T T T
i A i A2 U 1 e TA e TA e TA
i A 1
2 2RA T
e 1
TA
(3.7.a)
T
2TA
US e 1
i A max
RA T
1 e 2TA
(3.7.b)
i
ln 1 A max
2( 2I 0 i A max) I0
A1 (3.8)
i
2 ln 2 1 A max
I0
T
1 e TA U S ke e
Us
I0 (3.9)
RA T RA
TA
1 e
__________________________________________________________________________________________________________
__________
121
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
T
2TA
1 Us
2e 2 Us T
kw I An
T
RA RA 4TA T
2TA
e 1
2 Us T 2 Us (3.10)
T
RA 4TA L A
2 Us
Lw T
4 kw I An
Observatii:
In regim stabilizat de functionare, valoarea medie
a caderii de tensiune pe bobina este zero. Astfel:
U A E RA I A
Us E RA I A (3.11)
U s E
IA
RA
Daca fluxul de excitatie este constant, atunci în
regim stabilizat de functionare, cuplul de sarcina
MS este egal cu cuplul electromagnetic M si este
proportional cu valoarea curentului din indusul
masinii de curent continuu, IA. Astfel rezulta:
U s RA
M (3.12.a)
ke e ke e 2
__________________________________________________________________________________________________________
__________
122
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
1 T i i T T i i
IA i A1 A2 A1 t dt i A2 A1 A2 t ' dt '
T 0 T 0 T T
i i
A1 A2 constant
2
(3.12.b)
O astfel de valoare a curentului mediu prin indusul
masinii de curent continuu poate duce la aparitia
fenomenului de instabilitate statica de functionare,
deoarece pentru aproximatia considerata anterior nu a
contat caracterul sarcinii masinii.
U s E RAi A1
T TA ln
U s E RAi A2
(3.13-3.14)
E RAi A1
(1 T ) TA ln
E RAi A2
Din ecuatiile 3.13-3.14 rezulta perioada T si din ecuatia
3.13 se obtine coeficientul . Astfel, rezulta valoarea medie a
curentului prin indusul masinii, respectiv valoarea cuplului
electromagnetic dezvoltat de catre aceasta:
U s E
IA
RA (3.15)
M (ke e ) I A
__________________________________________________________________________________________________________
__________
123
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Observatie:
1 T i A i A1 T T i A i A2
IA i A1 2 t dt i A2 1 t' dt'
T 0 T
0
T T
i A1 i A2
const.
2
(3.16)
124
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
L T C
0 L 2
2
U T
0 1
D
2 D
L 1
D
Ex
M
L
1
__________________________________________________________________________________________________________
__________
125
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
diC
U 0 uC L1
dt
duC
iC C
dt
d 2uC
U 0 uC CL1
dt 2
(3.17)
Solutia este:
uC C1 cost C2 C3 sint
uC (0) 0 C1 C2 0
i C (0) 0 C3 0
(3.18.a)
C1 U0 C2 U0
(3.18.c)
si rezulta:
uC U0 U0 cost
i C C Uo sint
1
L1C
(3.19)
In figura 3.9 este redata variatia în timp a diverselor
marimi care definesc functionarea chopper-ului comandat în
tensiune.
__________________________________________________________________________________________________________
__________
126
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
Observatii:
a)
b)
127
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
c)
d)
__________________________________________________________________________________________________________
__________
128
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
diC
uC ( L0 L2 )
dt
duC
i C C (3.20)
dt
d 2uC
uC ( L0 L2 ) C 0
dt 2
solutia este:
uC A1 A2 sin ' t A3 cos ' t (3.21)
cu conditiile initiale:
uC (t s ) 2U 0
(3.22)
i C (t s ) 0
uC (t s ) 2 U0
(3.23)
A1 A2 sin ' t s A3 cos ' t s 2 U0
__________________________________________________________________________________________________________
__________
129
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1
A1 A2 sin ' t s A3 cos ' t s [ A2 ' 2( sin ' t s )
' 2
(3.25)
Rezulta: A1 0
A2 2 U0 sin ' t s
A3 2 U0 cos ' t s
(3.27)
Se obtin solutiile finale pentru valoarea tensiunii si a
curentului:
uC 2U 0 cos ' (t t s )
i C 2C ' U 0 cos ' (t t s )
(3.28)
1
'
( L0 L2 )C
(3.29)
L0
uL0 2U0 cos ' (t t s )
L0 L2
(3.30)
__________________________________________________________________________________________________________
__________
130
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
Observatii:
__________________________________________________________________________________________________________
__________
131
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
132
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
133
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
U0
U0
Avantaje:
Comutatia este fiabila atâta timp cât curentul de
sarcina este mai mic decât curentul iC;
Condensatorul ramâne întotdeauna încarcat la
aceiasi polaritate;
Tiristorul auxiliar T2 este comutat natural atunci
când curentul sau trece prin valoarea zero.
__________________________________________________________________________________________________________
__________
134
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
t q t OFF t
(3.32)
tq t 4 t3
daca x = 2, atunci:
2
' tq
3
(3.33)
2
tq LC1/ 2 t OFF t
3
1/ 2
C
2I Amax U 0 (3.34)
L
rezulta:
3 U 0 t OFF t
L
4 I A max
(3.35)
3 I A max t OFF t
C
U 0
Comutatia în sarcina a unui chopper:
__________________________________________________________________________________________________________
__________
135
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
136
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
tON T (3.36)
2U 0C
t ON (3.37)
IA
t 2 U 02 C f
U A U 0 ON U 0 t ON f (3.38)
T IA
U A ( f max) U 0 (3.39)
2 U02 C
U0 fmax (3.40.a)
IA
IA
fmax
2 U0 C
(3.40.b)
I A max
C
2 U0 fmax
Dezavantaje:
__________________________________________________________________________________________________________
__________
137
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Avantaje:
__________________________________________________________________________________________________________
__________
138
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
139
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
di A
U0 RAi A L A M EAI A K f pentru 0 t tON
dt
di
0 RAi A L A A M EAI A K f pentru tON t T
dt
(3.41)
t
t
U0 K f TA'
TA'
iA 1 e I A min e , pentru: 0 t tON
RA M EA
t
t'
Kf T'
'
iA 1 e A I A max e TA , pentru: tON t T
RA M EA
(3.42)
unde:
t' t t ON
LA (3.43)
T 'A
RA M EA
Se obtine:
t ON t ON
U0 K f TA' '
I A max i A (tON ) (1 e ) I A min e TA
RA M EA
(3.44)
__________________________________________________________________________________________________________
__________
140
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
T t ON
Kf TA'
I A min i A (t' T tON ) (1 e )
RA M EA
T t ON
TA'
I A max e
(3.45)
si rezulta:
t ON
'
U0 e TA 1 Kf
I A min (3.46.a)
RA M EA
T RA M EA
'
e TA 1
t ON
'
U0 e TA 1 Kf
I A max (3.46.b)
RA M EA T RA M EA
'
eTA 1
__________________________________________________________________________________________________________
__________
141
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
t ON t
ON
' U0 K f '
t m TA' lne TA 1 1 e TA (3.48)
Kf
__________________________________________________________________________________________________________
__________
142
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1 tON tm
IA i A (t )dt i A (t )dt (3.49)
TA' 0 tON
__________________________________________________________________________________________________________
__________
140
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
fie:
U0 K f Kf
I1 si I2 (3.50)
RA M EA RA M EA
1/ 2
1 t ON tm
I Aef i A
2 2
(t )dt i A (t )dt (3.52)
T
0 t ON
1 '
I Aef { [ I 12 tON 2 TA' I 1 ( I A min I 1) (1 e t ON / TA )
T
2t ON
T' '
A I 2 ( I A max I 2 ) (1 e TA ) I 22 (t m tON )
2
2 TA' I 2 ( I A max I 2 ) (1 e (t m t ON ) / TA )
'
T'
A ( I A max I 2 ) 2 (1 e 2(t m t ON ) / TA )} 1/ 2
'
2
(3.53)
Cuplul electromagnetic:
__________________________________________________________________________________________________________
__________
141
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
142
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
U A ke e
I1
RA
(3.57)
k
I2 e e
RA
3. Cuplul electromagnetic devine:
M ke eI A (3.58)
U0 R
A IA (3.59)
ke e ke e
1
U medie [ U 0 T E (1 ) T ]
T (3.60)
U medie U 0 E (1 )
__________________________________________________________________________________________________________
__________
143
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
U RA
IA (3.61)
ke e ( ) ke e ( )
lim 0 (3.62)
T T T
TA
1 e U0
I A lim 0
U T TA
A
RA T RA T
2 (3.63)
1 eTA TA
U T
0 ( 2 ) 2kw I An ( 2 )
RA 2TA
144
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
2
I A lim 4I A lim max l 1 (3.64)
0 2
0
1
0,8
0,6
0,4
0,2
__________________________________________________________________________________________________________
__________
145
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
146
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
147
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
L DRL
i
+ A
U
C A
+ Ex
U
0
-
Chopper
- I
ex
Filtru
a)
+
i
A
Chopper
U
A + Ex
C
U DRL
0
-
I
ex
-
Filtru
b)
i
M F A
F M
+ +
- -
i
A
c)
148
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
u i
A A u i
A A
u
U u U A
0 A 0
i E
A2
i i i
A1 A A
0 T T t 0 T T t
a) b)
149
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
di A
E RAi A L A
dt (3.65)
i A (0) i A1
di A
E U 0 RAi A L A
dt
i A (T ) i A2
(3.66)
E (1 ) U 0
IA
RA
U A (1 ) U 0
__________________________________________________________________________________________________________
__________
150
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
151
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
152
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
153
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Observatie:
Schema de mai sus poate fi folosita si pentru
masinile de curent continuu cu excitatie serie,
caz în care excitatia este conectata în afara
întrerupatorului manual C.
154
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
U0 E
U A U0 IA (3.67)
RA
__________________________________________________________________________________________________________
__________
155
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Observatii:
__________________________________________________________________________________________________________
__________
156
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
T T
T T
U
0
T T
i
A
T
0
T t
i
S
0
t
157
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1 2T
UA U0dt U0 (2 1) 0 (3.68)
T T
1 T
UA U0dt U0 (2 1) 0 (3.69)
T 2T
__________________________________________________________________________________________________________
__________
158
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
T T+2T
159
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
t
CH1 D1 CH2 D1
D2 D2 D1 D2
Modul I.
160
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
B.
Chopperul 3 este închis (activat), iar
chopper-ul 2 deschis.
Schema lucreaza în cadranele III si IV:
161
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Modul II.
A.
Chopper-ele 1 si 2 sunt activate (închise);
ele lucreaza împreuna cu diodele 1 si 2.
Schema functioneaza în cadranele I si IV astfel:
1 1T 1 T
UA 0
U dt U0dt U0 (2 1 1) (3.70)
T 0 T T
1
__________________________________________________________________________________________________________
__________
162
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
1 2 1 (3.71)
__________________________________________________________________________________________________________
__________
163
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Modul III.
Observatii:
Puterea medie debitata de sursa si cea absorbita
de sursa sunt identice.
U0 I 0 U0 I A
(3.72)
I0 I A
164
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
165
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
2T
__________________________________________________________________________________________________________
__________
166
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
T
__________________________________________________________________________________________________________
__________
167
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Xc / n
In I CHn (3.73)
(nXL ) ( XC / n)
Unde:
XL 2 fCH L
1
XC (3.74)
2 fCHC
n ordinul armonicii
(a)
T T
(b)
__________________________________________________________________________________________________________
__________
168
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
1 1
In I CHn I CHn (3.75)
4 n2 f 2CH LC 1 fCH
2
n 1
fr
unde:
In armonica de ordin n a curentului efectiv prin
sursa;
ICHn armonica de ordin n a curentului efectiv prin
chopper;
fCH frecventa chopper-ului;
fr frecventa de rezonanta a filtrului L, C.
2
f
I n r I CHn (3.76)
nfCH
169
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
+ + i
A
i
C
U C u
0 A
_ _
(a)
nX
L i
CHn
i
n X /n
C
i
Cn
(b)
170
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
3.11. PROBLEME
171
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
T T
(a) (b)
i
CH1
t
0 T T
i
CH2
t
0
i
S
t
0
(c)
172
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
U A I A RA 20 0.5 10 V
UA 1
U A U 0
U0 12
__________________________________________________________________________________________________________
__________
173
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
t q tOFF t 20 20 40 sec
I A maxt q 100 40 10 6
C 40 F
U0 100
2 2
U0 6 100
L C
40 10 100 40 F
I A max
0,01 0,01
L 158,5 F
(f ) C ( 400) 2 40 10 6
2
__________________________________________________________________________________________________________
__________
174
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
I A max 100
C 100 F
2 U0 f max 2 100 5 103
3.12. BIBLIOGRAFIE
__________________________________________________________________________________________________________
__________
175
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
176
CAPITOLUL 4
4.1. GENERALITATI
__________________________________________________________________________________________________________
__________
173
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
electrice;
puterea reactiva poate fi compensata prin
utilizarea unei baterii de condensatoare, dar cea
deformanta dependenta de unghiul de aprindere,
nu poate fi compensata.
iA
ie
uA e
174
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
2. trifazate.
a) b)
c) d)
e) f)
g)
175
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
uA
convertor
semicomandat
convertor
complet
comandat
invertor
176
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
iA RA
T1 T2
us LA
DRL
Re , L e
M
D1 D2
ie
__________________________________________________________________________________________________________
__________
177
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
178
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
179
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
180
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
Caracteristica mecanica:
Pentru un convertor monofazat complet comandat,
ecuatia de functionare a sistemului descris în figura 4.5 este:
di A
uA uS RAi A L A E t
dt
(4.1)
di A 1
(uA ( E i A RA ))
dt L
__________________________________________________________________________________________________________
__________
181
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
182
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
1 2 2Us
U A 2US sint dt cos (4.3)
183
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
2 2
Pdc U A I A U AI A cos (4.5)
uA
iA
Observatie:
Din dezvoltarea în serie Fourier a expresiei curentului
prin indusul masinii se obtin relatii care demonstreaza
egalitatea între puterea pe partea de curent continuu si
respectiv pe partea de curent alternativ.
n
I A Ai sin(i t )
i 1
(4.6.a)
1 2
Ai I A sin(i t )dt
0
__________________________________________________________________________________________________________
__________
184
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1 2
A1 I A sin d
0
IA 2 I
cos 0 cos cos A ( 4 cos ) (4.6.b)
1 1 I A 2 42 2 2I A
I A1ef A12
2 2 2
__________________________________________________________________________________________________________
__________
184
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
185
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
i iA RA
T1 T4
us LA
Re , Le
M
T2 T3
ie
u e
iA
u e
uA
186
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
Modul 1:
diA
uA 2US sint LA RAi A kee (4.7)
dt
d
m keei A J B Ms (4.8)
dt
Modul 2:
__________________________________________________________________________________________________________
__________
187
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
diA
0 RAi A LA ke e
dt
(4.9)
d
m ke ei A J B MS
dt
Modul 3:
iA 0
d (4.10)
0 J B MS
dt
Modul 1:
di A 2U S sint RA k
i A e e f11(i A, ) (4.11.a)
dt LA LA LA
__________________________________________________________________________________________________________
__________
188
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
d kee B M
i A S f21(i A, ) (4.11.b)
dt J J J
Modul 2:
di A R k
A i A e e f12(i A, )
dt LA LA
(4.12)
d ke e B M
i A S f 22(i A, )
dt J J J
Modul 3:
i A 0 f13(i A, )
d B M (4.13)
S f 23(i A, )
dt J J
189
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Modul 1:
Tiristoarle sunt în conductie, daca:
diA
2US sint LA RAi A E (4.15)
dt
2US E
iA sin(t Z ) A1e ( RA / L A )t
Z RA
Z [ RA2 (LA ) 2 ] 1/ 2 (4.16)
LA
Z tg 1( )
RA
190
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
2US E
I AS sin( S Z ) A1e ( RA / LA ) S
Z RA
2US E ( RA / L A ) S
A1 I AS sin( S Z ) e
Z RA
(4.17)
iA
2US
Z
sin(t Z ) sin( S Z )e( RA /LA )( S t )
E ( RA /L A )( S t )
(e 1) I ASe( RA /L A )( S t )
RA
Modul 2:
diA
0 LA RAi A E (4.18)
dt
E
i A A2e( RA /LA )t (4.19)
RA
191
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
E
I A A2e ( RA /LA )
RA
E ( RA /LA )
A2 I A e (4.20)
RA
Modul 3:
Motorul functioneaza fara sa absoarba energie de la
sursa de alimentare, în intervalul < t < + .
iA = 0 (4.21)
Modul 1:
i iA S t convertor semicomandat
i iA S t convertor complet comandat
i i A S t 2 convertor semicomandat
convertor complet comandat
i i A S t
(4.22)
Modurile 2 si 3:
iA = 0 (4.23)
__________________________________________________________________________________________________________
__________
192
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
193
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
194
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
195
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
iA
us -us
e
us -us
e
us -us
us -us
emax
e
iA
Fig. 4.10. Forme de unda ale curentului prin indusul masinii si ale
tensiunii electromotoare pentru diverse unghiuri de comanda.
__________________________________________________________________________________________________________
__________
196
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
1 2 2US
U A 2US sint d(t ) cos U A maxcos
(4.25)
Daca se ia ca baza de raportare pentru unitati relative
UAmax avem:
uA cos (u.r.) (4.26)
I IA (4.27)
1 2
I0 i d(t ) 0 (4.28)
2
an
1 2
i cosnt d(t ) (4.29.a)
1 2
I A cosnt d(t ) I A cosnt d(t )
2I A
sinn( ) sinn
n
1
bn 2 i sinnt d(t )__________
__________________________________________________________________________________________________________
195
2I A
cosn cosn( )
n
an
i cosnt d(t )
ACºIONÅRI ELECTRICE
1 2
I A cosnt d(t ) I A cosnt d(t )
DE CURENT CONTINUU
__________________________________________________________________________________________________________
2I A
sinn( ) sinn
__________
n
1
bn 2 i sinnt d(t ) (4.29.b)
2I A
cosn cosn( )
n
4I A
an sinn
n
(4.29.c)
4I
bn A cosn
n
1/ 2
a 2 b2 2 2I A
In n (4.30)
2 n
an
n tg1 n (4.31)
bn
__________________________________________________________________________________________________________
__________
196
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
USI 1 cos1 2 2
FP cos (4.32)
USI
convertor semicomandat
convertor complet comandat
__________________________________________________________________________________________________________
__________
197
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1 2US
U A 2US sint d(t ) (1 cos )
(4.35)
1
(1 cos ) (u.r .)
2
2 2I A
an I A cosnt d(t ) sinn
n
2 2I
bn I A sinnt d(t ) A (1 cosn )
n
2 2I A n
In cos
n 2
n
n
2
1/ 2 1/ 2
1
I I A2d(t ) I A 1
2(1 cos )
FP 1/ 2
1
FD cos
2
1/ 2
( )
FH 1
4(1 cos ) (4.36)
__________________________________________________________________________________________________________
__________
198
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
199
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
200
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
201
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
T1 T2
us a)
T3
T4
us
b)
__________________________________________________________________________________________________________
__________
202
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
uA
c)
__________________________________________________________________________________________________________
__________
203
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
204
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
T1 T2
us
D1 D2
a)
us
uA
b)
uA
c)
205
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
206
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
1
U A (1 cos ) (u.r .)
2
I IA
(4.37)
2 2I A n
In sin ; n 2k 1
n 2
n n ; n 2k 1
2 2
1
U A (1 cos ) (u.r .)
2
I IA
(4.38)
2 2I A n
In sin ; n 2k 1
n 2
n n ; n 2k 1
2 2
__________________________________________________________________________________________________________
__________
207
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
2(1 cos )
FP
FD sin (4.39)
2
1/ 2
FH 1
4(1 cos )
__________________________________________________________________________________________________________
__________
208
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
T1
T2
us
DDRL
D1 D2
a)
uA
b)
uA
c)
206
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
et
es
uA
uA
d)
__________________________________________________________________________________________________________
__________
207
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
U A cos (u.r .)
1/ 2
2
I I A 1
(4.40)
2 2I A
In cosn ; n 2k
n
n 0
2 2 cos
FP 1/ 2
2
1
FD 1 (4.41)
1/ 2
( 2 )
FH 1
8 cos2
208
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
amplitudinealui es
m (4.42)
amplitudinealui et
1
UA 0 uAd(t )
2US p k
sint d(t ) (4.43)
k 1
k
1 p
(cos k cos k ) (u.r .)
2 k 1
__________________________________________________________________________________________________________
__________
209
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
I0 0
an 0
2
bn 0 i sinnt d(t )
2 p
cosn k cosn k (u.r .)
(4.44)
k 1
b
In n
2
n 00
1/ 2
1
I 0 i 2d(t )
1/ 2
I p
A ( k k )
k 1
I
FP 1 (4.45)
I
FD cos1 1
1/ 2
I 2 I 12
FH 2
I 1
__________________________________________________________________________________________________________
__________
210
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
211
2I A
In cosn 1; n 2k 1
n
n
n 1 ; n 2k 1
2
2(1 cos 1)
FP 1/ 2
1
1
1/ 2
1 ( 1)
FD cos ; FH 1
2 4(1 cos 1)
UA (1 cos 1) u.r .
4
1/ 2
I 1
I AELECTRICE
ACºIONÅRI 1 DE CURENT CONTINUU
2
__________________________________________________________________________________________________________
__________
2I A
In cosn 1; n 2k 1
n
n
n 1 ; n 2k 1
2
2(1 cos 1)
FP 1/ 2 (4.46.b)
1
1
1/ 2
1 ( 1)
FD cos ; FH 1
2 4(1 cos 1)
__________________________________________________________________________________________________________
__________
212
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
convertor 1
us
convertor 2
a)
u
A
is1
is2
b)
Fig. 4.15. Controlul secvential al convertoarelor semicomandate.
__________________________________________________________________________________________________________
__________
213
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
214
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
3 cos 2
FP 1/ 2
3 2
2
2
3 cos 2
FD (4.47)
(10 6 cos 2)1/ 2
1/ 2
( 3 2 / 4)
FH 1
5 3cos 2
__________________________________________________________________________________________________________
__________
213
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
is1
convertor 1
is2
convertor 2
uA
214
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
cos 1
UA u.r .
2
I 2
I A 1 1
2
2I A
In cosn 1
n
n 0 (4.48)
2 2 cos 1
FP 1/ 2
2 1
1
FD 1
1/ 2
( 2 1)
FH 1
8 cos 1
2
__________________________________________________________________________________________________________
__________
215
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1
U A (11 cos 1) u.r .
U A2 (1 cos 1) u.r .
2 1/ 2
3
I I A 1 13 1 1/ 2
I I A 12
2
2I A
In 2(I1A cosn 1) (4.49.a)
I n n (1 cosn 1)
n 0 n
n 0
2(1 cos 1)
FP 2(1 cos1/ 2 1)
FP 3 1 1/ 2
1
12 3 1
2
FD 1
FD 1 1/ 2
3 1
2 3 1
1/ 2
FH 22 1
FH 2(1 cos 1) 1
2(1 cos 1) 2
(4.49.b)
__________________________________________________________________________________________________________
__________
216
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
217
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
is1
convertor
1
us
is2
convertor
2
a)
uA1
uA2
uA
is1
is2
b)
i
218
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
uA1
uA2
uA
is1
is2
c)
Fig. 4.17. Controlul secvential al convertoarelor complet comandate:
c) Forme de unda în cazul regimului invertor.
219
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
4.6. PROBLEME
220
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
Us 230V
f s 50Hz
Rezolvare :
a) En U An RA I nA 220 1 10 220V
nn 1500
n 2 2 157rad / s
60 60
__________________________________________________________________________________________________________
__________
221
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
E 200
E1 n n1 1000 133,3V
nn 1500
R i E1
1 arccos( A A ) 46,20
2 2 230
R i A E1
b) 2 arccos( A ) 126,50
2 2 230
2 2 230
cos1500 RAi A
c) 3 n 148,62rad / s
En
__________________________________________________________________________________________________________
__________
222
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
223
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
224
CAPITOLUL 5
SIMULAREA FUNCTIONARII
MASINII DE CURENT CONTINUU
224
Simularea Func¡ionårii Ma¿inii de Curent Continuu
__________________________________________________________________________________________________________
__________
EA k m [ V ]
(5.1)
Me kI A [ Nm]
__________________________________________________________________________________________________________
__________
225
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
dI A
EA U p
U A I ARt LA
dt
(5.2)
d m
Me Ms D m J
dt
unde Rt reprezinta suma rezistentelor (rezistor de pornire plus
rezistenta indusului RA) aflate în circuitul indusului motorului
de c.c., iar UP este caderea de tensiune la perii.
R1 R2 R3
MC m
C1 C2 C3
1 t
I A (t ) (UDC U p I ARt )dt I A(0)
LA 0
(5.3)
1t
m(t ) ( Me Ms D m)dt m(0)
J0
226
Simularea Func¡ionårii Ma¿inii de Curent Continuu
__________________________________________________________________________________________________________
__________
227
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
U A (0) 0 U DC U p I Amax( RA R1 R2 R3 )
U A (t1) U DC U p I Amin( RA R1 R2 R3 )
U DC U p I Amax( RA R2 R3 ) (5.4.a)
U A (t 2) U DC U p I Amin( RA R2 R3 )
U DC U p I Amax( RA R3 )
Rezulta:
__________________________________________________________________________________________________________
__________
228
Simularea Func¡ionårii Ma¿inii de Curent Continuu
__________________________________________________________________________________________________________
__________
U A (t 3 ) U DC U p I A min( RA R3 )
U DC U p I A maxRA
U DC U p
( RA R1 R2 R3 )
I A max
I min
( RA R2 R3 ) A ( RA R1 R2 R3 ) (5.4.b)
I A max
I min
( RA R3 ) A ( RA R2 R3 )
I A max
I min
RA A ( RA R3 )
I A max
Prin înlocuirea valorilor limita prestabilite pentru curentul
prin indus, rezulta valorile treptelor reostatului de pornire:
R1 = 0,872 ; R2 = 0,523 ; R3 = 0,313 .
Un esantion al rezultatelor simularii este prezentat în fig.
5.3, unde este redata variatia t.e.m., a curentului prin indus, si
a turatiei. A fost folosita o metoda de integrare numerica
Adams/Gear din mediul MATAB 5 cu timpul de pornire zero,
timpul de oprire 7 s, pasul minim de integrare 0,5 ms, pasul
maxim de integrare 5 ms, si o toleranta a erorii de 10-6.
__________________________________________________________________________________________________________
__________
229
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
y
Initialize To
and Mux Mux
Workspace
plot
m2
Clock Scope
Ea
.
Product D
2
1.3 - D
218 -
kaphi Tem 1 wm
Vdc- + + 1/J
. s
Vbrush - 1 Ia Integrator
- 1/Laq + 1/J
s 0 2
- Integrato Product Sum2
1/Laq Tmech
- r
<
Sum Memory <0 AND du/dt
<=
Ra 60
<=Iamin and Deriv
Iamin
Ra
AND S1
S1
0.872 R0
R0 Memory a
C1 1 Latch1
r1 Latch
0.523
C2 Memory
r2 2
AND
S1
0.313 R0 a1
C3 Latch2
r3
__________________________________________________________________________________________________________
__________
230
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
300
t.e.m. Ea
Ea 200
în
V 100
0
0 1 2 3 4 5
150
Ia
Ia 100
în
A 50
0
0 1 2 3 4 5
200
Tura¡ie
în 100
rad/sec
0
0 1 2 3 4 5
timp în sec
230
Simularea Func¡ionårii Ma¿inii de Curent Continuu
________________________________________________________________________________________________________
231
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
122,76
Rext 0,14 2,929 (5.7)
2,5(16)
________________________________________________________________________________________________________
232
Simularea Func¡ionårii Ma¿inii de Curent Continuu
________________________________________________________________________________________________________
________________________________________________________________________________________________________
233
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
________________________________________________________________________________________________________
234
Simularea Func¡ionårii Ma¿inii de Curent Continuu
________________________________________________________________________________________________________
________________________________________________________________________________________________________
235
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
wm*
+
10*[1 0.0004]
Va 100 +
s wm_ wm* of hoisti ng cycle
0.02s+ 1 - -
Ia_li mit Current controll er
Converter Sum3 Sum1
Ea
.
0.6699
Product2 kaphi
-
. T em
1 Ia +
+ 1/Laq 1 wm
s 1/J
. + s
- 1/Laq Integrator
Sum2 1/J Integrator2
Sum
Ra
T mech
Ra
Clock
M ux Mux
Initialize
and plot
y
________________________________________________________________________________________________________
236
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
*
Turatia de referinta, m, a functionarii ipotetice a unei
macarale este reprezentata printr-o sursa cu secventa
repetabila. Cuplul de sarcina este reprezentat printr-o sursa
cu interval de decalare cu un pas de schimbare în cuplul de
sarcina de la zero la nominal la t=0, sincronizat cu prima
modificare în ciclul turatiei actionarii. In aceasta simulare,
regimul tranzitoriu al unei punti redresoare c.a./c.c. si a
controller-ului care furnizeaza o tensiune de alimentare
reglabila UA pentru masina, este reprezentat printr-o functie
________________________________________________________________________________________________________
236
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
________________________________________________________________________________________________________
237
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
d m
J Me Mmec Me Ms
dt
Me (Me / m) m
Ms (Ms / m) m (5.9)
1 Me Ms
t
J m m
m(t ) m(0)e
Regim de motor
Frânare contracurent
UA=UAn
Frânare dinamicå
238
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
________________________________________________________________________________________________________
UAn
UA =Unominaal
0,4 UAn
0,2 UAn
0
-0,2 UAn
________________________________________________________________________________________________________
239
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
Me Ms
(5.10)
m m
240
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
________________________________________________________________________________________________________
________________________________________________________________________________________________________
241
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
a)
b)
________________________________________________________________________________________________________
242
Generalitå¡i privind Elementele Sistemelor de Ac¡ionåri Electrice
________________________________________________________________________________________________________
y
Scope To Workspace
Clock Mux Mux
Ea .
. Tem
Ea_ 1
1/J
1/wmo ??? s wm
kaphi Product
1/J Integrator2
Sum2
1/wmo Mag_curve
Vmotor -Trated
Va_motoring 1 Ia
1/(Laq+Lse) Tmech
s
Vbrake Va
Integrator
Va_braking
1/(Laq+Lse)
Sum Initialize
and plot
Grd
Ra+Rse
m5
Switchover Rinsertion
Ra+Rse
Rbrake
Rbrake
5.4. BIBLIOGRAFIE
________________________________________________________________________________________________________
243
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
________________________________________________________________________________________________________
________________________________________________________________________________________________________
244
Tabelul 1.1.
____________________________________________________________________________________________________________
10
A Cerintele sarcinii referitoare la regimurile tranzitorii de pornire, frânare si reversare
Natura si domeniul de variatie al cuplului de sarcina. Cum variaza cuplul de sarcina cu viteza pentru
1 diferite valori impuse de viteza? Pornirea, frânarea, sau reversarea de viteza se realizeaza la gol, la
sarcina usoara, nominala, sau grea?
2 Mometul de inertie total al actionarii este mic sau mare?
3 Cât timp este prevazut pentru desfasurarea procesului tranzitoriu?
4 Cât de des au loc astfel de procese tranzitorii?
5 Este nevoie de o accelerare/decelerare lina a sistemului?
6 Este ceruta realizarea unei anumite precizii a opririi?
7 Ce masuri trebuiesc luate în caz urgenta?
8 Aceste operatii sunt facute manual, sau automat?
B Cerintele sarcinii dictate de functionarea în regim nominal a actionarii
Natura si valoarea cuplului de sarcina si a puterii necesare. Cum variaza cuplul cu viteza pentru
1 diferite valori impuse de viteza? Care sunt valorile minime si maxime ale cuplului si ale puterii?
Sarcina are un caracter continuu, sau intermitent?
2 Este necesar a se lucra la o singura viteza, sau la mai multe viteze?
3 Este necesara realizarea reglarii vitezei? Care este domeniul de variatie necesar pentru viteza?
Reglarea trebuie facuta continuu, sau în trepte?
4 Care este precizia impusa reglarii de viteza?
5 Pe durata unui ciclu normal de functionare, masina lucreaza atât în regim de motor, cât si de
generator?
C Cerintele sarcinii referitoare la locul de amplasare al actionarii
1 Amplasarea actionarii într-un anumit loc, permite realizarea unei întretineri usoare?
2 Actionarea functioneaza într-un mediu plin de praf, sub apa (sau alt lichid), sau în prezenta unor
gaze usor inflamabile?
Tabelul 1.3.
Clasa de Temperatura
Materiale
izolatie admisibila
Darlington MOSFET de
Tiristor GTO BTJ putere
Tensiunea maxima (V) 6.000 4.500 1.200 500
Curentul maxim (Aef) 3.500 3.000 800 50
Temperatura de lucru (oC) -40 - 125 -40 - 125 -40 - 150 -55 - 150
Frecventa de comutare < 1.200 < 2.000 < 10.000 < 100.000
(Hz)
limitata de limitata de
limitata de
dv / dt (V/ms) 30 pierderile din pierderile din
efectul Miller
dispozitiv dispozitiv
di / dt (A/ms) 200 300 100 foarte mare
Timp intrare în conductie 1,1 4 1,7 90 ns
(ms)
Timp de iesire din conductie
220 10 5 0,14
(ms)
Caderea de tensiune în
direct (V) 1,9 4 1,9 3,2
Actionari cu
Actionari cu Surse de putere
masini de c.c. si
Actionari cu masini electrice, în comutatie,
c.a., surse de
Domeniul de aplicatii uzuale masini electrice, sisteme UPS, actionari cu
putere,
sisteme UPS surse de putere motoare fara
întreruptore
în comutatie perii, relee
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
____________________________________________________________________________________________________________
electronice electronice
____________________________________________________________________________________________________________
10
Tabelul 1.5.
PROIECT
PROIECTAREA ACTIONARII ELECTRICE
2004
VEHICUL HIBRID CU MOTOR DE
CURENT CONTINUU
1. Tema de proiectare :
2. Date initiale :
3. Memoriu de calcul :
Motor
termic
R
Baterii Chopper Motor
10x12 V Electric
12 V 12 V 12 V
Chopper
electric
Motor
12 V 12 V 12 V
termic
Motor
R
12 V 12 V 12 V
Bateria
Chopper
12 V 12 V 12 V
electric
termic
Motor
Motor
12 V 12 V 12 V
R
nmotor=3000rpm
motor
iR
roata
v 13.889m / s
roata 55.5rad / s
R 0.25m
motor 261.7
ir 4.71 ir 4.71
roata 55.5
G m * g 450 * 9.81 4.42kN
Fr G * c f
4.42 * 0.1 kN Fr 0.529kN
c f 0 .1
D
M r Fr * 0.529 * 0.2 105.95 Nm M r 105.95 Nm
2
Mr
M r1
iR * R
105.95
M r1 28.677 Nm
4.71 * 0.98
R 0.98
dv 40000
Facc m * 450 * Facc 250 N
dt 20 * 3600
+ Ii
iT1 iT2
+Us
+Is
T1 D1 D2 T2
uT1 Ls Rs uT2
Ui MCC
iT4 iT3
T4 D4 -Is D3 T3
uT4 uT3
–Us
Calculul bobinei L1
L1 = Li - Lleg
Lleg = 2 H
di
20 A / s
dt
di 20 A / s
10 A / s
dt a 2
U a max 720
Li = 72 H
10 10
L1 = Li-Lleg = 72-2 = 70 H
3.6.Calculul circuitului de izolare
216
1000 67.5mm
3200
MAXIM STEFAN
ZAHARIA ALIN
DUMITRACHE LAURENTIU
GEORGESCU MIHAI
Caracteristici si conditii de
proiectare
Sa transporte 4 persoane si 1m3 de
marfa
Autonomia sa fie de 250 Km
Viteza maxima: 120 Km/h trebuie atinsa
in 15 s
Sa fie fiabil si confortabil ; tractiunea sa
se faca cu motor de curent continuu
alimentat de la baterii de 12 V
Date initiale
Masa caroseriei: 450 Kg
Masa bateriilor: 200 Kg
Viteza maxima: 120 Km/h
Acceleratia maxima: 3.33 m/s2
Numarul de motoare: 2 motoare
(electric+termic)
Diametrul rotilor: 0.4 m
Numarul de choppere: 1 chopper
Memoriu de calcul
Alegerea si desenarea caroseriei
Schema electrica pe blocuri a
vehiculului
Alegerea tensinii de functionare si a
bateriilor
Calculul motorului de tractiune
Calculul chopper-ului
Simularea grupului chopper-motor
Simularea intregului vehicul
Alegerea si desenarea caroseriei
Se doreste ca masina sa fie:
eleganta ;
nepoluanta ;
ieftina ;
compacta ;
usor de intretinut ;
economica.
Blocurile principale ale vehicului
electric
Baterii: 18×12 V
Chopper in 4 cadrane
Motor de curent continuu
Motor termic
Reductor
SCHEMA ELECTRICA DE
TRACTIUNE
BATERII MOTOR
CHOPPER
18 X 12 V ELECTRIC
MOTOR
TERMIC
Calculul motorului
Turatia: 2500 rpm
Viteza de rotatie la arborele
motorului:261.7 rad/s
Raportul de transmisie: 4.71
Cuplul raportat la arbore: 28.67 Nm
Puterea motorului: 8 KW
Rezultatul simularii ansamblului
CHOPPER-MOTOR
Rezultatul simularii Advisor
CONCLUZII
masina a viitorului ;
cost estimat : 16.000 €;
reducerea poluarii ;
incarcare usoara si rapida a bateriilor (cca
4 ore) .
POWERED BY US :
MAXIM
ZAHARIA
DUMITRACHE
GEORGESCU