simulate a dc motor drive翻译.doc

Simulate aDCMotor Drive模拟直流电机驱动Introduction介绍in this section, you will learn how to use the DC drive models of the Electric Drives library. First, we will specify the types of motor, converters, and controllers used in the seven DC drive models of the library, designated DC1 to DC7.These seven models are based on theDCbrush motor in the Electric Drives library.As in any electric motor, theDCbrush motor has two main parts, the stator (fixed) part and the rotor (movable) part.TheDCbrush motor also has two types of windings, the excitation or field winding and the armature winding. As its name implies, the field winding is used to produce a magnetic excitation field in the motor whereas the armature coils carry the induced motor current.Since the time constant (L/R) of the armature circuit is much smaller than that of the field winding, controlling speed by changing armature voltage is quicker than changing the field voltage. Therefore the excitation field is fed from a constantDCvoltage source while the armature windings are fed by a variableDCsource.The latter source is produced by a phase-controlled thyristor converter for the DC1 to DC4 models and by a transistor chopper for the DC5, DC6, and DC7 models. The thyristor converter is fed by a single-phase AC source in the cases of DC1 and DC2 and by a three-phase AC source in the cases of DC3 and DC4. Finally, the seven DC models can work in various sets of quadrants. All these possibilities are summarized in the following table.在本节中，您将学习如何使用电动驱动器库的直流驱动模型。首先，我们将详述库中七个直流驱动模型的电机、转换器和控制器，这些模型即DC到DC。这种模型都是基于电动驱动器库中的直流有刷电机。就像在任何电动机一样，直流有刷电机有两部分，即定子和转子。直流有刷电机有两种线圈，励磁绕组和电枢绕组。就像（直流有刷电机）的名字一样，励磁绕组是用来在电机中产生励磁磁场，而电枢线圈产生感应电机电流。由于电枢电路的时间常数（L，电感电阻）远小于其在励磁绕组中，通过电枢电压控制速度远快于通过励磁电压来控制。所以励磁磁场由一个稳定不变的直流电压源供电，而电枢绕组由一个变化的直流电压源来供电。DC1 到 DC4中 电枢绕组供电的直流电压源由一个三相控制的晶闸管转换器供电，DC 到 DC中则是由一个晶体管斩波器产生。DC1 、 DC的晶闸管转换器由一个单相交流电流源供电，DC和DC则是通过此晶闸管转换器由三相交流源供电。最后，这个模型工作在不同的模型下。所有可能的情况都在下表表示出了。DC Models直流模型ModelType of ConverterOperation QuadrantsDC1Single-phase thyristor converterI-IIDC2Single-phase thyristor converterI-II-III-IVDC3Three-phase thyristor converterI-IIDC4Three-phase thyristor converter晶闸管I-II-III-IVDC5Chopper斩波器IDC6ChopperI-IIDC7ChopperI-II-III-IVRegenerative Braking反馈制动回馈制动再生制动Operation in quadrants II and IV corresponds to forward and reverse braking, respectively. For the DC models of the Electric Drives library, this braking is regenerative, meaning that the kinetic energy of the motor-load system is converted to electric energy and returned to the power source. This bidirectional power flow is obtained by inverting the motors connections when the current becomes null (DC1 and DC3) or by the use of a second converter (DC2 and DC4). Both methods allow inverting the motor current in order to create an electric torque opposite to the direction of motion. The chopper-fed DC drive models (DC5, DC6, DC7) produce regenerative braking in similar fashions.相比于正相合反向制动，分别在在象限和的操作。对于电力驱动库中的直流模型，这种制动是再生的，即电动机负载系统的动能转化为电能，然后反馈到电源。当DC1 和 DC3中电流为零或者DC2 和 DC4中通过使用第二转换器时，双向能流可以通过反转电动机接线实现。所有方法都允许翻转电动机电流，以产生一个电动扭矩，来进行制动。由斩波器提供直流电源的模型（DC5, DC6, DC7），用类似的方式再生制动。Example: Thyristor Converter-BasedDCMotor Drive案例；基于晶闸管转换器的直流电机驱动In this example, you will build and simulate the simple thyristor converter-basedDCmotor drive shown inThyristor Converter-BasedDCMotor Drive Example Circuit.在这个例子中，你将建立和仿真“基于晶闸管转换器的直流电机驱动”案例。This step-by-step example illustrates the use of the DC3 model with a 200 hp DC motor parameter set during speed regulation. The DC3 block models a two-quadrant three-phase thyristor converter drive. During this example, the motor will be connected to a load and driven to its 1750 rpm nominal speed.此例将说明DC3中马力直流电动机速度调节期间参数设置情况。DC模块代表双象限三相晶闸管转换器驱动案例。这个例子中，电动机将连接一个负载，以每分钟转额定速度转动。In this tutorial, you learn about在这个教程中，你讲了解到：Getting the DC3 Model from the Drives LibraryConnecting the DC3 Model to a Voltage SourceConnecting the DC3 Model to a Mechanical LoadDefining the Set PointVisualizing Internal SignalsSetting the Fixed-Step Simulation EnvironmentSetting the High Power Drive Parameter SetSetting the Motor Inertia ValueSetting the DC3 Controller Parameters and Simulation ResultsGetting the DC3 Model from the Drives Library从驱动库中选择DC模块 Open a new window and save it asDC_example。 Open theSimPowerSystems Electric Drives library. You can open the library by typingelectricdrivelibin the MATLABCommand Window or by using the SimulinkLibrary Browser. The DC3 model is located inside theDCDrives library. Copy the DC3 block and drop it in theDC_examplewindow.打开SimPowerSystems电力驱动库。你可以在matlab命令窗口输入“electricdrivelib”或者通过浏览器打开这个库。DC模块在DCDrives library中。复制或者拖拽到“DC_example”窗口。Connecting the DC3 Model to a Voltage Source连接模块到电压源All models of the library have three types of inputs: the electrical power inputs, the speed or torque set point input (SP), and the mechanical torque input (Tm). Because the DC3 model is a three-phase drive, it presents three electrical inputs: A, B, and C. In order for the DC3 model to work, you must now connect those inputs to a proper voltage source:模块库有三种输入形式：电力输入、速度或者扭矩设置输入和机械扭矩输入。因为DC模块是三相驱动的，它有三个电力接口：A, B,和C。为了使DC模块工作，你必须将这些借口和电源模块连接。 Open the Electrical Sources library and copy the 3-Phase Source block into your circuit. Connect the voltage source outputs A, B, and C to the DC3 A, B, and C inputs, respectively.打开电源模块库，复制三相电源模块到你的电路中。分别连接电压源模块的输出 A, B, 和 C 到模块A, B, 和 C 。In this example, you are driving a 200 hpDC motor of 500 V nominal armature voltage. The mean output voltageVoutof a three-phase thyristor rectifier bridge is given by此例中，你将以V额定电枢电压驱动一个马力直流电动机。三相晶闸管整流桥平均输出电压Vout由以下条件给出：whereVl,rmsis the phase-to-phase rms voltage value of the three-phase voltage source andis the firing angle value of the thyristors. For better voltage control, a lower firing angle limit is usually imposed, and the maximum mean output voltage available from the rectifier bridge is thus given byVl,rms代表三相电压源相间电压有效值，是晶闸管触发角。为了更好的电压控制，通常采用更低的触发角限制，整流桥的最大平均输出电压由这样给出：whereminis the lower firing angle limit. In our case, the lower firing angle limit used in the DC3 model is 20 degrees. With such an angle value and in order to have a maximum mean output voltage value of 500 V to drive the 200hp motor to its nominal speed, the needed phase-to-phase rms voltage value given by the preceding equation is 370 V. Assuming the drive is connected to an American electrical network, the closest standard voltage value is 460 V.min是下触发角限制。在我们的案例中，DC3模块中下触发角限制是20度。为了达到此角度和为了有最大平均输出电压500去驱动200马力电动机到其额定速度，由上面公式得出需要的相间有效电压是370V。假设驱动模块接入美国电网，最相近的标准电压值是460V.2. Set the AC source phase-to-phase rms voltage value to 460 V and the frequency to 60 Hz. Name the AC source 460 V 60 Hz.设置交流电源相间有效电压为460V，60Hz.即交流460 V 60 HzNote that the voltage source amplitude and frequency values needed for each drive model of the Electric Drives library can be found in the reference notes. The nominal values of the corresponding motors are also included. DC3, 200 HP Drive Specifications contains the values corresponding to the DC3 200 hp model.注意：电力驱动库的每个电力模块所需电压源的振幅和频率值都能从帮助手册中查到。相应发动机的额定参数也可从中查到。DC3 200HP驱动模块有对应于DC3 200 hp的模块。DC3, 200 HP Drive SpecificationsDC3, 200 HP 驱动模块规格Drive Input Voltage Amplitude 460 V Frequency 60 HzMotor Nominal Values发动机额定参数Power 200 hpSpeed 1750 rpmVoltage 500 V In order to represent a real-life three-phase source, you must specify correct source resistance R and inductance L values. To determine these, one usually uses the short-circuit power value Psc and a given X /R ratio (where X=L, being the angular frequency of the voltage source). As a rule of thumb, the short-circuit power absorbed by the source impedance is supposed to be at least 20 times bigger than the nominal power of the drive, and the X /R ratio is usually close to 10 for industrial plants.The value of the source impedance Z is obtained by为了重现现实生活中的三相电源，你必须选定正确的源电阻值R 和电感值L 。为了决定这些参数，一种方法是使用短路功率值 Psc和给定的X /R 之比（其中 X=L，是电压源的角频率 ），根据经验规则，假设电压源阻抗吸收的短路功率至少比驱动模块的额定功率大20倍，工厂的X /R之比通常接近于10。电源阻抗值Z由以下公式得出：where V is the phase-to-phase rms voltage value of the voltage source. For a high X /R ratio r, the source resistance R is approximately equal to其中V代表电压源的相间有效电压值。对于高 X /R之比，电压源阻抗R 大约等于（公式4-1）and the source inductance L to电源电感值L等于（公式4-2）In this example, the phase-to-phase rms voltage is worth 460 V and the source frequency is 60 Hz. If we assume a short-circuit power of 25 times the nominal drive power, we find a source impedance of 0.056 . For an X /R ratio of 10, using Equation 4-1 and Equation 4-2, we find a resistance value of 0.0056 and an inductance value of 0.15 mH.在这个例子中，相间有效电压是460V，电源频率60Hz.如果我们假设短路功率是额定驱动模块功率的25倍，会得出电源阻抗Z为0.056 。如果 X /R 之比为10，带入公式 4-1和 4-2， 得出电阻值为 0.0056 ，电感值为 0.15 mH。3. Clear the Specify impedance using short-circuit level check box, and set the AC source resistance value to 0.0056 and the inductance to 0.15 mH.使用短路水平检查工具上清除指定的阻抗，设置交流电源电阻值为 0.0056 ，电感值为 0.15 mH。Connecting the DC3 Model to a Mechanical LoadThe Tm input represents the load torque applied to the shaft of the DC motor. If the values of the load torque and the speed have opposite signs, the acceleration torque will be the sum of the electromagnetic and load torques. Many load torques are proportional to the speed of the driven load such as represented by the equationTm输入口代表直流发动机轴负载扭矩。如果负载扭矩值和速度与信号相反，加速扭矩是电磁力和负载力矩之和。许多负载扭矩与驱动的速度成正比，如下面公式所示（公式4-3）：where m is the speed in rad/s and N the speed in rpm. You will now build such a load.其中m代表单位为rad/s 的角速度，N代表每分钟的转速，单位为rpm。你会接下来建立一个这样的负载。To compute this type of mechanical load torque, the speed of the DC motor is needed. This one can be obtained by using the outputs of the DC3 model. All drive models of the Electric Drives library have four output vectors: Motor, Conv., Ctrl, and Wm. The Motor vector contains all motor-related variables, the Conv. vector contains all converter voltage and current values, the Ctrl vector contains all the regulation important values, such as the speed or torque reference signals, the speed or torque regulation error, the firing angle value, and so on, and Wm is the motor speed in rad/s. All input-output descriptions are available on the reference page of every model.计算机械负载力矩需要指导直流发动机的转速。DC3 模型的输出口可以得到机械负载扭矩得到。电子驱动库的所有驱动模型有4个输出矢量：电动机口、转换接口、控制接口、转速接口。电动机矢量（信号）包括与电动机相关的各种参数，转换矢量接口包括所有转换电压和电流值，控制矢量是用于调节的重要参数（包括速度和扭矩参考信号），速度或扭矩调节调节错误，触发角值，等其他参数。Wm是单位为rad/s的电动机转速。所有输入-输出接口都在帮助手册上有描述。The motor speed (Wm) can be multiplied by the constant K of Equation 4-3 to obtain the load torque signal to be connected to the Tm input of the DC3 model:电动机转速（Wm）乘上公式4-3中的常数K，得到负载扭矩信号，然后与DC3模块 Tm输入口相连。1. Build the subsystem following and name it Linear load torque.建立如下子系统，命名它为“线性负载力矩”Linear Load Torque Subsystem线性负载力矩The constant K can be computed knowing that at nominal speed, the motor should develop nominal torque. As shown in DC3, 200 HP Drive Specifications, the DC motor used in this simulation has a nominal speed Nm,n of 1750 rpm. Since the nominal mechanical output power Pm,n of the motor is 200 hp, the nominal mechanical load torque Tmec,n can be computed following Equation 4-4 (where viscous friction is neglected)知道额定转速，常数K可以计算，电动机在额定扭矩下运转。在DC3中所示，200 HP 驱动规格，此模型中直流电动机是额定转速，即1750rpm。因为发动机额定机械输出功率Pm,n 是200马力，额定机械负载Tmec,n 可以由公式4-4计算：where m,n is the nominal speed in rad/s. Using this equation, we find a nominal mechanical torque of 814 N.m. Finally Equation 4-3 gives us a K value of 4.44.其中m,n是速度为rad/s的额定转速。使用这个公式，得到额定机械扭矩是814 N.m.最后由公式4-3的得到K的值是4.44.Connect the input and output of the Linear load torque block to Wm and Tm input of the DC3 block, respectively. Your schematic should now look like the following.分别连接线性负载扭矩模块的输入和输出到DC3模块的Wm 和Tm 。示意图如下：Defining the Set Point设置参数The set point input of the DC3 model can either be a speed value (in rpm) or a torque value (in N.m) depending on the regulation mode (speed or torque regulation). In this example, we will set the DC3 block in speed regulation mode and drive the 200 hp DC motor to its nominal speed of 1750 rpm.设置DC3模型输入参数可以是速度值（单位rpm）或者扭矩参数值（单位N/m）,这取决于调节模式（速度或扭矩调节）。在这个例子中，我们将DC3模块设为速度调节模式，使其驱动200马力直流电动机到其1750rpm额定转速。1.Open the Simulink Sources library and copy a Constant block into DC_example.打开Simulink”Source”库，然后复制一个常数模块到“ DC_example”中。2.Connect the Constant block to the set point input of the DC3 model and name it Speed reference.3.Set the set point to 1750 rpm.连接该模块到DC3模型的参数输入口，命名其为速度参数。设定此值为1750rpm。Visualizing Internal Signals可视化内部信号You must now use the DC3 model outputs to visualize interesting signals with a scope. Suppose you need to visualize the following signals:你可以使用DC3模型输出口和示波器去可视化有趣信号，假设你需要可视化下列信号：The thyristor bridge firing angle晶闸管桥触发角The motor armature voltage电动机电枢电压The motor armature current and reference电动机电枢电流和参考值The speed reference and the motor speed转速参考值和电动机转速Note that all model input-output descriptions can be found in the corresponding reference notes. To see which signals are connected to the DC3 outputs, select the DC3 model and use the Diagram Mask Look Under Mask menu item.注意：所有输入-输出描述可以在相应的参考手册中查到查看什么信号与DC3输出口相连，选择DC3模型，使用Diagram Mask Look Under Mask菜单。As you can see below, the firing angle is contained inside the Ctrl output vector. The firing angle Alpha (see the DC3 block reference notes) is the second element of this vector.如下，控制输出矢量口中有触发角。触发角（见DC3模块参考手册）是这个矢量参数的第二个元素。Location of the Firing Angle Signal Inside the Ctrl Output Vector控制输出矢量参数中触发角信号的位置The Motor vector (shown in the next figure) contains three of the needed signals: the armature voltage and current signals are the first and third elements, respectively. The speed is the second element of the Motor vector.发动机矢量（如下图）含有三个有用的信号：电枢电压和电流信号是第一和第三个元素。速度是发动机矢量的第二个参数。The Motor vectorFinally, the current and speed reference signals are the first and fourth elements of the Ctrl vector, respectively (see the following figure). Note that the Ref. signal of the Regulation switch block would be a torque reference in torque regulation mode.最后，电流和速度参考信号分别是控制矢量的第一个和第四个（见下表）。注意：扭矩调节模式中，调节转换模块的参考信号是扭矩参考信号。Location of the Speed Reference Signal Inside the Ctrl Output Vector控制信号输出矢量中速度参考（基准，提供时钟等）信号的位置Internal bridge current and voltage signals can be extracted via the Conv. output, which is connected to a multimeter output. To view these signals, open the Measurements library and copy the Multimeter block into your circuit. By clicking the Multimeter block, you can select the converter signals you want to output. Refer to the Multimeter block reference page for more information on how to use the Multimeter block.内部桥路电流和电压信号可以通过转换端口测量出，该端口与一个万用输出端口相连。查看这些信号，打开“测量库”，然后复制“ Multimeter ”模块到你的图纸中。通过点击万用模块，你可以选择你想输出的转换信号。可参考该模块手册使用。By using Selector blocks of the Signal Routing library, you can now extract the needed signals from the three output vectors in order to visualize them:通过使用选择“信号旋转库”模块，从单个输出矢量中提取需要的信号以可视化他们：1.Build the following subsystem in order to extract all the needed visualization signals. Name it Signal Selector.建立下面的子系统，去提取需要的可视化信号，取名“信号提取器”Signal Selector Subsystem信号提取子系统2. Connect the Motor, Conv., and Ctrl outputs of the DC3 block to the Motor, Conv., and Ctrl inputs of your Signal Selector block.连接DC3模块的电动机转化、控制输出端口到“信号选择器模块”电动机转换、控制输入端口。3. Copy two scopes to your model. They will be used to display the output signals of the Signal Selector block and the Multimeter block. For the first scope, open the Scope Parameters dialog box. On the General tab, set the number of axes to 4, the simulation time range to auto, and use a decimation of 20. Clear the Limit Data Points to last check box on the Data history tab. Connect the four outputs of the Signal Selector block to the inputs of the scope. Connect the output of the Multimeter block to the input of the second scope.复制两个“示波器”到模型中。展示“信号选择器”和万用表模块的输出信号。对于第一个示波器，打开示波器参数对话窗口。在平台，设置轴为4，方针时间范围设为自动，设置“decimation ”为20.清除上个对话框的有限数据参数到历史窗口。连接“信号选择器”四个输出端口到示波器的输入口。连接万用表模块输出口到第二个示波器的输入口Setting the Fixed-Step Simulation Environment设置固定步长仿真环境All drive models of the library are discrete models. In order to simulate your system, you must now specify the correct simulation time step and set the fixed-step solver option. Recommended sample time values for DC drives, AC drives, and mechanical models can be found in the Remarks sections of the corresponding block reference pages. The recommended sample time for the DC3 model is 5 s. Follow these steps:所有的驱动模块都是离散模型。为了仿真你的系统，必须设置合适的仿真时间步长和设置固定步长解决设置。对于交直流电动机和机械模型推荐的采样时间值可以从相应模块帮助手册的Remarks部分查到，DC3模块的推荐采样时间是 5 s。步骤如下：1. Open the SimPowerSystems library and copy a Powergui block into DC_example. Open the Powergui, click Configure Parameters, and in the Powergui block parameters dialog box set Simulation type to Discrete. Set the sample time to 5 s.打开“SimPowerSystems ”库，然后复制“Powergui”模块到DC_example.点击Configure Parameters，打开“Powergui”模块，然后在其参数对话窗口设置仿真类型为“离散”，设置采样时间为 5 s。Your circuit should now look like Thyristor Converter-Based DC Motor Drive Example Circuit.你设置的回路现在就行“Thyristor Converter-Based DC Motor Drive Example Circuit”2.Open the Simulation/Configuration Parameters dialog box. Select the fixed-step, Discrete (no continuous states) solver option. Set the stop time to 12 seconds.Before simulating your circuit, you must first set the correct DC3 internal parameters.打开“Simulation/Configuration Parameters dialog box”选择固定步长，离散（不连续状态）解决选项。设置停止时间为12秒。Setting the High Power Drive Parameter SetMany models of the Electric Drives library have two sets of parameters: a low-power set and a high-power