毕业设计（论文）-软启动装置在盘车电机控制系统中的应用
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启动
装置
电机
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控制系统
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毕业设计（论文）-软启动装置在盘车电机控制系统中的应用,启动,装置,电机,机电,控制系统,中的,应用,利用,运用
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西安文理学院本科毕业设计（论文）第1页SOFTSTARTINGOFINDUCTIONMOTORWITHTORQUECONTROLADEMIRNIED,MEMBER,IEEE,JOSDEOLIVEIRA,RAFAELDEFARIASCAMPOS,ROGRIOPINHODIAS,ANDLUIZCARLOSDESOUZAMARQUESABSTRACTTHISPAPERPRESENTSASIMPLETECHNIQUEBASEDONSTATORFLUXESTIMATIONTOCONTROLTHEELECTROMAGNETICTORQUEOFINDUCTIONMOTORSIMSDURINGSOFTSTARTINGTHEINHERENTPROBLEMSRELATEDTOPUREINTEGRATIONOFTHEBACKELECTROMAGNETICFORCETOESTIMATETHESTATORFLUXAREMINIMIZEDUSINGTHELOWPASSFLLTERAPPROACHTHEEXPERIMENTALRESULTSAREDEALTWITHANDCOMPAREDWITHTHEUSUALCURRENTCONTROLTECHNIQUETHERESULTSOBTAINEDVALIDATETHEPROPOSEDTECHNIQUE,SHOWINGITSVIABILITYINAPPLICATIONSWHERETHEOBJECTIVEISTOFITTHEIMTORQUEPROFILEDURINGSTARTINGORSTOPPINGACCORDINGTOTHELOADTORQUEINDEXTERMSINDUCTIONMOTORIM,SOFTSTARTER,TORQUECONTROLIINTRODUCTIONTHEACMOTORSTARTERSEMPLOYINGPOWERSEMICONDUCTORSAREBEINGINCREASINGLYUSEDTOREPLACEELECTROMAGNETICLINESTARTERSANDCONVENTIONALREDUCEDVOLTAGESTARTERSBECAUSEOFTHEIRCONTROLLEDSOFTSTARTINGCAPABILITYWITHLIMITEDSTARTINGCURRENT1THYRISTORBASEDSOFTSTARTERSARECHEAP,SIMPLE,RELIABLE,ANDOCCUPYLESSVOLUME,ANDTHEREFORE,THEIRUSEISAVIABLESOLUTIONTOTHEINDUCTIONMOTORIMSTARTINGPROBLEM2THEANGLERAMPTECHNIQUEISKNOWNASTHEVOLTAGERAMPTECHNIQUEBECAUSEITDOESNOTHAVEAVOLTAGEFEEDBACKAPPLIEDTOTHEMOTORITMEANSTHATTHEIMVOLTAGEISCONTROLLEDTHROUGHAFIRINGANGLERAMPOFTHETHYRISTORSINANOPENLOOPTHISTECHNIQUEISSIMPLE,ANDITISUSEDINLOWCOSTCOMMERCIALSOFTSTARTERSITWILLALWAYSPRODUCEASTARTINGQUADRATICTORQUECURVETHATCANBEAPPLIEDTOSMALLHYDRAULICPUMPSANDSMALLFANSDEPENDINGONTHEINITIALSWITCHINGINSTANTSOFALLTHETHREEPHASESTOTHESUPPLY,ANIMMAYPRODUCESEVEREPULSATIONSONTHEELECTROMECHANICALTORQUE,REGARDLESSOFWHETHERITISCONTROLLEDBYADIRECTONLINESTARTERORASOFTSTARTER3THEELECTROMAGNETICTORQUEPULSATIONSMAYCAUSESHOCKSTOTHEDRIVENEQUIPMENTANDDAMAGETOMECHANICALSYSTEMCOMPONENTS,SUCHASSHAFTS,COUPLINGS,ANDGEARS,IMMEDIATELYPAPER2009IDC024R3,PRESENTEDATTHEINDUSTRYAPPLICATIONSSOCIETYANNUALMEETING,EDMONTON,AB,CANADA,OCTOBER59,ANDAPPROVEDFORPUBLICATIONINTHEIEEETRANSACTIONSONINDUSTRYAPPLICATIONSBYTHEINDUSTRIALDRIVESCOMMITTEEOFTHEIEEEINDUSTRYAPPLICATIONSSOCIETYMANUSCRIPTSUBMITTEDFORREVIEWJANUARY31,2009ANDRELEASEDFORPUBLICATIONOCTOBER30,2009FIRSTPUBLISHEDMARCH25,2010CURRENTVERSIONPUBLISHEDMAY19,2010THISWORKWASSUPPORTEDBYWEGEQUIPAMENTOSELTRICOSANIED,JDEOLIVEIRA,ANDRDEFARIASCAMPOSAREWITHTHEDEPARTMENTOFELECTRICALENGINEERING,UNIVERSIDADEDOESTADODESANTACATARINA,JOINVILLE89223100,BRAZILEMAIL西安文理学院本科毕业设计（论文）第2页DEE2ANJOINVILLEUDESCBRDEE2JOJOINVILLEUDESCBRCAMPOSRAFATERRACOMBRRPDIASISWITHWEGEQUIPAMENTOSELTRICOS,JARAGUDOSUL3000,BRAZILEMAILROGERIOPDWEGNETLCDESOUZAMARQUESISWITHTHEPOWERELECTRONICSANDCONTROLRESEARCHGROUP,UNIVERSIDADEFEDERALDESANTAMARIA,SANTAMARIA97105900,BRAZILEMAILMARQUES_LCSMHOTMAILCOMDIGITALOBJECTIDENTIFIER101109/TIA20102045335IFTHESTRENGTHOFMATERIALSISEXCEEDED,ORINTHELONGTERM,OWINGTOFATIGUE2NUMEROUSATTEMPTSHAVEBEENMADEONTHEPERFORMANCEANALYSISANDCONTROLTECHNIQUESOFATHREEPHASEIMFEDFROMATHYRISTORIZEDVOLTAGECONTROLLER49IN8,ADYNAMICFUNCTIONWASUSEDFORTHETHYRISTORTRIGGERINGANGLEINTHEVOLTAGECONTROLLERPROVINGTOBEASIMPLEANDEFFECTIVEWAYTOIMPROVETRANSIENTPERFORMANCETHERATEATWHICHTHEMAINFIUXBUILDSUPISDECREASED,ANDTHETRANSIENTTORQUEISSMOOTHEDBYEMPLOYINGAPROPERTRIGGERINGFUNCTIONIN1,SOMECONTROLSTRATEGIESAREPROPOSEDTOELIMINATEELECTROMAGNETICTORQUEPULSATIONS,BOTHATSTARTINGANDRECLOSING,ANDTOKEEPTHELINECURRENTNEARLYCONSTANTATAPRESETVALUEOVERTHEENTIRESTARTINGPERIODTHEPROPOSEDCURRENTCONTROLSTRATEGYISCOMPOSEDOFSUCCESSIVECOSINESANDCONSTANTFUNCTIONSEGMENTSOFTHYRISTORTRIGGERINGANGLEIN2,THEPERFORMANCEOFTHEIMDURINGVOLTAGECONTROLLEDSOFTSTARTINGHASBEENOPTIMIZEDBYELIMINATINGTHESUPPLYFREQUENCYTORQUEPULSATIONSUSINGAPULSATINGTORQUEELIMINATIONSTRATEGYAPPLIEDIN10AND11,BYEXTENDINGITTOCOVERALLOFTHEOPERATINGCONDITIONSOFASOFTSTARTER,ANDBYKEEPINGTHELINECURRENTCONSTANTATTHEPRESETVALUEOVERTHEENTIRESOFTSTARTINGPERIODTHUS,IN1AND2,THETECHNIQUEUSEDTOSTARTTHEIMWITHSOFTSTARTERISBASEDONTHECLOSELOOPCONTROLWITHCURRENTLIMITATIONTHISCURRENTCONTROLTECHNIQUECANPROVIDEACONSTANTTORQUEDURINGTHEBEGINNINGANDINTHEMIDDLEOFTHESTARTINGPROCESSHOWEVER,DURINGTHEFINALPERIODOFTHISPROCESS,ONECANVERIFYTHEEXISTENCEOFATORQUEPULSE,INWHICH,FORCERTAINKINDSOFLOADS,ANABRUPTACCELERATIONCANBEGENERATEDTHEREFORE,ITSEEMSTHATAGOODSOLUTIONTOSOLVETHISPROBLEMISTODIRECTLYCONTROLTHEELECTROMAGNETICTORQUEDURINGTHESTARTINGPROCESSINTHISPAPER,ATORQUECONTROLTECHNIQUEISPROPOSEDTOELIMINATETHEELECTROMAGNETICTORQUEPULSATIONSANDTOKEEPTHELINECURRENTNEARLYCONSTANTATAPRESETVALUEOVERTHEENTIRESOFTSTARTINGPERIODTHISSTRATEGYALLOWSTHETORQUETOBECONTROLLEDINSUCHAMANNERTHATACONSTANTTORQUEOREVENATAILOREDTORQUECANBEFOLLOWEDBYTHEIMDURINGSTARTINGORSTOPPINGPROCESSTHEPROPOSEDTECHNIQUE,BESIDESMAKINGTHEBENEFITSOBTAINEDFROMTHECURRENTCONTROLTECHNIQUEPREVIOUSLYCITEDPOSSIBLE,ALSOALLOWSCANCELINGTHETORQUEPULSEANDTHEACCELERATIONVERIFIEDATTHEENDOFTHEIMSTARTINGTHECONTROL,PROTECTION,ANDMONITORINGFUNCTIONSOFTHEPROPOSEDTECHNIQUEAREIMPLEMENTEDINAMICROCONTROLLERTHEORETICALRESULTSAREVERIFLEDEXPERIMENTALLYUSINGACUSTOMDESIGNEDEXPERIMENTAL西安文理学院本科毕业设计（论文）第3页SETUPTHISPAPERISORGANIZEDASFOLLOWSSECTIONIIDESCRIBESTHEPROPOSEDTORQUECONTROLTECHNIQUEANDOPERATIONPRINCIPLESNIEDETALSOFTSTARTINGOFINDUCTIONMOTORWITHTORQUECONTROLFIG1PROPOSEDCONTROLTECHNIQUESCHEMATICDIAGRAMFIG2PROPOSEDCONTROLTECHNIQUEDETAILEDDIAGRAMSECTIONIIISHOWSTHEAPPROACHUSEDTOESTIMATETHEFLUXFROMWHICHTHEELECTROMAGNETICTORQUEWILLBEOBTAINEDSECTIONIVPRESENTSEXPERIMENTALRESULTSOFTHEPROPOSEDTECHNIQUE,ANDFINALLY,CONCLUSIONSAREGIVENINSECTIONVIISYSTEMDESCRIPTIONANDOPERATIONPRINCIPLESTHESCHEMATICDIAGRAMOFTHEIMSOFTSTARTERWITHTHEPROPOSEDTORQUECONTROLTECHNIQUEISGIVENINFIG1THEELECTROMAGNETICTORQUEESTIMATIONISOBTAINEDUSINGALOWPASSFILTERLPFASTHESTATORFLUXESTIMATORWHICHELIMINATESTHEANALOGINPUTOFFSETTHECLOSEDLOOPTORQUECONTROLALLOWSTHE西安文理学院本科毕业设计（论文）第4页PRODUCTIONOFTHEDESIREDSTARTTORQUEPROFILEFROMTHEADOPTEDREFERENCETORQUETREF,ADJUSTINGTHEELECTROMAGNETICTORQUETEMTOTHELOADTORQUEFIG2SHOWSADETAILEDDIAGRAMOFTHEIMSOFTSTARTERWITHTHEPROPOSEDTORQUECONTROLTECHNIQUETHISDIAGRAMISCOMPOSEDOFTHREEPAIRSOFBACKTOBACKCONNECTEDTHYRISTORS,AMICROCONTROLLERBASEDCONTROLANDPROTECTIONCIRCUITRY,RINGANDANALOGINTERFACECIRCUITS,SYNCHRONISM,ANDHUMANMACHINEINTERFACETHEANALOGINTERFACECIRCUITRECEIVESTHETHREELINETOLINEINPUTVOLTAGESIGNALSVRS,VST,ANDVTR,THETHREELINETOLINEOUTPUTVOLTAGESIGNALSVAB,VBC,ANDVCAVIADIFFERENTIALAMPLIERSWITHRESISTIVEDECADES,ANDTHETHREELINECURRENTSIGNALSIA,IB,ANDICVIACURRENTTRANSFORMERSTHEGENERATIONOFTHYRISTORFIRINGPULSESISOBTAINEDBYUSINGTHREESIGNALSTHETORQUEREFERENCESIGNAL,THEESTIMATEDTORQUESIGNAL,ANDTHEINPUTVOLTAGESYNCHRONISMSIGNALSTABLEIDEFINITIONOFOPERATIONMODESFIG3FIRINGSEQUENCEATTHEBEGINNINGOFSTARTINGPROCESS西安文理学院本科毕业设计（论文）第5页FIG4FIRINGSEQUENCEWITHTHREESUPPLYVOLTAGESSTEADYSTATETHEESTIMATEDTORQUESIGNALISCOMPAREDWITHTHETORQUEREFERENCESIGNAL,GENERATINGANERRORSIGNALTHISERRORSIGNALGENERATESAVOLTAGESIGNALATTHEPROPORTIONALINTEGRALPIOUTPUTTHEDEFLNITIONOFTHETHYRISTORTRIGGERINGANGLEISMADETHROUGHAPERCENTRELATIONBETWEENTHEPIOUTPUTANDTHEMAXIMUMSUPPLYVOLTAGEVALUETHATSIGNALISCONVERTEDINTOTIME,TAKINGINTOCONSIDERATIONTHEELECTRICSUPPLYSYSTEMOPERATIONFREQUENCYTHETIMESIGNALGENERATEDISUSEDTOGETHERWITHTHEINPUTVOLTAGESYNCHRONISMSIGNALTOGENERATEADELAYINEACHOFTHEPHASES,WHICHISPROPORTIONALTOTHEERRORSIGNALTHEINSTANTTHESESIGNALSCROSSZEROISUSEDTOGENERATETHESCRSFIRINGPULSESRELATEDTOTHERESPECTIVEPHASESTHEREFORE,ASAFUNCTIONOFTHETORQUEERRORSIGNAL,AVARIATIONOFTHEFIRINGANGLEISOBTAINEDWHICHALLOWSTHECONTROLOFTHEVOLTAGEAPPLIEDTOTHEMOTORAND,CONSEQUENTLY,OFTHEMACHINETORQUEATANYTIME,BYIMPLEMENTINGTHETHYRISTORCONTROLLER,THEIMOPERATESINONEOFTHEOPERATIONMODESDEFINEDINTABLEIMODE0NOSUPPLYVOLTAGE,MODE1,2,AND3TWOSUPPLYVOLTAGES,ANDMODE4THREESUPPLYVOLTAGESFIG5PHASEVOLTAGEANDCURRENTWAVEFORMSADURINGSTARTINGPROCESSANDBDURINGSTEADYSTATE西安文理学院本科毕业设计（论文）第6页FIG6DIAGRAMOFTHEPROPOSEDELECTROMAGNETICTORQUEESTIMATORBASEDONANINTWITHOFFSETMINIMIZATIONCONSIDERINGTHETHYRISTORFIRINGANGLE,THETRAINOFTRIGGERINGPULSESREQUIREDFORTHEWHOLETHREEPHASESYSTEMWILLBESEPARATEDBYANANGLEOF60TOALLOWVARIATIONINTHEVALUEOFWITHTIME,THETRAINOFTHETRIGGERINGPULSESREQUIREDWILLBESEPARATEDBY60TINFIG3THEFIRINGANGLEHASAMAXIMUMVALUE120,IE,MINIMUMVOLTAGE,WITHUNSYMMETRICTWOPHASEOPERATIONMODESFIG4SHOWSTHETHREEPHASEOPERATIONMODETHETHYRISTORSARECONTROLLEDINTHESAMEWAYASINMODES1,2,AND3,BUT,INTHISCASE,ITCANBESEENTHATTHERINGANGLEHASAMINIMUMVALUE60,IE,MAXIMUMVOLTAGETHEIMSUPPLYVOLTAGEANDCURRENTWAVEFORMSDURINGSTARTINGPROCESSANDSTEADYSTATEARESHOWNINFIG5,WHERETHEANGLEHASITSMAXIMUMAANDMINIMUMVALUEBFORNORMALSTEADYSTATEOPERATION,WITHCURRENTCONTINUOUSLYOWINGINTHETHREEPHASES,THETRIGGERINGANGLEIS,WHEREISTHELOADDEPENDENTPHASESHIFTANGLEFOR,THETHYRISTORCONDUCTIONREQUIREMENTSARENOTMET,ANDTHEREFORE,THECONSTRAINTFORTRIGGERINGANGLEISIIIFLUXESTIMATIONAPPROACHTHEIMSTATORFLUXISESTIMATEDTHROUGHTHEINTEGRATIONOFTHEBACKELECTROMOTIVEFORCEASDESCRIBEDBYTHEFOLLOWINGEQUATIONSINTHESTATIONARYREFERENCEFRAME12,13WHEREVSANDISARETHEMEASUREDSTATORSUPPLYVOLTAGESANDCURRENTS,RESPECTIVELY,ANDRSISTHESTATORRESISTANCETHISMETHODWASCHOSENBECAUSEITREQUIRESONLYONEPARAMETER,THESTATORRESISTANCE,WHICHISOBTAINEDFROMKNOWNMETHODSTHEUXMAGNITUDEANDANGLEOFTHEESTIMATEDSTATORUXCANBEWRITTENAS西安文理学院本科毕业设计（论文）第7页THUS,THEIMTORQUECANBECALCULATEDASFOLLOWSWHEREPISTHENUMBEROFPOLESOFTHEIMWHENAPUREINTEGRATORINTISIMPLEMENTEDINTHEDISCRETEFORM,ASINADIGITALSIGNALPROCESSOR,ANERRORCANARISE12,13THISERRORCOMPRISESTHEDRIFTPRODUCEDBYTHEDISCRETEINTANDALSOTHEDRIFTPRODUCEDBYMEASUREMENTOFFSETERRORPRESENTINTHEBACKELECTROMOTIVEFORCEASMALLDCCOMPONENT,NOMATERHOWSMALLITIS,CANDRIVETHEPUREINTINTOSATURATIONTHEINTEGRATIONERRORASSOCIATEDWITHTHEIMPLEMENTATIONOFTHEINTISCONSTANTANDSOMEHOWLOOKSLIKEANOFFSETININITIALINTEGRATEDVALUEFROMTHESIGNALATTHEINPUTOFTHEINT,ITISNOTEASYTOKNOWWHETHERTHEINTEGRATEDSIGNALWILLHAVEANOFFSETORNOTTHEMEASUREMENTOFFSETCANBEREDUCEDTOANACCEPTABLEVALUEBYINTRODUCINGANOFFSETADJUSTMENTATTHEINPUTOFTHEINT12,ORTHISCANBEDONEUSINGAHIGHPASSLTERHPF15THEINTEGRATIONDRIFTPROBLEMDUETODCOFFSETANDMEASUREMENTNOISECANBEAVOIDEDUSINGANLPF13,14THUS,FIG6SHOWSTHEAPPROACHUSEDTOESTIMATETHEIMSTATORUXANDTHEELECTROMAGNETICTORQUETHEPURPOSEOFTHESIXHPFSUSEDAFTERTHESTATORVOLTAGESANDCURRENTANALOGREADINGSISTOELIMINATETHEOFFSETOFTHEANALOGINPUTS,WHILETHEPURPOSEOFTHERSTLPFISTOSUBSTITUTETHEPUREINT,AVOIDINGTHEPROBLEMSREGARDINGTHEUSEOFTHEINTASPREVIOUSLYMENTIONEDTHEINSTANTANEOUSTORQUEINPUTOFTHESECONDLPFPRESENTSPERIODICOSCILLATIONS,BEINGTHEMOSTSIGNICANTONEINTHESUPPLYFREQUENCY16TOELIMINATETHOSEOSCILLATIONS,ANLPFHASBEENUSEDTHESECONDLPFWASDESIGNEDINTHESAMEMANNERASTHEFIRSTLPF,GENERATINGTHEELECTROMAGNETICLTEREDTORQUECURVETEMFTHELTERPROJECTWASBASEDONTHEFOLLOWINGSPECICATIONSDENEDTOTHEPROPOSEDSTATORUXESTIMATOR1THEMOTORSTATORUXESTIMATIONMUSTOPERATEUNDERAFREQUENCYRANGEFROM50HZ15TO60HZ1542TO70HZWITH50OR60HZMOTORSTWO,FOUR,SIX,ANDEIGHTPOLESCURRENTSFROM9TO1400AANDFEEDINGVOLTAGESFROM220TO575V2THERESPONSEDYNAMICSOFTHESTATORUXESTIMATIONMUSTBECOMPATIBLEWITHASEMICYCLEOFTHESUPPLYVOLTAGESINUSOIDALSIGNAL,IE,10MSFOR50HZAND833MSFOR60HZ3THECALCULATIONOFTHEUXMUSTBEDONEWITHINTHESEMICYCLEOFTHESUPPLYVOLTAGE西安文理学院本科毕业设计（论文）第8页SINUSOIDALSIGNAL4ASAMPLINGRATEOF250SMUSTBEUSEDTOCARRYOUTTHEESTIMATIONANDCONTROLROUTINESONCETHESTATORUXESTIMATORSPECICATIONSAREDENED,THELTERPROJECTWASBASEDONTHEUSEOFRSTORDERBUTTERWORTHANALOGLTERSATRST,THEHPFSWEREDESIGNEDWITHXEDCUTOFFFREQUENCY,ONEDECADEBELOWTHEEXCITATIONFREQUENCYTHEEXCITATIONFREQUENCYWASDENEDASTHEAVERAGEOFTHEEXCITATIONFREQUENCYVARIATIONRATE,IE,55HZTHELPFSFOLLOWEDTHESAMEDESIGNCRITERIAUSEDFORTHEHPFSAFTERTHAT,THEANALOGLTERSWEREDISCRETIZEDBYUSINGTHEBILINEARTRANSFORMATIONORTUSTINMETHODWITHASAMPLINGRATEOF250SONECANOBSERVETHATTHESAMPLINGRATERESULTSINANYQUISTFREQUENCYMUCHHIGHERTHANTHEOPERATIONFREQUENCYSPECIEDINITEM1,RESULTINGINVERYLOWDISTORTIONVALUESFORTHEDISCRETIZEDSIGNALSTHEDISCRETIZATIONOFTHEHPFSRESULTEDINTHEFOLLOWINGTRANSFERFUNCTIONFROM6,ONECANOBSERVETHEEXISTENCEOFAZEROONTHEUNITARYCIRCLEANDAPOLETHATDEPENDSONTHEVALUEOF,WHICH,INTURN,DEPENDSONTHECUTOFFFREQUENCYEQUATION6WASIMPLANTEDINTHEMICROCONTROLLERTHEDISCRETIZATIONOFTHELPFSRESULTEDINTHEFOLLOWINGTRANSFERFUNCTION西安文理学院本科毕业设计（论文）第9页TABLEIIIMDATEANDHASTHESAMEVALUEASTHATOF8INTHISCASE,ONECANALSOSEETHEEXISTENCEOFAZEROONTHEUNITARYCIRCLEANDAPOLETHATDEPENDSONTHEVALUEOF,WHICHDEPENDSONTHECUTOFFFREQUENCYEQUATION9WASIMPLEMENTEDINTHEMICROCONTROLLERTHECORRECTIONFACTORCFTAKESINTOCONSIDERATIONTHEDIFFERENCESBETWEENTHEMAGNITUDEANDPHASEVALUESOFTHEPUREINTINRELATIONTOTHELPF,IE,BYTRANSFORMINGTHEVALUESFOUNDFROMPOLARTORECTANGULAR,ONEWILLNDONCETHECFSAREOBTAINED,MULTIPLYTHEMDIRECTLYBYTHEOUTPUTSIGNALSSANDSOFTHERSTLPFTOOBTAINTHECORRECTEDCOMPONENTSOFTHEESTIMATEDSTATORUX,IE,西安文理学院本科毕业设计（论文）第10页INRELATIONTOTHEHPF,ONECANOBSERVETHATTHEMAGNITUDEERRORSINTHERANGEOFTHEDENEDFREQUENCIESAREPRACTICALLYZERO,ANDTHEREFORE,THEREISNONEEDTOCORRECTTHEMINRELATIONTOTHEPHASEDELAYS,THEYAREELIMINATEDTHROUGHTHEUSEOFTHELPFSIVEXPERIMENTALRESULTSEXPERIMENTSWERECARRIEDOUTTOVERIFYTHEFEASIBILITYOFTHEPROPOSEDTORQUECONTROLTECHNIQUETWOWEGSTANDARDIMSWITHDIFFERENTPOWERRATINGSWERETESTEDTABLEIISHOWSTHEMOTORDATAINPHYSICALUNITSFIG7EXPERIMENTALSETUPFORMOTOR1AVIEWOFHARDWAREBVIEWOFCONTROLSYSTEMCOURTESYOFWEGEQUIPAMENTOSELTRICOSFIG8EXPERIMENTALSETUPFORMOTOR2AVIEWOFHARDWAREBVIEWOFCONTROLSYSTEMCOURTESYOFWEGEQUIPAMENTOSELTRICOSFORMOTOR1,THEEXPERIMENTALSETUPSEEFIG7COMPRISEDAWEGSOFTSTARTERMODELSSW06WITHTORQUECONTROL,AMAGTROLDYNAMOMETERPROVIDEDWITHACONTROLLERANDLOADTORQUEINDICATIONOF28NMMAXIMUMVALUE,ANDANOSCILLOSCOPEITISALSOPROVIDEDWITHANELECTROMAGNETICBRAKEWHICH西安文理学院本科毕业设计（论文）第11页IMPOSESALOADTORQUE,APIDCONTROLLERWHICHCANBEADJUSTEDTOOBTAINTHEDESIREDDYNAMICRESPONSE,ANDTWOANALOGPROGRAMMABLEOUTPUTSTHATWEREUSEDTOINDICATETHETORQUEANDSPEEDINREVOLUTIONSPERMINUTEOBTAINEDINANOSCILLOSCOPETHETORQUESENSORUSEDHADANADJUSTABLEBANDWIDTHFROM5KHZTO1HZANDALLOWSTUNINGOFTHETORQUESIGNALFREQUENCYLIMITATIONTHEMOTORWASSUBMITTEDTOASUPPLYFREQUENCYVARIATIONOBTAINEDBYMEANSOFAFREQUENCYINVERTERTHAT,INTURN,FEDTHESOFTSTARTER,ALLOWINGAFREQUENCYVARIATIONFROM40TO70HZANLCLINEFILTERWASCONNECTEDTOTHEINVERTEROUTPUTTOFILTERPULSEWIDTHMODULATIONPWMVOLTAGESUNDERPURESINUSOIDALVOLTAGESTHEEXPERIMENTALRESULTSPRESENTEDINTHISPAPERWEREOBTAINEDUNDER220VAND50HZFORMOTOR2,DUETOTHEHIGHCURRENTANDPOWERVALUES,THEEXPERIMENTALSETUPSEEFIG8COMPRISEDASOFTSTARTERWITHTORQUECONTROLANDRATEDCURRENTOF365A,ADCMACHINE300KWWORKINGASADYNAMOMETER,ANDANOSCILLOSCOPETOTESTTHISMOTOR,DUETOTHEIMPOSSIBILITYOFMEASURINGTHETORQUEBECAUSEOFTHELACKOFPROPEREQUIPMENT,THEMOTORTORQUEWASESTIMATEDBYTHESOFTSTARTERTHROUGHTHEANALOGOUTPUT,THESPEEDWASOBTAINEDTHROUGHATACHOGENERATOR010VANDTHECURRENTWASOBTAINEDTHROUGHTHECURRENTPROBEWITHTHEBANDWIDTHOF10KHZALLSIGNALSWEREOBTAINEDFROMTHEOSCILLOSCOPETHEIMSTARTINGWAVEFORMSOFSPEED,RMSLINECURRENT,ANDSHAFTANDESTIMATEDTORQUEVERSUSTIMEARESHOWNINFIGS914FORACOMPARATIVEASSESSMENTWITHTHETECHNIQUEPROPOSEDINTHISPAPER,FIGS9AND13SHOWSTARTINGPERFORMANCESUSINGTHECURRENTLIMITTECHNIQUEWITHMOTORS1AND2,RESPECTIVELYINADDITION,ITMUSTBENOTEDTHAT,FORALLEXPERIMENTSSHOWNINTHISPAPER,THELOADTORQUETLISCONSTANTINSPITEOFTHEDIFFERENTVALUESASCANBESEENINFIGS9AND13,DESPITETHEFACTTHATTHELINECURRENTISLIMITED,THEREISATORQUEPULSE,IE,THETORQUEISALMOSTCONSTANTEXCEPTATTHEFINALPERIODOFTHESTARTINGPROCESSWHENTHETORQUEINCREASES,ATLEAST,TWOTIMESTHISBEHAVIORISNOTDESIRED,ANDITMAYDAMAGETHEMECHANICALSYSTEMCOMPONENTSTHETORQUECONTROLSTRATEGYPROPOSEDINTHISPAPER,HOWEVER,ELIMINATESTHETORQUEPULSEFIGS1012ANDREDUCESTHESTARTINGTIMEOFTHEMOTORLOADCOMBINATION,ASSHOWNINFIG14FORPURPOSESOFCOMPARISON,FIGS9AND10SHOWTHESOFTSTARTINGCURVESOFMOTOR1USINGTHECURRENTLIMITTECHNIQUEANDTHETORQUECONTROLTECHNIQUE,RESPECTIVELYINBOTHCASES,THELOADTORQUEANDSOFTSTARTINGPERIODARETHESAMECONSIDERINGTHECURRENTCONTROLSTRATEGY,WHENSTARTINGTHEMOTOR,THETHYRISTORTRIGGERANGLEISCONTROLLEDUNTILTHECURRENT西安文理学院本科毕业设计（论文）第12页FIG9STARTINGPERFORMANCEOFTHECURRENTLIMITTECHNIQUEFORMOTOR1RMSLINECURRENTLIMITOFI22INANDLOADTORQUEOFTL01TN,WHERETNISTHERATEDTORQUECH1SPEED,636R/MIN/DIVCH2RMSLINECURRENT,10A/DIVCH3SHAFTTORQUE,02TN/DIVFIG10STARTINGPERFORMANCEOFTHEPROPOSEDTORQUECONTROLTECHNIQUEFORMOTOR1WITHONEPOINTOFREFERENCECONSTANTMOTORTORQUEOFT02TNANDLOADTORQUEOFTL01TNCH1SPEED,636R/MIN/DIVCH2RMSLINECURRENT,10A/DIVCH3SHAFTTORQUE,02TN/DIV西安文理学院本科毕业设计（论文）第13页FIG11STARTINGPERFORMANCEOFTHEPROPOSEDTORQUECONTROLTECHNIQUEFORMOTOR1WITHTWOPOINTSOFREFERENCEINITIALMOTORTORQUEOFT016TN,NALMOTORTORQUEOFT023TN,ANDLOADTORQUEOFTL01TNCH1SPEED,636R/MIN/DIVCH2RMSLINECURRENT,10A/DIVCH3SHAFTTORQUEOF02TN/DIVFIG12STARTINGPERFORMANCEOFTHEPROPOSEDTORQUECONTROLTECHNIQUEFORMOTOR1WITHTHREEPOINTSOFREFERENCEINITIALMOTORTORQUEOFT005TN,INTERMEDIATEMOTORTORQUEOFT024TN,FINALMOTORTORQUEOFT022TN,ANDLOADTORQUEOFTL01TNCH1SPEED,636R/MIN/DIVCH2RMSLINECURRENT,10A/DIVCH3SHAFTTORQUEOF02TN/DIV西安文理学院本科毕业设计（论文）第14页FIG13STARTINGPERFORMANCEOFTHECURRENTLIMITTECHNIQUEFORMOTOR2RMSLINECURRENTLIMITOFI2INANDLOADTORQUEOFTL006TNCH1ESTIMATEDTORQUE005TN/DIVCH2RMSLINECURRENT,200A/DIVCH3SPEED,331R/MIN/DIVFIG14STARTINGPERFORMANCEOFTHEPROPOSEDTORQUECONTROLTECHNIQUEFORMOTOR2WITHTHREEPOINTSOFREFERENCEINITIALMOTORTORQUEOFT01TN,INTERMEDIATEMOTORTORQUEOFT014TN,NALMOTORTORQUEOFT01TN,ANDLOADTORQUEOFTL006TNCH1ESTIMATEDTORQUE005TN/DIVCH2RMSLINECURRENT,200A/DIVCH3SPEED,331R/MIN/DIVLIMITISREACHEDANDREMAINSUNDERTHISLIMITUNTILTHEMOTORREACHESITSRATEDSPEED,WHENTHETHYRISTORTRIGGERANGLEISMINIMUM,IE,THESAMEASTHATOFTHESUPPLYVOLTAGETHECURRENTCANTHUSBEKEPTCONSTANTATAPREDEFINEDVALUEDURINGTHEWHOLEMOTORSTARTINGTIMEHOWEVER,WITHREGARDTOTHETORQUEATTHEMOTORSHAFT,THEEXISTENCEOFATORQUEPULSECLOSETONOMINALROTATIONISDUETOTHETHYRISTORTRIGGERANGLEWHICHBECOMESMINIMUM,IMPOSINGAFEEDINGVOLTAGEANDSUDDENACCELERATIONOFTHEMOTORSIMILARCURRENTBEHAVIORISVERIFIEDFORTHETORQUECONTROLSTRATEGY,WHICHCANBEOBTAINEDBYSETTINGTREFTOACONSTANTVALUE,IE,ONEPOINTOFREFERENCEHOWEVER,INTHISCASE,THEREISNOTORQUEPULSE,THESPEEDISQUITESMOOTH,ANDANABRUPTVARIATIONISNOLONGERRECOGNIZEDOBSERVETHATTHECONTROLISACTINGDIRECTLYONTHETORQUEPROFILEWHICHISDIFFERENTFROMTHECURRENTCONTROLCASE,WHERETHECONTROLDIDNOTACTDIRECTLYONTHETORQUEPROFILEINFIG11,ONECANOBTAINDIFFERENTSTARTINGPERFORMANCESFROMTHETORQUECONTROLTECHNIQUE,SETTING西安文理学院本科毕业设计（论文）第15页TWOPOINTSOFREFERENCEFORTREFI
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