《电力电子电机控制系统仿真技术》洪乃刚第5章

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

2、Machinei+-i+-Clockalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge 在调速系统中直流电动机一般采用它励方式，为了简化模型励磁由直流电源模块E供电。同步变压器、触发器、移相控制Fen和给定模块Uc组成驱动控制电路，触发器6pulse generator的同步电压信号连接如图 CCUUmaxmin9090 负载转矩输入端TL用 step模块设定加载时间和加载转矩 三相变压器采取/Y型连接，原边电压为380V（线电压），副边相电压为 VIRRUUnomarecnom126cos34. 2)(min2hIpnCULnom

3、nomnoma00021. 01361460222204 . 01 .1921 .19(3) 电枢绕组和励磁绕组间互感Laf ：HIKLCKrVnIRUCfEafeEnomnomanome84. 05 . 1/26. 1/26. 1132. 0260260min/.132. 0146013621. 022000.511.50500100015002000t / sn / rpm00.511.5050100150200250300t / sud2 / VVUct1030（电机在时空载起动，稳态转速为1440转/分 加载稳定后电压为218V 00.511.5-1000100200300400500

4、t / sid / A020040060005001000150020002500Te / N.mn / rpmAB11.0051.011.0151.02-400-2000200400t / sud Ud / V, id / AUdudid11.0051.011.0151.02-400-2000200400t / sud Ud / V, id / AUdudid45757511.011.021.031.04-600-400-2000200400600t / suAB / V , iA / AuABiA11.011.021.031.04-400-2000200400t / suab / V ,i

5、a / Auabia00.511.50500100015002000t / =sn / rpmUc=7.5VUc=5VUc=2.5VUc=10V00.511.50100200300400500t / sid / AUc=7.5VUc=5VUc=2.5VUc=10V30KW 220V 136A 1460rpm DC-MOTOR -unuctKp10un*ud2ud1uctv+-u2v+-u1tspeedalphan-feedifidv+-ca0blockv+-bcv+-abABCThree-Phase SourceABCabcThree-PhaseTransformer(Two Windings

6、)1ABCabcThree-PhaseTransformer(Two Windings)TeStepSaturationLdKpGain130/piGain90-6*u1FcnDemuxTLmA+F+A-F-dcDC MachineClockalpha_degABBCCABlockpulses6-Pulse 220VpulsesABCK A VT-bridge00.511.50500100015002000t / sn / rpmUn*=10Un*=5Un*=0.500.511.50100200300400500t / sid / AUn*=10Un*=5Un*=0.520731460D00.

7、511.50500100015002000t / sn /rpmKp=20Kp=5Kp=0.5Kp=10000.511.5-10-5051015t / sUct / VKp=20Kp=5Kp=0.5Kp=10030KW 220V 136A 1460rpm DC-MOTOR -unUcUngUngun*ud2ud1uctv+-u2v+-u1tspeedalphan-feed1ifidv+-ca0blockv+-bcalphav+-abABCThree-Phase SourceABCabcThree-PhaseTransformer(Two Windings)1ABCabcThree-PhaseT

8、ransformer(Two Windings)TeStep0.5s 171.4N.mLd30/piGain90-6*u1FcnEDemuxTLmA+F+A-F-dcDC MachineClockPI controllerASRalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge00.511.5050010001500t / sn / rpmPI 调 节 器P 调 节 器1460rpm00.511.5-1000100200300400500t / sid / API 调 节 器P 调 节 器30KW 220V 136A 1460rpm

9、 DC-MOTOR -unuctKp(Ung-Un)Ung-uif10un*ud2ud1v+-u2v+-u1tspeedalphan-feedifidfidbatai-feed1v+-ca0blockv+-bcv+-abABCThree-Phase SourceABCabcThree-PhaseTransformer(Two Windings)1ABCabcThree-PhaseTransformer(Two Windings)TeStepSaturationLdKpGain130/piGain90-6*u1FcnEDemuxDead Zone0 10.4TLmA+F+A-F-dcDC Mac

10、hineClockalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge74. 013610*NnmifIUK在实际系统中ifK死区范围相当于稳压管稳压值，死区范围可以根据电流限制要求选取。 取电流互感器的变换系数，00.511.50100200300400500t / sid / A无 电 流 截 止 负 反 馈有 电 流 截 止 负 反 馈00.511.5050010001500t / sn / rpm无 电 流 截 止 负 反 馈有 电 流 截 止 负 反 馈-Un-Ui10un*tTon.s+11n-filterAlphaTon

11、.s+1n-feednid1Toi.s+1i-filterBetaToi.s+1i-feedRTm.sTm1/RTl.s+1TeSaturationKsTs.s+1SCRRampClock1CeCePI controllerASRPI controllerACR05. 01365 . 110*nomimIUsTm128. 0sTl065. 0电机转矩时间常数 电磁时间常数 电流反馈系数 sTs0017. 0sTTToisi0037. 0002. 00017. 0三相晶闸管整流电路平均失控时间电流环的小时间常数为)1 (1)(SKKSSKSWIiPiiiPiACRiIiK1其中：sTli065.

12、 047. 22205. 00037. 0231. 0065. 02siiiPKTRK转速反馈系数rVnUnomnommin/.00685. 0146010转速环按典型系统设计，并选中频段宽度h=5，转速调节器的传递函数为：)1 (1)(SKKSSKSWInPnnnPnASRsTThhToninn087. 0)01. 00037. 02(5)2(42.170174. 031. 000685. 052128. 0131. 005. 062) 1(nmePnRThTChK仿真算法ode15，仿真时间1.5s。0.8秒时加额定负载。 00.511.50500100015002000time(s)n

13、( r/m )00.511.5-1000100200time(s)id ( A ) ud2ud1uctv+-u2v+-u1tspeedifidiaiABATAToi.s+1i-feed1Toi.s+1i-Filtv+-ca0blockv+-bcv+-ab10Un*ABCabcTransformerABCThree-Phase SourceABCabcThree-PhaseTransformerTeStep1Ton.s+1N-FiltalphaTon.s+1N-FeedLd30/piGain(90-6*u)FcnEDemuxTLmA+F+A-F-dcDC Mi+-i+-ClockPI contr

14、ollerASRPI controllerACRalpha_degABBCCABlockpulses6-Pulse pulsesABCK A VT-bridge00.511.5050010001500t / sn / rpmUn*=10Un*=5Un*=100.511.5-1000100200300t / sid / AUn*=10Un*=5Un*=1EETTETTTTTETTETTUonononoffond) 12(EETTUond占空比,TTon .11 1Out1SelectorSignal(s) PulsesPWM Generator1Signal(s) PulsesPWM Gener

15、atorMux0.0011In1In1Out1DC-PWM11pulse1pulse2pulse3pulse41Out1t4t3t2tProduct2Product1Signal(s) PulsesPWM GeneratorMuxdoubleData1 doubleData 2 0Compare12In21In1In1In2Out1DC-PWM2UctUct1Uct2uoudtnificiav+-ABC+-Universal Bridge1gAB+-Universal BridgeUdABCThree-Phase SourceTeStepSignProduct2MultimeterInMean

16、Mean ValueManual Switch9.55E1DemuxDemuxIn1Out1DC-PWM1TLmA+F+A-F-dcDC M-0.8Constant20.8Constant1Co Clock1HIKLCKrVnIRUCfEafeEnomnomanome796. 05 . 0/398. 0/398. 00417. 0260260min/.0417. 024009 . 24 . 3110VVVns5 .1378 . 0/110/VVVDCAC5 .10134. 2/5 .137334. 2/3直流电源电压 二极管整流器交流侧三相线电压012345-1-0.500.51t / sUc

17、t012345-4000-2000020004000t / sn / rpm2.4952.52.5052.51-200-1000100200t / sud / V012345-60-40-2002040t / s id / A-30-20-1001020-3000-2000-10000100020003000ABVUctUct1Uct2uoudtnificiav+-ABC+-Universal Bridge1gAB+-Universal BridgeUdABCThree-Phase SourceTeStepSignProduct2MultimeterInMeanMean ValueManual

18、 Switch9.55E1DemuxDemuxIn1In2Out1DC-PWM2TLmA+F+A-F-dcDC M-0.8Constant20.8Constant1Co Clock12.4952.52.5052.5100.20.40.60.81t / spulse12.4952.52.5052.5100.20.40.60.81t / spulse22.4952.52.5052.5100.20.40.60.81t / spulse32.4952.52.5052.5100.20.40.60.81t /spulse4012345-4000-2000020004000t / sn / rpm2.4952.52.5052.51-200-1000100200t / sud / VUn*1alphan-feednifiav+-gAB+-Universal BridgeUn*UdTeTLSign