elektricni pogoni
DESCRIPTION
K-ke elektricnih pogonaTRANSCRIPT
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2008-02-25 1
Električni pogoni
Zašto je potrebna promenljiva brzina obrtanja?
Svi procesi se mogu podeliti na:
•Procese kojima se realizuje transport materijala:
– čvrstog agregatnog stanja
– tečnosti i gasovi
•Procese kojima se realizuje
obrada materijala.
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2008-02-25 2
Električni pogoniUpravljanje ili regulacija?
UPRAVLJANJE
REGULACIJA
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2008-02-25 3
Električni pogoni
Kako realizovati pogon sa promenljivom brzinom?
•Motorima jednosmerne struje. Nekada
•Motorima naizmenične struje. Sada– Asinhroni motori.
– Sinhroni motori (sa permanentnim magnetima).
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2008-02-25 4
Električni pogoniŠta čini električni pogon?
Motor Proces
Povratne sprege
Električno napajanje
Korisnički interfejs
FR
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2008-02-25 5
m
ω mm
ω ω
mm
ω ω
Kvadranti
MMG
G
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Električni pogoni-Tipovi opterećenja-
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Električni pogoni-Tipovi opterećenja-
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2008-02-25 8
Električni pogoni-Potencijalno opterećenje-
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Električni pogoni-Potencijalno opterećenje-
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V V
mm = rMg
Mg Mg
mm = rMgm m
Električni pogoni-Potencijalno opterećenje-
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Električni pogoni-Stacionarna radna tačka-
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Električni pogoni-Stacionarna radna tačka-
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2008-02-25 13
Električni pogoni-Koliko traje zalet asinhronog motora?-
ubrzanjazaleta m
Jt ω⋅=
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Električni pogoni -Frekventni regulator-
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Električni pogoni -Frekventni regulator-
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• Pretvara naizmenični napon u jednosmerni.
• Uobičajena konfiguracija je diodni most.
• Za veće snage obično se koriste poluupravljivi mostovi.
Električni pogoni -Frekventni regulator. Ispravljač-
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Električni pogoni -Frekventni regulator. DC Bus-
Jednosmerno međukolo strujnih inverotra.
Jednosmerno međukolo naponskih inverotra.
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• U kondenzatoru je akumulirana energije.• Filtriranje jednosmernog napona iz ispravljača.• Napajanje kontrolne ploče i perifernih uređaja.• Kolo za punjenje kondenzatora.
DC Bus
DC Filter
Električni pogoni -Frekventni regulator. DC Bus-
maxldc UU ⋅= 2
VUdc 5604002 =⋅=
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2008-02-25 21
• Transformiše DC napon u AC promenljive frekvencije i amplitude.
Najčešće je upotrebljen IGBT kao energetski prekidač.
Električni pogoni -Frekventni regulator. Invertor-
DC to AC Inverter
IGBTs
AC Izlaz
M
Trofaznim naponskim invertorom motor se napaja promenljivim naponom promenljive učestanosti Voltage Source Inverter.Ili se koristi kao pojačavač u regulatorima struje sa zatvorenom petljom po struji Current RegulatedPWM Inverter.
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• U FR koriste se različite tehnike impulsno širinskemodulacije u cilju postizanja: minimalne snage gubitaka, maksimalnog iskorišćenja ulaznog napona, izlazni oblici napona i struje sa niskim sadržajem harmonika ....
Električni pogoni -Frekventni regulator. Invertor-
DC to AC Inverter
IGBTs
AC Izlaz
M
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• Dve najčešće sretane strategije IŠM su:
Električni pogoni -Frekventni regulator. Invertor-
• Sinusni PWM sa trougaonim nosiocem
• IŠM zasnovana na modulaciji prostornim vektorom – Space Vector PWM (SVPWM)
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Noseći signalModulišući
(referentni) signalŽeljeni oblik
izlaznog napona
PWM naponStruja motora
Električni pogoni -Frekventni regulator. PWM-• Prve
realizacije PWM bile su analogne
• Sadašnji specijalizovani DSP i μC poseduju PWM jedinice
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-Uticaj prekidačke učestanosti na struju motora.-
• Trougaoni nosilac ima višestruko veću učestanost od modulišućeg signala. Njegova učestanost predstavlja prekidačku učestanost invertora.• Ako je učestanost nosioca celobrojanumnožak osnovne učestanosti izlaznog napona govorimo o sinhronizovanoj sinusnoj modulaciji
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Električni pogoni -Frekventni regulator. PWM-
• Prve realizacije PWM bile su analogne
Swa+
Swa-
Swb+
Swb-
Swc+
Swc-
PWM PWMPWM
SWa SWb SWc
Carrier
ua
ub
uc
UaN
UbN
UcN
-E/2
E/2
t=kTS
Carrier
tk+
PWM wawe
Modulation signal
t=(k+1)TS
0
1
-1
0
1
-1
u(k)
tk-=TS- tk+
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Električni pogoni -Frekventni regulator. PWM-
• Osnovne veličinesinffm tr
f =
sinVVm tr
a =
•gde je:
• mf – indeks frekvencijske modulacije
• ftr – učestanost nosećeg signala
• fsin – učestanost modulišućeg signala
•ma – indeks amplitudske modulacije
•Vtr – amplituda trougaonog nosioca
•Vsin – amplituda modulišućeg signala
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Električni pogoni -Frekventni regulator. PWM-
• Rad PWM modulatora se može podeliti u dve oblasti:
•Linearnu oblast ma≤1. Kada je ftr≥20⋅fsin važi da je pojačanje modulatora ≈1
•Nelinearna oblast ma≥1 pojačanje modulatora je ≤ 1. Granica koja označava kraj nelinearne oblasti je početak kvadratnog režima rada six-step.
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2008-02-25 303,241ma
nadmodulacija
kvadratni rad
za mf = 15
kvadratni rad
linearni deo
0
d
LL1V
(rms) V
78,06=
π
612,022
3=
Električni pogoni -Oblasti rada PWM modulatora:-
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Električni pogoni -Oblasti rada PWM modulatora:-
• Izlazni napon grane invertora prema negativnom polu
*a
u
*a
uEuaN ⋅=
• gde je modulišući signal iskazan preko indeksa amp. modulacije
)sin()(* tmtu aa ω=
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Električni pogoni -Oblasti rada PWM modulatora:-
• Izlazni međufazni naponi se mogu izraziti kaocabcab uuu ,,
)6
sin(3)()()( πω +=−= tmEtututu abNaNab)
65sin(3
2)()()( πω +=−= tmEtututu acNbNbc
)2
3sin(32
)()()( πω +=−= tmEtututu aaNcNca
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TC+
Vd
Vd
180o
180o0
TA+
TA-
0
0
0
TB-
TB+
tω1
tω1
tω1
tω1
TC-
TC+
UAN
UBN
UCN
UAB
uLL1
Električni pogoni -Oblasti rada PWM modulatora:-
• Napon PWM invertora na granici nelinearne oblasti:
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MUDC1,0,0
0,0,1 1,0,1
0,1,1
0,1,0 1,1,0
Električni pogoni -Frekventni regulator. SVPWM-
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Električni pogoni -Automatska adaptacija parametra-
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Električni pogoni -Automatska adaptacija parametra-
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Električni pogoni -Automatska adaptacija parametra-
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Šta nam frekventni regulatori omogućuju?
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Električni pogoni - Oblici referentnih signala brzine-
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Električni pogoni -Zašto soft start?-
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Električni pogoni -Zašto soft start?-
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Električni pogoni -Zašto soft start?-
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Električni pogoni -Soft start-
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Električni pogoni -Soft start-
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Električni pogoni -Leteći start-
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Električni pogoni -Kompenzacija klizanja-
BRZINA
50%
100%
%mm
zadata
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Električni pogoni -Eliminacija mehaničkih vibracija preskokom
učestanosti-
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Električni pogoni -Zaustavljanje pogona injektovanjem
jednosmerne struje-
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Električni pogoni -Momentna karakteristika asinhronog motora
napajanog jednosmernom strujom-
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Električni pogoni -Zaustavljanje pogona injektovanjem
jednosmerne struje-
Kako dobijamo DC napon?
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Električni pogoni -Zaustavljanje pogona injektovanjem jednosmerne
struje-
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Električni pogoni - Paralelan rad-
Kako zaštiti motor?Adaptacija parametara?Priključenje motora?
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Električni pogoni -Povratna sprega po procesnoj
veličini-
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Električni pogoni -Total stop-
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Električni pogoni -Pogon pumpi-
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Električni pogoni -Pogon pumpi-
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Električni pogoni -Automatic Energy Optimization AEO-
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Električni pogoni -Pogon pumpi-
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Električni pogoni -Pogon pumpi-
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Električni pogoni - Kočenje -
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Električni pogoni - Kočenje -
Blok dijagram
KAKO IZGLEDA ELEKTRIČNA ŠEMA?
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Električni pogoni - Kočenje -
RP
I kocenjabimetala =
Kako podesiti bimetal?
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Električni pogoni - Laoda Sharing. Razmena energije u DC Kolu. -
Sa izvorom jednosmernog napona.
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Električni pogoni - Laoda Sharing. Razmena energije u DC Kolu. -
Sa jednim velikim pogonom.
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Električni pogoni - Laoda Sharing. Razmena energije u DC Kolu. -
Tipična aplikacija.
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Električni pogoni -Frekventni regulator i struja mreže-
Da li je struja mreže kontinualna? Kakav je talasni oblik?
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Električni pogoni -Frekventni regulator i struja mreže-
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Električni pogoni -Frekventni regulator i struja mreže-
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Električni pogoni -Frekventni regulator i struja mreže-
ZADATAKOsciloskopom pogledati talasni oblik struje na ulazu u frekventni regulator.
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Električni pogoni -Frekventni regulator i napon mreže-
Zatupljene sinusoide napona mreže.
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Električni pogoni -Frekventni regulator i struja mreže-
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Električni pogoni -Frekventni regulator i struja mreže-
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Električni pogoni -Frekventni regulator i struja mreže-
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Električni pogoni -Frekventni regulator i struja mreže-
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Električni pogoni -Frekventni regulator i napon mreže-
Nema zatupljenosti sinusoida napona mreže.
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Električni pogoni -Frekventni regulator i struja mreže-
Prednost:smanjen je THD, 5-, 7-harmonik su eliminisani. Mana: cena je za 50% veća.
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Električni pogoni -Frekventni regulator i struja mreže-
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Električni pogoni -Frekventni regulator i struja mreže-
Zaključak: Koristimo tamo gde sa zahtevaju mala izobličenja napona.
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• “U/f” pogon. – Otvorena povratna petlja po
brzini sa ili bez kompenzacije klizanja.
– Zatvorena povratna petlja po brzini.
• “Vektorska regulacija bez davača pozicije” sensorless.
• “Vektorska regulacija fluksa”.
U/f
VECTORCONTOL
FLUX VECTOR
Električni pogoni -Varijante regulacije-
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190
380
25 50fOb/min750 1500
0
Nominalni napon
Električni pogoni -Regulacija U/f = const.-U
U/f kriva pokušava da održi konstantan fluks u vazdušnom zazoru motora.
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AM
U/f Krive
PI
DBReferentna frekvencijaili brzina
Kompenz. klizanja
Električni pogoni -Regulacija U/f = const.-
PWM Invertor
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Električni pogoni -Regulacija U/f. VVC-
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Stator Rotor
R1 XLS
XM
XLR
R2 / KlizanjeVl
Električni pogoni -Regulacija U/f. VVC-
Is0
Prazan hod. Struja rotora je nula.
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Stator Rotor
R1 XLS
XM
XLR
R2 / KlizanjeVl +Vcomp
Električni pogoni -Regulacija U/f. VVC-
Is
Opterećenje.
Ir
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• Jednostavno za realizaciju. • Niska cena.• Lako za podešavanje.• Nije potreban dodatni hardver.• Moguće je povezati više motora na jedan
frekventni regulator.
Električni pogoni -Regulacija U/f. Prednosti-
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• Loše dinamičke karakteristike.• Loša tačnost regulacije brzine.• Nije moguće nezavisno kontrolisati fluks i
momenat motora.• Potrebna je veća struja da proizvede isti
moment nego kod vektorske regulacije.
Električni pogoni -Regulacija U/f. Mane-
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• Održava fluks u vazdušnom zazoru konstantnim.• Nezavisna kontrola fluksa i momenta kao kod DC
motora.• Potrebna je informacija o položaju rotora.
– Bez davača pozicije (sensorless).– Sa davačem pozicije.
Električni pogoni -Vektorska regulacija-
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Električni pogoni -Vektorska regulacija. Princip-
α = a
d
βq
is
iq idθiα
iβψr
aii =α
( )cb iii +=3
1β
θθ βα sincos ⋅+⋅= iiid
θθ βα cossin ⋅+⋅−= iiiq
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PIPI ωSV
PWMInve-rtor
Modelmotora
d,q α,
β
d,q
α,β
a,b,c
α,β
AC Motor
iq* V*sα
VDCn*
Park-1
θ
id
iqiαiβ
Slabljenje polja
Park Klark
nprocenjeno
-
-
-
Električni pogoni -Vektorska regulacija. Sensorless-
PIid*
V*sβ
V*sq
V*sd
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• Dobre strane– Bolja dinamika nego
kod U/f reg.– Pun momenat pri
maloj frekvenciji.– Efikasna kontrola
struje. – Nije potreban
dodatni hardver.
• Loše strane– Nema punog momenta
pri nultoj brzini.– Ograničene
autotjuningmogućnosti.
– Teško podešavanje. Potrebno odlično poznavanje motora.
– Nema mogućnosti povezivanja više motora na jedan frekventni reg.
Električni pogoni -Sensorless. Prednosti i mane-
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PIPI ωSV
PWMInve-rtor
Modelmotora
d,q α,
β
d,q
α,β
a,b,c
α,β
AC Motor
iq* V*sα
VDCn*
Park-1
θ
id
iqiαiβ
Slabljenje polja
Park Klark
-
-
-
Električni pogoni -Vektorska regulacija fluksa-
PIid*
V*sβ
V*sq
V*sd
En
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• Prednosti.– Pun momenat pri
nultoj brzini. – Optimalna kontrola
struje. – Mogućnost
autotjuninga.– Autotjuning moguć
i u radu.
• Mane– Nema
mogućnosti povezivanja više motora.
– Potreban dodatni hardver (povratna sprega po poziciji).
Električni pogoni -Vektorska regulacija fluksa-
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Regulacione petlje su način da se upravlja pojedinim veličinama u nekom dinamičkom sistemu.
Referenca Greška
Upravljana veličina
Gain(s)
-Sistem
Upravljačka veličina
Električni pogoni -Regulaciona petlja. Princip-
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Postoje tri regulacione petlje: pozicije, brzine i momenta.
---PWM
Petlja momentaPetlja brzinePetlja pozicije
Električni pogoni -Regulacione petlje. Princip-
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• Cilj: da se obezbedi jednakost momenta koji motor razvija i momenta opterećenja.
• Komanda: dolazi iz petlje po brzini ili preko analognog ulaza za moment.
• Povratna sprega: strujni transformator.
- PWM
Petlja Momenta
Električni pogoni -Regulacione petlje. Regulacija momenta-
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• Cilj: da se obezbedi da se motor obreće željenom brzinom.
• Referenca: dolazi iz regulatora po poziciji ili preko analognog ulaza brzine.
• Povratna sprega: enkoder.
++ PWM
Petlja MomentaPetlja Brzine
Električni pogoni -Regulacione petlje. Regulacija brzine-
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• Cilj: da radni predmet zauzme željenu poziciju.• Komanda: dolazi od kontrolnog algoritma ili impulsnog
signala.• Sprega: enkoder.
Električni pogoni -Regulacione petlje. Regulacija pozicije-
---PWM
Petlja momentaPetlja brzinePetlja pozicije
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