Beruflich Dokumente
Kultur Dokumente
Yuyin Cheng
School of Mines, China University
of Mining and Technology
Xuzhou, China, 221000
E-mail: ck09cheng@163.com
I.
INTRODUCTION
Qingbin Yu
Shandong Electric Power Research
Institute
Jinan, China, 250002
E-mail: yuqingbin001@163.com
cc
ca
163
I d ( s)
1/ R
2
=
=
U d 0 ( s ) E ( s ) Tl s + 1 0.03s + 1
E ( s)
R
0.5
=
=
I d ( s ) I dL ( s ) Tm s 0.18s
r1 (k )
uc1 ( k )
y1( k )
r2 (k )
uc 2 ( k )
cc
y1 (t )
(2)
ca
y2 ( k )
(1)
y2 (t )
n( s ) 1
1
=
=
E ( s ) Ce 0.132
I dL ( s)
U d 0 ( s)
UN
Rated voltage
220(V)
IdN
136(A)
nN
Rated speed
1460(r/min)
Electromotance
coefficient(rated magnetic flux)
Overload capacity
Ce
Tm
Tl
Electromechanical time
constant
Armature circuit
electromagnetism time constant
E (s)
n( s )
CONTROLLER DESIGN
Physical Interpretation
Symbol
I d (s)
(3)
r2 (s)
eca
W ( s)
I d (s)
0.132(V min/r)
2
e ca
0.5()
W (s)
0.18(s)
Figure 4. The dynamic smith predictor with nn-line time-delay
identification scheme of current loop
0.03(s)
164
U c1 ( k ) = U p + U i
H ( s) =
2(1 e ca )
(0.03s + 1)(0.0037)
(5)
ca =
ica / n
TABLE II.
(6)
i = k 1
The secondary control strategy is ordinary PI algorithm
and the smith dynamic predictor. In this paper, PI
parameter tuning adopt engineering PID parameter tuning
methods, refer to [15].After calculation, the proportionality
coefficient Kp=1.1 and the integral time constant Ti=0.03.
PI regulator can be written as
1.1(0.03s + 1)
R( s ) =
0.03s
U p / Ki
EC
(7)
(9)
NB
NM
NS
ZO
PS
PM
PB
NB
NB/PS
NB/ZO
NM/NS
NS/NS
NM/ZO
ZO/NM
PB/NB
NM
NB/PS
NS/ ZO
NM/NS
NS/NS
NS/NS
PS/NM
PS/NM
NS
NM/PS
NS/ ZO
NS/NS
ZO/NS
ZO/NS
PM/NM
PB/NB
ZO
NB/ZO
NS/ ZO
NS/ZO
ZO/ZO
PS/ZO
PS/ZO
PM/ZO
PS
NB/PB
NM/ PM
NS/PS
PS/ZO
PS/PS
PM/ PM
PB/PB
PM
NM/PB
NS/ PM
ZO/PS
PS/ZO
PS/PS
PS/PM
PB/PB
PB
NM/PB
ZO/ PM
PS/PS
PM/ZO
PB/PS
PM/ PM
PM/PB
15
10
Up
5
0
-5
-10
I dL (s )
de
r1 (k )
dt
Up
U c1 (k )
-15
R
Tm s
1 n (t )
Ce
Ki
2000
1000
10
Ui
E(s)
5
-1000
-15
-10
EC
165
-5
-2000
15
1
0.9
Speed/( r/min)
0.8
1000
Ki
0.7
0.6
0.5
0.4
=0.05s
=0.5s
=1s
=2s
max
max
500
max
0.3
max
2000
1000
0
-1000
-2000
-15
-10
-5
EC
10
0
0
15
1.5
Time/s
300
Load current/A
SIMULATION ANALYSIS
=0.05s
=0.5s
=1s
=2s
max
272
250
IV.
0.5
max
max
200
max
150
100
50
0
0
0.5
1.5
Time/s
Figure 8. The dynamic response of the DC motor that start at rated load
with different delay upper bound
CONCLUSIONS
[2]
[3]
[4]
166
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
167