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INTRODUÇÃO
RS + pLS pmSR
vS+ iS+
=
0 m p − jn θ R + L p − jn θ i
•
•
(6.1)
SR R R R+
(
T = 2 ⋅ n ⋅ mSR Im iS+ ⋅ iR − ) (6.2)
vSd = vSα
(6.3)
vSq = vSβ
vα = vα cos ( ωt + θα )
(6.4)
vβ = vβsen ( ωt + θβ )
vα =
2
e (
vα j( ωt +θα ) − j( ωt +θα )
+e )
(6.5)
vβ = β e
2j
(
v j( ωt +θβ ) − j( ωt +θβ )
−e )
Definindo-se:
_ _
vα = e jθα ⋅ vα vα = e− jθα ⋅ vα
*
∴
_ _
(6.6)
jθβ * − jθβ
vβ = − je ⋅ vβ ∴ v = je
β ⋅ vβ
1 _ _
*
vα = vα ⋅ e jωt + vα ⋅ e− jωt
2
(6.7)
1 _ _
*
vβ = vβ ⋅ e jωt + vβ ⋅ e− jωt
2
Considerando que:
1
vS+ =
2
( vα + jvβ )
(6.8)
1
vS− =
2
( vα − jvβ )
obtemos
Assim:
_ _
_ * _ *
1 vα + jvβ jωt vα + jvβ − jωt
vS+ = ⋅e + ⋅e (6.10)
2 2 2
Definindo-se:
_ _
_
vα + jvβ
vS+ =
2
_ _
(6.11)
_
vα − jvβ
vS− =
2
Assim:
1 _ _
*
vS+ = vS+ ⋅ e jωt + vS− ⋅ e− jωt
2
(6.12)
1 *
_ _
vS− = vS+ ⋅ e− jωt + vS− ⋅ e jωt
2
_ _ _ _
Convém ressaltar que vα e v β são fasores. Portanto vS+ e vS- também são fasores.
_ _
v
=S+ 1 1 j vα
(6.13)
_
2 1 − j _
vS− vβ
1_ _
*
iS+ = i S+ ⋅ e jωt + i S− ⋅ e− jωt
2
(6.14)
1 *
_ _
iS− = i S+ ⋅ e− jωt + i S− ⋅ e jωt
2
1_ _
*
iR + = i R+ ⋅ e jωt + i R− ⋅ e− jωt
2
(6.15)
1_ * _
iR − = i R+ ⋅ e− jωt + i R− ⋅ e jωt
2
1 _ _
* − jωt 1_ _
* − jωt 1_ _
* − jωt
vS+ ⋅ e + vS− ⋅ e = ( R S + pLS ) i S+ ⋅ e + i S− ⋅ e + pmSR i R+ ⋅ e + i R− ⋅ e
jωt jωt jωt
(6.16)
2 2 2
i 1 _ _
* •
1 _ _
*
0 = mSR p − jn θ i S+ ⋅ e jωt + i S− ⋅ e− jωt + R R + LR p − jn θ i R+ ⋅ e jωt + i R− ⋅ e− jωt (6.17)
2 2
_ _ _
vS+ ⋅ e jωt = ( RS + pLS ) i S+ ⋅ e jωt + pmSR i R+ ⋅ e jωt
(6.18)
i _
•
_
0 = mSR p − jn θ i S+ ⋅ e jωt + R R + LR p − jn θ i R + ⋅ e jωt
_ _ _
vS− ⋅ e− jωt = ( RS + pLS ) i S− ⋅ e− jωt + pmSR i R− ⋅ e− jωt
* * *
(6.19)
*
i _
•
_ *
0 = mSR p − jn θ i S− ⋅ e− jωt + R R + LR p − jn θ i R − ⋅ e− jωt
Tomando-se as derivadas
_ _ _
vS+ = ( RS + jωLS ) i S+ + jωmSR i R+
(6.21)
i _
•
_
0 = mSR jω− jn θ i S+ + R R + LR jω− jn θ i R +
_ * _ * _ *
vS− = ( R S + jωLS ) i S− + jωmSR i R −
* * (6.22)
i _ i _
0 = mSR jn θ+ jω i S− + R R + LR jn θ+ jω i R−
como
•
n θ = ωm (6.23)
ω− ωm = ωR = sω (6.24)
ω+ ωm = ( 2 − s ) ω (6.25)
_ _ _
vS+ = ( RS + jωs LS ) i S+ + jωs mSR i R +
_ _
(6.26)
0 = jsωs mSR i S+ + ( R R + jsωs LR ) i R +
_ _ _
vS− = ( RS + jωs LS ) i S− + jωs mSR i R−
_ _
(6.27)
0 = jmSR ( 2 − s ) ωs i S− + ( R R + jLR ( 2 − s ) ωs ) i R −
_ _ _
vS+ = ( RS + jωs LS ) i S+ + jωs mSR i R +
(6.28)
R
_
_
0 = jωs mSR i S+ + R + jωs LR i R +
s
_ _ _
vS− = ( R S − jωs LS ) i S− − jωs mSR i R−
* * *
(6.29)
* R _ *
_
0 = −mSR ωs i S− + R - jLR ωs i R −
( 2 − s)
RS (LS - m SR ) (LR - m SR ) RR
iS iR
+ +
vS mSR RR (1 - s)
+
s
vS mSR - RR (1 - s)
-
iS iR (2 - s)
- -
RS (LS - m SR ) (LR - m SR ) RR
Fig. 6.1 – Circuito eqüivalente para o motor de indução com operação desbalanceada.
Este circuito vale para operação desbalanceada, desde que as tensões sejam
senoidais e a velocidade constante.
_
Para operação balanceada, tem-se vS- = 0; assim o modelo e o circuito
eqüivalente são representados pela expressão (6.32) e pela Fig. 6.2.
_ _ _
vS+ = ( RS + jωs LS ) i S+ + jωs mSR i R +
(6.30)
_
R _
0 = jωs mSR i S+ + R + jωs LR i R +
s
RS (LS - m SR ) (LR - m SR ) RR
iS iR
+ +
vS mSR RR (1 - s)
+
s
Fig. 6.2 – Circuito eqüivalente para o motor de indução com operação balanceada.
mSR
RS RR
iS iR
+ +
vS LS LR RR (1 - s)
+
s
Fig. 6.3 – Representação alternativa para o circuito eqüivalente do motor de indução com operação
balanceada.
TRANSFORMAÇÃO PRIMÁRIO-SECUNDÁRIO
mSR
RS
iS iR
+ +
vS LS LR R2
+
s
n1 n2
Seja
n1
a= (6.31)
n2
Assim
_
vS+
_
=a (6.32)
vR +
_
i R+
_
=a (6.33)
i S+
Seja
'
vR + = avR + ⇒tensão rotórica referida ao estator e (6.34)
' iR+
iR+ = ⇒corrente rotórica referida ao estator. (6.35)
a
Definimos a transformação:
iS+ 1 0 iS+
'
i = ' (6.36)
R + 0 a iR +
Assim:
iS ' 1 0 iS
+ ' = 1 + (6.37)
iR + 0 iR +
a
Do mesmo modo:
vS+ 1 0 vS+
'
vS ' 1 0 vS
+ ' = 1 + (6.39)
v
vR + 0 a R +
Seja
1 0
PS−1 = (6.40)
0 a
1 0
PS = 1 (6.41)
0
a
_ R S + jωSLS jωSmSR
_
vS+ = RR i S+ (6.42)
_ jωSmSR + jωSLR _
vR + s i R+
_ _
v+ = Z i + (6.43)
Assim
_ _
' '
PS ⋅ v+ = Z ⋅ PS-1 ⋅ i + (6.44)
_ _
' '
v+ = PS-1 ⋅ Z ⋅ PS-1 ⋅ i + (6.45)
Seja
Assim
_ _
' '
v + = Z' ⋅ i + (6.47)
R + jωSLS jωSmSR
1 0 S 1 0
Z = '
RR 0 a (6.48)
0 a jωSmSR + jωSLR
s
Assim:
R S + jωSLS jωSamSR
Z =
'
a 2R R
(6.49)
jω am + jωSa LR
2
S SR
s
_ _ _ _
' '
Como vS+ = vS+ e i S+ = i S+ tem-se para o motor de indução o seguinte modelo:
_ R S + jωSLS jωSamSR _
vS+ = i S+ (6.50)
jω am a 2R R
0 + jωSa 2 LR _ '
i R +
S SR
s
2
RS (LS - amSR ) (a L R- am SR)
iS iR
+ +
2
vS amSR RR a
+
s
_ _ _ _ '
vS+ = ( RS + jX1 ) i S+ + jXm1 i S+ + i R +
(6.52)
_ _ r '
_
'
0 = jXm1 i S+ + i R + + R + jX2 i R+
s
RS jX1 jX2 RR
vS jXm1 RR (1-s)
+
s
RS jX1 jX2 RR
vS jXm1 RR (1-s)
+
s
RS jX1 jX2 RR
(
T = 2 ⋅ n ⋅ mSR Im iS+ ⋅ iR − ) (6.53)
1_ _ * _ * _
T = 2 ⋅ n ⋅ mSR Im i S+ ⋅ e jωt + i S− ⋅ e− jωt ⋅ i R + ⋅ e− jωt + i R− ⋅ e jωt (6.54)
4
Portanto
n ⋅ mSR _ _
* _ * _ * _ _ _ * _
− j2 ωt j2 ωt
T= Im i S+ ⋅ i R + + i S− ⋅ i R + ⋅ e + i S+ ⋅ i R− ⋅ e + i S− ⋅ i R− (6.55)
2
Os termos onde aparecem ej2ωt e e-j2ωt possuem torque médio nulo e podem
então ser abandonados. Assim:
n ⋅ mSR _ _
* _ * _
T= Im i S+ ⋅ i R + + i S− ⋅ i R− (6.56)
2
Podemos definir:
n ⋅ mSR _ _
*
T+ = Im i S+ ⋅ i R + (6.57)
2
n ⋅ mSR _ _
*
T− = Im i S− ⋅ i R− (6.58)
2
Assim:
T = T+ + T− (6.59)
RR
−1
Z =
1 s + jωs LR − jωs mSR
(6.61)
( RS + jωs LS ) R + jωs LR + ωs2mSR 2
R
− jωs mSR R S + jωs LS
s
Como:
_ RR _
i S+ = 1 s + jωs LR − jωs mSR vS+
(6.62)
_ R 0
i R+ ( RS + jωs LS ) R + jωs LR + ωs mSR
2 2
− jωs mSR RS + jωs LS
s
obtém-se:
RR _
_ + jω L
s R vS+
s
i S+ = (6.63)
( RS + jωs LS ) R + jωs LR + ωs2mSR 2
R
s
_
_
− jωs mSR vS+
i R+ = (6.64)
( RS + jωs LS ) R + jωs LR + ωs2mSR 2
R
s
RR _
+ jωs L R vS−
_
2−s
i S− = (6.65)
( RS + jωs LS ) R + jωs LR + ωs2mSR 2
R
2−s
_
_
− jωs mSR vS−
i R− = (6.66)
( RS + jωs LS ) R + jωs LR + ωs2mSR 2
R
2−s
RR _
_ + jω L
s R vS+
s
i S+ = (6.67)
R SR R 2 2 2 ωL R
− ωs LR LS + ωs mSR + j s S R + ωs LR RS
s s
_
_
− jωs mSR vS+
i R+ = (6.68)
R SR R 2 2 2 ωL R
− ωs LR LS + ωs mSR + j s S R + ωs LR R S
s s
_
*
_
* jωs mSR vS+
i R+ = (6.69)
R SR R 2 2 2 ωL R
− ωs LR LS + ωs mSR − j s S R + ωs LR RS
s s
Assim:
2 ωs mSR R R _ _ *
_ _ −ω s mSR L R + j vS+ ⋅ vS+
*
i S+ ⋅ i R + = s (6.70)
2 2
R SR R 2 2 2 ωs LSR R
− ω s L L
R S + ω s m SR + + ω L R
s R S
s s
_ _ _ 2
*
vS+ ⋅ vS+ = vS+ (6.71)
2 2
1 nωs mSR R R _
vS+
2 s
T+ = 2 2
(6.72)
R SR R 2 2 2 ωs LSR R
− ωs L L
R S + ωs mSR + + ω L R
s R S
s s
2 2
1 nωs mSR R R _
− vS−
2 (2 − s)
T− = 2 2
(6.73)
R SR R 2 2 2 ωs LSR R
(2 − s) − ωs LR LS + ωs mSR + (2 − s) + ωs LR RS
_ _
vα = jvβ (6.74)
_
vS− = 0 (6.75)
_ 2jvβ _
2 _
vS+ = ⇒ vS+ = vβ (6.76)
2 2
_
vβ = vβ = vα = vαβ (6.77)
_ 2
2
vS+ = 2vαβ (6.78)
mas
3
vαβ = VSP (6.79)
2
Assim:
_ 2
2
vS+ = 3VSP (6.80)
mas
VSP = 2 ⋅ vS (6.81)
Assim:
_ 2
2
vS+ = 6vS (6.82)
RR 22
3nωs mSR vS
T+ = s (6.83)
2 2
R SR R 2 2 2 ωs LSR R
− ωs LR LS + ωs mSR + + ωs LR RS
s s
RR 2 2 2
3 ωs mSR vS
T+ = s (6.84)
R SR R 2 2 2
2
ωs LSR R
2
ωSN − ωs LR LS + ωs mSR + + ωs LR RS
s s
R 2 2 2
3 a 2 R ωs a 2 mSR vS
s
T+ = (6.85)
R a 2R 2 2 2 2 2
2
ωs LSR R a 2
2
ωSN S R
− ωs a LR LS + ωs a mSR + + ωsa LR RS
2
s s
Seja:
R Sa 2 R R 2 2 2
A= − ωs a 2LR LS + ωs a 2 mSR (6.86)
s
ωs LSR R a 2
B= + ωs a 2 LR R S (6.87)
s
Assim:
R Sa 2 R R 2
A= − a 2XR XS + a 2 XM (6.88)
s
onde:
R Sa 2 R R 2 2 2
A= − a 2 XR XS + a 2 XM − a 3XM XR + a 3XM XR − aXSXM + aXSXM + a 2 XM − a 2 XM (6.89)
s
Assim:
R Sa 2 R R
A= − aXM ( a 2 XR − aXM ) − aXM ( XS − aXM ) − ( XS − aXM ) ( a 2 XR − aXM ) (6.90)
s
mas:
'
R R a 2R R
= (6.91)
s s
R Sa 2 R R
A= − Xm X2´ − X1Xm − X1X2´ (6.92)
s
X R
B = a 2 S R + XR R S (6.93)
s
a 2 XSR R a 3 XM R R a 3 XM R R
B= + a 2 XR R S − + + RSaXM − RSaXM (6.94)
s s s
' '
B=
RR
s
R
(
( XS − aXM ) + aXM R + RS aXM + ( a 2XR − aXM )
s
) (6.95)
' '
R R
B = R X1 + Xm R + RS Xm + X2
s s
'
( ) (6.96)
RR' 2 2
3
Xm vS
T+ = s (6.97)
R a 2R '
2
RR' RR' '
2
ωSN S R
− Xm X2 − X1Xm − X1X2 +
'
X1 + Xm + R S ( Xm + X2 )
s s s
T
MAX
Nos itens anteriores, for a obtidos modelos para o motor de indução em regime
permanente, a partir do modelo genérico estabelecido para componentes simétricas
instantâneas.
vSd RS + pLS 0 pmSR 0 iSd
vSq 0 RS + pLS 0 pmSR iSq
= • • i (6.98)
vRd pmSR mSR θ n R R + pLR LR n θ R d
v iRq
Rq −m θ• n pmSR -LR n θ
•
R R + pLR
SR
vSd RS + jωLS 0 jωmSR 0 iSd
vSq 0 RS + jωLS 0 jωmSR iSq
= • • i (6.99)
vRd jωmSR mSR θ n R R + jωLR LR n θ R d
v iRq
Rq −m θ• n jωmSR -LR n θ
•
R R + jωLR
SR
•
v = Z θi (6.100)
-1
•
i =Zθ v (6.101)
RS 0 0 0
0 RS 0 0
R= (6.102)
0 0 RR 0
0 0 0 R R
LS 0 mSR 0
0 LS 0 mSR
L= (6.103)
mSR 0 LR
0 mSR 0 LR
0 0 0 0
0 0 0 0
G= (6.104)
0 mSR 0 LR
−mSR 0 -LR 0
Assim:
i
v = Ri + jwLi + n θ Gi (6.105)
i
i*t v = i*t Ri + jωi*t Li + n θ i*t Gi (6.106)
i
Re ( i*t v ) = Re ( i*t Ri ) + Re ( jωi*t Li ) + Re n θ i*t Gi (6.107)
onde:
Pm = n θ Re ( i*tGi )
i
(6.108)
Pm
T= i
(6.109)
θ
Assim:
Assim:
0 0 0 0 iSd
* 0 0 0 0 iSq
T = nRe iSd iRq
* * *
iSq iRd (6.111)
0 mSR 0 LR iRd
−mSR 0 -LR 0 i
Rq
( *
T = nmSR Re iSq iRd − iSd iRd
*
) (6.112)
EXERCÍCIOS PROPOSTOS
X1 = X2 = 4Ω (reatâncias de dispersão)
RS = 2Ω
R R = 3Ω
Xm1 = 100Ω (reatância magnética) (6.113)
f = 60Hz
n=2 (pares de pólos)
vS = 220V (tensão eficaz de fase)
v f = 220V
(a) Ensaio a vazio:
i f = 2, 2 A
v f = 80V ∴ Pf = 130W
(b) Ensaio do rotor travado:
i f = 5, 2 A
Determinar:
escorregamento.
(2E/3)
(E/3)
O O O O
0 120 240 360