Anahtarlamalı relüktans motorların matematik modelinin elde edilmesi ve simülasyonu

Başlık çevirisi mevcut değil.

Tez No: 46454
Yazar: KEMAL ŞAHİN
Danışmanlar: PROF.DR. M. KEMAL SARIOĞLU
Tez Türü: Yüksek Lisans
Konular: Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrol, Computer Engineering and Computer Science and Control
Anahtar Kelimeler: Belirtilmemiş.
Yıl: 1995
Dil: Türkçe
Üniversite: İstanbul Teknik Üniversitesi
Enstitü: Fen Bilimleri Enstitüsü
Ana Bilim Dalı: Belirtilmemiş.
Bilim Dalı: Belirtilmemiş.
Sayfa Sayısı: 133

Özet

Özet yok.

Özet (Çeviri)

SÜMMARY The goal of this study is to develop a general mathematical model for S/R modified Switched Reluctance Motor. S/R modifîed svvitched reluctance motor is a motor has S salient poles on the stator and R salient poles on the rotor ör has two saliency on itself. The model, proposed in this thesis, is tested on an 8/6 modified switched reluctance motor at MAM-TUBITAK. The specification of the 8/6 modified switched reluctance motor are given in appendbt E. The mathematical model of this motor is simulated in computer by means of the MAT- LAB SIMULINK simulation program. For this, motor has been operated under some definite conditions. Furthermore, in this simulation, the effect of mutual inductances on instantaneous torque, current, speed and position characteristics has been searched. Why is that searched? Because, in ali of svvitched reluctance motor's modelling studies, although nearîy ali of researchers have discussed their importance on their pubÛshed articles, the effects of mutual inductances are ignored. Therefore, this effect of mutual inductances on operation of the Switched Reluctance Motor have separateİy been studied by taking into account DC, first and second harmonic components of the inductances. Studied subjects in this thesis can be ordered as follows; First, it is briefly discussed about some important industrial investigations on the svvitched reluctance motor for their using possibüities instead of other motor types which are used in life. These discussed industries are household appliances industry, mining industry, automotive industry, energy industry, work machine industry, textile industry, aviation industry, computer industıy. Ih addition to these, it is pointed out that the most disadvantage of a svvitched reluctance motor drive is the necessity to use a rotor position transducer for controlling it. The svvitched reluctance motor drive means the driver circuit including motor as a complete system. Therefore, researches have been concentrated on getting rid of using this rotor position transducer by some researchers. Because, this position transducer ad» in a bad manner on operation of the svvitched reluctance motor. From the point of control, this gives rise to the difficulties in the realization. This type of position sensing may not be applied by using microprocessor control approach. Indeed, there are some published articles on the svvitched reluctance motor drive control vvithout using a position sensor.Another important disadvantage of the switched reluctance motor is pointed out that rotating torque in the low frequency have been obtained vvith big oscillations. This problem, although it is completely not eliminated, may be reduced into the minimum level by determining the svvitching positions directty from the current vvaveshape. These two disadvantages make the svvitched reluctance motor tmusable under ali operation conditions. Ali researchers who interest in that motor have triedtomanagetheseundesired operation conditions. in chapter two, the development of this motor in the historical development has been comprehensivety discusged phase by phase since Mr. WHEATSTONE who had first thought about its possibüity. Used motor types in the primary studies to improve the reluctance motor were the synchronous and the induction motors. Researchers had made some alterations on the rotor and the stator when they had used the synchronous and the induction motors, respectivery. The aim of these alterations on motor were to make more useful the stored energy along periphery of the air gap between rotor and stator. The construction and some important parameters of the switched reluctance motor had been obviousfy defined. So, operation of this motor is extensively reviewed Some kinds of modified svvitched reluctance motors have been presented. Ali of them carry concentrated coüs on their only salient stator poles. These coils consisted of wound thin wires. Thus, concentrated coüs cause the induced magnetic force on motor. By means of that coüs, induced magnetic field force on the coils can make more usable when some phase on motor is excited Running of the reluctance motors in according to the geometrical building of air gap between the rotor and the stator is required a proper driver circuit to be operate under svvitching conditions. With reference to operation principle of the reluctance motor, they are called as SRMs. in such motors, every pak of poles which are opposing forms a phase. The coils on those opposite poles are serial wound and connected in the same direction to each other. As it is knovvn, when the excitation of öne excited phase vvinding is removed, some energy is remained on this winding because of its nature. This remained energy can cause braking effect on operation of the motor. Ih previous tests of the Reluctance Motor, a second type of vvinding which is called as“ Bifilar Winding ”had been used to prevent this braking effect. Bifilar vvinding had been wound in opposite direction in according to main vvinding vvound direction and it also had been mounted onto main vvinding. it consisted of 2-3 vvindings vvith wound thick vvires and vvasn't effective as magnetically and inductively. Thus, operation of the reluctance motor had been continuoushy provided in unipolar direction. viiin recentry years, bifîlar vvinding haven't been used since developed electronics gwitching devices ör elements. They can be operated quite fast. The remained energy on phase vvinding can be controlled without using that bifîlar vvindings by means of these developed electronics switching devices. From the point of complete system, rotor and driver circuit of the switched reluctance motor have some important superiorities with respect to other motor typeg. Some of these advantages ör superiorities can be ordered as follows; i. Rotor is veıy simple and bare because of it doesn't carry any kind of vvinding. ii.lt is required less maintenance. iii.Driver circuit can drive the motor with öne svvitching element per phase iv.Driver circuit iğ cheaper because of using a switching device per phase can be sufficient Rotor of the svvitched reluctance motor is slightty constructed to be a little sloping along axial direction. That constructional sloping in axial direction is to prevent more hard and difficult starting of the motor such as in squirrel cage asynchronous motors. So, motor slightty starts with lower oscillations. in SRMs, generalh/, the number of salient stator poles have been held more than the number of salient rotor poles. it can be seen in some studies, the number of salient stator poles is less than the number of salient rotor poles. Ih view of construction, some switched reluctance motors can be manufactured such as 8/6 and 6/4 modified ones ete., and some ones can't be manufactured such as 4/2 and 2/2 modifîed ones ete.,. Starting torque for 4/2 and 2/2 modified ones, although the salient poles are positioned in the most suitable position, can quitery never be provided. This most suitable position is knovvn as“alignment position”. As it is known, better anatysing of the dynamics behaviours of the Physical Systems is required more realizable mathematical models. For modeling of the physical systems, some definite mechanical and electrical laws are used. These laws define the physical systems. Sufficiency of the developed model depends on these laws are“KirchofFs Current and Voltage Laws”. That also depends on the system parameters effectivety act on their performance. Effective parameters of the system can be defined by using that developed model and system can be controlled by using öne of fittest methods. This subject is discussed in chapter three. viiiiiiOf course, if model is obtained insufficienth/, the expected results can't be obtained from the analyzing of this insufficientty developed model. Therefore, desired control can't also be realizable. That subject has veıy big importance especialty for modeling the svvitched reluctance motors vvhich carry the salient poles not onfy on rotor but also on stator. Because, the mutual inductance and saturation vvhich are important parameters act effectivety on the dynamics performance of motor. Therefore, a 2/2 modified svvitched reluctance motor, the simplest öne, has been used to derive its anah/tical state equations from its mechanical and electrical terminals. These derived analytical equations arevalid for ali svvitched reluctance motor. By means of these derived analytical equations, a general realizable mathematical model form for S/R modified svvitched reluctance motor may be developed by taking into account the analytical equations of mutual inductances. Furthermore, in this general model, the anah/tical equations of mutual inductances in the inductance matrbt are obviously written öne by öne. As a result, the analytical statements of îhose inductances including their zero order harmonic component are obviously written for that S/R modified svvitched reluctance motor. Of course, there wül be a phase angle difference of. fer*-] respecting with each phase other between elements in inductance matrbt of this general motor. Ih this equation, S is the number of stator pole pairs ör number of phases and R is the number of rotor pole pairs. in chapter four, some kinds of the power electronics elements such as thyristor, IGBT, GTO ete. used in driver circuits of the switched reluctance motors are illustrated vvith their operation principles and characteristics. These driver circuits are called“converter circuits”. Furthermore, used various converter configurations vvith their specifications are quitely revievved from simplest ones to newest ones. There are two kinds of feeding for these motors. They are fed in according to their operation speed. If it will be operated vvith low speed, feeding vvith a current source is suitable. Thus, it can be possible to control the torque vvith minimum oscillations. That kind of feeding yieldsnature protection for operation. If it vvül be operated vvith high speed, feeding vvith a voltage source is suitable. Because of the back electromotor force of this motor in high speeds is very big, obtaining of continuously fîxed currents is very difficult. The vvaveform and the direction of torque produced in the svvitched reluctance motor are illustrated respecting idealized waveshape of the inductance. ixFurthermore, in addition to these, the idealized inductance waveshape along öne period is discugsed by dividing into four stages as &ı, 6-1 an d 03 in according to rotor position. To obtain the torque with weak oscillations, converter had to feed the coils of motor with currents which have square- vvaveshapes. Desired results can't be obtained by controlling oıûy öne parameter in this motor. Because, ali of the system parametere are time-variant ör rotor position-variant parameters. in chapter fîve, beforementioned general model of the gwitched reluctance motor in chapter 3.4 is put into practice for 8/6 modified gwitched reluctance motor. This motor is in the CAD-CÂM Robotics Department of Marmara Research Center in the Scientific and Technical Research Council of TURKEY, Gebze, Kocaeli, Turkey. Study stages for this thesis can be ordered step by step as follows; Firsthy, stator periphery is roughty divided and marked with lines into 120 equal intervals to be difference of three degrees vvith respect to each other. Of course that dividing method has not sufficiently sensitivity. Therefore that method caused some unwanted errors. Marking of these lines is realized on a piece of paper and then marked paper is vertically pasted on side of stator cage along shaft periphery vvithout touching the shaft Secondfy, in first twenty of these 120 equal intervals, the values of the voltage changing on the salient poles of stator are measured by feeding directly the stator coils under the excitation current of 0.1 Ampere. For this measuring, a variac, an oscilloscope and an avometer devices are used. And is again known, there are some errors on measuring method. Because, shaft of motor is forced to fix for measuring by holding vvith our hands. Therefore, that measuring method caused some unavoidable measuring errors. Thirdh/, these measured voltage values are used for computing inductance values. in according to computed inductance values sequence, inductance-rotor position graphics for şelf and mutual inductances are plotted in computer. These computed inductance values are operated in a computer for computing the phase angles and the phase amplitudes of \vaveshapes. Thus, ali components of the inductance waveshapes are computed up to nineth degree with two düferent methods. l“hese methods are ”The Least Squares Error Method“ and ”The Fourier Anah/sing Method“. Computed amplitude and angle values by means of these methods are compared to each other. it is seemed that they are very close to each other. The computed values by means of the Least Squares Error Method is preferred for simulation. Because this method yields more suitable results with respect to Fourier Method. Ih any case, in ali engineering studies, that method is discussed, used and preferred. xFourthly, the anatytical equations of mutual and şelf inductances including their zero order hannonic component, are obviousfy written for that 8/6 modified motor. Zero order hannonic component is frequentty calledDC component, too. So, the fîttest values of phase angles and phase amplitudes in the anafytical equations for those inductances are vvritten. Öne row of the inductance matrix has been obtained for our 8/6 modified svvitched reluctance motor. The inductance matrix is the most important element for modeling studies of the motor. Of course, the size of inductance matrix of that motor will be in size of 4x4. Fifthly, by means of those written equations, ali of the elements of inductance matrbc has been completed by shifting fifteen degrees to each other. How can the elements of inductance matrix be written by shifting with respect to each other ? Because, in according to the construction of that motor, there is a geometrically difference of fifteen degrees between every switching position. As is known, the switched reluctance motor is also a kind of the symmetrical electrical motors. Because of its symmetry, other three rows of inductance matrix can be expressed depending upon known row elements. The anah/tical equations of known row elements are computed by the measured voltage values. So, the inductance matrix of studied motor can completety be stated including elements of ite mutual inductances. Sijrthty, the steady state equations are separately written for the mechanical and the electrical terminals of motor. Seventhry, these written equations are ordered in according to directty programming technique. Then, motor is programmed in computer owing to aforementioned technique under the simulation program MAT-LAB SIMULINK by means of its steady state equations including two aıntiliary equations. whichare 0^ = 6.0mek and Tmek = 6.Te{k. How is that realized? After these equations are minimized, every equation is blocked with simulator functions. Then, the initial condition of every variable is written in according to running type of the motor. And then, required connections are connected again by means of simulator fiınctions of the simulation program MAT-LAB SIMULINK. So, the blocked diagram of 8/6 modified switched reluctance motor is obtained. it is ready for simulation operation no w. Eightly, simulation operation of that motor is actualized under some conditions for three states by using first three ones of the calculated values of ali elements in inductance matrix. These three states are; i.)the first öne is a state taken into account the only first three components which are DC, first and second hannonic components of şelf inductances, ii.)the second öne is a state taken into account only first two components which. are DC and first hannonic components of şelf and mutual inductances and xiiii.)the last one is a state taken into account three components which are DC, first and second harmonic components of self and mutual inductances. In chapter 6, the results of simulation are illustrated and commended. Observed characteristics were taken for running of 8/6 modified switched reluctance motor under some choosen operation conditions. When machine was loaded in the big size compared with running current, motor turned to opposite direction. This kind of operation is known as ”braking operation". Running of considered converter in simulation is very hard and has no tolerant at the end of every phase excitation. It's working depends on rotor positions. The switches are switched in every IS degrees from the kind of mechanical degree. Torque characteristics are obtained with big ripples because of used converter, nature and bearing system of this motor. These ripples cause some disorders on motor operation like audible acoustic noise and mechanical bearing friction. Therefore a new improved converter circuit and a proper algorithm in according to it's working procedure has to be considered. Obtained results by computer at the end of every simulation operation show that the results in relation to all motor operation conditions,although the analytical statements of mutual inductances are taken into account unlike before ones, can easily be obtained. The presence of analytical statements of the mutual inductances in studied model never caused some difficulties while simulation is realized. This is why, those can just be said that researchers have to completely consider the switched reluctance motor driving system Then, all calculations and the designs of that system can be realized. Because, system's running completely depends on consistency of converter and motor. On the other hand, the analytical statements of mutual inductances can be taken into account in simulation of the switched reluctance motor by means of the simulation program MAT-LAB SIMULINK. Unlike other simulation techniques and methods which are ignored the effects of mutual inductances, in mis simulation, their taking into account is a very important result for modeling the switched reluctance motor. After now, it can be said, ignoring the effects of mutual inductances for modelling the switched reluctance motor isn't necessary. Therefore, firstly, the designed converter specifications must be agreement with the specifications of modified reluctance motor which to be simulate. And then, the most important one is to develop an proper algorithm, without being had an great anxiety for this designed converter, in according to its working procedure. When these are realized, almost an excellent control can be obtained. XXIInstead of depending on the rotor position, for controlling the currents may be suggested to determine the switching positions directly from current waveshape. This type of position sensing is only possible with help of a microprocessor. For controlling the currents can also be need an adaptive controller because of the system completely has some time-variant parameters. In addition to these, running of the switched reluctance motor in the hysterisis band whose limits are adjustable, also yields torque ripples but with minimized or controllable or adjustable size by means of again a proper algorithm in according to its operation principle. X1X1

Benzer Tezler

Tez No
65640
Sliding mode yaklaşımı ile anahtarlamalı relüktans motorun hız kontrolü
Speed control of switched reluctance motor by using sliding mode approach
İBRAHİM SEFA
Doktora
Türkçe
1997
Elektrik ve Elektronik Mühendisliği Erciyes Üniversitesi
Elektronik Mühendisliği Ana Bilim Dalı
YRD. DOÇ. DR. ŞABAN ÖZER
Tez No
57942
Anahtarlamalı relüktans motorunun moment dalgalanmasının azatılması
Torque ripple reduction of a switched reluctance motor
VEYSEL ÖZBULUR
Doktora
Türkçe
1996
Elektrik ve Elektronik Mühendisliği Kocaeli Üniversitesi
Elektrik-Elektronik Mühendisliği Ana Bilim Dalı
DOÇ. DR. M. ORUÇ BİLGİÇ
Tez No
453467
Comparison of linear and rotary motion control techniques of switched reluctance motor
Doğrusal ve döner hareketli anahtarlamalı relüktans motor kontrol tekniklerinin karşılaştırılması
MOHAMED SH-OMAR MOHAMED
Yüksek Lisans
İngilizce
2016
Elektrik ve Elektronik Mühendisliği Selçuk Üniversitesi
Elektrik-Elektronik Mühendisliği Ana Bilim Dalı
YRD. DOÇ. DR. BAYRAM AKDEMİR
Tez No
153317
Comparison of performance of switched reluctance motors, induction motors and permanent magnet DC motors
Anahtarlamalı relüktans motorların, asenkron motorların ve sabit mıknatıslı DC motorların performans karşılaştırması
CÜNEYT KARACAN
Yüksek Lisans
İngilizce
2004
Elektrik ve Elektronik Mühendisliği Orta Doğu Teknik Üniversitesi
Elektrik-Elektronik Mühendisliği Ana Bilim Dalı
PROF. DR. YILDIRIM ÜÇTUĞ
Tez No
303530
Anahtarlamalı relüktans motor için mikrodenetleyici ile ekonomik bir sürücü gerçekleştirilmesi
An economic driver application for switched reluctance motor with microcontroller
KAMİL POLAT
Yüksek Lisans
Türkçe
2010
Teknik Eğitim Gazi Üniversitesi
Elektrik Eğitimi Ana Bilim Dalı
PROF. DR. GÜNGÖR BAL

Geri Dön