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Elektrik motoru seçim kriterleri ve kontrol organına bir limiter konulmuş motorun optimal parametrelerinin simpleks metodu ile tayini

Başlık çevirisi mevcut değil.

  1. Tez No: 55953
  2. Yazar: VOLKAN ÇAKMAKÇI
  3. Danışmanlar: DOÇ.DR. AYDIN HIZAL
  4. Tez Türü: Yüksek Lisans
  5. Konular: Makine Mühendisliği, Mechanical Engineering
  6. Anahtar Kelimeler: Belirtilmemiş.
  7. Yıl: 1996
  8. Dil: Türkçe
  9. Üniversite: İstanbul Teknik Üniversitesi
  10. Enstitü: Fen Bilimleri Enstitüsü
  11. Ana Bilim Dalı: Belirtilmemiş.
  12. Bilim Dalı: Belirtilmemiş.
  13. Sayfa Sayısı: 166

Özet

ÖZET Bu çalışmanın ilk kısmında elektik motorlarının kullanılacağı özel işe göre nasıl seçilmesi gerektiği anlatılmış ve buna dair örnekler verilmiştir. Ayrıca bu konuyla ilgili olan ve Pacific Scientific tarafından geliştrilmiş olan program teze eklenmiştir. Bu çalışmanın ikinci kısmında ise bir elektrik motorunu kontrol eden kontrol organına saturasyon gibi bir non-lineer etkinin nasıl bir etki edeceği incelenmiştir. Simülasyon metodları olarak Runge-Kutta ve Euler yöntemi kullanılmıştır. Optimizasyon algoritması olarak Simpleks metodu kullanılmıştır. Simpleks metodunda hata kriterleri olarak hatamn karesinin integrali, hatanın mutlak değerinin integrali, hatanın karesi çarpı zamanın integrali, hatanın mutlak değeri çaıpı zamanın integrali kriterleri kullanılmıştır. Bulunan sonuçlar şekiller ve tablolar halinde sunulmuştur. \11

Özet (Çeviri)

SUMMARY 1. WHICH MOTOR The profileration of new ideas, materials, and components obviously generates many opportunities but also complicates the question, What is the best drive for a particular job ? We can perhaps address this by attempting to trace the evolution of the different motor types in such a way to bring out their most important advantages and disadvantages. It is the motor that determines then characteristics of the drive, and it is also determines the requirements on the power semiconductors, the converter circuit, and the control. 1. 1 Evolution of motors The evolution of brushless motors is shown in Fig 1. Row 1 contains the three“classical”motors: d.c. commutator (with wound field); a.c. synchronous; and a.c. induction. The term“classical”emphasizes the fact that these motors satisfy three important criteria: 1.) They all produce essentially constant instantaneous torque (i.e.,very little torq ue ripple); 2.) They operate from pure d.c. or a.c. sinewave supplies, from which 3.) They can start and run without electronic controllers. The classical motors of Row 1 are readily coupled to electronic controllers to provide adjustable speed; indeed it is with them that most of the technical and commercial development of power electronic control has taken place. Together with the P.M. d.c. commutator motor in Row 2 and the series- wound a.c. commutator motor or“universal”motor, the Row 1 motors account for the lion's share of all motor markets, both fixed speed and adjustable Milspeed, even though they represent only a minority of the many different principles of electromechanical energy conversion on which motor designs may be based. By contrast, the nonclassical motors are essentially confined to specialist markets and until recently, few of them have been manufactured in large numbers. Table 1.2 is a classification of some common types of motor according to these criteria..*-ph a.c pn.i.e. wound :1fIJ d.c ıvrarrıvuior Row ; a.c. <>nchronoj-, 3-ph i.c PM d o. vCT.-nuutor a.c PM rciucuruv h.Vij 5-ph iqu jrc> a» c or ?;nc«.i'-.? Row J a c. induction >»ltchcii J c. PM bru«hl.-« d.c. s»i!chcj reluctance Fig. 1. Evolution of brushless d.c. motors from the classical a.c. and d.c. motors XIVThe motors in Row 2 are derived from those in Row 1 by replacing field windings with permanent magnets. The synchronous motor immediately, becomes brushless, but the d.c. motor must go through an additional transformation, from Row 2 to Row 3 with the inversion of the stator and rotor, before the brushless version is achieved. The induction motor in Row 1 is, of course, already brushless in its“cage”version, but not in its wound-rotor slip-ring version. The brushless motors are those on the diagonal of Fig.l. together with the switched reluctance motor, which can not be derived from any of the other motors. Its placement in Fig.l. reflects the fact that it has properties in common with all the motors on the diagonal, as will be seen later. The detailed treatment of the induction motor, can be found in other texts (e.g, Leonhard 1985, Bose 1936,1987). Also for stepper motors these texts are available (see Kuo 1979, Kenjo 1985, Acarnley 1982). 1.2 The d.c. commutator motor The traditional d.c. commutator motor with electronically adjustable voltage has already been prominent in motion control. It is easy to control, stable, and requires relatively few semiconductor devices. Devolopments in electronics have helped to keep it competitive in spite of efforts to displace it with a.c. drives. Many objections to the commutator motor arise from operational problems associated with the brushgear. It is not that brushgear is unreliable-on the contrary, it is reliable, well-proven, and 'forgiving' of abuse- but commutator speed is a limitation, and noise, wear, RFI, and environmental compatibility can be troublesome. The space required for the commutator and brushgear is considerable, and the cooling of the rotor, which carries the torque-producing winding is not always easy. 1.3 The PM d.c. commutator motor In small d.c. commutator motors, replacing the field winding and pole structure with permanent magnets usually permits a considerable reduction in stator diameter, because of the efficient use of radial space by the magnet and the elimination of the field losses. Armature reaction is usually reduced and commutation is improved, owing to the low permeability of the magnet. The loss of field control is not as important as it would be in a larger drive, because it can be overcome by the controller and in small drives the need for field weakening is less common anyway. The PM d.c. motor is usually fed from an adjustable voltage supply, either linear or pulse-width modulated. xvIn automotive applications the PM d.c. motor is. well entrenched because of its low cost and because of the low- voltage d.c. supply. Of course it is usually applied at a fixed-speed motor or with series-resistance control. Even here, however, there is a potential challenge from brushless motor drives in the future, arising from the combination of very high reliability requirements and the development of“maltiplex”wiring systems. Table 1. Motors Minor d.c. ciimmutiitiir motors lal Wound licld IİM I'crmanent-niagiiet d.c. Ilomopnlar motors d c. Hrushlcss motors l;il Internal rutor (hi Internal stator Universal or a.c. commutator motors Inüuclion ınutnrs (;ıl Cage type, three-phase (h| Cage type, single-phase tel Wound rotor, three-phase Type of supply Koior position Iced hack Controlled or lixed d.c. N Controlled or fixed d.c. N !v Controlled or lixed d.c. 1.0 square waxes of alternating polarity or three-phase sinewave a.c. One-phase a.c.: can he controlled hy series SCR or trtac Three-phase sinewave a.c. or N six-step or p.w.m..i.e. One-phase sinewave a.e.: can he N controlled hy series SCRs or triacs Three-phase sinewave a.c. N Typical.ipplicat ion Integral- lip industrial drives and traction: Sieel. paper machinery Automotive and aircraft auxiliaries: Small servo and speed-control systems in a wide variety of forms Ship propulsion specials Mot ion-control systems: scruHİrıvcs Aerospace actuators Computer peripherals: olliee machinery Small fan and pump drives Domestic appliances: portahle tools Pumps, fans, blowers, compressors and general industrial spevd-conlrolled drives l.ow-owl. low-power iiidusiri.il and domestic appliance drives High-power industrial drives with limited speed range and or high starting torque Synchronous motors (a I Wound field/slip ring (hi llrushless e.xeiler Ic) Permanent-magnet Krluelunce motors (a).Synchronous reluctance (line-slarl) (hi Synchronous reluctance (cagclcsjt) le| Switched, reluctance (d| Onc-phnse reluclanee Stepper motors la I VK. single-slack CI»» VK. nnilliple-staek Id IVrmancnl-magnet (dl llyhrid I lysleresis motors } Three-phase sinewave a.e. or N six-step voltage or current- ' Y source inverter Three-phase sinewave a.e. or Y p.w.m. a.e. Three-phase sinewave, a.e. or N six-step or p.w.m. a.c. Three-phase p.w.m. a.e. Y Switched d.c. y t Various: usually switched d.e. N Switched d.c. N Three-phase or one-phase N sinewave ax. or p.w.m. a.e. Very large compressor and fan drives Low inicgnil-hp industrial drives; fibre spinning Inverter-fed spinning machinery and other multiple synchronous drives Low-cost brushless drive applications wilh wide speed range: domestic appliances, industrial drives up u> 50 I IX) kW; aerospace applications Very small synchronous drives, actuators; watches Printers; plotters; position control Turntables1.4 The a.c. induction motor drive In very large drives a.c. induction or synchronous motors are preferred because of the limitations of commutation and rotor speed in d.c. motors. Slip is essential for torque production in the induction motor, and it is impossible, even in theory to achieve zero rotor losses. This is one of the chief limitations of the induction motor, since rotor losses are more difficult to remove than stator losses. The efficiency and power factor of induction motors falls off in small sizes because of the natural laws of scaling, particularly at part load. As a motor of given geometry is scaled down if all dimensions are scaled at the same rate the m.m.f required to produce a given flux density decreases in proportion to the linear dimension.. But the cross-section available for conductors decreases with the square of the linear dimension, as does the area available for heat transfer. This continues down to the size at which the mechanical airgap reaches a lower limit determined by manufacturing tolerances. Further scaling-down results in approximately constant m.m.f. requirements while the areas continue to decrease with the square of the linear dimension. There is thus an“excitation penalty”or“magnetization penalty”which becomes rapidly more severe as the scale is reduced. It is for this reason that permanent magnets are so necessaiy in small motors. By providing flux without copper losses, they directly alleviate the excitation penalty. The induction motor is indeed 'brushless' and can operate with simple controls not requiring a shaft position transducer. The simplest type of inverter is the six-step inverter. With no shaft position feedback, the motor remains stable only as long as the load torque does not exceed the breakdown torque. And this must be maintained at an adequate level by adjusting the voltage in proportion to the frequency. At low speeds it is possible for oscillatory instabilities to develop. To overcome these limitations a range of improvements have been developed including slip control and, ultimatety., full“field-oriented”or“vector”control in which the phase and magnitude of the stator currents are regutated so as to maintain the optimum angle between stator m.m.f. and rotor flux. Field orientation, however, requires either a shaft position encoder or an in-built control model whose parameters are specific to the motor and which must be compensated for changes that take place with changing load and temperature. Such controls are complex and expensive, and can not be justified in very small drives, even though excellent results have been achieved in larger sizes (about a few kW). In the fractional and low integral-horsepower range the complexity of the a.c. drive is a drawback, especially when dynamic performance, high efficiency, and a wide speed range are among the design requirements. These requirements can not be met adequately with series- or triac-controlled xvninduction motors, which are therefore restricted to applications where low cost is the only criterion. Together these factors favour the use of brushless PM drives in the low power range. 1.5. The brushless d.c. PM motor The smaller the motor the more sense it makes to use permanent magnets for excitation. There is no single“breakpoint”below which PM brushless motors outperform induction motors, but it is in the 1-10 kW range. Above this size the induction motor improves rapidly, while the cost of magnets works against the PM motor. Below it, the PM motor has better effciency, torque per ampere, and effective power factor. Moreover, the power winding is on the stator where its heat can be removed more easily, while the rotor losses are extremely small. These factors combine to keep the torque inertia ratio high in small motors. The brushless d.c. motor is also easier to control especially in its“squarewave”configaration. Although the inverter is similar to that required for induction motors, usually with six transistors for a three- phase system, the control algorithms are simpler and readily implemented in“smartpower”or PICs. ].6 The brushless PM d.c. synrchronous motor In Row 2 of Fig. 1. the brushless synchronous machine has permanent magnets instead of a field winding. Field control is again sacrificed for the elimination of brushes, sliprings, and field copper losses. This motor is a“classical”salient-pole synchronous a.c. motor with approximately sine- distributed windings, and it can therefore run from a sinewave stupply without electronic commutation. If a cage winding is included, it can self-start“across- the-line”. The magnets can be mounted on the rotor surface or they can be internal to the rotor. The interior construction simplified the assembly and relieves the problem of retaining the magnets against centrifugal force. It also permits the use of rectangular instead uf arc-shaped magnets, and usually there is an appreciable reluctance torque which leads to a wide speed range at constant power. winThe PM synchronous motor operates as a synchronous reluctance motor if the magnets are left out or demagnetized. This provides a measure of fault- tolerance in the event of partial or total demagnetization through abnormal operating conditions. It may indeed be built as a magnet-free reluctance motor with or without a cage winding for starting“across-the-line”. However, the power factor and effciency are not as good as in the PM motor. In larger sizes the brushless synchronous machine is sometimes built with a brushless exciter on the same shaft and a rotating rectifier between the exciter and a d.c. field winding on the main rotor. This motor has full field control. It is capable of a high specific torque and high speeds. All the motors on the diagonal of Figure 1.4 share the same power circuit topology (three“totem-pole”phaselegs with the motor windings connected in star or delta to the midpoints). This gives rise to the concept of a family of motor drives providing a choice of motors and motor characteristics, but with high degree of commonality in the control and power electronics and all the associated transducers. The trend towards integrated phaselegs, or indeed complete three-phase bridges, with in-built control and protection circutry of requirements, the main types being the conventional brushless d.c. (efficient in small sizes with good dynamics); the interior-magnet synchronous motor (wide speed range); the synchronous reluctance motor (free from magnets and capable of very high speeds or high-temperature operation); and the induction motor. It should be noted that all these drives are essentially“smooth-torque”concepts with low torque ripple. A major class of motors not included in Fig 1.4 is the stepper motor. Steppers are always brushless and almost always operate without shaft position sensing. Although they have many properties in common with synchronous and brushless d.c. motors they cannot naturally be evolved from the motors in Fig. 1.4. By definition they are pulsed-torque machines incapable of achieving ripple-free torque by normal means. Variable reluctance (VR) and hybrid steppers can achieve an internal torque multiplication through the use of multiple teeth per stator pole and through the“vernier”effect of having different numbers of rotor and stator teeth. Both theese effects work by increasing number of torque impulses per revolution, and the price paid is an increase in commutation frequency and iron losses. Steppers therefore have high torque-to-weight and high torque-to-inerti ratios but are limited in top speed and power-to-weight ratio. The fine tooth structure xixrequires a small airgap, which adds to the manufacturing cost. Beyond a certain number of teeth per pole the torque gain is 'washed out' by scale effects that diminish the variation of inductance on which the torque depends. Because of the high magnetic frequency and the effect of m.m.f. drop in the iron, such motors require expensive lamination steels to get the best out of them. The switched reluctance motor or variable-reluctance motor is a direct derivative of the single-stack VR stepper, in which the current pulses are phased relative to the rotor position to optimize operation in the 'slewing' (continous rotation) mode. This usually requires a shaft position transducer similar to that which is required for the brushless d.c. motor, and indeed the resulting drive is like a brushless d.c. drive without magnets. With this form of control the switched reluctance motor is not a stepper motor because it can produce continuous torque at any rotor position and any speed. There is still an inherent torque ripple, however. The switched reluctance motor suffers the same“excitation penalty”as the induction motor and cannot equal the efficiency or power density of the PM motor in small framesizes. When the classical motors are interfaced to switchmode converters (such as rectifiers, choppers, and inverters) They continue to respond to the average voltage (in the case of d.c. motors) or the fundamental voltage (in the case of a.c. motors). The harmonics associated with the switching operation of the converter cause parasitic losses, torque ripple, and other undesirable effects in the motors, so that derating may be necessary. The nonclassical motors are completely dependent on the switchedmode operation of power electronic converters. In steppers it is acceptable for the torque to be pulsed, but in most brushless drives the challenge is to design for smooth torque even though the power is switched. 2. OPTIMIZING THE PARAMETERS OF THE CONTROLLER OF AN ELECTRICAL MOTOR Finding-out the optimal parameters for an feed-back control system is a popular problem nowadays. Although there are several techniques, this is for sure that almost the best technique for a non-linear system is Simplex Method. In this study, this method is used as well. With the help of this method the xxoptimal parameters of a PD controller which drives and electrical motor have been detected. As optimization criteria ; ISE, ITSE, IAE, ITAE criteria has been applied. The results have shown that the best performance could be obtained by ITAE method. In the mean time, while you are finding-out the parameters, the reference parameters have got an important role which effects the performance of the motor very much via finding not-best optimal set of parameters. For this reason, several reference parameters have to be tried along the way of finding the best optimal parameters. £ FFlCIENT ERATION LIFE Of RODUCT I OVEROESIG* OR.(OVERSIZING WASTED HEAT I WASTED LABOUR JL TO HIGH TEMPERAT URE FOR TOO LONO X UM- NECESSARY CYCLES SLOWER PROCESSES 1 ÜM- KECESSARY PROCESSING I J WASTED ENERGY Figure 2. The cost of overdesign and oversizing a motor, xxi

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