Geri Dön

Asenkron makinanın hız kontrolü için PID kontrolör tasarımı

The design of pid controller for an induction machine speed control

  1. Tez No: 66854
  2. Yazar: OKAN TEKMAN
  3. Danışmanlar: DOÇ. DR. SALMAN KURTULAN
  4. Tez Türü: Yüksek Lisans
  5. Konular: Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrol, Computer Engineering and Computer Science and Control
  6. Anahtar Kelimeler: Belirtilmemiş.
  7. Yıl: 1997
  8. Dil: Türkçe
  9. Üniversite: İstanbul Teknik Üniversitesi
  10. Enstitü: Fen Bilimleri Enstitüsü
  11. Ana Bilim Dalı: Kontrol ve Bilgisayar Mühendisliği Ana Bilim Dalı
  12. Bilim Dalı: Belirtilmemiş.
  13. Sayfa Sayısı: 106

Özet

ÖZET Bu tez çalışmasında, kısadevre rotorlu asenkron makinarını hız kontrolünde kullanılan PID kontrolör parametrelerinin hesaplanması yöntemi işlenmiştir. Bunun için, asenkron makinanın genel matematiksel modeli elde edilmiş ve kontrola uygun modelleri verilmiştir. PID katsayılarım hesaplamak için, rotor akı vektörüne göre düzenlenmiş, senkron hızla dönen koordinatlara göre elde edilmiş matematiksel eşitliklerden yararlanarak, makinanın gerilim kontrollü frekans çeviriciden Us / fs oram sabit olarak beslendiği varsayılarak, Matlab Simulink ortamında tüm sistemin modeli kurulmuştur. Bu modele, sistem tanıma yöntemlerinden biri olan, basamak giriş cevabı yöntemi uygulanmış ve bu modele karşı düşen ikinci mertebeden lineer sistem bulunmuştur. Bu lineer sistem için istenilen kriterlere (aşım ve yerleşme zamanı) göre PID katsayıları köklerin yer eğrisi yardımıyla analitik olarak hesaplanmıştır. Hesaplanan bu katsayılar, asenkron motor hız kontrol çevriminde kullanılmış ve simulasyon sonuçlan gösterilmiştir. Ayrıca Matlab Simulink ortamında kurulan bu model için gerekli makina parametreleri ölçüm yöntemi, pratik uygulamalar için verilmiştir. XIV

Özet (Çeviri)

SUMMARY The inductions machines also known as the asynchronous machines, are commonly preferred in industry. Both the squirrel-cage type which has short- circuited rotor and the slip-ring(wound rotor) type of induction machines are used in electrical drives. In recent years, especially the squirrel-cage induction machines take first place in industrial applications. In the past, dc machines were preferred in variable speed drives since their flux and torque can be controlled easily by the field and armature currents. However, dc machines have a lot of disadvantages because of their collector and brushes. They need periodic maintenance and can not be used in working conditions having explosives or corrosion. Also a dc machine has limited comutator capability. Because of these disadvantages, induction machines has taken place of dc machines. Especially the squierrel - cage induction machines have excellent features such as;. Chepear and lighter compare with another type of machine.. Have simple and rugged structure. Robustness, reliability and maximum speed. High efficiency and low maintenance cost. Suitable for using in difficult working conditions. Several speed options. Standardized design In spite of these excellent features, its application was limited by the complexity of its control which arises because of the variable - frequency supply, ac signals processing and the complex dynamics of the machine. The recent devolopements in power electronics have solved the variable - frequency supply problem by adequate frequency converters. On the other hand, the implementation of microprocessors in the digital control circuits has introduced a wide scope of possibilities to overcome the signal processing. In this work, the system which consists of an induction machine in field coordinates and its variable frequency drive, is controlled by the digital PID controller in speed control loop. The optimum values of digital PID controller parameters were found by system identification method both analytically and geometrically. For this purpose, the structure and basic principles of the induction machine is firstly explained. Then, the mathematical model of the machine is obtained on abc phase axis. Since the model has high nonlinearities, space vector theory is applied to make the analysis possible and easier. A there - phase symmetric system represented in a natural coordinate system by phase quantities, such as voltages, currents or flux linkages, can be replaced by one resultant space vector of, respectively, voltage, current or flux linkage. If kA(t), kfi(t) and kc(t) denote arbitrary phase quantities in a system of natural coordinates (A, B, C) satisfying the condition, xvkA(t) + kB(t) + kc(t) = 0 then a space vector is defined as, *2 k=-[lkA(t) + akB(t) + a2kc(t)] Thus defined, a space vector is a complex quantity, the factor 2/3 in the last equation just above is the normalization factor (generally 2/nis, where nis is the number of phases of a multiphase system). The choice of the normalization factor is entirely arbitrary, depending solely on notational convenience. In the theory of electrical motors, the factor 7(2 / 3) is used so as to ensure the power invariance of a three phase system with the two phase system equivalent to it. Such normalization is convenient in the matrix description of equations, as it satisfies the condition of ortogonality of transformation matrices. In the chapter second of this study, by using the space vector theory, we obtained the complete set of the induction motor equilibrum equation as follows, USK = IsK-Rs + -^ + Pk^k U'rK « R'r-rrK + ^ + j(Qlt - PÛnO^'rK ^'rK = L'rl'rK + LmIjK dt J -p(^)LMIm(i;i'r)-TL When interpreting and applying the above equations, the following circumtances should be kept in mind.. They describe a made-up machine model with stator winding rotating with angular speed Qk, rotor quantities having been referred to the stator circuit.. Therefore, both the stator and rotor quantities appearing in equations are complex space vectors represented in the common reference frame rotating with angular speed Qk', the way they are related to the natural components of a real three-phase machine can be represented by xviIsK =|[lIA(t) + aIB(t) + a2Ic(t)]e-^t I'rK = |[u;(t) + al'b(t) + a'liWje-^-^W* Analogous formulae hold for voltages UsK, U'rK and for the flux linkages *Fsk,. It is only because of the tansformation of the equations to a common reference frame that the motor induction parameter can be regarded as constant and independent of rotor position.. The motion equation is a real equation, the electromagnetic torque formula appearing in it being independent of the choice of coordinate system.. The set of equations presented above describes an electrical motor in any arbitrary non-stationary state under conditions of non-sinusoidal voltage supply, although no account is taken of zero components.. Owing to the use of complex space vectors, and assuming that symmetric sine waves are involved, it is possible to employ the symbolic method in going over to the steady state, and thus to obtain a convenient bridge to the classical theory of ac motors. In the chapter third, the induction machine mathematical equations and block diagrams which are appropriate to develop any control algorithms were given by using per unit system. According to per unit system, we obtained the complete set of induction machine equations in system of sychronous coordinates x, y rotating concurrently with rotor flux linkage vector \yt as follows, °- xr 1« + XfVf+TN dt rrxv((. ° = - v V+ûW'r xr dwm 1 dt T, M (T^'rV-tL *r The block diagram of the induction machine which is adequate for Matlab simulink program is obtained from the equations above. This block diagram given below. xvnIn the fourth chapter, we have given the knowledge how to obtain parameters which are used in simulation circuit. Here, two tests were described which are suitable to obtain the electrical parameters of symmetrical three-phase induction machines. These are the locked rotor test and and the no-load test. By the application of these tests, it is possible to determine the parameters which are present in the steady-state equivalent circuit of an induction machine. In this chapter, at the same time it was shown how the parameters of an induction machine obtained by the application of the locked rotor test and the no-load test could be used in the matrix models of an induction machine. For this purpose the three-phase model described by equations (2.26)-(2.27) was expilicitly given here, but in a modified form in which all the rotor parameters were referred to the stator. For convenience, the quadrature- phase model of an induction machine with quasi-stationary rotor windings was also given. In the fifth chapter, we have presented theoretical knowledge about voltage fed square-wave inverters, obtained full block diagram of voltage-controlled frequency converter-fed induction motor which is appropriate to make system identification. The input quantities in a voltage-controlled ferquency converter are the voltage amplitude Us and its frequency fsU (angular frequeny û)su). Such a converter may be presented as a dynamic unit. The supply voltage ferquency fgU may be varied almost instantly, while in the amplitude control track Us there appears the equivalent time constant TOT, which describes the dynamic properties of the closed voltage control loop. In this chapter, at the same time, we identified this system, which is full block diagram of voltage controlled frequency converter-fed induction motor, for the given motor parameters by applying step input to system input (ug / fsu ratio is constant). The system has two time constants, electrical time constant and mechanical time constant. Therefore, the system model has taken to be a second order system. So, output of the system was compared with the output of a linear system being a second order system by using Matiab simulink program and system gain, electrical time constant and mechanical time constant were found. And we calculated PID parameters by considering the linear system for %4.3 overshoot, 0.26s settling time. The parameters found were applied the simulation circuit given figure 5.17 and figure 5.13. The results of the applications are respectively given below. xvin0.5 1 1.5 Time[s] 2.5 1.2 E CD.0.8 - (O m 0.6 -i ?s O.0.4 - 0.2 L ; j ı | - J. I İ-. I j - L...... *.......... 1..........[..- ----!.-..--- - 1....!.-..--.---..-*... -_.._!... -...... I........ 0.5 1.5 Time[s] 2.5 In chapter sixth, when the PI parameters calculated were used, the behaviour of the induction machine with different load characteristics was shown and at the end, the suggestions were presented. XIX

Benzer Tezler

  1. Tez No

    398041

    High performance position control of linear brushless DC motor

    Fırçasız lineer doğru akım motorunun yüksek performanslı konum kontrolü

    POORIA NOROUZI

    Yüksek Lisans

    İngilizce

    İngilizce

    2015

    Elektrik ve Elektronik Mühendisliğiİstanbul Teknik Üniversitesi

    Elektrik Mühendisliği Ana Bilim Dalı

    DOÇ. DR. ÖZGÜR ÜSTÜN

  2. Tez No

    754247

    Improved torque and speed performances for DTC+ controlled asynchronous machine by fuzzy switching algorithm

    Bulanık anahtarlama algoritması ile DTC kontrolü asenkron makine için iyileştirilmiş tork ve hız performansları

    WAHIB HILOUAN MOHAMED

    Yüksek Lisans

    İngilizce

    İngilizce

    2022

    Elektrik ve Elektronik MühendisliğiÇankırı Karatekin Üniversitesi

    Elektrik ve Elektronik Mühendisliği Ana Bilim Dalı

    DR. ÖĞR. ÜYESİ GÖKSU GÖREL

  3. Tez No

    55893

    Sincap kafesli asenkron makinanın kayma kipli vektör kontrolü

    Başlık çevirisi yok

    RENAN MERT ÖZEL

    Yüksek Lisans

    Türkçe

    Türkçe

    1996

    Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrolİstanbul Teknik Üniversitesi

    DOÇ.DR. İBRAHİM EKSİN

  4. Tez No

    312245

    Asenkron motorda moment dalgalanmasının ve elektromanyetik gürültünün kontrolü için yeni bir kontrol yaklaşımı

    A new control approach for control of torque ripple and electromagnetic noises in induction motor

    YAVUZ ÜSER

    Doktora

    Türkçe

    Türkçe

    2012

    Elektrik ve Elektronik MühendisliğiYıldız Teknik Üniversitesi

    Elektrik Mühendisliği Ana Bilim Dalı

    DOÇ. DR. KAYHAN GÜLEZ

  5. Tez No

    57872

    Üç fazlı asenkron makinanın bulanık mantık kullanarak kontrolu

    Başlık çevirisi yok

    ALİ ÇAŞKURLU

    Yüksek Lisans

    Türkçe

    Türkçe

    1996

    Elektrik ve Elektronik MühendisliğiKaradeniz Teknik Üniversitesi

    Elektrik-Elektronik Mühendisliği Ana Bilim Dalı

    PROF. DR. SEFA AKPINAR

Geri Dön