. .

2009


1.
.......................................................................................5
1.1. ...........................................................5
1.2. ........................................5
1.3. ............................................................8
1.4. .......................................................................................................9
1.5. ............................11
1.6. .....................................................................................12
1.7. ..............................................................13
1.8. .................................15
1.9. ............................................................................................................15
2.
..................................................................................................................................................16
2.1. .............................................................................................16
2.2. .......................................................................................................16
2.3. .....................17
2.4. ...................................................18
2.5. ........................................21
2.6. ................................23
2.7. - ..............................................25
2.8. ............................................................................................................27
3. ..28
3.1. ...............................................................................................28
3.2. ................................................................................................29
3.3. ................................................................................................30
3.4. .......................31
3.5.
.............................................................................................................................31
3.6. ............31
3.7. .............................................................33
3.8. ............................................................................................................36
4.
.......................................................................................................................................37
4.1. ..................................................................................................37

4.2. ...........................................................................................................38
4.3. .........................................39
4.4. .................................................39
4.5. .......................................................................................40
4.6. ............................................................................................................41
5. .......42
5.1. ...............................................................................................42
5.2. .......................................................................................................43
5.3. .............................................................................44
5.4. .............................................................................................45
5.5. ............................................................................................................45
6. .........................................................................................46
6.1. .....................................................................................................46
6.2. .....................................................46
6.3. .......................................................................47
6.4. ..........................................................................................................48
6.5. ...................................................................................................48
6.6. ............................................................................................................49
7.
...................................................................................................................50
7.1. .................................................................................50
7.2. ...............................................................................................51
7.3. ....................................................................52
7.4. ............................................53
7.5. ............................................................................................................55
8. .........................................55
8.1. ................................................................................................55
8.2. .......55
8.3. ................................................................56
8.4. ...............................57
8.5. ............................................................................................................59
9. ..................................60
9.1. .....................................60
9.2. -
..............................................................................................................................................61
9.3. ..............................................................................................61
3

9.4. ............................................................................................................69
10. .......................................................70
10.1. ....................................70
10.2.
..............................................................................................72
10.3. ........................................73
10.4. ...................74
10.5. ..........................................................................................................75
11. 76
11.1.
. .............................................................................................................................76
11.2. ..................................................................................................77
11.3. ................................................78
11.4. ............................................79
11.5. .......................................................................................................81
11.6. .....................................................................................81
11.7. ..........................................................................................................83
12.
........................................................................................................................................84
12.1. ..................84
12.2. ........87
12.3. ..............................92
12.4. ........................................................................................................101
13. ..............................................................................................................102

1.

1.1.
() .
THE CONTROLLED ELECTRIC DRIVE.
FUNCTIONAL DIAGRAM
Supply
source

Operator
or
higher level
automatic

Convertingregulating
device

Operating
machine

. 1.1.
:

,
;

(),
;

;
.

1.2.
1.2.1.
(
) .

Rv = vst.max/ vst.min .
,
:
|v|max/vref.min < v.
.
( ).

(. 1.2).
1

0.8

0.6

0.4

vref

0.2

Mc
v
0

0.5

1.5

2.5

t, s

. 1.2.
1.5
vref

aref

0.5

-0.5

-1

0.5

1.5

2
t, s

2.5

3.5

. 1.3.

 v = 0.1
, .
.
1.2.2. -

- (. 1.3).

, .
1.2.3. , ,
1.2.4.
,
.
1.2.5.

:

;
,
;

, ,
( . 1.4);
CONTROLLED ELECTRIC DRIVE. EXAMPLE OF PRIMARY CURRENT

2/3
/2 /3

/3

/2

4/3 3/2

.1.4.

;
, .

 ,

- .
;
.
,

:
.
,
.
.
-
() .
,
.

, ,

;
.

1.3.
1.3.1.

().
.
.
1.3.2.
.
:

v* = / mb, (mb );

vref* = G/ mb;

vcmd* = cmd/ mb;

M* = M/Mb , (Mb );

Mc* = Mc/Mb.

Mc
vcmd

vref
_

Mref

1
Tj p

. 1.5.
,
. .
. :

Tj dv*/dt = M* - Mc*, Tj pv* = M* - Mc*.

p = d/dt - , Tj
:
Tj = J b/Mb,
J .

.

, .. .
( )
-.
1.4.
(). :
Mref* = KP (vref* - v*).

KP = v Tj.
v .
.

vG
_

v Tj

vG

MG

MG
_

2p

vG
_

MG

v Tj

v
vG

MG
_

KJ
p

vG

v
MG

_
v

KP
. 1.6.

,
.
. .
,
-.
, .
.
Mc*, Mref* ,
, (vref* - v*).

10

 ,
- () .
. .
:
M J ref* = (v /2) (1/p) MP ref* = (v2 Tj/2)(1/p)*(vref* - v*).
v2.
1.5.

,
(. 1.7-1.9).
.
.

.
8 %;
53 %.
.
.8.
6 %.
, .
Controlled Electric Drive. Type Response of Speed Loop. P Regulator
1.2
1
0.8
0.6
0.4
0.2
0

vref
v

-0.2
-1

10

v *t

. 1.7.

11

Controlled Electric Drive. Type Response of Speed Loop. PI Regulator

1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
vref

-0.2
-1

10

v *t

. 1.8.

Controlled Electric Drive. Type Response of Speed Loop. PI Regulator with Reference Filter
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
vref

0
-0.2
-1

v
0

10

v *t

. 1.9.

1.6.
(. 1.10)
: .

12

CONTROLLED ELECTRIC DRIVE. STEADY-STATE CHARACTERISTICS

PI Regulator

P Regulator
v

v
vref4

vref4

vref3

vref3
M

Mlim-

vref2

Mlim+

M
Mlim-

vref1

vref2

Mlim+

vref1

. 1.10.
.

.
, .
1.7.
, ,
.
.
.
:

. 1.11,12.
.
,
.
.

13

Controlled Electric Drive. Type Transients. P Regulator

1.5

0.5

-0.5
Mcmd

-1

Kp*(v-vref )
M

-1.5
-1

10

v *t

. 1.11. ;

Controlled Electric Drive. Type Transients. PI Regulator
1.5

0.5

-0.5

Mcmd

Kp*(v-vref )

-1
-1

M
0

10

v *t

. 1.12. ;


5 %.
.
, . ,
,
.
.

14

 , ,
. ,
.
.
1.8.
,
. ,

v* Mc*/KP,
, :
RV < vmax* KP V/Mc*.
, 1336 Force KP.max = 25,
: V = 0.1, Mc* =1,
RV < 2.5 : 1.
,
:

KP.max

( );

, .
.
.
1.9.
1.
.
( ).

. ,
.
2. , ,
,
(, ).
3.
, .

KP. ,
.

15

2.

2.1.

. 2.1.
ASYNCHRONOUS MACHINE

isV

isW

isU

isU

isW

isV

. 2.1.
: .
. .
.
.
2.2.

(. 2.2). .
, .
. ,
, .
, .
.
.

= pp m,
m, - , pp .
pp , .
16

ASYNCHRONOUS MACHINE
REAL FORCES

PRINCIPLE OF OPERATION

Fws

vrel

< s

F
r

i
Fs
vrel

Fwr
. 2.2.

,
. ,
(.2.2).
2.3.
.
( )
. ,
i* = i/Ib.

(2.1)

.
, .
.
:

Ub = Us.phNm
;

Ib = IsNm ;

b = sN ;

mb = msN
.

Pb = Qb = Sb = (3/2) Usb Isb = SN ,

;

17

Mb = Pb /mb ( );

Rb = Xb = Zb = Ub/Ib ;

Lb= Xb/b ;

sb = Usb/b .

, ..
, .
* .
, ,
.
? ,
. ,
4- 5 - 10
Lm = 2.5-4,
L = 0.13-0.2 . . .
2.4.
2.4.1.
,
.
, is ,

(. 2.3). .

-isW

is

isU = is

is
isV
W

. 2.3.
, :
isU = Is cos (t + ),
isV = Is cos (t

+ 2 /3),

18

isW = Is cos (t

+ +2 /3).

3- . ,
3-
.

. pp .
2- .
.

, . U, - .
.
,
.
2.4.2.
.
. is

( )
. ;
js 90
is, (. 2.4).
r
uMsm

uMsr

is

js

. 2.4. uMsr,
is,
js

( ). s
:
= s - Ls is,

(2.2)
19

 Ls - .
(. 2.5).
r
Br

Bm

. 2.5.

2.4.3.

d, q (. 2.6).

i rd

rd
1

rd

rq
q

i rq

rq

. 2.6. ,

20

 r
.

1, 2 (. 2.6) : 1
r, 2 . 1, 2
. , ,
( d, q ,
).


r = + Lrir.

(2.3)

Lr , ir .

. :
e = (Lm / Lr) r,

(2.4)

Lm , Lr :
Lr = Lm + Lr.
.
,
, . , 1, 2
.
r,
:
e = s L is.
(2.5)
L - : L = Ls + (Lm/ Lr) Lr.
:
ire = (Lr /Lm) ir.

(2.6)

:
e = Lme (is + ire) = Lme i; Lme = (Lm / Lr)Lm.

(2.7)

2.5.
2.5.1.
,
:
usU = Rs isU + (p/b) sU,

us(, ) = Rs is(, ) + (p/b) s(, ).

(2.8)

, 1, 2,
r. 1, 2 - . ,
:
21

us = Rs is + (p/b) s + vc J s,

(2.9)

vc ; J
90.
:
0 = Rre ire + (p/b)e + (vc - v) J e.

(2.10)

e,
ire Rre
.

s = vc v
,
fslip = [b /(2)] s
.
2.5.2.
, ire1 = (1/Rre) (p/b) e, ire2 = (1/Rre) s e,

(2.11)

p , e
,
ire1st = 0.

(2.12)

(2.11), ire2 .
1, 2 ire2 is2 :
ire2 = is2.

(2.13)

:
1
e =
Lm is1 .
(2.14)
1 + Tr p
Lm , Tr
:
Tr = Lr /(b Rr).
:
1.

is1.

2.

is1,
Tr.

2.5.3.

M = e is2.

(2.15)

, is2 .

22

s = Rre M / e2 ;

(2.16)

.
2.5.4.

, . 2.7
.

L is

is1

is

is2

ire

us
Rs is

vcJs

. 2.7.
2.6.
2.6.1.

.
- ( Rsis).
, , .
.
. .
.
. , ,
, .
sc 0.1 .
, .
. 2.8.

23

Asynchronous Motor. Steady-state Characteristics

6
is
M

5
4
3
2
1
0

0.1

0.2

0.3

0.4

0.5
v

0.6

0.7

0.8

0.9

. 2.8.
2.6.2.

,
(5-8 IsN) .

. . 2.9.
Asynchronous Drive. Direct Start
10
8
6
4
2
0
-2

is

-4

v
M
isU

-6

0.1

0.2

0.3

0.4

0.5
t, s

0.6

0.7

0.8

0.9

. 2.9.
; 1.6-1.8
. Is.max 8 IsNm,
IsNm .

24

 ,
50-100 ( 64 ).
. .

. Mm 4 .
.
.
.

.
2.7. -

.
U/f.
.
.

2.7.1. -

. 2.10.
Asynchronous Drive with Open Loop Frequency Control
3

is

v
M
isU

1
0
-1
-2
0

0.5

1.5
t, s

2.5

. 2.10. - .


.
.
.
(. 2.11.).

25

Asynchronous Drive with Open Loop Frequency Control

1.5
is
v
M
isU

0.5

-0.5

-1

0.5

1.5
t, s

2.5

. 2.11. -
,
- .
2.7.2.

. 2.12.
,
.
. .
Asynchronous Drive, Open Loop. Load Step
1.5

0.5

M
Mc

10(v-v0)
is

-0.5
-0.05

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

t, s

. 2.12. -

26

2.8.

1.
.
.
.
.
2. .
,
( 1, 2).
3. 1 ,
2 .
4.
.
.
.
5. ,
.
6. - -
;
. ,
,
.

27

3.

3.1.

() . 3.1.
SYNCHRONOUS MACHINE
U,

d
isV

isW

if
isU

isU

if
V

isW
q

isV

. 3.1.
.
. (. 3.2) .
,
. 3.1, . ,
, .
.
.

.
. ,
.
(3000 / , , 1500 /) .
. .
,
. 100 *.

28

KINDS OF SYNCHRONOUS MOTOR

Salient poles rotor

Rotor with permanent magnets

Non-salient poles rotor

Rotor of reluctance motor

non-magnetic hub

. 3.2.
.
, d
q (. 3.1).
.
3.2.

. 3.3.
; .
, .
,
.
,
. ,
.
,
( ).

29

SYNCHRONOUS MACHINE. PRINCIPLE OF OPERATION

B

Fs

if

Fr

Fr

Fs

. 3.3.
3.3.

. 3.4.
EXCITATION OF SYNCHRONOUS MOTOR
Synchronous
Exciter

DC Exciter

ME

Asynchronous Exciter

MEE

TVR
SE

AE

. 3.4.

(TE .).
, .
. (SE
. 3.4)
.
( )
30

 ;
.
, , .
.
(AE . 3.4).
.
.

.
.
. ,
,
.

:
.
.
3.4.

, , (. 2.3).
.
Ifb ,
,
.
.
:
Ufb = Pb/Ifb; Rfb = Ufb/Ifb; fb = Ufb/b; Lfb =fb/Ifb.
3.5.

, (. 2.4):
is, s,
( ) .

. ,
d, q . , , ,
. d
,
.
3.6.

, :
us = Rs is + (p/b) s + v J s,

,
.
31


, :
s = + Ls is.
, , ,
- d, q:
id = isd + if + icd; iq = isq + icq.
icd, icq (
).
;
Lmd, Lmq :

d = Lmd id; q = Lmq iq.

. 3.5 :
( . 7.3).
SYNCHRONOUS MOTOR. VECTOR DIAGRAM FOR STEADY-STATE REGIME
Magnetizing stator current

Demagnetizing stator current

Lsis

Lsis

if
q

if
q

is

is
is

is

Rsis

us

vJs
us

-is

is

vJs
Rsis

. 3.5.

d . .
.

32


d , i -
, .
, ,
:
.
, ,
.
:
M = is.
, .
is, ,
.
3.7.
3.7.1.

. .

50-200
.
.

. .

, :
.
. . 3.6.
, , .

, .
, .
.

.
, ,
.
:

33

Synchronous Drive. Direct Asynchronous Start

3
v
M

2.5
2
1.5
1
0.5
0
-0.5
-1

0.5

1.5
t, s

2.5

Synchronous Drive. Direct Asynchronous Start

10
is
if

-5

0.5

1.5
t, s

2.5

. 3.6.

,
Tj.

; .
,
.
:
,
( ).
, 180
. "";
,
.
.

34

3.7.3.

, .
. 3.6 ,
. ,
, .
, d ,
. .
.
.
.
,
. ,
(0.5-2 ) 2-3
.
.

. . 3.7.
Synchronous Drive with Supply from Power System. Steady-state Regimes
0.8
if = 1.5

0.6

if = 2

0.4
0.2
0
Qst

-0.2
-0.4
-0.6
-0.8
-1
-1.2

0.2

0.4

0.6

0.8

1
Mst

1.2

1.4

1.6

1.8

. 3.7.

,
. ,
.
,
.
.

35

 .
.
,

: 0.85 UN
(1.5-1.8) IfN.
.
3.8.

1.
: 100 * ; 3-5 *
.
2. , :
, .
3. d, q, .
4. , .
5.
.

36

4.

4.1.

(. 4.1) :

UZL, ;

L;

UZM.

, .

CONTROLLED ASYNCHRONOUS DRIVE ON THE BASE OF PWM VSI

VUZL

VUZM
V3

V1

V5

V4

V6

V2

AC

V1
D1

S1

. 4.1.
.
, IGBT
IGCT, . IGBT (D1 - D6). :

IGBT;

( ).

37

4.2.
PWM PRINCIPLE

ucU

umod

ucV

uU

UD/2

-UD/2

uV

UD/2

-UD/2
UD

uUV
uUV.smooth
t

-UD

. 4.2.

38

 , V1 V4,
. V1,
U (. 3.2).
IGBT 1-20 .

(ucU )
( ).
U ucU.
,
.
(- ).

.
.
.

, .
4.3.

. ,
,
.
. ,

.
. ,
.
(
).

.

.
4.4.

. 4.1
,
. ,
.
.
.
,

.
.
, (4.6).

39

4.5.
4.5.1.

( ) . 4.3.
.
.
, :
cos 1 0.93-0.97. .
5, 7, 11, 13, 17, 19
,
:
Ssc/ Pmax 40-50.

uLA

iLA

2/3
/2 /3

/3

4/3 3/2

/2

. 4.3.
4.5.2.

12-
18- (
). 12- 5- 7-
, 18- 5-, 7-, 11- 13- . ,
18- ,
. 5.4.
. ,
Ssc/ Pmax 20-25.
.
.
4.5.3.

. 4.4. ,
, , ,

40

. LC-
.
VUZL

VUZM

T
LL

CD

LM
M
CM

CL

. 4.4.
( )
, ,
.
4.6.

1.
, .
2.
.
,
.
3.
:
.

. ,

.
, .

UFCN = 1.35 UsN IFCN = 2.5 IsN.

4. ,
.
,
, Pmax/ STN > 0.2,
.

41

5.

, ,
( 0.25
).
5.1.

. 5.1.

UZC
T

UZ

ACS
~

CCS

VUZL

VUZM

TAL

UAM
L

RN

RVL
ADIL

ADIM

RVM

AC

. 5.1.
:

M;

- () UZC.

- VUZL;

42

-
VUZM;

LD;

C;

RVL, RVM TAL, UAM;

AC.

VUZM
. VUZL
.
5.2.

VUZL
. VUZM
.
M.
.
. 5.2.

2
1.5
1
0.5
0
-0.5
-1
-1.5
-2
-0.01

usAB
iMA
isA
-0.005

0.005

0.01

t, s
. 5.2. : usAB
, iMA , isA

, ,
.
(

43

),
( ).
5.3.

, . 5.1,
-.
.
.
.
,
,
.
( )
.
,
, 1.5 .
, ,
:
- - (. 5.3).
18- -

~ 6 (10)

UZ
VUZL

VUZM

LD

M
C

CL

M
CM

AC

. 5.3.
, 18- ,
. 5.4.
.

.
:
.

, .

, .

44

18-pulse line converter. Phase current from power system

iT1A
iT1A1

0.5

-0.5

-1
-0.01

-0.008

-0.006 -0.004

-0.002

0
t, s

0.002

0.004

0.006

0.008

0.01

. 5.4. , 18-
5.4.

, , . 4.1.

.

, . 4. ,
LC-.
. ,
,
.
5.5.

1. , , ,
.
2.
.

3.
, .

45

6.
6.1.

.
. 6.1 2*3- .

UZ1

Y
Y

15o

2 15o

UZ2

. 6.1
3- .
30
. 3-
3- .
1/12 .
.
- ()
UZ1, UZ2. 1/12
( 30).
,
.
, .
6.2.

,
. . . 6.2
, isU.
.
uMsr r ( lr)
.

46

uMsr1

uMsr

lr

isU

isU

. 6.2
uMsr = f() :
u Msr = U Msr1 cos + U Msrn cos n , n = 2m 1 = 3,5,7,9,11...
n

3- 3-
i sU = I sm cos t , i sU = I sm cos(t 2 / 3), i sW = I sm cos(t + 2 / 3) ,

u Msr1 = U M1 cos( t );
, . ,
n = 6k + 1 = 5, 7, 11, 13, 17,19
,
.
- . ,
, , .
, , .
3-
. .
5- 7- .
, kw 0.95.
3-
n = 5, 7, 17, 19, 29, 31
3- n = 5, 7,
11, 13, 23, 25, 29, 31 .
6.3.

, ,
. lr = 6k -1 =
5, 11, 17 lf = 6k +1 = 7, 13, 19
, r = - lr f = lf.

47

, ,
, .
3-
l = 5, 7, 17, 19, 29, 31 3-
l = 5, 7, 11, 13, 23, 25
6.4.

.
.

.
2*3- lL = 5, 7, 17, 19, 29, 31
3*3- lL = 5, 7, 11, 13, 23, 25
6.5.

.
,
s11, s11, s22, s22.
s1, s2
1, 1, 2, 2 (. 6.1).
;
us1, us2.
:

1
1


C s1 + C s 2 ; sE = C + s1 + C s 2 ;

2 12
2 12 2
12 2
12

1
1


u sI = C u s1 + C u s 2 ; u sE = C + u s1 + C u s 2 .
2 12
2 12 2
12 2
12

sI =

() .
sI, usI ,
. sE, usE
.
,
:
. . 6.3 .
, . Motor
Electromagnet Loops ( )
Mechmove.
uf.
,
.

48

L s

d
b dt

i sE = u sE Rs i sE .

usI
Motor
Electro
magnet
Loops

uf

M
isI

MechMove

isE
usE

Rs
Ls
. 6.3

,
.

.
, ;
.
,

.
6.6.

1. ,

, .
2.
.
3. .
4. , .
5. ,

.

49

7.

7.1.

,
, ,
is (. 2.6): is1
is2 .
, , . 7.1.
SIMPLE EXAMPLE OF THE VECTOR CONTROL SYSTEM
FR

r.ref

CR

is1.ref
t

CR

ref
is2.ref
us
us

ucU
ucV
ucW

e
FM

cos c
sin c

i s
i s
. 7.1.

FM
r r () cos c, sin c.
is1.ref ,
FR.
is1.ref e.ref
.
is2.ref
Mref:
is2.ref = Mref/e.ref.
is.ref
1, 2, .

. cos c, sin c.
50

 :
is. ref = cos c * is1.ref sin c * is2.ref,
is. ref = sin c * is1.ref + cos c * is2.ref.
is. ref, is. ref CR, CR.
is, is.
,
: ucU, ucV, ucW.
.
,
.
,
, .
.
7.2.

.
Pe,
, () ,
, .
:

Pe = (Rse + Rr )(M / r )2 + (Rse / L2m + Gv 3 / 2 ) r2 .

M , v , r
, (2.4), G ,
, Rr , Rse
, , ,
.
Pe
:

r .opt

Rse + Rr
=
2
3/ 2
Rse / Lm + Gv

1/ 4

M 1/ 2 .

(7.1)

. 7.2 . :

r.opt(v = 0.5) v = 0.5;

r.opt(v = 1) v = 1;

rM.opt(v = 1) v = 1.

: Rr = 0.0125, Rs = 0.0125,
Rse = 0.035, G = 0.02, Lm =3. (9.1)
.
.

51

1.2
1
0.8
0.6
0.4

r.opt(v=1/2)
r.opt(v=1)
rM.opt(v=1)

0.2
0

0.2

0.4

0.6
M/MN

0.8

1.2

. 7.2
:

,

.

.
.
, , ,
,
.
. :

7.3.

.
.
-:

s = (b/p)(us Rs is), s = (b/p)(us Rs is).

:

e = s L is , e = s L is.
. 7.3.

52

PRINCIPLE OF FLUX MEASURING

us,

b
_

Rs

s,

e,
_

e
VA

cos c
sin c

is,
. 7.3.
, . ,
, :

-
.

,
.
7.4.

. 7.4.
:

F ( ,
1000 /);

MF ( );

vref;

v;

( ) vFMJ;

is1, is2 ( );

isU.

, :

53

Asynchronous drive. Encoderless vector control

1.2
1
0.8
vref

0.6

F
0.4

MF

0.2

v
vFMJ

0
-0.2

0.5

1.5

t, s
2
is1

1.5

is2

isU

1
0.5
0
-0.5
-1
-1.5
-2

0.5

1.5

t, s

. 7.4.
;
is1.
.
.
,
.
is1 ,
is2.
. .
is2 is1.

.

54

 , ,
.

.
7.5.

1.
.
.
2.
;
.

8.
, ,
.
,
.
, .
8.1.

,
.
. ,
us1, us2, ..
. ,
, r.
,
uf.
, .
,
is.
.
, ,
. .
8.2.

.8.1.
.ref, is.ref,
Mref . isd.ref, isq.ref
if.ref. RF
.
, .
cos , sin
.

55


is.ref, is.ref
if.ref CR, CR, CRf.
.
,
ucU, ucV, ucW.
ucf .
.

SIMPLE EXAMPLE OF THE VECTOR CONTROL

FOR SYNCHRONOUS DRIVE WITH POSITION ENCODER

.ref
is.ref

CR

is.ref
isd.ref
RF

isq.ref

ref

CR

is.ref

_
cos , sin

CRf

if.ref
is

ucU
ucV
ucW

ucf

is
if

.8.1.
8.3.

.
.ref, is.ref Mref
vref , ,
, .

:

.opt / N = f (v) * | M / M N |; is .opt / isN = f i (v) * | M / M N | ,

f(v), fi(v) . ,
.
.
,
.. .
.

56

 .
.
,
,
.
.

.
. 3.5. .

.
cos N = 0.8-0.9 .
. ,
.

. 3.5.

1.3-1.5 . ,
;
.
,
().
(LCI).
.
8.4.

,
, .
,
, (. 7.2). :

,
;
d, q;

d, q, , ,
;
,
.

,
. -
. , ,
,
. .
.
,
. .8.2.

57

 ,
.
Synchronous Drive, PWM VSI, Sensorless
3
vref
v
vFMJ

2.5
2

Fs

1.5

MF

iFsx

1
0.5
0
-0.5

0.1

0.2

0.3

0.4
t,s

0.5

0.6

0.7

0.8

.8.2.

Fs ( ,
1000 /);

iFsx (
);

MF ( );

vref;

v;

( ) vFMJ.

, (t < 0.25 )
: ;
.
.
dFM .
,
vFMJ.

, .
TFM = 0.01 .
, ,
(. 8.3): ,
. ,
, .

58


.
8.5.

1. ,
.
2. ,
,

.
d, q ,
, .
3.
, , .

59

9.
9.1.

, ,
, ,
.
, , ,
.
. 9.1.
~

B2

B1
QB1

QB2

VF

UZ

LO

QF1

M1

QF2

M2

. 9.1
: M1, -
() UZ, T, VF,
() QF1, QB1, B1, B2 (
).
LO .
-
. , M2,
. 9.1 .
60

 ,
( QF1) ,
, ,
, .
( QB).

.
, .

QF1, QB1,
.
9.2. -

,
:

.
,
, QB1.
QF1.
.
:
.
:

. . , ,
,
,
.
(Surge Current).

LO (. 9.1).
9.3.
9.3.1.

.
. TP,
- .

61

 .

.
vP,
P.
QF1, QB1
.
, QB1 ,
QF1.
. (,
),
.
,
.
.

, ,
.
.
,
. ,
. ,
.
9.3.2.

. 9.2.
.
is

eP

Rs

Lse

re

ere

. 9.2
: eP , ere
, P ,
re , s
, is , Rs , Ls
.
, .
62

 t = 0 .

:

s.sts

(t ) = (t ).
P

,
, :
(t ) =
(t ) +
(t ).
s
s.sts
s. f
,
, :

s.sts

(t ) = C( b vPt )

s.sts

(0).

C(bvPt) (bvPt), vP
.

, Tse
:

s. f

(t ) = e

t /T
se

s. f

(0).

.
,
t = 0,
.

:

s. f

(0) = (0) (0).

s
P

,
, , ,
.
( ,
) t = 0.

? ,
:
i

s. f

(t ) = e

t /T
se i

s. f

(0).

.

:

63

;

.

;
.

,

.

. ,
: QB1 ,
, .

QB1.
, .
. .
;
.
, .

QB1. ,
. , .
, , .
:

1
2

e b [v(0) vP ]TP + (0)(TP )2 .

v(0), (0)
.
,
. ,
.
9.3.3.

.

.
.
.
.

64


.
, ,
. QB1.
,
- .
, .
36-40 ms.
. 9.3
3 MW, 1490 rpm. .
Tj = 13.6 s.
. TP = 40 ms.
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2

iD
is

0
-0.2
-0.1

us
0

0.1

0.2

0.3

0.4
t, s

0.5

0.6

0.7

0.8

0.9

. 9.3
: iD , is (
), us ( ).

.
:
,
.
50 Hz
.
: ,
.
. 9.4 , . 9.3,
. . 9.5

65

 , . 9.3,
.
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2

iD
is

0
-0.2
-0.1

us
0

0.1

0.2

0.3

0.4
t, s

0.5

0.6

0.7

0.8

0.9

. 9.4
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2

iD
is

0
-0.2
-0.1

us
0

0.1

0.2

0.3

0.4
t, s

0.5

0.6

0.7

0.8

0.9

. 9.5

, .

,
, , .
66

9.3.4.

v0 ,

.
:

v0 =

TP
Mc.
Tj

,
.
, , ( )
.
+.
.
.
, , ,
. ,
.
:
vG = v P +

TP
Mc.
Tj

. . 9.6 (Drive). ,
Load.
1.4
1.2
1

0.8
0.6
0.4
0.2
0

Drive
Load
0

0.5

1.5

Mc

. 9.6

67

 .

, ,
. ,
. . 9.7
;
.
2.5
vG
2

M
10*(v-1)
Mc

1.5
1
0.5
0
-0.5
-1
-1.5
-0.5

0.5

1.5

t, s

. 9.7
: vG , M ,
(v 1) . ., Mc .
,
. .

(. 1.7). ,
.
QF1, QB1

, QB1(
), QF1(
).
TB QB1 ,
.
, TP.
TB
:
1. (TB TP),
v0.

68

2. TP,
.
,
:

3
2

TP
Mc.
Tj

1 = b TB + TP

QF1, QB1

.
,
:
. QF1, QB1 ,
QB1 QF1.
,
(
QF1).

QF1 QB1. ,
.
:
1
2

1 = b

TP2
Mc.
Tj

,
- :
, . .
.
1997 . 20
, .
9.4.

1. ,
.
.
2. ,

.
, , , .
3.
.

.
.

69

10.
10.1.
10.1.1.

,
, . ,

.
, ,
, .
1 . 10.1 .
Necessary torque for two-zone control
1.2
1
2
1

Mst/Mst.max

0.8

0.6

0.4

0.2

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

/0

. 10.1.
, ,
,
. ,
, ,
.

0, ,
. || 0 ,
|| > 0 . :

70

|Mc| < MN , |Pc| < PN .

, .

.
.
.
, , .
, :
P1max = Mmaxmax;
:
P2max = Mmax0.
,
.

,
, .
,
, .

,
-
.
10.1.2.

. 7.2 ,
,
, .

.

, ,
.
,
. , ,

.

71

10.2.

10.2.1.

( ,
s) : -

, (. .
2.6).
, Mmax/MN 2-2.5.
.
:
M max

U
1 1 2
s ; s s .
v
2 L

. ,
,
.
Pmax

1 1 U s2
2 L v

, .
,
1, 2 . 10.1.
,
.

. L 0.2 Us = 1
Pmax = 1.5 vmax = 1.67.

,
.
.

U/f.
.
, .

72

(. 7.1)
.

r.ref = r.ref0/(v/v0).

, .
.
vmax = 2 Pmax = 1.5
( ) Us.max 1.15.
.

.
.
, ,
.
;
.
10.2.2.

, , (),
,
.
, .

.
,
, .
,
. ,
.
.
. . 10.2.


.
.
vmax/v0 = 5.
10.3.

.
. ,
vmax/v0 1.5 vmax/v0 2
.

73

SYNCHRONOUS DRIVE. VECTOR

DIAGRAM FOR UPPER ZONE
d

Lssis

if

is

s = G, is = 0

. 10.2.
,
. ,

vmax/v0 7-10.
vmax/v0 1.5-2, . . .
10.4.

. 10.3.
, , .
.
:

F ( ,
1000 /);

MF ( );

vref;

v;

( ) iRFD.

74

Synchronous Drive, PWM CSI

3
vref

2.5

F
MF

v
iRFD

1.5
1
0.5
0
-0.5
-1

3
t, s

. 10.3.
, , .
Pmax = 2.5,
vmax/v0 = 2. .
- .
.
10.5.

1. ,
,
.
2.
( ). -
.
3. vmax/v0 1.5
vmax/v0 2 - .
4.
.
.

75

11.

. , ,
. ,
, .
11.1.
.

. 11.1.

QL

VU

VV

QB

VW

VU1 VU2

UE
VEP

AC
M

RP

. 11.1
.
- VU, VV,
VW ( ). AC
.
.
,
. QB,
.

76

 .
RP VEP ( ).
. 11.2 , ,
5
4
3
2
1
0
-1
-2

ePA

-x L1

-3

z V1

-4
-5

isA
5

5.005

5.01

5.015

5.02
t, s

5.025

5.03

5.035

5.04

. 11.2
:

ePA ,

xL1 VU1,

zV1 VU1,

isA .

/2.
: ,
.
.
11.2.
11.2.1.

.
L. ,
L = 0
. L
.

77

 L
L1, .
L1 L = /2.
. .
11.2.2.

.
. L
. L , L = /2,
.
11.3.

: Tj = 10 s; Idst/IN = 6; Mdst/MN = 0.7.

. 11.3;
. 11.4.
:

L ;

is ( );

M ;

v .

L/(/2)
is

M/MN
v

-1

10

15

20
t, s

25

30

35

40

. 11.3

78

L/(/2)

is

M/MN
v

-1

0.05

0.1

0.15

0.2

0.25
t, s

0.3

0.35

0.4

0.45

0.5

. 11.4
3 :
1. L L 0.
.
2. .
IGs = 4.5. L L = 0.
.
3. , ,
. L
. . .
11.4.

. 11.5
. . 11.6
,
(
.

79

6
is

if

M/MN

3
2
1
0
-1
-2
-3

10
t, s

12

14

16

18

20

. 11.5
8
is
if

M/MN
v

-2

-4

5
t, s

10

. 11.6

. .

, .

80

11.5.

TA TQ:
TA

TQ = is2 dt.
0

. 11.1 . 11.3.
.
11.1

TQ/ TQ. dst

4.5 IN

1.15

4 IN

1.30

,
. , .
11.6.

,
.
- .

.
. 11.7
. 11.3.
:

ePAB ,

uPAB ,

isA ,

is ( ).

.

40

K UH =

U
n=2

U1

2
n

KUH = 0.068. 13109-97 KUH < 0.08.

81

5
4
3
2
1
0
-1
-2

ePAB
uPAB

-3

isA

-4
-5

is
5

5.005

5.01

5.015

5.02
t, s

5.025

5.03

5.035

5.04

. 11.7
. 11.8 KUn = Un/U1
n.

0.06
KUn

KUn.GOSTst

0.05

0.04

0.03

0.02

0.01

10

15

20

25

30

35

40

. 11.8
()
KUn.GOSTst.
.
. .
Ssc/SN = 40. ,
.
82

11.7.

1.
: .
.
2. .
, .
3.
. ,
- .
. .

83

12.



. , , .
:
1. .
2.
.
. -,

. . . ,
, .
.

.
-,
. , ,
, , .
, :
.

; .
, ,
.
12.1.

IEC61000-2-12
13109-97.
,
( ) , ,
, , ,
.
,
.
6-20 kV.
.
95 %
24 .
.
:
1. .

84

2. ,
, ,
.
12.1.1.

U = + 5 % UN.
U = + 10 % UN.

+ 0.2 Hz + 0.4 Hz .
12.1.2.

.
(, UAB1, . 12.1) +j
uAB1(t) (
, 2).

(, A1, B1, C1 . 12.1).
UBC1 UAB1, UCA1
UBC1.

,
. 12.1.
+j

A
A1

U1

A2

UAB1

U2
C2

B2
C1

B1

C
B

. 12.1

U2
U1:

85

K2U = U2 / U1.
(IEC 61000-2-12):

2
2
2
6 U AB
+ U BC
+ U CA

K 2U =

(U AB + U BC + U CA )

) 2.

2 % 4 % .
12.1.3.

. ,
. (,
) ,
, :

u (t ) = 2U n sin (nt + n ), n = 1,2,3,...

n

(THD):
40

KU =

U
n=2

U1

2
n

6-20 kV -
5 % 8 % .
, KU(n).
. 12.2 KUn.Rus.
IEC61000-2-12 KUn.Intl.

1.5 .

, ,
, , .
.
.

. IEC 61000-2-12
. , ,
, ,
. . 12.2,
.

86

0.06
KUn.Intl
KUn.Rus
5*KU5/n

0.05
0.04
0.03
0.02
0.01
0

10

15

20
n

25

30

35

. 12.2
12.2.

, , .
.
, ;
.
12.2.1.

.
, ,
.. .

, , 90-110 %
.
.
.

.
, , . ,
,
87

. ,
.
, , ,
70-85 %
( ). ,

.
, ,
.
.
. 12.3
, 105 % 90 %
. . 12.4
.
,
(. 5).
( ): iD ,
uP ( ), e
( ), v .

. ( )
. (
, ).
, , .

.
. .
,
-
.

.
.


, .
. ,

.

88

1.6
1.4
1.2
1
0.8
0.6
iD

0.4

uP

0.2

v
0

0.5

1.5

2.5
t, s

3.5

4.5

. 12.3
1.6
1.4
1.2
1
0.8
0.6
iD

0.4

uP

0.2

v
0

0.5

1.5

2.5
t, s

3.5

4.5

. 12.4

.
, .
. 12.5 .
, . 12.3, 10.4.
iD iFD;
TIDF = 1 ms.

89

1.4
1.2
1
0.8
0.6
0.4
iFD

0.2

uP

v
-0.2

5
t, s

10

. 12.5
.
.
.
;
.
12.2.2.

,
.

.
,
.
.


(. 4).
, ,
,
.
.
.
, ,
. , :

90

L =

b
p

uL.

.
.

. eP
() RP LP
, uL.
.
:

P =

b
p

eP =

b
p

(u L + RP i L ) + LP i L .

.

. ,
.
12.2.3.

, ,
. , ,
: . .
, 3- . .

() ,
. , 6-
6fP (fP ).
2fP.
.

.

. ,
.

, .

. ,
5 % ,
1 s.
, , , ,
.
,
.

91

12.3.

, ;

, ;

,
- .

, , .
:

() ;

() ;

LC ;

12.3.1. ,

, , .
,
.


. .
,
, . ,
-
Q1 = (0.4-0.6)*SN, SN
.
P1, Q1
. 12.6 .
P1oz, Q1oz P1tz, Q1tz.
;
.
.
.
.

92

1
0.9
0.8
0.7
0.6
0.5
0.4
0.3

P1oz

Q1oz

0.2

P1tz

0.1
0
0.2

Q1tz
0.3

0.4

0.5

0.6
v

0.7

0.8

0.9

. 12.6
12.3.2.

.
.
KUH,
KUn (. 12.1.3).
;
,
.
.

6-
. 12.7.
:

eLU ;

iDL ;

uCD , ;

iLU .

93

2
1.5
1
0.5
0
-0.5

eLU
iDL

-1

uCD
iLU

-1.5
-0.01

-0.008

-0.006

-0.004

-0.002

0
t, s

0.002

0.004

0.006

0.008

0.01

. 12.7
. 12.8.
ILn/IL1
0.25

0.2

0.15

0.1

0.05

10

15

20

25

30

35

40

. 12.8
, 2- .
. 12.9
. . Ssc /SN = 33. KUn
KUn.Rus KUn.Intl
.

94

0.07
KUn

KUn.Intl

0.06

KUn.Rus

0.05
0.04
0.03
0.02
0.01
0

10

15

20
n

25

30

35

. 12.9
. . KU5 5- ,

. . .
1.5- 5- 2-
.

: 12- 36-.
12- 5- 7-
, 36- 5, 7, 11, 13, 17, 19, 23, 25, 29, 31.
, 6- .

. .

18- .
. 12.10 .
. . : Ssc/SN = 50.
:

uPAB ;

iD ;

iPA ;

uDL .

95

2
1.5
1
0.5
0
-0.5

uPAB
iD
iPA
uDL

-1
-1.5
-2

0.005

0.01

0.015

0.02

t, s
. 12.10
. 12.11, 12.12 .
BUn = (Ssc / SN)*KUn, n = 17, 19, 35, 37.
. 12.11 , . 12.12
. ,
.
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0

BU17
BU19
BU35
BU37
0.1

0.2

0.3

0.4

0.5
v

0.6

0.7

0.8

0.9

. 12.11

96

1
BU17

0.9

BU19
BU35

0.8

BU37

0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0.5

0.55

0.6

0.65

0.7

0.75
v

0.8

0.85

0.9

0.95

. 12.12
: Lc = 0.1;
v0 = 0.9; L = 25o.
,
: .

.
, 95 %.

.
.
1.
v = 0.6-1. BUn ( . 12.12) :
BU17 0.6, BU19 0.54, BU35 0.4, BU37 0.37. ,
: KU17 = 0.015,
KU19 = 0.01, KU35 = 0.0077, KU37 = 0.0074. . .
: Kscn = Ssc / SN = KUn / BUn. : Ksc17 40, Ksc19 54,
Ksc35 52, Ksc37 50. .
. . Ssc / SN = 54.
BUn
. . .

..
2. v = 0.6-1.
BUn : BU17 0.8,
BU19 0.68, BU35 0.45, BU37 0.43.
, .
. . : Kscn = Ssc / SN = KUn / BUn;
Ksc17 53, Ksc19 68, Ksc35 58, Ksc37 58. . . Ssc / SN = 68.

97

 BUn
, .
Kmo = 1.3. , . .

.

(. 5.3).
,

, ,
.
. 12.13 ,
.
. . Ssc / SN = 15.

1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
ePA

-0.6

iD

-0.8

iPA

-1

10* uPA
0

0.002

0.004

0.006

0.008

0.01
t, s

0.012

0.014

0.016

0.018

0.02

. 12.13
( ):

ePA ;

iD ;

iPA ;

uPA
( 10- ).

. 12.14
uPnm .

98

0.014

uPnm
0.012
0.01
0.008
0.006
0.004
0.002
0

10

15

20
n

25

30

35

40

. 12.14

. (THD)
KUH 0.025. . .

. . 12.1.
. . Ssc,
SN.
. 12.1.

Ssc/SN

6-

40

40*k

12-

26

26*k

36-

20

20*k

18-

50

50*k

14

14*k

,
.
,
. 12.2.
;
.
99

,
, ,
. .
;
.
.
, ,
- . . 12.15

, .
0.01
UP

0.009
0.008
0.007
0.006
IEC61000-2-12

0.005
0.004
0.003
0.002
0.001
0
100

150

200

250
f, Hz

300

350

400

. 12.15.
Ssc/SN = 15.
.
,
.
IEC 61000-2-12, ,

. .
. 12.14.
1.5- ,
. , .

.
12.3.3.

,
, .
100


. ,
, .
, ,
.
,
. U :
tg U

LP
i Pa .
EP

: EP , LP ,
iPa ,
( ).

.
,
,
. .
.
.
,
.
,
,
, . . ,
6-10 kV,
. . 12.1.
12.4.

1.

.
.
2.
-
.

, , ,
.
3.
,
.
.

101

13.
1. , ,
. ,
, .
,
.
2. :

3. ,
.
.
4. ,

.
;
.
5.
.
,
, - .
6.
,
.
7.
.
.
8. ,
, ,
.
9. ,
,
: , , .
.

102