..

/ 05(81), 2012

7 15

62.83
.. , - . ,
..



.
.
: , , .

L.V. kimov, ScD,

D.G. Litvinenko
DYNAMICS OF TRIPLY INTEGRATING VECTOR CONTROL SYSTEM
OF TWOMASS ASYNCHRONOUS ELECTRIC DRIVE
WITH CONSTANT LOAD
The creation methodology of the triply integrating vector control system of two-mass asynchronous electric drive
is examined. Optimization of dynamic characteristics of this system by the method of control quality diagrams is made.
Keywords: triply integrating system, vector control, asynchronous electric drive.

.. , - . ,
..




. .
: , , .

. [1, 2], ()
,


, .
2 ()


()

[3, 4].


[5]. ,
.

, . ,
.
.

.., .., 2012

7

 .. / 05(81), 2012

(), .

:

(=2) () (=3) ;
;
(=3) ;
=3

.
.
, . 1,

() [6, 7].

1

K 2 2 1
U ( p )
12

, (1)

W ( p )
U ( p )
1 2
p (2 1) 2 1
12

K=(1,5ZpKrr0K)/(J K);
; Zp ;
r ; r0 ; ; 12 ; T
; 12 12 / J 2

7 15

;
J = J1+J2

;
= (J1+J2)/J1 ,
.
. (=2)
=3.
(1)
P( p) K P ( p) P ( p) P ( p)

, (2)
W ( p)
Q( p) Q ( p)Q ( p)Q ( p) p s
P+(p), Q+(p) ,

, ; P+(p), Q+(p) , ,
; P
(p), Q(p) ,
, p=0,
- ; s=0, 1, 2
p=0.
(1) (2) ,

P+(p)=1; P+(p)=1; P(p)= 2 2 1 ;

12
Q+(p)=(2Tp+1); Q+(p)=1;
1
Q(p)= 2 2 1 ; s=1.
12
=2


Q ( p ) M ( p )
,
(3)
W ( p )
K P ( p ) N ( p ) p s

. 1. r = const
8

 .. / 05(81), 2012

,
0.
mi-1 nj-1 M(p), N(p)
p
(8).

M(p), N(p) i-1 j-1

M ( p) mi 1 p i 1 ... m1 p m0 ;
N ( p) n j 1 p j 1 ... n1 p n0 .

(4)

M(p) N(p)
M ( p) P ( p) P ( p)
,
(5)
N ( p)Q ( p)Q ( p) p G ( p)
G(p)
,

, ,

. ,
(2) (1): |P+|=|P+|=|Q+|=0;
|P
|=|P|=|Q|=2; |Q+|=1; |Q|=4.
M(p), N(p) G(p)
: |M|=(|Q|+|Q+|+1)1=2; |N|=(|Q|
|P+|1)1=2; |G|=(|M|+|N|+2)=6
M ( p) m2 p 2 m1 p m0 ;

n2
m2

n0

2 m2 ;
2
0 12

1 4 612
2
n0 ; (7)
4 6 12
1 0
0

2
512

; m1 1 ; m0 0 .
5
0
0

(6) p3
m1

n1 33 ,
(8)
2
12
0
, m1 n1
(7)
2
4
4
312
32 12
5 12

. (9)
21
1
412 2
(9)
32
,
(10)

41 5


. (9)
,
, . , (10) , , .

0i

n2 6 n1 5 m2 n0

p 2 p 2 2 n2 p 4
2
12
12
12 12

m1 n p 3 m0 m n p 2
1
0
2
2 2
12

12

2
612
;
60

n1

N ( p ) n2 p 2 n1 p n0 .
(5)
p

7 15

(6)

m1 p m0 6T06 p 6 5T05 p 5
4T04 p 4 3T03 p 3 2T02 p 2 1T0 p 0 .
0, 1, 2, 3, 4, 5, 6 ; T0=1/0

1. 0

0, -1

1,398

23,6

1,89

17,0

2,77

13,28

6p6+ 50p5+ 402p4+ 303p3+ 204p2+ 105p+ 006

p6+3,860p5+7,4602p4+9,1303p3+7,4604p2+3,8605p+06

6
p +4,50p5+9,7502p4+12,37503p3+9,7504p2+4,505p+06

p6+60p5+1502p4+2003p3++1504p2+605p+06
9

 .. / 05(81), 2012

7 15

M
(11) k b.
k 185,2(0,0004 1)
W
( p)

1.1
(0,0124 p 1)

1 , 0.

(2 1)(m2 p 2 m1 p m0 )
(
p
)

;
W
K (n2 p 2 n1 p n0 ) p
(11)
1
.
W ( p)
(m2 p 2 m1 p m0 )


, [6].
G ( p ) =p6+3,860p5+7,4602p4+9,1303p3+
+7,4604p2+3,8605p+06 =1,39.
,
n2, n1, n0, m2 m1
0, . 2.

(b 2 0,0151 p 2 b 0,1853 p 1)
(12)
;
p2
1
.
W 1.1 ( p ) 2
2
(b 0,0151 p b 0,1853 p 1)

,
( ), .3.

. 2.
n2, n1, n0, m2 m1
0
,
n0=f(0)
0=10,823-1 0=20,83-1. . n0=0
(11) . ,
, .
0=20,83-1
-

. 3.
()

2
b 0,9 1,05 ()
:
1,7 %
10

 .. / 05(81), 2012

M=4,2 1
M=4,13 2.
2
(12),
1 (k=1, b=1) 2
(k=1, b=0,96), .4.

1.2

( p)

(b12 0,0071 p 2 b1 0,1678 p 1)

7,72 0,04348 p
(14)
(b 7,72 0,04348 p 1)
2
;
p
1

W 1.2 ( p ) 2
2
(b1 0,0071 p b1 0,1678 p 1)

(11). (9) =1,39

(01=24,75 -1 02=22,87 -1) . 2 0=23 -1.
, (11)

7,72T0=7,72/0


K P ( p )(n2 p 2 n1 p n0 ) p

1.2

( p)

(7,72T0 p 1)
;
7,72T0 p

1
.
(b2 7,72 0,04348 p 1)

. 1 (14) (. 5,),
1
b1=1 b2=1; 2 b1 b2 (b1=1,45 b2=0,39); 3 b1=var
b2=const (b1=0,96 b2=1); 4
b2=var b1=const
(b1=1 b2=0,8). . 5,
5,.

. 4.
2
(12) 0=20,83-1

(2 1)(m2 p 2 m1 p m0 )

k 24,73(0,0004 1)

(0,00091 p 2 0,0814 p 1)

W 1.2 ( p )

7 15

(13)

(m2 p m1 p m0 )
2

1
.
(7,72T0 p 1)

(13)
b1 b2. k=1,

. ,
,

. 5. () ()
11

 .. / 05(81), 2012

7 15

. 6.

. 6.

2

( 1) M =3,95.
b1 ( 3)

1,8 % M =3,88.
b2 ( 4)
M 3,46, 14 %
. M =2,85 b1 b2 ( 2). 36,8 %.
. 7 .

.
.
=3 .
M(p), N(p)
G(p) : |M|=3;
|N|=2; |G|=7, ..
M ( p ) m3 p 3 m2 p 2 m1 p m0 ;

. 7.
(5)

p
n2 7 n1 6 m3 n0

p 2 p 2 2 n2 p 5
2
12
12
12 12

22 n1 p 4 12 m3 n0 p 3
12

12

m0
3
(15)
7 7

2 m2 p m1 p m0 7T0 p
12

6T06 p 6 5T05 p 5 4T04 p 4

3T03 p 3 2T02 p 2 1T0 p 0 .

mi-1 nj-1
M(p), N(p), ,

p
(15). :
n2
n0
m3
m2

N ( p ) n2 p 2 n1 p n0 .
12

2
7 12

70

30

n1

2
0 12

02

;
2
12

60

m3 ;

1 5

1 50
2

2
6 12

12 n0 ;

m1 1 ; m0 0 .
0

2
7 12
70

(16)

 .. / 05(81), 2012

(16) , n2, n1, m1 m0 0

. .8
n0, m2 m3
0. n0, m2
m3,
0 23 -1.
=1,39 ,
G(p)=p7+4,50p6+10,102p5+
+14,603p4+14,604p3+10,105p2+4,506p+07.

W 2 ( p )

7 15

k 256,6(0,0004 1)

(0,00041 2 0,0428 1)

(b12 0,0129 2 b1 0,172 1)

p
(b 0,02326 p 1)
(18)
2
;
p
1

W 2 ( p ) 2
2
(b1 0,0129 b1 0,172 1)

1
.
(b2 0,02326 p 1)

. 9, b1
b2; . 9,.

. 8. n0, m2 m3 0


W 2 ( p )

(2 1)
K (n2 p 2 n1 p n0 )

(m3 p 3 m2 p 2 m1 p m0 )

W 2 ( p )

p2

(17)

1
.
(m3 p 3 m2 p 2 m1 p m0 )

, (17) .
M(p)
.
b1 b2
k=1

. 9.
() ()
1
(b1=1, b2=1) M=6,4. b2=var b1=const (b1=1, b2=1,6) 3
M
5,47, 17 % 13

 .. / 05(81), 2012

M. b1
b2 (b1=0,71, b2=3,35) 2
M
58 % 6,4 4,05. 2 .10.
2 3
1.

7 15

1.
,
M, 58 %.
2.
.
3. (12), (14) (18)

b1 b2.
4. ,

.

1.
/ .. , ..
, .. , .. //
. 1981. 1. . 2631.
2. .. / .. , .. , .. . .: , 1982.
416 .
3. .. /
.. , .. , .. // . 1998. 4. . 98103.
4. .. -

. 10.

2 ()
() ()
14

 .. / 05(81), 2012

/ .. // i i
.: 1998. . . . 2. 2. .105 110.
5. ..

/ ..
, .. // . .:
02(78). . 2011. .1319.
6. ..
/ .. ,
.., .. // .
03(79). .: . 2011. .9297.
7. ..

/ .. // .
2. : .
2011. .2730.

7 15

4. Gull .I. Improving the quality control

of thyristor electric drive of continuous rolling
mills by minimax methods. yiv: Technical electrodynamics. 1998. Spec. Issue. V. 2. 2.
P.105110 [in Russian].
5. kimov L.V., Litvinenko D.G. Improving the dynamics of triply integration
asynchronous electric drive with vector control
by the quality control diagrams method / Electrical and computer systems. 02(78).
yiv: Technique. 2011. P.1319
[in Russian].
6. kimov L.V., Litvinenko D.G.
Vkulnk .. Improving the dynamics of the
astatic system of the astatic of two-mass vector
control of asynchronous electric drive with a
constant load / Electrical and computer systems.
03(79). yiv: Technique. 2011. P.92
97 [in Russian].
7. Litvinenko D.G. Mathematical models of
asynchronous electric drive with vector control
for polynomial optimization problems by using
quality control diagrams / Electrical engineering
and electromechanics. Kharkov: Co.Ltd Drukarnia Mdrid. 2011. 2 P.2730
[in Russian].

25.01.12
References

,
- . , .
.
,
,
. (057) 70-50-356

1. Mitkevich V.G., Crzova Y..,

Cllgv .P., Yampolskiy D.S. Dynamics of
triply integration system of subordinate control
of direct current electric drive / Electricity.
1981. 1. 2631 [in Russian].
2. rupovich V.I. Bribin Y.G. Smver M.L.
Engineering handbook of automated electric
drive and technological processes control systems. oscow: Energopubl, 1982. 416 p. [in
Russian].
3. kimov L.V. Dlbnia V.., Kolotilo V.I.
Dynamics of triply integration system of subordinate control of velocity with full and reduced
order state observer / Technical electrodynamics.
1998. 4. P. 98103 [in Russian].

,
.
, ,
. (057) 70-76-445,
e-mail: dilitne@mail.ru

15