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Departamento de Electrnica
DINAMICA Y CONTROL
DE
MOTORES ELECTRICOS
Sergio Junco
Profesor Asociado
Departamento de Electrnica
Facultad de Ciencias Exactas, Ingeniera y Agrimensura
Universidad Nacional de Rosario
Rosario Argentina
sjunco@fceia.unr.edu.ar
17/11/00
http://www.eie.fceia.unr.edu.ar/~dsf
Kovcs,, P. K.
Kovcs
K 1994. Transient Phenomena in Electrical Machines, Elsevier Sc. Publishers, Amsterdam.
Leonhard, W.
W 1985: "Control of Electrical Drives". Springer-Verlag, Berlin. (Hay una nueva edicin,
corregida y aumentada)
Ong , Chee
Ong,
Chee-- Mun
Mun. 1998. Dynamic Simulation of Electric Machinery using Matlab/Simulink. Prentice Hall
PTR. New Jersey.
Vas, Peter
Peter. 1992. Electrical Machines and Drives. A Space-Vector Theory Approach. Oxford U. Press,
N.Y.
Holtz, Joachim
Holtz,
Joachim. 1995. The Representation of AC Machine Dynamics by Complex Signals Flow Graphs,
IEEE Trans. Ind. Electr., 42, 3 , 263-271.
17/11/00
CurMot - MI3FS
FCEIyA - UNR
Departamento de Electrnica
17/11/00
MOTOR DE INDUCCION
TRIFASICO SIMETRICO
MI3S
MODELIZACION
CONCEPTOS BASICOS
17/11/00
CurMot - MI3FS
FCEIyA - UNR
Departamento de Electrnica
cilindro hueco
cilindro macizo, concntrico c/estator
permeabilidad infinita, completamente laminados
17/11/00
17/11/00
CurMot - MI3FS
FCEIyA - UNR
Departamento de Electrnica
& = r = n p
sR (t ) ,
sS (t )
sT (t )
rS (t )
rT (t )
y del Rotor:
rR ( t ) ,
17/11/00
CurMot - MI3FS
FCEIyA - UNR
Departamento de Electrnica
Rotor cortocircuitado
Rr irR (t ) + &rR (t ) = 0
Rr irS (t ) + &rS (t ) = 0
Rr irT (t ) + &rT (t ) = 0
17/11/00
sR ( , t ) = isR (t ) N s cos( )
F.m.m. radial en la posicin del
entrehierro en el instante t.
Anlogamente, para las fases S y T:
sS (, t ) = isS (t ) N s cos( )
sT ( , t ) = isT (t) N s cos( 2 )
= 2 / 3
17/11/00
CurMot - MI3FS
10
FCEIyA - UNR
Departamento de Electrnica
11
CurMot - MI3FS
12
FCEIyA - UNR
Departamento de Electrnica
13
MOTOR DE INDUCCION
TRIFASICO SIMETRICO
MI3S
MODELIZACION CON
VECTORES ESPACIALES
DESARROLLO MATEMATICO
17/11/00
CurMot - MI3FS
14
FCEIyA - UNR
Departamento de Electrnica
N
R = R iR (t )
2
17/11/00
15
2 NR
iR (t ) cos( ) = 1R (t ) cos( ) = 1 R (t ) cos( )
1R (t ) 1R (t )e j 0 =
2NR
iR (t ) e j 0
i R (t ) i R (t ) e j 0
Con el Vector Espacial, el valor de la onda en cada punto
del entrehierro se obtiene como la proyeccin del Vector:
1R ( , t ) = Re{ 1R (t )e j
17/11/00
CurMot - MI3FS
16
FCEIyA - UNR
Departamento de Electrnica
B1 R (, t ) = 0
i (t ) cos()
R
b1R ( t )
0 2N R
iR (t ) 0 1R (t )
d = B .dA; dA = l .r .d
1R =
1R
( , t ).l .r.d =
/ 2
1R (t )
0 lD 2 N R
iR (t )
0 .l.D 2 N R
i (t )
17/11/00
17
1R = N R1R
0lD 2N R2
1R (t )
iR (t)
Resulta la inductancia
0lD 2N R2
LR =
1R (t ) LR iR (t )
17/11/00
CurMot - MI3FS
/2
NR
N
lD 2
iR (t) R = 0 R iR (t).l.r.d R = 0
N R iR (t )
2
2
4
/ 2
Sergio Junco - Depto. Electrnica
FCEIyA-UNR - CurMot00
18
FCEIyA - UNR
Departamento de Electrnica
2
N R k dR k pR i R (t ) cos()
2
N R , ef i R ( t ) cos()
k wR k dR k pR
=
factor de
bobinado de la
fase
N R,ef = N R k wR
Nro . efectivo de
17/11/00
vueltas de la
fase
19
17/11/00
CurMot - MI3FS
2
N R,ef i R (t ) cos()
20
10
FCEIyA - UNR
Departamento de Electrnica
2
N R ,ef i R (t ) e j 0
R (, t ) = Re R (t )e j
21
2
3
2
3
R (t ) =
2
N
i (t )
R ,ef R
S (t ) =
2
N S ,ef i S (t )
T (t ) =
2
N T ,ef iT (t )
CurMot - MI3FS
22
11
FCEIyA - UNR
Departamento de Electrnica
bR, S ,T (t ) =
20
N
i
(t )
R, S ,T , ef R ,S ,T
2 0lD 2
R ,S ,T ( t ) =
N R, S ,T , ef i R ,S ,T (t )
LR ,S ,T =
20lD 2
N R , S,T , ef
17/11/00
23
1 0
a x R + a1 x S + a 2 xT
c
a = e j 2 / 3 a 2 = e j 4 / 3 = e j 2 / 3 ,
a3 = e j6 / 3 = a 0
Hay varias alternativas de eleccin del coeficiente c :
c =1
c = 3/ 2
c = 3/ 2
c=3
17/11/00
CurMot - MI3FS
24
12
FCEIyA - UNR
Departamento de Electrnica
x 0 = c 2 ( x R + x S + xT )
con las alternativas de elegir el coeficiente c2 :
c2 =
c2 =
1
3
1
3
______________
(*)
17/11/00
25
L = Ll + Lm
Lm =
N ef2
17/11/00
CurMot - MI3FS
26
13
FCEIyA - UNR
Departamento de Electrnica
R = L i R + M (iS + iT ) = ( Ll + Lm ) iR + M (iS + iT )
1
i0 = c2 (iR + iS + iT ) (iS + iT ) = i0 i R
c2
R = Ll iR + ( Lm M ) iR +
M
i0
c2
27
17/11/00
CurMot - MI3FS
R = Ll iR + ( L m M ) iR +
M
i0
c2
S = L l iS + (L m M ) i S +
M
i0
c2
T = L l iT + ( L m M
M
i0
c2
iT +
28
14
FCEIyA - UNR
Departamento de Electrnica
1 0
a R + a 1S + a 2 T = ( Ll + Lm M ) i
c
1
M = Lm cos(2 / 3) = Lm
2
Vector del Flujo
L3 m =
17/11/00
3
Lm
2
= Ll + Lm i = Ll + L3m
2
29
Lsm =
2 0lD 2
N s, ef
Lrm =
2 0lD 2
N r , ef
lD
1
M s = Lsm = 0 N s2, ef
2
17/11/00
CurMot - MI3FS
lD
1
M r = Lrm = 0 N r2,ef
2
30
15
FCEIyA - UNR
Departamento de Electrnica
1 0
a sR + a1sS + a 2sT = (Lsl + Lsm M s ) i s
c
3
s = L sl + L sm is = ( L sl + L3 sm ) is
2
1 0
a rR + a1 rS + a 2 rT = (Lrl + L rm M r ) ir
c
3
17/11/00
31
L3sm
3 0lD 2
3
L sm =
N s ,ef
2
Ls = L sl + L3 sm L sl +
3
L sm
2
L3 rm
3 lD
3
Lrm = 0 N r2, ef
2
Lr = Lrl + L3rm L rl +
17/11/00
CurMot - MI3FS
3
L rm
2
32
16
FCEIyA - UNR
Departamento de Electrnica
2
M s r ( ) = M s r cos( + k
)
3
k = 0, 1, 2 segn el par de arrollamientos s-r considerados
2 lD
M s r = 0 N s , ef N r , ef
M Ls r =
17/11/00
3 lD
3
M s r = 0 N s ,ef N r , ef
2
33
s = Ls i s + L s r ir e j
Vector de Flujo Rotrico Trifsico:
r e j = Ls r is + Lr
ir e j
r = L s r is + Lr i r
con r r e j ,
17/11/00
CurMot - MI3FS
ir ir e j
34
17
FCEIyA - UNR
Departamento de Electrnica
N s , ef = N r , ef N ef L sm = L rm = M
Se define la autoinductancia monofsica
de magnetizacin de la mquina:
Lmm =
s r
L mm
2 0lD 2
N ef
L m L 3 sm = L 3 rm = L s r =
17/11/00
3 0 lD 2
N ef
35
s = Ls is + Ls r ir e j = Ls is + Ls r i r
s = Ls is + Lm i r
El Flujo Concatenado por el Rotor:
r = Lm i s + Lr ir
17/11/00
CurMot - MI3FS
36
18
FCEIyA - UNR
Departamento de Electrnica
s = (Lsl + Lm ) i s + Lm ir = Lsl is + Lm is + i r
Analgamente para el rotor:
r = Lrl ir + Lm
(i
+ i r
i m i s + ir
s = Lsl is + Lm im = sl + m
r = Lrl i r + Lm im = rl + m
17/11/00
37
iS
L lr
ir
Lm
ism
17/11/00
CurMot - MI3FS
s
Lm
irm
Lm
38
19
FCEIyA - UNR
Departamento de Electrnica
irm
s
L i + Lm i r Lsl + Lm
= ss
=
is + ir
Lm
Lm
Lm
r Lm is + Lr i r
L + Lm
=
= is + rl
ir
Lm
Lm
Lm
sl
Lsl
Lm
rl
Lrl
Lm
17/11/00
ism = (1 + sl ) is + ir
irm
= (1 + rl ) i r + i s
39
L3sm
3 lD
3
Lsm = 0 N s2, ef
2
L3rm
CurMot - MI3FS
3
Lrm
2
3 lD
3
Lrm = 0 N r2,ef
2
M L s r =
17/11/00
3
Lsm
2
3 0lD
3
M s r =
N s, ef N r ,ef
2
mutua estator-rotor
40
20
FCEIyA - UNR
Departamento de Electrnica
3
3
s = Ls is + Lsr i r = Lsl + Lsm is + M sr i r
2
2
M
3
3
Lsm is + s r i r = Lsl is + L sm is + `ir
2
Lsm
2
17/11/00
41
N s2,ef
N s ,ef
Lsm
N k
k
=
=
= s ws
M s r N s,ef N r,ef
N r ,ef
N r k wr
k
(3 / 2) Lsm
(3 / 2) Lsm
=
(3 / 2)M s r
Ls r
`Lm (3 / 2) Lsm = k L s r
17/11/00
CurMot - MI3FS
42
21
FCEIyA - UNR
Departamento de Electrnica
43
`ir
1
i
k r
conservacin de la potencia
resulta
y
CurMot - MI3FS
`ir . `ur i r . u r
`ur k u r
`rr k 2 rr
`Lr k 2 L r ; `Lrl k 2 L rl
17/11/00
y la condicin de
Adems
`Lm k Ls r = k (3 / 2)M sr
44
22
FCEIyA - UNR
Departamento de Electrnica
rs
Lsl
iS
`ir `Llr
`rr
`L m
17/11/00
45
Rs is (t ) + &s (t ) = v s (t )
Rotor en su marco natural (giratorio)
Rr ir (t) + &r (t ) = 0
Rotor en su marco, con parmetros referidos al estator:
CurMot - MI3FS
46
23
FCEIyA - UNR
Departamento de Electrnica
m.am. e j (t )
`Rr `ir ( t ) + `&r (t ) = 0
`R `i ( t ) e j(t ) + `& (t ) e j(t ) = 0
r
d
d j (t )
e
`&r (t ) e j =
`r (t ) e j(t ) `r (t )
dt
dt
47
Rs is (t ) + &s (t ) = v s (t )
17/11/00
CurMot - MI3FS
48
24
FCEIyA - UNR
Departamento de Electrnica
iS
Lls
ir
Llr
Rr
j r r
Lm
vS
Rs
Lls
ios
ior
Llr
Rr
vos =0
17/11/00
49
CurMot - MI3FS
50
25
FCEIyA - UNR
Departamento de Electrnica
Lls
isa
ira
L lr
rrb
Rr
+
va
Lm
Rs
Lls
isb irb
0
L lr
Rr
r ra
+
Lm
vb
Rs
L ls
iso
0
iro
L lr
Rr
v so= 0
17/11/00
51
con vectores en 2
ra
i
i
= Lm isa + Lr ira
rb
sb
rb
CurMot - MI3FS
L =L +L
r
rl
m
con vectores en 4
sa
i
i
= Ls i sa + Lm ira
sb
sb
rb
17/11/00
rb = Lr i rb + Lmi sb
sa Ls
0
sb =
L
ra m
rb 0
0
Ls
0
Lm
Lm
0
Lr
0
0 i sa
Lm i sb
0 i ra
Lr irb
52
26
FCEIyA - UNR
Departamento de Electrnica
i
is sa
i sb
Rs is (t ) + &s (t ) = v s (t )
r ra
rb
0
J2 =
1
i
ir ra
i
rb
1
0
Rr ir (t ) + &r (t ) r (t ) J 2 r (t ) = 0 21
17/11/00
53
sb
, i sb
ra
i
ra
rb
i rb
rs
0
2
17/11/00
CurMot - MI3FS
02
0 2
&
i
(
t
)
+
(
t
)
0
rr
2
r diag( R s , R s )
s
rr diag (R r , R r )
0
02
0
0
0
02
(t ) =
r (t ) J 2
vs
0
21
54
27
FCEIyA - UNR
Departamento de Electrnica
1 0
a x R + a1 x S + a 2 xT
c
(R, S, T) Homopolar
x0 c2 ( xR + xS + xT )
a = e j 2 / 3 a 2 = e j 4 / 3 = e j 2 / 3 ,
El coeficiente c :
a 3 = e j 6 / 3 = a 0
El coeficiente c2 :
c =1
Leonhard
c = 3/ 2
c = 3/ 2
c=3
Simtrico
Asimtrico
Secuencia Positiva
17/11/00
c2 = 3 / 3
c2 = 1 / 3
55
17/11/00
CurMot - MI3FS
xR =
2
1
c Re{x }+
x0
3
3c2
xS =
2
1
c Re a 2 x +
x
3
3c2 0
xT =
2
1
c Re{a x }+
x0
3
3c2
{ }
56
28
FCEIyA - UNR
Departamento de Electrnica
2
1
Re{x }+
x0
3
3c 2
2
1
x S = Re{a 2 x }+
x0
3
3c2
2
1
xT = Re{a x }+
x0
3
3c 2
xR =
17/11/00
57
2
1
Re{x} +
x0
3
3
xS =
2
3
xT =
2
3
17/11/00
CurMot - MI3FS
2
1
x0
Re{x}+
3
2
1
2
1
2
Re a 2 x +
x0 =
Re
a
x
+
x
0
3
3
2
1
2
1
Re{a x}+
x0 =
x0
Re{a x} +
3
3
2
xR =
{ }
{ }
58
29
FCEIyA - UNR
Departamento de Electrnica
xR = Re{x }+ x 0
{ }
xS = Re a 2 x + x 0
xT = Re{a x }+ x 0
Las componentes (R, S, T) son las Proyecciones del Vector
Espacial en los ejes magnticos de las respectivas fases, ms la
componente homopolar.
17/11/00
59
xa Re{x} =
1
1
xR [xS + xT ]
c
2
xb I m{x } =
1
3
[xS xT ]
0.xR +
c
2
x0
17/11/00
CurMot - MI3FS
1
{cc2 [xR + xS + xT ]}
c
Sergio Junco - Depto. Electrnica
FCEIyA-UNR - CurMot00
60
30
FCEIyA - UNR
Departamento de Electrnica
1
1
1 2 2
xa
xR
1
3
3
x = 0
xS
b c
2
2
x0
cc2 cc2 cc2 xT
17/11/00
xR
x = 2 c 1
S 3 2
xT
1
2
0
3
2
3
2cc2 x
a
1
x
2cc2 b
x
1 0
2cc2
61
1
1
2
2 xR
xa
3
3
x = 0
xS
b
2
2
x0 c2 c2
c2 xT
17/11/00
CurMot - MI3FS
x
R
2
x = 1
S 3 2
xT
1
2
0
3
2
3
1
2c2
xa
1
xb
2c2
x
1 0
2c2
62
31
FCEIyA - UNR
Departamento de Electrnica
xa
2
xb = 3
x0
1
1
2
2 x
R
3
3
xS
2
2
1
1 xT
2
2
0
1
2
xR
xS =
xT
2 1
3 2
1
2
2 x
a
1
x
b
2
x
1 0
0
3
2
3
63
1
x
a
x = 2 0
b 3
x0
1
2
1
2
3
2
1
2
1
2 xR
x
2 S
1 xT
2
xR 1
x = 1
S 2
xT
1
0
3
2
3
1 x a
1 x b
x 0
1
17/11/00
CurMot - MI3FS
64
32
FCEIyA - UNR
Departamento de Electrnica
La potencia elctrica
PRST(t) = iTRST(t).vRST(t)
Pab0(t) = iTab0 (t).vab0 (t)
xRST(t) = M . xab0 (t)
xab0 (t) = M-1 . xRST(t)
PRST(t) = [M . iab0(t)]T . [M . vab0 (t)]
PRST(t) = iTab0 (t) MT.M vab0 (t)
17/11/00
2 1
M = c
3 2
1
2
M 1
1
= 0
c
cc2
0
3
2
3
2cc2
1
2cc2
1
2cc2
1
1
2
2
3
3
2
2
cc2 cc2
65
CurMot - MI3FS
66
33
FCEIyA - UNR
Departamento de Electrnica
Lls
iS
vS
ir
L lr
Rr
jr r
Lm
67
La cupla electromagntica
em = n p
= np
Tr (t ) J 2 ir (t )
( ra irb + rb ira )
= n p r (t ) ir (t )
17/11/00
CurMot - MI3FS
68
34
FCEIyA - UNR
Departamento de Electrnica
La cupla electromagntica:
Expresiones alternativas
Transformacin Simtrica
Las ecuaciones
magnticas
permiten
elegir,
entre otras,
estas alternativas
para el par o
cupla electromagntica
em = n p
17/11/00
r (t ) ir (t )
= n p ir (t) r (t )
= n p s (t ) is (t )
= L i +L i
s
ss
mr
= n p is (t ) s (t )
= np Lm ir (t) is (t )
L
= np m r (t ) is (t )
Lr
L
= np m
r (t ) s (t )
Ls Lr
= L i +L i
r
ms
rr
69
La cupla electromagntica
Transformacin Asimtrica
Potencia mecnica
generada
em = 3 n p
Potencia (R, S, T)
transferida
3
n
2
2 p
3
3
= n p s (t ) i s (t )
= np
2
2
3
3
= n p Lm ir (t ) is ( t )
=
n
2
2 p
=
17/11/00
CurMot - MI3FS
3
2
r ( t ) i r (t ) =
i r (t ) r ( t )
i s ( t ) s (t )
Lm
r (t ) i s (t )
Lr
3
Lm
np
r (t ) s ( t )
2 Ls Lr
( *) Considerando nula a la homopolar
Sergio Junco - Depto. Electrnica
FCEIyA-UNR - CurMot00
70
35
FCEIyA - UNR
Departamento de Electrnica
La cupla electromagntica
Transformacin de Leonhard
Potencia mecnica
generada
em = 2 n p
Potencia (R, S, T)
transferida
2
3
2
n p i r (t ) r ( t )
3
3
2
2
= n p s (t ) i s (t )
= n p i s ( t ) s (t )
3
3
2
2
L
= n p Lm ir (t ) is ( t )
=
n p m r (t ) i s (t )
3
3
Lr
2
Lm
= np
r (t ) s ( t )
3 Ls Lr
( *) Considerando nula a la homopolar
17/11/00
r ( t ) i r (t ) =
71
(t ) e
F
r /s
j F ( t )
r / s (t )
isF/ r (t ) e j F (t ) is / r (t )
vsF (t ) e j F (t ) v s (t )
17/11/00
CurMot - MI3FS
72
36
FCEIyA - UNR
Departamento de Electrnica
1
0
x F (t ) xd (t ) M x q (t )
17/11/00
73
sen
F cos F
sen F
cos F
0
0 x d
0 xq
1 x0
xR
x = 2 c 1
S 3 2
xT
1
2
17/11/00
CurMot - MI3FS
cos F
sen F
sen F
cos F
xa cos F
x sen
F
b
x0 0
e J 2 F
0
3
2
3
1
2cc 2 x
a
1
x
2cc 2 b
x 0
1
2cc 2
xd cos F
x sen
F
q
x0 0
sen F
cos F
0
0 xa
0 xb
1 x0
1
1
1 2 2
xa
x R
3
3
x = 1 0
x
b c
2
2 S
cc2 cc2 cc2 xT
x 0
74
37
FCEIyA - UNR
Departamento de Electrnica
& F (t ) = F (t )
em ==
np
F (t = 0) = 0
Lm F
r (t ) isF (t )
Lr
2/3
17/11/00
3/2
75
Rs isF (t ) + &Fs (t ) + F (t ) J 2 Fs (t ) = v sF (t )
Rr irF (t ) + &Fr (t) + [ F (t ) r (t )]J 2 Fr (t ) = 021
em =
np
Lm F T
r (t ) J 2 isF (t )
Lr
& F (t ) = F (t )
F (t = 0) = 0
CurMot - MI3FS
76
38
FCEIyA - UNR
Departamento de Electrnica
Rs
iS
L ls
ir
Llr
j F r
Rr
r
n p r
Lm
vS
r
n p r = n p j r
Abusando de la notacin se suele prescindir del subndice F
para denotar el marco arbitrario
17/11/00
77
CurMot - MI3FS
F qs
Rs
L ls
ids
i dr
L lr
Rr
( F - r ) qr
+
vd
Lm
F ds
Rs
L ls
iqs
i qr
0
L lr
Rr
( F - r ) dr
+
vq
Lm
Rs
Lls
ios
0
ior
L lr
Rr
v os=0
78
39
FCEIyA - UNR
Departamento de Electrnica
& F (t ) = F (t )
17/11/00
F (t = 0 ) = 0
x ( t ) = x = xd + j xq
em =
np
Lm
(rd isq rqisd )
Lr
= .
2/3
3/2
79
Resumen
Modelos del MI3S en Marco Arbitrario:
*Vectores en 2
*Vectores Espaciales
Rs i s ( t ) + &s (t ) + jF (t ) s (t ) = vs (t )
Abuso de notacin:
supresin de los
suprandices F
&
R r ir (t ) + r (t ) + j [ F (t ) r (t )] r (t ) = 0
em =
np
Lm
r (t ) is (t )
Lr
& F (t ) = F (t )
F (t = 0) = 0
Rs is (t ) + &s (t ) + F ( t ) J 2 s (t ) = vs (t )
R r i r (t ) + &r (t ) + [ F (t ) r (t )] J 2 r (t ) = 0 21
em =
17/11/00
CurMot - MI3FS
np
Lm T
r (t ) J 2 is (t )
Lr
2/3
3/2
80
40
FCEIyA - UNR
Departamento de Electrnica
& F (t ) = (t ) = n p +
r
17/11/00
rq 0 !!!
em =
Rr Lm isq
Lr rd
np
Lm
rd isq
Lr
= .
2/3
3/2
81
rd + n p
isq n p
i sq + L m
rd n p
Parmetros
2
i sq
rd
isd L m
1
v
L s d
isq i sd
rd
1
v
Ls q
& rd =
rd + L m i sd
isq
& = n p + L m
rd
b
1
& = rd i sq
J
J c
17/11/00
CurMot - MI3FS
Rr
1
=
Lr Tr
Lm
Ls Lr
Ts =
1 1
+
Ts
Tr
Ls
Rs
= 1
em =
Sergio Junco - Depto. Electrnica
FCEIyA-UNR - CurMot00
np
L2m
Ls Lr
Lm
rdisq = n Lm
p
Lr
JLr
82
41
FCEIyA - UNR
Departamento de Electrnica
i sa +
i&sb =
i sb n p
& ra =
& rb = n
ra + n p
ra n p
ra
Parmetros
1
rb +
v
Ls a
1
ra + rb +
L s
rb + L m i sa
rb + L m i sb
b
1
& = ra i sb rb i sa
J
J
17/11/00
vb
Rr
1
=
Lr Tr
Lm
Ls Lr
Ts =
1 1
+
Ts
Tr
Ls
Rs
= 1
L2m
Ls Lr
= np
Lm
JLr
83
1
i s + I 2 n p J 2 r +
Ls
vs
& r = I 2 n p J 2 r + L m i s
b
1
& = Tr J 2 i s c
J
J
17/11/00
CurMot - MI3FS
84
42
FCEIyA - UNR
Departamento de Electrnica
Ecuaciones
Parmetros
k
& (t ) = + j (t ) ( t ) + r (t ) + v (t )
s
F
s
T r
Ts
s
s
k
1
& (t ) = s (t ) + j (t ) n (t ) (t )
r
p
T s
F
r
Tr
r
1 Lm
b
1
& (t ) = n p
r (t ) s (t) (t ) c
J Ls Lr
J
J
17/11/00
kr =
ks =
T =
s
T r =
m
L
r
L
m
L
s
L
s
R
s
L
r
R
r
L
L =
s
s
L = L
r
r
85
El vector espacial de una magnitud genrica x(t) para este caso particular de
un sistema trifsico simtrico en el tiempo:
x (t ) =
1
xR (t ) + a xS (t ) + a 2 xT (t )
c
xR (t ) = X cos( t + )
2
xS (t ) = X cos(t +
)
3
4
xT (t ) = X cos(t +
)
3
Donde X es el valor de pico de cada una de las tres ondas temporales y el ngulo
de la onda temporal de la fase R.
17/11/00
CurMot - MI3FS
86
43
FCEIyA - UNR
Departamento de Electrnica
e
xR (t ) = X
e
xS (t ) = X
e
xT (t ) = X
j ( t + )
j ( t +
j ( t +
17/11/00
+e
2
2
)
3
4
)
3
j ( t + )
+e
2
+e
2
X j ( t + )
j ( t + )
e
. 1+e
.1
2
j ( t +
j( t +
2
)
3
4
)
3
X j ( t + ) 2
j ( t + )
e
. a +e
.a
2
X j ( t + )
j ( t + )
e
. a+e
. a2
2
87
x (t ) =
1
3 j ( t + ) 3 j
j
x R (t ) + a x S (t ) + a 2 x T (t ) =
X e
=
X e
e
c
2c
2c
3 ~ j
X e
2c
~
X X e j
x (t ) =
j (
x R ( t ) = X cos( t + ) = e X e
17/11/00
CurMot - MI3FS
t + )
}= e{ X e
j t
}= e{ X~ e }
j t
88
44
FCEIyA - UNR
Departamento de Electrnica
3 ~
3 ~ j 1 t
3 ~
j t
j t
U1 e 1 iS (t ) =
I1 e
iR (t ) =
I2 e 1
2c
2c
2c
~
~
~
j
1
U1 U 1 e
I 1 I1 e
I 2 I2 e j 2
vS (t ) =
89
3 Transformacin:
3
2
=
[ 3/(2c)] =
2
las transformaciones:
2c
Valiendo para todas
em =
em =
(3/2)
2/3
3/2
3/2
3
np Lm I1 I2 sen( 1 2 )
2
CurMot - MI3FS
90
45
FCEIyA - UNR
Departamento de Electrnica
R r ir (t ) + &r (t ) j r (t ) r (t ) = 0
(
(
~
Rs I 1 + Ls
~
Rr I 2 + Lm
~
I 1 + Lm
~
I 1 + Lr
r = Lm is + Lr ir
se obtiene:
)
)
~
~
I 2 j 1 = U 1
~
I2 j (1 r ) = 0
Definiendo 2 velocidad y
s coeficiente de deslizamiento,
y dividiendo luego la segunda ecuacin por el coeficiente s se obtiene finalmente:
2 1 r
,
s 2 / 1 = (1 r ) / 1
~
~
~ ~
~
Rs I 1 + j1 Lsl I1 + j1 Lm I 1 + I2 = U 1
Rr ~
I + j1 Lrl
s 2
17/11/00
(
)
~
~ ~
I + j L ( I + I ) = 0
2
2 = s 1
91
X rl = 1 Lrl
Xm
(
)
~
~ ~
I + j X ( I + I )= 0
~
~
~ ~
~
Rs I 1 + j X sl I1 + j X m I 1 + I2 = U 1
Rr ~
I + j X rl
s 2
em =
* N.B.:
L m es la inductancia trifsica
de magnetizacin de la mquina !!
3
~ ~
3
n p Lm I 1 I 2 =
n p Lm I1 I2 sen( 1 2 ) = 3 np Lm I1 ,ef I 2 ,ef sen(1 2 )
2
2
17/11/00
CurMot - MI3FS
X m = 1 Lm
92
46