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TEORIA
FUNDAMENTAL DO
MOTOR DE INDUO
q
d
EDIO DO
AUTOR
CAPTULO
1.1 INTRODUO
resultados
obtidos
sero
genricos
sero
empregados
no
1.2 CIRCUITO R - L
L
+
vL
+
R
vR
-
(1.1)
di
dt
(1.2)
v = Ri + L
v i = Ri 2 + Li
di
dt
(1.3)
mas
1
d Li 2
di
2
Li =
dt
dt
(1.4)
Assim
1
d Li 2
2
vi = Ri 2 +
dt
(1.5)
Ri 2
1 2
Li
2
energia
instantnea
armazenada
no
campo
magntico;
1
d Li 2
2
dt
Considerando-se a Fig. 1.3, semelhante a Fig. 1.1, mas com uma diferena
fundamental: possibilidade de haver movimento relativo entre a bobina e o seu ncleo.
Desta forma existe a possibilidade de variao do valor da indutncia. A indutncia da
bobina funo de x, posio relativa entre ela e o seu ncleo.
x
L(x)
+
i
vL
+
R
L(x)
vR
-
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(1.6)
d
dt
(1.7)
v = Ri +
= L (x ) i
(1.8)
Assim:
v = Ri +
d ( L ( x ) i)
dt
(1.9)
di dL ( x )
+i
dt
dt
(1.10)
di 2 dL ( x )
+i
dt
dt
d L ( x ) i2
2
= L x i di + 1 i 2 dL ( x )
( )
dt
dt 2
dt
1
d L ( x ) i2
di
2
- 1 i 2 dL ( x )
L(x)i =
dt
dt
2
dt
(1.11)
(1.12)
(1.13)
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d L ( x ) i2
2
- 1 i 2 dL ( x ) + i 2 dL ( x )
vi = Ri 2 +
dt
2
dt
dt
(1.14)
Assim:
L ( x ) i2
d
2 1 2 dL ( x )
2
vi = Ri +
+ i
dt
2
dt
(1.15)
1 2 dL(x )
i
a mais em
2
dt
d L ( x ) i2
1 2 dL ( x )
2
i
= vi - Ri 2 +
2
dt
dt
(1.16)
dx 1 2 dL(x )
= i
dt 2
dt
(1.17)
dL ( x ) dL ( x ) dx
=
dt
dx dt
(1.18)
1 dL ( x )
F = i2
2
dx
(1.19)
Assim:
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Fi
Fe
Fa
L(x)
Fa = D
dx
dt
a fora de atrito.
Fi = m
d2x
dt 2
a fora de inrcia.
Fe
1 dL ( x )
F = i2
a fora eltrica.
2
dx
O equilbrio mecnico estabelece que:
F = Fe + Fi + Fa
(1.20)
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1 2 dL ( x )
dx
d2 x
i
- D - m 2 = Fe
2
dx
dt
dt
Ri + L(x )
(1.21)
di
dL(x )
+i
=V
dt
dt
(1.22)
SISTEMA
x(t)
- Parmetros
Fe(t)
- Modelo
i(t)
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+
L( )
Rotor
0
di
dL()
+i
dt
dt
(1.23)
d 1 2 dL( )
= i
dt 2
dt
(1.24)
Assim:
T
d 1 2 dL ( ) d
= i
dt 2
d dt
(1.25)
Portanto:
1 dL ( )
T = i2
2
d
(1.26)
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2 Lm
Ld
L0
Lq
45
90
135
180
270
Tal funo pode geralmente ser representada com boa preciso pela
expresso (1.27):
L() = L m cos 2 + L 0
(1.27)
1 2 d
(L m cos 2 + L 0 )
i
2 dt
(1.28)
Assim, em mdulo:
T = L m i 2 sen 2
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(1.29)
10
(1.30)
L q = L 0 + L m
(1.31)
Assim:
Lm =
T=
(L
Ld Lq
2
Lq )
2
i 2 sen
(1.32)
(1.33)
Ld =
n2
Rd
(1.34)
Lq =
n2
Rq
(1.35)
T=
n2
2
1
1 2
i sen 2
R
d Rq
(1.36)
Rq Rd
R R
d q
(1.37)
Deste modo:
n2
T=
2
2
i sen 2
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11
T = Ta + Te + Ti
(1.38)
1 2 dL ( )
d d 2
i
- D - J 2 = Te
2
d
dt
dt
Ri + L ( )
(1.39)
di dL ( )
+i
=v
dt
dt
(1.40)
i(t)
MQUINA
Te(t)
ELEMENTAR
(t)
Fig. 1.9 Representao de mquina elementar de um enrolamento com as variveis de entrada e sada.
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12
iS
vS
iR
+
vR
-
v S = R Si S +
d ( LSiS ) d ( M SR ( ) i R )
+
dt
dt
(1.41)
vR = R R iR +
d ( L R i R ) d ( M SR ( ) iS )
+
dt
dt
(1.42)
LS e LR so as indutncias prprias.
MSR a indutncia mtua existente entre os enrolamentos.
Desenvolvendo-se as expresses (1.41) e (1.42), obtm-se as expresses
(1.43) e (1.44).
v S = R Si S + L S
dMSR ( )
diS
di
+ iR
+ MSR ( ) R
dt
dt
dt
(1.43)
dMSR ( )
di
di R
+ iS
+ MSR ( ) S
dt
dt
dt
(1.44)
vR = R R iR + LR
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dMSR ( )
diS
di
+ i R iS
+ MSR ( ) iS R
dt
dt
dt
PR = v R i R = R R i R + L R i R
dMSR ( )
di
di R
+ i Si R
+ MSR ( ) i R S
dt
dt
dt
13
(1.45)
(1.46)
P = PR + PS
(1.47)
dMSR ( )
diS
di
+ i R iS
+ M SR ( ) iS R +
dt
dt
dt
dM SR ( )
di
di
2
+R R i R + L R i R R + iSi R
+ M SR ( ) i R S
dt
dt
dt
(1.48)
Assim:
2
P = R Si S + L Si S
Sabemos que:
d 1
1
2
2
LSiS + L R i R + M SR ( ) iSi R =
dt 2
2
dM SR ( )
di
di
di
di
= LSiS S + L R i R R + M SR ( ) iS R + M SR ( ) S i R +
i Si R
dt
dt
dt
dt
dt
(1.49)
Portanto:
L Si S
dM SR ( )
diS
di
di
di
+ L R i R R + MSR ( ) iS R + MSR ( ) i R S + 2iSi R
=
dt
dt
dt
dt
dt
1
1
2
2
d LSiS + L R i R + MSR ( ) iSi R
2
2
+ dM SR ( ) i i
=
S R
dt
dt
(1.50)
1
1
2
2
d LSiS + L R i R + MSR ( ) iSi R
dM
2
2
2
2
SR ( )
P = R Si S + R R i R +
iSi R +
dt
dt
Prof. Ivo Barbi, Dr. Ing.
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(1.51)
14
Seja:
2
Pr =R SiS +R R i R
1
1
2
2
d LSiS + L R i R + MSR ( ) iSi R
2
2
PL =
dt
(1.52)
(1.53)
Assim:
Pmec =
dM SR ( )
i Si R
dt
(1.54)
Pmec = T
d
dt
(1.55)
Assim:
d dM SR ( ) d
=
i Si R
dt
d
dt
(1.56)
T = iSi R
dM SR ( )
d
(1.57)
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15
M0
3
2
M SR () = M 0 cos
(1.58)
T = M 0i Si R sen
(1.59)
M 0i R i
3
2
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16
T = Te + Ta + Ti
(1.60)
dM SR ( )
d d 2
Te = iSi R
-D -J 2
d
dt
dt
v S = R Si S + L S
(1.61)
dM SR ( )
diS
di
+ iR
+ MSR ( ) R
dt
dt
dt
(1.62)
dM SR ( )
di
di R
+ iS
+ MSR ( ) S
dt
dt
dt
(1.63)
vR = R R iR + LR
(t)
MQUINA
iS (t)
iR (t)
Te(t)
Fig. 1.13 Representao da mquina eltrica elementar de dois enrolamentos com as variveis de entrada e
sada.
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17
+
i
v
i
v
Fig. 1.14 Representao fsica da mquina eltrica elementar de dois enrolamentos de plos salientes.
Texc = iSi R
dMSR ( )
d
(1.64)
1 2 dL ( )
TR = iS
2
d
(1.65)
O torque total produzido pela mquina ser a soma dos torques de relutncia e
de excitao. representado pela expresso (1.66):
dMSR ( )
1 2 dLS ( )
T = iS
+ i Si R
2
d
d
(1.66)
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18
L s ( ) = LMcos2 +L0
(1.67)
M SR () = M 0 cos
(1.68)
Obtm-se:
2
T = L m i S sen 2 + M 0 i Si R sen
(1.69)
v1 = R1i1 +
(1.70)
v 2 = R 2i 2 +
d ( M12i1 ) d ( L 2i 2 ) d ( M 23i3 )
+
+
dt
dt
dt
(1.71)
v 3 = R 3i 3 +
(1.72)
dM12 ( )
dM13 ( )
dM 23 ( )
1 2 dL1 ( ) 1 2 dL 2 ( ) 1 2 dL3 ( )
T = i1
+ i2
+ i3
+ i1i 2
+ i1i3
+ i 2i3
(1.73)
2
d
2
d
2
d
d
d
d
Pode-se compactar as expresses precedentes, usando-se a notao matricial,
As equaes eltricas passam a ser representadas pela expresso (1.74).
v1 R1
v = 0
2
v3 0
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0
R2
0
0 i1
L1
d
0 i 2 + M12
dt
M13
R 3 i3
M12
L2
M 23
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M13 i1
M 23 i 2
L3 i3
(1.74)
19
i1
dM12 ( )
dM13 ( )
1 dL1 ( )
T = i1
+ i1
+ i1
i2 +
2
d
d
d
i3
i1
dL 2 ( )
dM 23 ( )
1 dM12 ( )
+ i 2
+ i2
+ i2
i2 +
2
d
d
d
i3
(1.75)
i1
dM 23 ( )
dL3 ( )
1 dM13 ( )
+ i 3
+ i3
+ i3
i2
2
d
d
d
i3
A expresso (1.75) pode ainda ser representada segundo a expresso (1.76):
T=
1
[i1 i 2
2
dL1
d
dM
i3 ] 12
d
dM13
d
dM12
d
dL 2
d
dM 23
d
dM13
d i
1
dM 23
i2
d
i
dL3 3
d
(1.76)
Seja:
i1
i = i 2
i3
R1
R = 0
0
0
R2
0
i t = [ i1 i 2
(1.77)
0
0
R 3
(1.78)
i3 ]
(1.79)
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20
dL1
d
dL ( ) dM12
=
d
d
dM13
d
dM12
d
dL 2
d
dM 23
d
dM13
d
dM 23
d
dL3
d
(1.80)
dL ( )
i
dt
(1.81)
1 t dL ( )
i
i
2
d
(1.82)
v = Ri +
T=
As expresses (1.81) e (1.82) foram estabelecidas para uma mquina com trs
enrolamentos. Contudo podem ser empregadas para qualquer sistema onde exista
converso eletromecnica de energia.
1.8 CONCLUSES
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21
I = 2A
comprimento
total
mdio
de
40cm
excitado por uma corrente de 2A; supese que o ncleo e a armadura possuem a
mesma permeabilidade. A permeabilidade
relativa (r) igual a 2500. Calcular o
nmero de espiras necessrio para resistir
2) O rel mostrado na Fig. 1.16 tem uma armadura mvel de seco quadrada, com
lado d, guiado por dois suportes no magnticos de espessura q e comprimento d/2. A
carcaa excitada por duas bobinas percorridas pela mesma corrente i. Cada bobina
possui N espiras. Supe-se que a carcaa e a armadura possuem permeabilidade
infinita.
(a)
(b)
(c)
(d)
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22
g
x
I
g
d/2
v(t)
i(t)
(a)
(b)
(c)
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23
L1 = 0,2mH,
L2 = 0,1mH,
L3 = 0,05cos mH
As duas bobinas so percorridas por uma
i
Fig. 1.18 Instrumento do tipo bobina mvel.
(a)
2 5 sen t).
(b)
(b)
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24
(c)
e t.
Mola
v(t)
A
+
L( )
Rotor
0
(a)
(b)
(c)
(d)
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CAPTULO
2.1 INTRODUO
iS
+ vS
iR
iS
R1
iS
- -3
-i
R2
- vS
2
+
vR
vR
vS
26
i =1
Ri
+ Si
(2.1)
i =1
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27
LS1 = LS 2 = LS3 = LS
LR1 = LR 2 = LR 3 = LR
R S1 = R S2 = R S3 = R S
R R1 = R R 2 = R R 3 = R R
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28
S2
R1
R2
S3
S1
R3
M S1R1 = M SR cos
M S1R 2 = M SR cos( + 2 / 3)
(2.2)
M S1R 3 = M SR cos( + 4 / 3)
M S2 R1 = M SR cos( + 4 / 3)
M S2 R 2 = M SR cos
(2.3)
M S2 R 3 = M SR cos( + 2 / 3)
M S3R1 = M SR cos( + 2 / 3)
M S3R 2 = M SR cos( + 4 / 3)
(2.4)
M S3R 3 = M SR cos
B) Convenes:
A mquina ser tratada como um receptor e as equaes das tenses tero a
forma representada pela expresso (2.5)
va = R a ia +
da
dt
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(2.5)
29
(2.6)
(2.7)
(2.8)
S1 L S
S 2 = M S
S M S
3
MS
LS
MS
M S i S1 M S1R1
M S i S2 + M S2 R1
L S i S3 M S3R1
M S1R 2
M S2 R 2
M S3 R 2
M S1R 3 i R1
M S2 R 3 i R 2
M S3R 3 i R 3
(2.9)
S = LSS i S + LSR ( ) i R
R = L RS ( ) i S + L RR i R
(2.10)
onde:
LSS
L RR
LS
= M S
M S
LR
= M R
M R
MS
LS
MS
MR
LR
MR
MS
MS
LS
(2.11)
MR
M R
L R
(2.12)
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30
LSR ( ) = MSR
cos
cos ( + 2 / 3) cos ( + 4 / 3)
cos
cos ( + 2 / 3)
cos ( + 4 / 3)
cos ( + 2 / 3) cos ( + 4 / 3)
cos
L RS ( ) = LSR ( )
(2.13)
(2.14)
dS
vR = RRiR +
dt
dR
dt
(2.15)
(2.16)
onde:
R S
R S = 0
0
R R
R R = 0
0
0
RS
0
0
RR
0
0
0
R S
(2.17)
0
0
R R
(2.18)
d ( L SS i S + L SR ( ) i R )
dt
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(2.19)
31
dS
dt
dS
dt
= L SS
d ( L SS i S ) d ( L SR ( ) i R )
+
dt
dt
dL ( )
di S
di
+ L SR ( ) R + SR
iR
dt
dt
dt
(2.20)
(2.21)
mas
dL SR ( ) L SR ( ) d
=
dt
dt
(2.22)
dS
dt
= L SS
L ( ) d
di S
di
+ L SR ( ) R + SR
iR
dt
dt
dt
(2.23)
dR
dt
= L RR
L ( ) d
di
di R
+ L RS ( ) S + RS
iS
dt
dt
dt
(2.24)
L ( ) d
di S
di
+ LSR ( ) R + SR
iR
dt
dt
dt
v R = R R i R + L RR
L ( ) d
di
di R
+ L RS ( ) S + RS
iS
dt
dt
dt
(2.25)
(2.26)
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32
T = iS i R
d M SR ( )
dt
(2.27)
M S3R 2
M S2 R 2
M S1R 2
+i R 2 iS1
+ iS2
+ iS3
+
(2.28)
M S2 R 3
M S3R 3
M S1R 3
+i R 3 iS1
+ iS2
+ iS3
T = i S1 i S2 i S3
M S R
1 1
MS R
2 1
M S R
3 1
M S1R 2
M S2 R 2
M S3 R 2
M S1R 3 i R 1
M S2 R 3 i R 2
M S3 R 3 i R 3
(2.29)
Seja:
MS1R1
LSR ( ) = MS2R1
MS R
3 1
MS1R 2
MS2R 2
MS3R 2
MS1R 3
MS2R 3
MS3R 3
i R1
i R = i R 2
i R
3
(2.31)
iS1
i S = iS2
iS
3
(2.32)
(2.30)
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33
T = iS
( LSR ( ) )
iR
(2.33)
( L RS ( ) )
iS
(2.34)
1 t ( LSR ( ) )
t ( L RS ( ) )
T = iS
iR + iR
iS
(2.35)
T=
1
t
iS
2
iR
) L
LSR ( ) i S
0 i R
0
RS
()
(2.36)
LSS L RR
=
=0
(2.37)
LSR ( ) LSS
LSR ( )
0
0 L RS ( )
L RR
L RS ( )
(2.38)
Seja:
i t = iS
iR
i
i = S
iR
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(2.39)
(2.40)
34
LSS
LSR ( )
L () =
L RS ( )
L RR
(2.41)
1 L ( )
T= it
i
2
(2.42)
v S = R S i S + LSS
L ( ) d
di S
di
+ LSR ( ) R + SR
iR
dt
dt
dt
v R = R R i R + L RR
(2.43)
L ( ) d
di
di R
+ L RS ( ) S + RS
iS
dt
dt
dt
(2.44)
1 L ( )
T= it
i
2
(2.45)
0 d iS
v S R S 0 i S LSS
=
+
+
v R 0 R S i R 0 L RR dt i R
0 d iS 0
LSR ( ) i S d
LSR ( )
+
+
0
dt i R L RS ( )
i
0
L
(
)
RS
R dt
(2.46)
v = Ri + L ( )
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di L ( ) d
+
i
dt
dt
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(2.47)
35
Pois:
R
R = S
0
LSS
R R
(2.48)
0 0
LSR ( ) LSS
LSR ( )
=
+
L RR L RS ( )
0
L
L
(
)
RS
RR
(2.49)
1 L ( )
i
T= it
v = Ri + L ( ) pi +
(2.50)
v = Ri + L ( ) pi +
L ( )
i
(2.51)
i t v = i t Ri + i t L ( ) pi + i t
L ( )
i
(2.52)
2
2
mas:
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(2.53)
36
1 t
di 1 d i t
i L () =
L () i
2
dt 2 dt
(2.54)
Assim:
i tL ()
di
1 L ( ) i
1
= it
i + p i t L ( ) i
dt
2
(2.55)
2
2
(2.56)
Pm =
1 t L ( )
i
i
(2.57)
T=
1 t L ( )
i
i
2
(2.58)
portanto:
enrolamentos da mquina.
(b) L ( ) pi Representa as tenses geradas nos enrolamentos, causadas
pela variao das correntes. So tenses variacionais.
(c)
L ( )
i So as tenses geradas nos enrolamentos, quando h
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37
(2.59)
2.8 CONCLUSES
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38
i R1 = I R cos ( R t + R )
i R 2 = I R cos ( R t + R 2 / 3)
i R 3 = I R cos ( R t + R 4 / 3)
S = R + m
Pede-se a expresso final do torque desenvolvido pela mquina.
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CAPTULO
ESTUDO DA TRANSFORMAO 0
3.1 INTRODUO
Seja duas estruturas, uma trifsica e uma bifsica, representadas Fig. 3.1 e
Fig. 3.2:
Os enrolamentos que compem a estrutura trifsica possuem n3 espiras e os
que compem a estrutura bifsica possuem n2 espiras.
Cada enrolamento, ao ser percorrido por uma corrente produz uma fora
magnetomotriz F.
40
S2
S
n3
F2
iS
F1
S1
iS
iS
n2
iS
n3
F
S
n3
iS
F3
n2
S3
(3.1)
(3.2)
Assim:
FS
F =
S
F
1 2 S1
FS
3 2 3 2 2
FS3
1 2
(3.3)
mas:
FS
iS
=
n
F
2
S
iS
(3.4)
FS1
iS1
FS2 = n 3 iS2
FS
iS
3
3
(3.5)
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41
i
-1 2 S1
i S
3 2 - 3 2 2
iS3
iS n 3 1
i =
S n 2 0
-1 2
(3.6)
Para que a matriz definida pela expresso (3.6) possa ser invertida, vamos
definir a corrente i0 segundo a expresso (3.7):
iS0 = a
n3
iS + iS2 + iS3
n2 1
(3.7)
iS
a
0 n3
iS = n 1
i 2 0
a iS1
1 2 iS2
3 2 3 2 iS3
a
1 2
(3.8)
a
n3
1
A =
n 2
0
1
1 2
3 2 3 2
a
1 2
(3.9)
(A )
1 1
= At
(3.10)
ou
A 1 = A t
(3.11)
ou
t
A 1 A 1 = I
http://www.ivobarbi.com
(3.12)
42
1 0 0
I = 0 1 0
0 0 1
(3.13)
Portanto:
2 a
n3
1
n2
0
1
0 1 0 0
a a
3 2 = 0 1 0
1 2 a 1 2
3 2 3 2 a 1 2 3 2 0 0 1
a
1 2
(3.14)
Assim:
2
n
3 3 a 2 = 1
n2
(3.15)
n3
(1 + 1 4 + 1 4) = 1
n2
(3.16)
Portanto:
n3
=
n2
2
3
(3.17)
a=
1
2
(3.18)
A 1 =
1 2 1 2 1 2
2
1 2 1 2
1
3
3 2 3 2
0
Seja:
Prof. Ivo Barbi, Dr. Ing.
http://www.ivobarbi.com
(3.19)
43
i S 0
iS
0
= iS
i
S
(3.20)
i S 12 3
iS1
= iS 2
i S
3
(3.21)
i S 0 = A 1 i S 12 3
(3.22)
i S 12 3 = A i S 0
(3.23)
(3.24)
1 2 3 = L i1 2 3
(3.25)
0 = A 11 2 3
(3.26)
ou
Seja:
http://www.ivobarbi.com
44
i 0 = A 1 i1 2 3
(3.27)
A 11 2 3 = A 1 L i1 2 3
(3.28)
0 = A 1 L A i 0
(3.29)
L N = A 1 L A
(3.30)
0 = L N i 0
(3.31)
Assim:
Seja:
Assim:
Calculemos a matriz L N :
LN =
2
3
1 2 1 2 1 2 L M M 1
2
1 2 1 2 M L M 1
1
3
3 2 3 2 M M L 1
0
2
2
2
1
1 2
1 2
0
3
3
2
2
(3.32)
0
0
L + 2M
LM
0
LN = 0
0
0
L M
(3.33)
L 0 = L + 2M
(3.34)
LS = L M
(3.35)
Seja:
Assim:
0 L 0
= 0
0
Prof. Ivo Barbi, Dr. Ing.
0
LS
0
0
LS
i0
i
i
http://www.ivobarbi.com
(3.36)
45
v1
i1
R1
M 12
L2
v2
i2
R2
L1
M 13
L3
M 23
R3
v3
i3
http://www.ivobarbi.com
46
(3.37)
(3.38)
v 0 = A 1 RAi 0 + pA 1LAi 0
(3.39)
R N = A 1 RA
(3.40)
L N = A 1LA
(3.41)
V0 = R N i 0 + pL N i 0
(3.42)
Assim:
Seja:
Assim:
mas,
R
R N = 0
0
L0
L N = 0
0
0
R
0
LS
0
0
0
R
(3.43)
0
0
LS
(3.44)
O modelo do reator trifsico simtrico ser ento descrito pela expresso (3.45)
v0 R + pL 0
v = 0
v 0
0
R + pLS
0
0 i0
0 i
R + pLS i
http://www.ivobarbi.com
(3.45)
47
v 0 = ( R + pL 0 ) i 0
v = ( R + pLS ) i
(3.46)
v = ( R + pLS ) i
Fisicamente o reator trifsico convertido em trs reatores monofsicos
independentes, representados na Fig. 3.4.
R
L0
i0
v0
i
v
i
v
Fig. 3.4 Modelo eltrico equivalente para o reator trifsico usando a transformada 0.
http://www.ivobarbi.com
48
M SR
R1
S2
R2
vS 1
iS1
i R3
RS 1
R R3
L R3
L S1
vS 2
iS
RS 2
L S2
RS
vS 3
iS
LR
L S3
LR
3
RR
R R2 i R2
iR
http://www.ivobarbi.com
49
di S
di
+ LSR R
dt
dt
di
di
v R = R R i R + L RR R + L RS S
dt
dt
v S = R S i S + LSS
(3.47)
onde:
R S
R S = 0
0
R R
R R = 0
0
LSR = L RS
0
RS
0
0
RR
0
MS
L SS
LS
= M S
M S
MR
L RR
LR
= M R
M R
LS
MS
LR
MR
0
0
R S
(3.48)
0
0
R R
(3.49)
MS
M S
L S
(3.50)
MR
M R
L R
(3.51)
M SR 2 M SR 2
M SR
= M SR 2
M SR 2
M SR
M SR
M SR 2 M SR 2
Aplicando-se a transformao 0
(3.52)
di S 0
v R 0 = A 1 R R A i R 0 + A 1 L RR A
dt
+ A 1 LSR A
di R 0
dt
di R 0
+ A 1 LSR A
http://www.ivobarbi.com
dt
di S 0
dt
(3.53)
(3.54)
50
v R 0 = R R N i R 0 + L RR N
di S 0
+ LSR N
dt
di R 0
dt
di R 0
+ L RS N
dt
di R 0
dt
(3.55)
(3.56)
R SN
R S
= 0
0
R RN
R R
= 0
0
LSS
L RR
LS
= 0
0
LR
= 0
0
L SR = L RS
0
RS
0
0
RR
0
0
LS
0
0
R S
(3.57)
0
0
R R
(3.58)
0
0
LS
(3.59)
0
0
L R
(3.60)
0
LR
0
0
0
= 0 m SR
0
0
0
0
m SR
onde:
LS0 = LS + 2MS
L R 0 = L R + 2M R
http://www.ivobarbi.com
(3.61)
51
L S = LS M S
LR = LR M R
mSR =
3
MSR
2
vS0 R S
v
S 0
vS 0
=
vR0 0
v 0
R
v R 0
0
RS
0
0
0
0
0
0
RS
0
0
0
0
0
0
RR
0
0
0
0
0
0
RR
0
0
0
0
0 iS0
0 iS0 pLS0 0
i
0
0 pmSR 0 iS
0 S 0 pLS
0
pLS
0
0 pmSR iS
0 iS 0
0
0 pL R 0 0
0 iR0
0 iR0 0
0 pL R
0 i R
0 i R 0 pmSR 0
0 pmSR 0
0
pL R i R
R R i R 0
(3.62)
vS0 R S
=
v R 0 0
0
R R
iS0
LS0
+p
i R 0
0
L R 0
iS0
i R 0
(3.63)
vS R S
=
v R 0
0
R R
iS
LS0
+p
i R
0
L R 0
iS
i R
(3.64)
vS R S
=
v R 0
0
R R
iS
LS0
+p
i R
0
L R 0
iS
i R
(3.65)
vS
iS0
i R0
vR0
-
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52
vS
iS
i R
vR
-
vS
iS
i R
vR
-
v S = R S i S + LSS
L ( ) d
di S
di
+ LSR ( ) R + SR
iR
dt
dt
dt
v R = R R i R + L RR
(3.66)
L ( ) d
di
di R
+ L RS ( ) S + RS
iS
dt
dt
dt
(3.67)
1 L ( )
i
T= it
(3.68)
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53
A1 vS = A1 RS AiS0 + A1 LSS A
diS0
dt
+ A1 LSR ( ) A
di R0
dt
d
1
A LSR ( ) Ai R0
dt
(3.69)
Definindo-se:
R S N = A 1 R S A
(3.70)
R R N = A 1 R R A
(3.71)
LSS N = A 1 LSS A
(3.72)
L RR N = A 1 L RR A
(3.73)
LSR ( ) N = A 1 LSR ( ) A
(3.74)
LSR ( ) N = A 1 LSR ( ) A
(3.75)
v S 0 = R S N i S 0 + LSSN
v R 0 = R R N i R 0 + L RR N
di S 0
+ LSR ( ) N
dt
di R 0
dt
di R 0
+ L RS ( ) N
dt
di S 0
dt
LSR ( ) N
L RS ( ) N
i R 0
d
dt
(3.76)
i S 0
d
dt
(3.77)
T = iS
LSR ( )
iR
i S = A i S 0
Prof. Ivo Barbi, Dr. Ing.
http://www.ivobarbi.com
(3.78)
(3.79)
54
i S = i S 0 A t
T = i S 0 A t
T = i S 0
(3.80)
LSR ( )
Ai R 0
( A t LSR ( ) A )
(3.81)
(3.82)
i R 0
Assim:
t
T = i S 0
LSR ( ) N
(3.83)
i R 0
LSR ( ) N
2
= MSR
3
1
2
1
2
1
0
1
2
3
2
1
2
4
cos
cos + cos +
2
3
3
1
4
2
cos
cos +
cos +
2
3
3
2
4
cos + cos +
cos
3
3
2
1
1
2
1
1
2 2
1
1
2 2
3
(3.84)
2
LSR ( ) N
0
0
0
0
mSR cos
mSR sen
mSR sen
mSR cos
(3.85)
L RS ( ) N
0
0
0
0
mSR cos
mSR sen
0
mSR sen
mSR cos
(3.86)
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55
Pois
L RS ( ) = LSR ( )
N
(3.87)
Com:
LSR ( )
di R 0
N
dt
LSR ( )
i R 0
d dLSR ( ) N
i R 0
=
dt
dt
(3.88)
di S 0
v S 0 = R S N i S 0 + LSSN
v R 0 = R R N i R 0 + L RR N
t
T = i S 0
dLSR ( )
dt
di R 0
dt
LSR ( )
dt
dLSR ( )
dt
i R 0
N
(3.89)
i S 0
i R 0
R
vS S
0
v
S
0
v =
R0
vR
v R
+p
0 0
RS 0
0 RS
0
0
RR 0
0 RR
0 0
LS0
LS
LS
0
0
0
0
mSR cos mSR sen
LR0
0
iS0
i
S
iS
+
0 iR
0
0
i
R R R
i R
i
S0
mSR cos mSR sen iS
mSR sen mSR cos iS
0
0
iR0
i
0
LR
R
LR
0
i R
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56
T = mSR iS0 iS
iS
0
0 iR0
sen cos i R
cos sen i R
0
0
0
(3.90)
iR
R2
R1
1
iR
S1
iS
iS
iR
S3
R3
R
iR
iS
iR
iS
http://www.ivobarbi.com
57
vS
iS
S1
i S1
R1
S2
iS 2
R2
S3
iS 3
R3
Fig. 3.12 Mquina simtrica trifsica com enrolamentos rotricos abertos sendo os estatricos alimentados
com a mesma tenso.
(3.91)
v S 0 = A 1 v S 1 2 3
(3.92)
vS = 0
(3.93)
vS = 0
(3.94)
vS0 = 3 vS
(3.95)
iS0 =
vS0
2f L 0
http://www.ivobarbi.com
(3.96)
58
iS0 =
1
( iS + iS2 + i S3 )
3 1
(3.97)
iS
3
(3.98)
Ento
iS 0 =
iS
3 vS
=
3 2f L 0
(3.99)
Assim:
iS =
3 vS
X0
(3.100)
onde:
X 0 = 2f L 0
(3.101)
iS
ROTOR
iS
FS
FS
iS
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59
vS0 R S
=
v R 0 0
0 iS0 pLS0
+
R R i R 0 0
0 iS0
pL R 0 i R 0
(3.102)
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60
i1
R = 1
LS
LS
f = 60Hz
R
i2
i3
R
v1
LS
+
-
LS
--
R
+
v3
i3
LS
R
v2
+
i2
Fig. 3.15 Rotor trifsico com duas fases em paralelo e em srie com a terceira sendo alimentadas por uma
fonte de tenso nica.
http://www.ivobarbi.com
61
+
v1
i1
i2
v2
v3
i3
onde:
R 1 = R 2 = R 3 = R = 0,5 ,
L1 = L 2 = L 3 = L = 60 mH (prprias)
M = -30mH (mtuas)
No instante t = 0 aplicam-se as seguintes tenses nos enrolamentos:
v1 = 50V ; v 2 = 30V ; v3 = 100V
i1
R
M
LS
S2
S3
i2
i3
http://www.ivobarbi.com
62
v1 = Vcos t
2
v 2 = Vcos t
3
v3 = Vcos t -
3
onde
= 377 rad/s
v = 2 220 volts
Determinar as correntes i1 (t ) , i 2 (t ) e i 3 (t ) .
v2
iS
S1
R1
iR
v3
iS
S2
R2
iR
iS
S3
R3
iR
http://www.ivobarbi.com
v1 = Vcos t
2
v 2 = Vcos t
3
v3 = Vcos t -
3
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63
CAPTULO
4.1 INTRODUO
S
=
R0
R
R
L S0
0
0
0
0
LS
0
0
0
0
LS
0
0
0
0
LR0
0
m SR cos
m SR sen
0
0
0
m SR cos
m SR sen
m SR sen
m SR cos
0
0
LR
0
i
0
S0
m SR sen iS
m SR cos iS
(4.1)
0
iR0
0
i R
LR
i R
0
LS
0
0
0
LS
iS0 0
0
0
iR0
0 m cos m sen i
i
+
S
SR
SR
i
S 0 mSR sen mSR cos i R
(4.2)
65
1
0
0
0 R 0
sen R
cos R
0
cos
sen
(4.3)
Assim:
i R dq 0 = B 1 i R 0
(4.4)
onde:
cos
sen
sen
cos
0
(4.5)
S = LS I i S + mSR B 1 i R
(4.6)
R = L R I i R + mSR B i S
(4.7)
onde:
cos
B=
sen
sen
cos
e
Prof. Ivo Barbi, Dr. Ing.
http://www.ivobarbi.com
(4.8)
66
1 0
I =
0 1
(4.9)
B 1R = mSR B 1B i S + L R B 1B i R dq
(4.10)
R dq = mSR I i S + L R I i R dq
(4.11)
Assim:
(4.12)
S0
LS0
S 0
S 0
= 0
R0
R 0
d 0
R q
0
LS
0
0
mSR
0
0
0
LS
0
0
mSR
0
0
0
LR0
0
0
0
mSR
0
0
LR
0
0
0
mSR
0
0
L R
iS0
iS
iS
i
R0
i R
d
i R q
(4.13)
cos
sen
sen cos
cos sen
sen 1 0
=
cos 0 1
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(4.14)
67
Portanto a transformao de PARK, como foi definida ortogonal. Por isto, sob
esta transformao, a potncia invariante.
R
iR
iR
iR
iR
Rd
(4.15)
i R q = i R sen + i R cos
(4.16)
i R d cos
i =
R q sen
Prof. Ivo Barbi, Dr. Ing.
sen i R
cos i R
http://www.ivobarbi.com
(4.17)
68
transforma
enrolamentos
comuns,
alimentado
atravs
de
anis,
em
Rq
VR q
Rd
VR
VR d
Simbolicamente,
mquina
antes
depois
da
transformao
S
Sq = S
Rq
Rd
Sd = S
http://www.ivobarbi.com
est
69
v S = R S i S +
d
S
dt
(4.18)
v R = R R i R +
d
R
dt
(4.19)
B 1 v R = B 1 R R B i R dq + B 1
v R dq = R R i R dq + B 1B
B 1
dR
dq
dt
d B R
+ B 1
dq
dt
d
B
R
dq dt
(4.20)
(4.21)
(4.22)
B 0 1
=
1 0
(4.23)
Assim:
B 1
v R dq = R R i R dq +
d R
dt
dq
v S dq = R S i S dq +
d 0
dt 1
dS
dq
dt
1
R
0 dq
(4.24)
(4.25)
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70
vSd R S
=
vSq 0
0 iSd pLS
+
R S iSq 0
0 iSd pmSR
+
pLS iSq 0
0 i R d
pmSR i R q
(4.26)
iSd
iSd
L R 0 iSq 0 1 mSR 0 L R 0 iSq
+
(4.27)
0 L R i R d
1 0 0 mSR 0 L R i R d
i
i
R q
R q
v R d R R 0 i R d
mSR 0
=
+ p
0 mSR
v R q 0 R R i R q
vSd R S + pLS
0
vSq
=
v R d pmSR
v
R q m
SR
pmSR
R S + pLS
mSR
R R + pL R
pmSR
LR
iSd
pmSR iSq
i
LR Rd
i R q
R R + pL R
0
(4.28)
T = i S
LSR ( )
i R
(4.29)
mas,
L SR ( ) = m SR B 1
Prof. Ivo Barbi, Dr. Ing.
http://www.ivobarbi.com
(4.30)
71
Portanto:
t
T = mSR i S
T = mSR i S dq
B 1
iR
(4.31)
B 1
Bi R dq
(4.32)
B 1 sen cos
=
cos sen
(4.33)
(4.34)
0 1
B 1
B=
1 0
(4.35)
Assim:
t 0
T = mSR i S dq
1
0
T = mSR iSd iSq
1
1
iR
0 dq
(4.36)
1 i R d
0 i R q
(4.37)
(4.38)
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72
vSd R S + pLS
0
vSq
=
0 pmSR
0
n m
SR
pmSR
R S + pLS
n mSR
R R + pL R
pmSR
n L R
n=
iSd
pmSR iSq
i
n LR Rd
i R q
R R + pL R
0
(4.39)
(4.40)
(4.41)
onde:
Pulsao das tenses de alimentao.
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73
S
R
d
iR
is
is
is
q
m
R
iR
iR
iR
is
(4.42)
(4.43)
(4.44)
i R d = i R cos ( ) + i R sen ( )
(4.45)
i R q = -i R sen ( ) + i R cos ( )
(4.46)
b)
i R d cos ( ) sen ( )
=
i R q sen ( ) cos ( )
i R
i R
http://www.ivobarbi.com
(4.47)
74
I ) Referencial no estator ( = 0 )
iSd 1 0 iS
i =
Sq 0 1 iS
i R d cos
i =
R q sen
(4.48)
sen i R
cos i R
(4.49)
sen iS
cos iS
(4.50)
II ) Referencial no rotor ( = )
iSd cos
i =
Sq sen
i R d 1 0 i R
i =
R q 0 1 i R
(4.51)
= S t
(4.52)
= m t
(4.53)
iSd cos S t
i =
Sq senS t
i R d cos ( S - m ) t
=
i R q -sen ( S - m ) t
iS
i
S
(4.54)
sen ( S - m ) t i R
cos ( S - m ) t i R
(4.55)
senS t
cos S t
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75
cos sen
1
BS =
sen cos
(4.56)
cos ( ) sen ( )
1
BR =
sen ( ) cos ( )
(4.57)
v S = R S i S +
v R = R R i R +
dS
(4.58)
dt
dR
(4.59)
dt
BS v S = BS R S i S + BS
v S dq = BS R S BS i S dq + BS
dS
(4.60)
dt
d BS S
dq
dt
BS R S BS = R S
BS 1
dBS S dq
dt
= BS 1BS
BS 1
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dS dq
dt
+ BS 1
(4.61)
(4.62)
BS
S dq
dBS 0 1
=
d 1 0
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(4.63)
(4.64)
76
v S dq = R S i S dq +
dS
1
S
dq
0
0
+
dt
1
dq
(4.65)
v R dq = R R i R dq +
dR
1
R dq
0
0
+
dt
1
dq
(4.66)
LSR ( )
i R
T = i S
i S = BS i S dq
(4.67)
(4.68)
Assim:
t
(4.69)
i R = B R i R dq
(4.70)
i S = i S dq B S
Assim:
t
T = i S dq BS
LSR ( )
B R i R dq
(4.71)
mas,
LSR ( ) = mSR B 1
(4.72)
Assim:
t
T = mSR i S dq BS
B 1
B R i R dq
Assim:
Prof. Ivo Barbi, Dr. Ing.
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(4.73)
77
(4.74)
RS + pLS
vSd
n
L
S
vSq
=
vR d
pmSR
v
Rq
m
n
SR
LS n
pmSR
mSR n
RS + pLS
mSR n
pmSR
mSR n
R R + pLR
LR n
pmSR
LR n
R R + pLR
iS
d
iSq
iRd
iRq
(4.75)
(4.76)
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78
v
0 0 0 Sd
1 0 0 vSq
0 a 0 vRd
0 0 a v
R q
(4.77)
Assim:
(4.78)
S d
iS q =
i 'R
' d
i R q
1
0
0
0
0
1
0
0
0
0 iS d
0
0 iSq
1 a 0 i R d
0 1 a i R q
'
i SR = P S i SR
(4.79)
(4.80)
v SR = Z i SR
'
P S v SR = Z P S 1 i SR
Prof. Ivo Barbi, Dr. Ing.
(4.81)
'
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(4.82)
79
'
v SR = P S 1Z P S 1 i SR
'
(4.83)
R S + pLS
n
L
Z=
pmSR
m
n
SR
Realizando
LS n
pmSR
R S + pLS
mSR n
mSR n
R R + pL R
pmSR
L R n
produto
matricial
pmSR
L R n
R R + pL R
mSR n
determinado
pela
expresso
(4.84)
(4.83),
RS + pLS
vSd
n
L
S
vSq
' =
vRd p ( a m )
SR
'
v
R
q
a
m
n
SR
LS n
p ( a mSR )
RS + pLS
( a mSR ) n
a mSR n
a ( RR + pLR )
p ( a mSR )
n a 2 LR
( a mSR ) n
i
Sd
p ( a mSR ) i
S
q'
i
n a2 LR Rd
'
iRq
a 2 ( RR + pLR )
(4.85)
2) LS = A1 + m1
sendo
A1
estator.
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a indutncia de disperso do
80
3) a 2 L R = A 2 + m1 = L R
'
4) R S
5) a 2 R R = R R
'
resistncia do estator.
LS n
RS + pLS
vS
d
RS + pLS
vS LS n
q
=
vR '
m1 n
d pm1
vR '
q
pm1
m1 n
iSd
m1 n
pm1
iSq
'
'
' iRd '
RR + pLR n LR
iR '
q
'
'
'
n LR RR + pLR
m1 n
pm1
'
'
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(4.86)
(4.87)
81
1) Seja:
vS1 = 2 Vsen ( S t + )
vS2 = 2 Vsen ( S t 120 + )
2 Vsen ( S t + 120 + )
vS3 =
(E/3)
1
O
60
120
180
(2E/3)
vS
vS
(E/3)
(2E/3)
(E/3)
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82
vS1 = 2VsenS t
vS2 = 2Vsen ( S t + 120 )
vS3 = 2Vsen ( S t 120 )
Consideremos o motor em regime permanente.
(a) As tenses vSd e vSq so funes do tempo? Por que?
(b) As correntes iSd , iS q , i R d e i R q so funes do tempo? Por que?
v R1 = 2VR sen ( R t + )
v R 2 = 2VR sen ( R t 120 + )
v R 3 = 2VR sen ( R t + 120 + )
Seja R + m = S onde:
m velocidade do rotor
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83
v R1 = 2VR sen ( R t + )
v R 2 = 2VR sen ( R t + 120 + )
v R 3 = 2VR sen ( R t 120 + )
Repetir as questes a) e b). A freqncia das tenses mudou? Por que?
= m t + 0
S = m + R
iS1 = ISsen ( S t + )
iS2 = ISsen ( S t 120 + )
iS3 = ISsen ( S t + 120 + )
i R1 = I R sen ( R t + )
i R 2 = I R sen ( R t 120 + )
i R 3 = I R sen ( R t + 120 + )
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84
iSd = IS senS t
iSq = IS cos S t
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85
10) Considere uma mquina de induo bifsica com rotor em gaiola. A fase d
alimentada por uma tenso do tipo:
vSd = 2V sen S t
A fase q mantida aberta. A mquina acionada por um motor auxiliar.
Demonstrar que a tenso vSq funo da
q
vS
apresentar
12) Refazer o exerccio nmero 10, supondo que o enrolamento d alimentado por
uma corrente contnua.
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CAPTULO
AS COMPONENTES SIMTRICAS
INSTANTNEAS E A MQUINA SIMTRICA
5.1 INTRODUO
RS + pLS
vSd
S
vSq
=
vR d
pmSR
v
Rq
m
SR
LS
pmSR
RS + pLS
mSR
mSR
R R + pLR
pmSR
LR
i
Sd
pmSR
iS
q
i
LR Rd
i
Rq
R R + pLR
mSR
(5.1)
a b
Z=
b a
(5.2)
87
( a )( a ) + b2 = 0
(5.3)
encontra-se:
1 = a + jb
2 = a jb
(5.4)
z11
a b z11
b a z = ( a + jb ) z
21
21
(5.5)
(5.6)
z21 = jz11
(5.7)
z12
a b z12
b a z = ( a jb ) z
22
22
(5.8)
(5.9)
z22 = jz12
(5.10)
Assim:
Assim:
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88
z
z1 =
jz
(5.11)
z
z2 =
jz
(5.12)
1 1
D2 = z
j j
(5.13)
(5.14)
( )
(5.15)
D2 = D2
1 *
ou
1
D2 = D2
t *
1 j
t
D2 = z
1 j
(D )
1 *
1 1 j
2z 1 j
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(5.16)
(5.17)
89
z=
1
2z
(5.18)
z=
1
2
(5.19)
Assim:
D2 =
D2 =
1 1 1
2 j j
(5.20)
1 1 j
2 1 j
(5.21)
ZD = D2 ZD2
(5.22)
0
a + jb
ZD =
a jb
0
(5.23)
Assim:
vdq = zdqidq
(5.24)
v+- = z +-i +-
(5.25)
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90
Z+- = D2 ZdqD2
(5.26)
v+- = D2 ZdqD2i +-
(5.27)
D2 v +- = ZdqD2i +-
(5.28)
Assim
ou
vdq = D2 v+-
(5.29)
v+- = D2 vdq
(5.30)
idq = D2i +-
(5.31)
i+- = D2 idq
(5.32)
vS+
1 j
v
S = 1 1 j
vR +
2 0 0
0 0
vR
0 vSd
0 vSq
1 j vR d
1 j vRq
0
0
(5.33)
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91
2 0 0
1
1
D2 =
0 1 j
2
0 1 j
(5.34)
Definimos
anteriormente
transformao
componentes
simtricas
vSdq Z1 Z3 iSdq
=
vRdq Z2 Z4 i Rdq
(5.35)
D2 0 vS+- Z1 Z3 D2 0 iS+-
0 D v = Z Z 0 D i
2 R+- 2
4
2 R+-
(5.36)
Assim:
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(5.37)
92
+
+
R
L
p
j
0
S
S
D2 Z1D2 =
i
0
RS + LS p j
(5.38)
i
i
m
p
j
j
0
SR
D2 Z2D2 =
i
i
0
mSR p j + j
(5.39)
m
p
j
0
SR
D2 Z3D2 =
i
0
mSR p j
(5.40)
i
i
+
+
R
L
p
j
j
0
R
R
D2 Z4D2 =
i
i
0
R R + LR p j + j
(5.41)
vS+
v
S-
vR =
+
vR-
R S + LS p + j
mSR p + j
R S + LS p j
i
i
mSR p + j j
i
i
R R + LR p + j j
i
i
mSR p j + j
i
iS+
mSR p j
i
S- (5.42)
iR
0
+
i R-
i
i
R R + LR p j + j
vS- = vS+
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(5.43)
93
vR- = vR+
(5.44)
R
+
L
p
+
j
S
S
vS+
v =
i
i
R + mSR p + j j
mSR p + j
i
S+
i
i
i
R R + LR p + j j R +
(5.45)
Fica assim estabelecido que a mquina, mesmo para uma situao genrica,
fica representada por apenas duas equaes. Isto possvel porque as variveis so
complexas e contm sempre duas informaes, uma do eixo d e outra do eixo q.
(5.46)
mas,
iSd 1 1 1 iS+
i =
2 j j iS-
Sq
(5.47)
i Rd 1 1 1 iR +
i =
2 j j i R -
Rq
(5.48)
Assim:
Prof. Ivo Barbi, Dr. Ing.
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94
iSd =
1
( iS + iS- )
2 +
(5.49)
j
( iS - iS )
2 + -
(5.50)
1
( iR + iR- )
2 +
(5.51)
j
( iR - iR )
2 + -
(5.52)
iSq =
iRd =
iRq =
(5.54)
(5.55)
(5.53)
se
A = a + jb
(5.56)
A* = a jb
(5.57)
A* A = 2jb
(5.58)
obtm-se
portanto
Prof. Ivo Barbi, Dr. Ing.
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95
j ( A* A ) = 2b
(5.59)
Assim:
(5.60)
(5.61)
T = 2 mSR Im iS+ i R -
T = 2 mSR Im iS- i R +
R
+
L
p
+
jn
S
S
vS+
=
v
i
i
R + mSR p + jn jn
mSR p + jn
i
S+
i
i
i
R R + LR p + jn jn R +
T = 2 n mSR Im iS+ i R -
(5.63)
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(5.62)
96
q
iS +
iS q
S
iS d
- S
- iS q
- iS
-
como
iS+ =
1
iS + jiSq
2 d
(5.64)
iS+ =
iSd 2
2
iSq 2
2
(5.65)
(5.66)
iSq = I sen ( s t )
(5.67)
obtm-se
iS+ =
I
( cos ( s t ) + jsen ( s t ) ) = I e jst
2
2
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(5.68)
97
I js t
e
2
(5.69)
A exemplo do que foi feito para o modelo de PARK obtido no captulo IV, sero
estabelecidas as equaes da mquina para componentes simtricas instantneas,
representadas pelas expresses (5.70) e (5.71).
vS+
'=
vR +
R S + LS p + jn
i
i
m1 p + jn jn
iS
+'
i
i
i
R R ' + LR ' p + jn jn R +
(5.70)
(5.71)
m1 p + jn
T = 2 n m1 I iS+ i R-
'
onde:
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98
m1 = a mSR
'
(5.72)
RR = a2 RR
(5.73)
LR = a 2 LR = l2 + m1
(5.74)
LS = l1 + m1
(5.75)
'
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99
120
240
360
(5.76)
iS = IS sen ( s t )
(5.77)
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100
(5.78)
(5.79)
(5.80)
R
+
L
p
+
j
S
S
vS+
v =
i
i
R + mSR p + j j
mSR p + j
i
S+
i
i
i
R R + LR p + j j R +
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(5.81)
CAPTULO
6
INTRODUO
pmSR
RS + pLS
vS+
iS+
0 m p jn R + L p jn i
R+
SR
R
R
T = 2 n mSR Im iS+ iR
(6.1)
(6.2)
102
vSd = vS
(6.3)
vSq = vS
v = v cos ( t + )
(6.4)
v = vsen ( t + )
v j( t + ) j( t + )
e
+e
2
v j( t + ) j( t + )
v = e
e
2j
v =
(6.5)
Definindo-se:
_
v = e j v
_
v = je v
v = e j v
_
v = je
(6.6)
*
v = v e jt + v e jt
2
_
_
1
*
v = v e jt + v e jt
2
(6.7)
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103
1
( v + jv )
2
1
vS =
( v jv )
2
vS+ =
(6.8)
obtemos
vS+ =
1 1 _ jt _ * jt 1 _ jt _ * jt
v e + v e + j 2 v e + v e
2 2
(6.9)
Assim:
_
_
_ * _ *
1 v + jv jt v + jv jt
vS+ =
e +
e
2
2
2
(6.10)
Definindo-se:
_
v + jv
vS+ =
2
_
vS =
(6.11)
v jv
2
Assim:
_
1 _
*
vS+ = vS+ e jt + vS e jt
2
_
_
1 *
vS = vS+ e jt + vS e jt
2
(6.12)
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104
_
_
v
1
j
S+
1
=
v
_
2 1 j _
vS
v
(6.13)
*
iS+ = i S+ e jt + i S e jt
2
_
_
1 *
iS = i S+ e jt + i S e jt
2
(6.14)
_
1_
*
iR + = i R+ e jt + i R e jt
2
_
1_ *
iR = i R+ e jt + i R e jt
2
(6.15)
(6.16)
_
_
i 1 _
*
*
1 _
0 = mSR p jn i S+ e jt + i S e jt + R R + LR p jn i R+ e jt + i R e jt
(6.17)
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105
_
0 = mSR p jn i S+ e jt + R R + LR p jn i R + e jt
vS e jt = ( RS + pLS ) i S e jt + pmSR i R e jt
*
(6.18)
i _
_ *
0 = mSR p jn i S e jt + R R + LR p jn i R e jt
(6.19)
Tomando-se as derivadas
pe jt = j e jt
(6.20)
_
0 = mSR j jn i S+ + R R + LR j jn i R +
vS = ( R S + jLS ) i S + jmSR i R
(6.21)
i
_
i
_
0 = mSR jn + j i S + R R + LR jn + j i R
(6.22)
como
n = m
(6.23)
m = R = s
(6.24)
+ m = ( 2 s )
(6.25)
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106
vS+ = ( RS + js LS ) i S+ + js mSR i R +
_
(6.26)
vS = ( RS + js LS ) i S + js mSR i R
_
(6.27)
0 = jmSR ( 2 s ) s i S + ( R R + jLR ( 2 s ) s ) i R
Dividindo-se a segunda equao por s e a quarta por 2 s, obtm-se:
_
vS+ = ( RS + js LS ) i S+ + js mSR i R +
(6.28)
R
_
0 = js mSR i S+ + R + js LR i R +
s
vS = ( R S js LS ) i S js mSR i R
*
(6.29)
_
_ *
* R
0 = mSR s i S + R - jLR s i R
( 2 s)
(LS - m SR )
iS
vS
mSR
vS
iS
RS
(LR - m SR )
mSR
-
(LS - m SR )
RR
iR
iR
(LR - m SR )
RR (1 - s)
s
- RR (1 - s)
(2 - s)
RR
Fig. 6.1 Circuito eqivalente para o motor de induo com operao desbalanceada.
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107
Este circuito vale para operao desbalanceada, desde que as tenses sejam
senoidais e a velocidade constante.
_
vS+ = ( RS + js LS ) i S+ + js mSR i R +
(6.30)
_
R
_
0 = js mSR i S+ + R + js LR i R +
s
(LS - m SR )
RS
iS
vS
(LR - m SR )
mSR
RR
iR
RR (1 - s)
s
Fig. 6.2 Circuito eqivalente para o motor de induo com operao balanceada.
RS
iS
vS
LS
RR
LR
iR
RR (1 - s)
s
Fig. 6.3 Representao alternativa para o circuito eqivalente do motor de induo com operao
balanceada.
TRANSFORMAO PRIMRIO-SECUNDRIO
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108
mSR
RS
iS
vS
LS
LR
n1
iR
R2
s
n2
Seja
a=
n1
n2
(6.31)
=a
(6.32)
Assim
_
vS+
_
vR +
e
_
i R+
_
=a
(6.33)
i S+
Seja
'
'
iR+ =
iR+
a
(6.34)
(6.35)
Definimos a transformao:
'
iS+ 1 0 iS+
i =
'
R + 0 a iR +
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(6.36)
109
Assim:
iS ' 1 0 iS
+ ' = 1 +
iR +
iR + 0
a
(6.37)
'
vS+ 1 0 vS+
=
'
vR + 0 a vR +
(6.38)
vS ' 1 0 vS
+ ' = 1 +
v
vR + 0 a R +
(6.39)
1 0
PS1 =
0 a
(6.40)
1 0
PS = 1
0
(6.41)
Do mesmo modo:
Seja
_
vS+ =
_
vR +
R S + jSLS
jSmSR
jSmSR
RR
+ jSLR
_
i S+
_
i R+
(6.42)
v+ = Z i +
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(6.43)
110
Assim
_
'
PS v+ = Z PS-1 i +
'
'
v+ = PS-1 Z PS-1 i +
(6.44)
'
(6.45)
Seja
(6.46)
Assim
_
'
v + = Z' i +
'
(6.47)
R + jSLS
1 0 S
Z =
0 a jSmSR
'
jSmSR
RR
+ jSLR
1 0
0 a
(6.48)
Assim:
R S + jSLS
Z =
j am
S
SR
'
'
'
jSamSR
a 2R R
2
+ jSa LR
s
(6.49)
_
vS+ =
0
R S + jSLS
j am
S
SR
jSamSR
a 2R R
2
+ jSa LR
s
_
i S+
_ '
i R +
(6.50)
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111
RS
iS
vS
(LS - amSR )
(a L R- am SR)
amSR
iR
RR a
s
(6.51)
rR a 2R R
=
resistncia do rotor referida ao estator.
s
s
Desse modo o modelo para o motor de induo passa a ser:
_
_
_ _ '
vS+ = ( RS + jX1 ) i S+ + jXm1 i S+ + i R +
'
'
_ _ r
_
0 = jXm1 i S+ + i R + + R + jX2 i R+
(6.52)
vS
jX1
jX2
jXm1
RR
RR (1-s)
s
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112
RS
jX2
RR
vS
jXm1
RR (1-s)
s
vS
jXm1
-RR (1-s)
(2-s)
jX1
RS
jX2
RR
T = 2 n mSR Im iS+ iR
(6.53)
T = 2 n mSR Im i S+ e jt + i S e jt i R + e jt + i R e jt
4
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113
Portanto
* _ * _ *
_
_
_ * _
n mSR _ _
j2 t
j2 t
+ i S+ i R e + i S i R
T=
Im i S+ i R + + i S i R + e
2
(6.55)
Os termos onde aparecem ej2t e e-j2t possuem torque mdio nulo e podem
ento ser abandonados. Assim:
* _ * _
n mSR _ _
T=
Im i S+ i R + + i S i R
2
(6.56)
Podemos definir:
*
n mSR _ _
Im i S+ i R +
2
(6.57)
*
n mSR _ _
T =
Im i S i R
2
(6.58)
T = T+ + T
(6.59)
T+ =
Assim:
_ R S + js LS
vS+ =
0 js mSR
js mSR
_
i S+
RR
+ js LR _
i R +
s
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(6.60)
114
Z =
R
( RS + js LS ) R + js LR + s2mSR 2
s
RR
s + js LR
js mSR
js mSR
R S + js LS
(6.61)
_
js mSR vS+
0
RS + js LS
(6.62)
Como:
_
1
i S+ =
_
RR
2
2
i R+ ( RS + js LS ) s + js LR + s mSR
RR
s + js LR
js mSR
obtm-se:
RR
_
+
L
j
s R vS+
_
s
i S+ =
R
( RS + js LS ) R + js LR + s2mSR 2
s
i R+
(6.63)
js mSR vS+
=
R
( RS + js LS ) R + js LR + s2mSR 2
s
(6.64)
RR
_
j
+
s
R
vS
_
2s
i S =
R
( RS + js LS ) R + js LR + s2mSR 2
2s
i R
js mSR vS
=
R
( RS + js LS ) R + js LR + s2mSR 2
2s
(6.65)
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115
RR
_
j
L
+
s R vS+
_
s
i S+ =
R SR R
L R
2
2
2
s LR LS + s mSR + j s S R + s LR RS
s
s
(6.67)
i R+
js mSR vS+
=
R SR R
L R
2
2
2
s LR LS + s mSR + j s S R + s LR R S
s
s
(6.68)
js mSR vS+
i R+ =
R SR R
L R
2
2
2
s LR LS + s mSR j s S R + s LR RS
s
s
(6.69)
Assim:
s mSR R R _ _ *
m
L
+
j
s
SR
R
vS+ vS+
_
_
s
*
i S+ i R + =
2
2
R SR R
s LSR R
2
2
2
L
L
+
m
+
+
L
R
s
R S
s
SR
s R S
s
s
(6.70)
(6.71)
1 ns mSR R R _
vS+
2
s
T+ =
2
2
R SR R
s LSR R
2
2
2
+
+
m
R
L
L
L
s
R S
s
SR
s R S
s
s
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(6.72)
116
T =
1 ns mSR R R _
vS
2 (2 s)
R SR R
s LSR R
2
2
2
(2 s) s LR LS + s mSR + (2 s) + s LR RS
(6.73)
v = jv
(6.74)
vS = 0
vS+ =
2jv
2
(6.75)
vS+ =
2 _
v
2
v = v = v = v
(6.76)
(6.77)
vS+ = 2v
(6.78)
mas
v =
3
VSP
2
(6.79)
vS+ = 3VSP
mas
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(6.80)
117
VSP = 2 vS
(6.81)
Assim:
_
vS+ = 6vS
(6.82)
RR 2
vS
s
T+ =
2
2
R SR R
s LSR R
2
2
2
s LR LS + s mSR +
+ s LR RS
s
s
3ns mSR
(6.83)
RR 2
2 2
s mSR vS
s
T+ =
2
2
R SR R
s LSR R
2
2
2
SN
s LR LS + s mSR +
+ s LR RS
s
s
(6.84)
T+ =
R 2
2 2
3 a 2 R s a 2 mSR vS
s
2
2
R a 2R
s LSR R a 2
2 2
2 2
2
2
S
R
SN
s a LR LS + s a mSR +
+ sa LR RS
s
s
Seja:
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(6.85)
118
A=
R Sa 2 R R
2
2
2
s a 2LR LS + s a 2 mSR
s
(6.86)
s LSR R a 2
+ s a 2 LR R S
s
(6.87)
R Sa 2 R R
2
a 2XR XS + a 2 XM
s
(6.88)
B=
Assim:
A=
onde:
XR = SLR
R Sa 2 R R
2
2
2
A=
a 2 XR XS + a 2 XM a 3XM XR + a 3XM XR aXSXM + aXSXM + a 2 XM a 2 XM
s
(6.89)
Assim:
A=
R Sa 2 R R
aXM ( a 2 XR aXM ) aXM ( XS aXM ) ( XS aXM ) ( a 2 XR aXM )
s
(6.90)
mas:
'
R R a 2R R
=
s
s
Xm = aXM
Reatncia magnetizante.
X1 = XS aXM
'
X2 = a XR aXM
2
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(6.91)
119
A=
R Sa 2 R R
Xm X2 X1Xm X1X2
s
(6.92)
X R
B = a 2 S R + XR R S
s
B=
(6.93)
a 2 XSR R
a 3 XM R R a 3 XM R R
+ a 2 XR R S
+
+ RSaXM RSaXM
s
s
s
'
B=
'
RR
R
( XS aXM ) + aXM R + RS aXM + ( a 2XR aXM )
s
s
'
'
R
R
'
B = R X1 + Xm R + RS Xm + X2
s
s
(6.94)
(6.95)
(6.96)
RR' 2 2
Xm vS
s
T+ =
2
2
R a 2R
RR'
RR'
'
'
'
S
R
X1 + Xm
SN
Xm X2 X1Xm X1X2 +
+ R S ( Xm + X2 )
s
s
s
(6.97)
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120
MAX
Freio
Motor
Gerador
Nos itens anteriores, for a obtidos modelos para o motor de induo em regime
permanente, a partir do modelo genrico estabelecido para componentes simtricas
instantneas.
Neste item ser estabelecido o modelo para estudar em regime, a partir do
modelo genrico estabelecido pela transformao de PARK.
Seja o modelo de PARK, obtido no captulo IV, representado pela expresso
(6.101).
vSd RS + pLS
0
vSq
=
vRd pmSR
v
Rq m n
SR
pmSR
RS + pLS
iSd
pmSR iSq
i
LR n R d
iRq
R R + pLR
0
mSR n
R R + pLR
pmSR
-LR n
(6.98)
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121
vSd RS + jLS
0
vSq
=
vRd jmSR
v
Rq m n
SR
jmSR
RS + jLS
mSR n
R R + jLR
jmSR
-LR n
iSd
jmSR iSq
i
LR n R d
iRq
R R + jLR
0
(6.99)
v = Z i
(6.100)
i =Z v
(6.101)
RS
0
R=
0
0
RS
0
0
0
RR
R R
0
0
0
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(6.102)
122
LS
0
L=
mSR
0
0
G=
0
mSR
0
LS
0
mSR
0
LR
mSR
0
mSR
LR
0
mSR
0
0
-LR
0
0
LR
(6.103)
(6.104)
Assim:
i
v = Ri + jwLi + n Gi
(6.105)
(6.106)
(6.107)
onde:
Re ( i*t v )
Re ( i*tRi )
Re ( ji*tLi )
i *
n i t Gi
Pm = n Re ( i*tGi )
i
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(6.108)
123
T=
Pm
(6.109)
Assim:
T = nRe ( i*tGi )
(6.110)
Assim:
T = nRe iSd
iSq
iRd
* 0
iRq
0
mSR
0
mSR
0
0
-LR
0 iSd
0 iSq
LR iRd
0 i
Rq
(6.111)
(6.112)
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124
EXERCCIOS PROPOSTOS
X1 = X2 = 4 (reatncias de disperso)
RS = 2
R R = 3
Xm1 = 100
(reatncia magntica)
f = 60Hz
n=2
vS = 220V
(pares de plos)
(tenso eficaz de fase)
(6.113)
v f = 220V
i f = 2, 2 A
v f = 80V
i f = 5, 2 A
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Pf = 130W
125
(6.114)
(6.115)
(6.116)
escorregamento.
balanceadas, geradas por um inversor, cuja forma est representada na Fig. 6.9
para uma fase.
(2E/3)
(E/3)
O
120
240
360
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126
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CAPTULO
7
7.1 INTRODUO
Tn
sn
129
eltricas
evoluiro
atravs
de
regimes
permanentes
sucessivos.
As
conseqncias
dessas
simplificaes
sero
evidenciadas
no
+
L
L
m
L
R
L
R S
SR
S
R S
(7.1)
T=
2
n
2 R
mSR R vS+ s2
2
s
RSR R s2 LR LS mSR
))
+ 2 ( LR RSs + LSR R )
(7.2)
n mSR R R vS+ s
T=
2 RS2 R R 2 + 2 LS2 R R 2
Prof. Ivo Barbi, Dr. Ing.
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(7.3)
130
n mSR vS+ s
T=
2 R R R S2 + 2 LS2
s=
(7.4)
nm
n
= 1 m
(7.5)
Assim:
2
n
2
mSR vS+ 1 m
n
T=
2
2
2 R R RS + 2 LS
(7.6)
n mSR vS+
n 2 mSR vS+ m
T=
2 R R RS2 + 2 LS2
2 R R R S2 + 2LS2
(7.7)
Seja:
2
mSR vS+
n2
De =
2 R R RS2 + 2 LS2
(7.8)
T=
De
De m
n
(7.9)
T = Tj + TD + TL
onde:
T
torque do motor
Tj
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(7.10)
131
TD
TL
torque de carga
assim,
TL + J
dm
+ ( D + De ) m = De
dt
n
(7.11)
m0 =
De
( D + De) n
(7.12)
I = T(t)dt
0
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(7.13)
132
I = Jm
(7.14)
I
J
(7.15)
assim:
m =
De
( D + De) n
(7.16)
m0+ = m0 m
(7.17)
m0 =
Assim:
m0+ =
De I
( D + De) n J
(7.18)
dm
+ ( D + De ) m = De
dt
n
(7.19)
sJm ( s ) Jm0+ + ( D + De ) m ( s ) =
http://www.ivobarbi.com
De
n s
(7.20)
133
De
m0+
Jn
m ( s ) =
+
D + De D + De
ss +
s +
J
J
(7.21)
De
1 e
( D + De) n
D+ De
t
J
m ( t ) =
D+ De
t
+ m0+ e J
(7.22)
Assim:
m ( t ) =
D+ De
t
J
De I
e
( D + De) n J
(7.23)
m
D
(D+De) n
m0 +
t 0+
tf
t f ~ 5m =
5J
D + De
(7.24)
fmx =
1 D + De
=
tf
5J
(7.25)
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134
RR
+ jLR vS+
iS+ =
R
( RS + jLS ) R + jLR + 2mSR 2
s
(7.26)
iS+ =
( R R + jLRs ) vS
( RS + jLS )( R R + jLRs ) + s2mSR 2
+
(7.27)
( R R + jLRs ) vS
R R ( RS + jLS )
(7.28)
nm
(7.29)
Como s 0 encontramos:
iS+ =
s=
Assim:
iS+ =
(R
+ jLR ( nm ) ) vS+
R R ( RS + jLS )
(7.30)
De
n J t
R R + jLR
Ie
vS+
( D + De )
iS+ =
R R ( RS + jLS )
(7.31)
vS+ e iS+ esto relacionados com o valor de pico dos valores de fase pela mesma
constante de proporcionalidade.
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135
t
De
n
2
2
J
R R + LR
+ Ie
D
De
J
+
(
)
vSp
iSp ( t ) =
2
2
RR
R S + 2 LS
(7.32)
t0
Seja a Fig. 7.5. Nela esto representados o torque produzido pelo motor e o
torque oferecido pela carga, TE e TL respectivamente, em funo da velocidade.
TE
T(m)
TL
Fig. 7.5 Caracterstica de torque-velocidade de um motor de induo (TE) e de uma carga (TL).
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136
T ( m ) = TE TL
(7.33)
TE TL = J
dm
dt
(7.34)
dm
dt
(7.35)
ou
T ( m ) = J
dt =
t=
J
dm
T ( m )
(7.36)
T ( ) d
(7.37)
T(m)
Fig. 7.6 Curva para o clculo do tempo de acelerao na partida do motor de induo.
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137
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138
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CAPTULO
vS1 = 2vSsen ( t )
(8.1)
(8.2)
(8.3)
vS = 3vS cos ( t )
(8.4)
vS = 3vSsen ( t )
(8.5)
Assim:
R
+
L
p
+
j
S
S
vS+
0 =
i
i
m p + j j
SR
i
S+
i
i
i
R R + LR p + j j R +
mSR p + j
(8.6)
140
estator tem-se = 0.
Assim:
vS+ R S + pLS
0 =
pmSR
pmSR iS+
R R + pLR i R +
(8.7)
(LS - mSR )
iS
vS
(LR - mSR )
iR
mSR
RR
Fig. 8.1 Circuito eqivalente para o motor de induo com operao balanceada.
(disperso primria)
AR = LR - mSR
(disperso secundria)
como AS e AR so muito menores que mSR, a presena desta ltima indutncia ser
ignorada. Assim o circuito adquire a configurao representada na Fig. 8.2.
AS
RS
iS
vS
AR
RR
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(8.8)
141
Seja:
R = RS + R R
(8.9)
A = AS + AR
(8.10)
(8.11)
Assim:
vS+ =
vS+ =
vS+ ( s )
R
s +
A
1
vS + jvS
2
(8.12)
(8.13)
3
vS ( cos ( t ) + jsen ( t ) )
2
(8.14)
3
vS e jt
2
(8.15)
Assim:
vS+ =
Assim:
vS+ ( s ) =
3 vS
2 s j
(8.16)
3 vS
2 A
1
R
( s j) s +
A
(8.17)
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142
jt RA t
3
1
vS
e e
2 ( R + jA )
iS+ ( t ) =
(8.18)
R + jA = R 2 + 2 A 2 e j0
(8.19)
A
0 = tan 1
R
(8.20)
j( t 0 ) RA t j0
3
vS
iS+ ( t ) =
e
e
2 R 2 + 2 A 2
(8.21)
onde
Assim:
(8.22)
Assim:
iSd ( t ) = 3
R
t
A
cos
t
e
cos ( 0 )
(
)
0
R 2 + 2 A 2
vS
(8.23)
mas,
iSd =
3
iS
2 1
(8.24)
Assim:
R
t
A
iS1 ( t ) =
cos ( t 0 ) e cos ( 0 )
2
2 2
R + A
2vS
(8.25)
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143
iS
(8.26)
Assim:
A S + A R = A = 10,6mH
(8.27)
A 10,6
=
= 5,3ms
R 2,0
(8.28)
Assim:
e =
(8.29)
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144
a) modelos bsicos:
Vamos considerar um motor trifsico de induo alimentado pela rede e
acionando uma carga mecnica. Num determinado instante, quando t = 0,
estabelecido um curto circuito trifsico nos seus terminais. Deseja-se expressar, em
funo do tempo, a evoluo das correntes nas fases.
O transitrio eltrico de curto-circuito muito rpido. Por isto, para efeito de
estudo, a velocidade do motor ser considerada constante.
i 1 (t)
i 2 (t)
MOTOR
i 3 (t)
R S + pLS
vS+
0 =
i
m p jn
SR
iS
+
i
i
R R + LR p jn R +
pmSR
(8.30)
pLS
0
0 =
m p jn i
SR
i
S+
i
i
R R + LR p jn R +
pmSR
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(8.31)
145
sLSiS+ ( s ) LSiS0+
R R i R + ( s ) + LR ( s jm ) iR + ( s ) LR iR0+
(8.32)
mSR iS0+
LR iR0+
(8.33)
Seja:
S0+ = LSiS0+ + mSR iR0+
(8.34)
(8.35)
= m s j
R R + LR ( s jm ) iR + ( s )
m)
R0+ SR (
(8.36)
Portanto:
sLS
smSR
iS+ ( s )
S0+
iR + ( s ) mSR ( s jm ) R R + LR ( s jm ) R0+
1
(8.37)
mSR
L + ( s jm ) S0+ s L R0+
R
iS+ ( s ) = R
2
m
L
s S R R + LS SR ( s jm ) s
LR
LR
'
LS = LS
mSR
LR
(8.38)
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146
Assim:
RR
mSR
L + ( s jm ) S0+ s L R0+
R
iS+ ( s ) = R
L
'
s S R R + LS ( s jm ) s
LR
(8.40)
(8.41)
R0+
mSR
'
LS LR ( s jm )
(8.42)
0+
iS+ ( s ) =
iS+ ( s ) =
iS+ ( s ) =
mSR
R
LR 0+
'
LS ( s jm ) s
( s jm ) S
S0+
sLS
'
'
LR ( s jm )
LS s
(8.43)
1
'
LS
mSR
R0+ e jm t
S0+
LR
iS+ ( t )
(8.44)
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147
jSmSR
iS0+
R R + jLR ( S m ) iR0+
R = S m
vS0+ R S + jSLS
0 =
jmSR R
(8.45)
(8.46)
jSmSR iS0+
R R + jLR R iR0+
(8.47)
( R R + jLR R ) vS
( R R + jLR R )( RS + jSLS ) + SR mSR 2
iS0+ =
i R 0+ =
0+
jmSR R vS0+
( R R + jL R R )( R S + jSLS ) + SR mSR 2
(8.48)
(8.49)
S0+ =
R0+ =
(L (R
(m (R
(8.50)
(8.51)
3 jSt
vSe
2
Para t = 0, tem-se:
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(8.52)
148
3
vS
2
vS+ =
(8.53)
(8.54)
R0+ =
3 mSR vS
2 jSLS
(8.55)
S0+ =
3 vS j 2
e
2 S
(8.56)
S0+ =
Assim:
R0+
3 mSR vS j 2
=
e
2 SLS
(8.57)
2
3 vS j 2 mSR j m t 2
iS+ ( t ) =
e
e
2 SLS'
LSLR
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(8.58)
149
iSd ( t ) = 2 Re iS+ ( t )
(8.59)
Assim:
iSd ( t ) = 3
vS mSR
sen ( m t )
'
SLS LSLR
(8.60)
2
iS
3 d
(8.61)
Assim:
iS1 ( t ) = 2
vS mSR
sen ( m t )
'
XS LSLR
(8.62)
onde:
iS1 ( t )
'
X S = S LS reatncia transitria.
LS
'
indutncia transitria.
A partir da expresso (8.62) pode-se estabelecer duas concluses
importantes:
(a) a freqncia da corrente de curto-circuito proporcional velocidade do motor.
(b) o pico da corrente de curto circuito limitado pela reatncia transitria do motor.
Para se conhecer completamente a corrente de curto-circuito, deve-se
determinar a lei de decrescimento com o tempo. A expresso (8.62) estabelece a
corrente que existiria sem as resistncias.
(d) clculo da corrente de curto-circuito com amortecimento:
Vamos considerar a expresso (8.63), na qual est includa a resistncia
do rotor do motor.
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150
RR
mSR
L + ( s jm ) S0+ s L R0+
R
iS+ ( s ) = R
LS
'
s
R R + LS ( s jm ) s
LR
(8.63)
(8.64)
Seja:
'
L L
= S R
LS R R
(8.65)
1
'
= sLS s jm '
(8.66)
'
Assim:
mSR
L + ( s jm ) S0+ s L R0+
R
iS+ ( s ) = R
1
'
sLS s jm '
(8.67)
(8.68)
3 mSR vS j 2
e
=
2 SLS
(8.69)
S0+
R0+
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151
iS+ ( s ) =
3 vS j 2
e
2 SLS'
mSR 2
RR
s 1
jm +
LR
LR LS
1
s s jm '
(8.70)
Como:
2
mSR
=1
LR LS
(8.71)
Assim:
iS+ ( s ) =
3 vSe
2 XS'
RR
jm
LR
1
s s jm '
(8.72)
Seja:
RR
jm
A
B
LR
= +
1
1 s
s jm '
s s jm '
(8.73)
RR
RR
jm
jm
LR
LR
=
A=
1
LS R R
jm
jm
'
'
LS LR
(8.74)
RR
jm
LR
B=
= A
1
jm '
(8.75)
Assim:
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152
iS+ ( s ) =
3 vSe
2 XS'
RR
jm
LR
LS R R
jm
'
LS LR
1
1
1
s jm '
(8.77)
mas,
RR
jm
LR
1
LS R R
m
'
LS LR
(8.78)
Assim:
iS+ ( s ) =
3 vSe
2 XS'
1
1
1
s jm '
(8.79)
3 vSe 2
iS+ ( t ) =
2 XS'
jm ' t
1 e
3 vS j 2 j m 2 t ' t
iS+ ( t ) =
e
e e
2 XS'
(8.80)
(8.81)
como:
iSd ( t ) = 2 Re iS+ ( t )
(8.82)
obtm-se:
1
't
v
iSd ( t ) = 3 S ' sen ( m t ) e
XS
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(8.83)
153
v 't
iS1 ( t ) = 2 S ' e sen ( m t )
XS
(8.84)
2 i s (0)
s
2
s
2
m
' =
LS LR
LS R R
(8.85)
LR
RR
(8.86)
R =
L
= R S
LS
'
(8.87)
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154
LS
RR
iS
vS
2vs .
L
= S
RR
'
(8.88)
mSR
LR
(8.89)
mas:
LS = A S + amSR
(8.90)
A R + amSR
a2
(8.91)
LR =
onde:
a
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155
L'S = A S + amSR
a 2 mSR
A R + amSR
(8.92)
SL'S = SA S + aSmSR
a 2S mSR
SA R + SamSR
(8.93)
Assim:
2
XS' = xS + x m
xm
xR + xm
(8.94)
XS' =1
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156
R S + pLS
vS+
0 =
i
m p jn
SR
iS
+
i
i
R R + LR p jn R +
pmSR
(8.95)
(8.96)
0 = R R iR + + pLR iR + jm LR iR +
(8.97)
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157
0 = R R iR + ( s ) + sLR i R + ( s ) jm LR iR + ( s ) LR iR0+
(8.98)
Assim:
iR+ ( s ) =
i R0+
R
s + R jm
LR
(8.99)
R jm t
LR
(8.100)
jm t
d
L
vS+ = mSR iR0+ e R
dt
RR
(8.101)
Assim:
R
vS+ = mSR jm R
LR
Rt
LR
i
e
e jm t
R0+
(8.102)
jmSR R vS0+
( R R + jL R R )( R S + jSLS ) + SR mSR 2
(8.103)
3
vS
2
(8.104)
jmSR R vS
3
2 ( R R + jL R R )( R S + jS LS ) + SR mSR 2
(8.105)
vS0+ =
Assim:
i R 0+ =
http://www.ivobarbi.com
158
Vamos tomar:
R 0 e RS 0
Assim:
3 mSR R vS
2 R R S LS
i R 0+ = -
(8.106)
2
LRR t jm t
3 vS mSR R R R
j
e
m e
2 SLS R R LR
(8.107)
ou
R
Rt
3 vS mSR R
vS+ ( t ) =
( R R jm LR ) e LR e jmt
2 SLS R R LR
R =
(8.108)
LR
constante de tempo de circuito aberto.
RR
2
R R jm LR = R R + m LR e jR
(8.109)
L
R = tg 1 m R
RR
(8.110)
Assim:
t
3 vS mSR R
2
2
2
j t
vS+ ( t ) =
R R + m LR e R e ( m R )
2 SLS R R LR
(8.111)
mSR
1
LR LS
Assim:
Prof. Ivo Barbi, Dr. Ing.
http://www.ivobarbi.com
(8.112)
159
vS+ ( t ) =
3 R
vS
2 S
1 + m 2 R 2 e
t
R
cos ( m t R )
(8.113)
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CAPTULO
9.1 VARIVEIS DQ
RS + pLS
vSd
L
S
vSq
=
vR d
pmSR
v
Rq
m
SR n
LS n
pmSR
RS + pLS
mSR n
iS
d
pmSR
iSq
i
n LR Rd
iRq
R R + pLR
mSR n
mSR n
R R + pLR
pmSR
n LR
(9.1)
i
vSd
LS 0 mSR 0 Sd
0 L
0 mSR iSq
vSq
S
= p
+
L
m
0
0
v
SR
R
R
d
i R d
v
0 mSR 0 L R i R
R q
q
R
L
n
0
S
S
L
n
R
m
n
S
S
SR
0
m
RR
SR n
m
n
0
n
L R
SR
iS
d
0
iSq
n LR R d
i R q
RR
mSR n
(9.2)
Assim:
v = pZ4 i + Z3 i
(9.3)
161
pZ4 i = -Z3 i + v
-1
-1
(9.4)
pi = -Z4 Z 3 i + Z 4 v
(9.5)
LS 0 mSR 0
0 L
0 mSR
S
Z4 =
mSR 0 LR 0
0 mSR 0 LR
(9.6)
onde:
-1
Z4 =
1
2
LS LR mSR
0 mSR
LR
0
LR
0
1
-1
Z4 Z3 =
LS
mSR 0
0 mSR 0
0 mSR 0
LR
0
0 mSR
LR
mSR 0
LS
0
LS
0 mSR 0
(9.7)
R
n
0
m
n
S
S
SR
LS n
RS
mSR n
0
mSR
0
mSR n
n LR
0
RR
LS
0
n L R
RR
mSR n
(9.8)
onde:
1
1
=
L R LS mSR 2
(9.9)
Substituindo-se as expresses (9.7), (9.8) e (9.9) na expresso (9.5), encontrase a expresso (9.10).
http://www.ivobarbi.com
162
n+
L
L
S R
R S L R
mSR R R
mSR LR n
mSR n
LS L R n +
iSd
R S L R
mSR LR n
mSR R R
iSd
+ mSR n
iSq 1
iSq
p =
i +
R
d
LSLR n + R d
mSR R S
mSR LS n
R R LS
R q
R q
2
mSR n
+
L
L
S R
mSR LS n
R R LS
mSR R S
+ mSR n
v
0 mSR 0 Sd
LR
LR
0 mSR vSq
1 0
+
LS
0 vRd
mSR 0
LS v
0 mSR 0
R q
(9.10)
Te = Jp + D + TL
(9.11)
Te D i TL
J J
J
(9.12)
Assim:
i
p =
mas,
http://www.ivobarbi.com
(9.13)
163
Portanto:
i
p =
nmSR
Di T
iSq i R d iSd i R q L
J
J
J
(9.14)
R
+
L
p
+
jn
S
S
vS+
v =
i
i
R + mSR p + jn jn
mSR p + jn
i
S+
i
i
i
R R + LR p + jn jn R +
(9.15)
vS+
LS
v = p
mSR
R+
R
+
jn
LS
S
mSR iS+
+
LR iR +
i i
jn
mSR
i
S+
i i i
R R + jn LR R +
jn mSR
(9.16)
Assim:
v = pZ4 i + Z3 i
-1
(9.17)
-1
pi = -Z4 Z 3 i + Z4 v
(9.18)
L mSR
Z4 = S
mSR L R
(9.19)
Onde:
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164
Z3 =
R S + jn LS
i i
jn mSR
Z4 =
1
2
LS L R mSR
i i
R R + jn L R
(9.20)
L R mSR
m
SR LS
(9.21)
jn mSR
Assim:
1 L
pi = R
mSR
R S + jn LS
mSR
LS i i
jn mSR
i
L
S+ + 1 R
i
i
mSR
i
R R + jn LR R +
jn mSR
i
i
L
R
jn
LS +
+
jLR n mSR +
R S
i i
2
i i
mSR R R + jn LR
mSR jn
iS 1 L
1
+ + R
pi =
i
i
iR + mSR
2
jn mSR +
mSR R S + jn LS +
i i
i i
+LS R R + jn LR
+ jn mSR LS
mSR vS+
(9.22)
LS vR +
mSR vS+
(9.23)
LS vR +
onde:
1
1
=
L R LS mSR 2
(9.24)
pi = Ai + Bv
(9.25)
Portanto:
2
i i
R SLR jn LR LS + jn mSR
1
A=
i
R
m
+
jn
mSR LS
S SR
2
i i
jn mSR R R LS jn LSLR
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R R mSR jn mSR LR
(9.26)
165
B=
1 LR
mSR
mSR
LS
(9.27)
Te = 2nmSR I ( iS+ i R )
(9.28)
Assim:
i
Te = Jp + D + TL
(9.29)
Te D i TL
J J
J
(9.30)
p =
http://www.ivobarbi.com
CAPTULO
10
10.1 INTRODUO
167
RS + pLS
vSd
n
L
S
vSq
=
vR d
pmSR
v
Rq
m
SR n
LS n
pmSR
RS + pLS
mSR n
mSR n
R R + pLR
pmSR
n LR
iS
d
pmSR
iSq
i
n LR Rd
iRq
R R + pLR
mSR n
(10.1)
(10.2)
T = Jp + D + TL
(10.3)
(10.4)
v = Ri + pL1i + SL 2i + n L 3 i
(10.5)
onde:
i
S = n
i
(pulsao da alimentao)
velocidade do referencial igual velocidade sncrona.
Sendo:
R S
0
R=
0
00
0 0
0 RR 0
0 0 R R
0
RS
http://www.ivobarbi.com
(10.6)
168
LS
0
L1 =
mSR
0 mSR 0
LS
0 mSR
0 LR 0
mSR 0 LR
(10.7)
0 mSR
0 LS
L 0 m
0
S
SR
L2 =
0 mSR 0 LR
LR 0
mSR 0
(10.8)
00
00
00
00
L3 =
0 mSR
0 LR
mSR 0 L R 0
(10.9)
( v + v ) = R ( i + i ) + pL1 ( i + i ) + SL2 ( i + i ) + n + L3 ( i + i )
i
(10.10)
http://www.ivobarbi.com
(10.12)
169
Assim:
i
i
v = R + pL1 + SL2 + n 0 L3 i + n L3 i 0
(10.13)
TL = Jp + Te
(10.14)
i
i
TL + TL = Jp + + Te + Te
(10.15)
Assim:
i
TL = Jp + Te
(10.16)
((
) (i
Rd
) (
+ i R d iSd + iSd
(10.17)
) (i
Rq
+ i R q
))
(10.18)
Assim:
(10.19)
http://www.ivobarbi.com
(10.20)
170
S LS
pmSR
S mSR
0
R S + pLS
iSd
S LS
R S + pLS
S mSR
pmSR
0
vSd
v
i
nm
i
+
S
SR
S0
q
q
Sq
mSR S n 0
L R S n 0
pmSR
R R + pLR
+ nLR i R 0q
v =
i
Rd
Rd
nmSR iS0d +
v R q
pmSR
LR S n 0
R R + pL R
i R q
mSR S n 0
+ nLR i R 0d i
TL
nm i
nmSR i R 0d
nmSR iS0q
nmSR iS0d
Jp
SR R 0q
Seja:
vSd
v
Sq
v =
v
Rd
v R q
(10.22)
iSd
i
Sq
i =
i
Rd
i R q
(10.23)
0 S mSR
R S S LS
L
S mSR
RS
0
S S
Z1 =
0
R 0 mSR R R R 0 L R
R 0 L R R R
0
R 0 mSR
(10.24)
R 0 = S n
Z2 = nmSR i R 0q
nmSR i R 0d
nmSR iS0d
nmSR iS0q
Z3 = nm i + nL i
SR S0q
R R 0q
(10.25)
http://www.ivobarbi.com
(10.26)
(10.27)
171
LS 0 mSR 0
0 L
0 mSR
S
Z4 =
mSR 0 L R 0
0 mSR 0 L R
(10.28)
v Z1 Z 3 i
Z4 0 i
=
+
p
i
T Z 0
0T - J i
L
2
(10.29)
Assim:
pX = AX + BU
(10.30)
Z4 0 i v Z1 Z3 i
p T i =
Z 0 i
0
J
T
(10.31)
Assim:
1
1
i Z4 0 v Z4
p i = T 1
T
T
0 - L
0
0 Z Z i
1 3
1 Z 0 i
- 2
J
1
1
1
i Z4 0 v Z4 Z1 Z4 Z3 i
Z2
p i = T 1
i
0 - TL
0
J
J
(10.32)
(10.33)
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172
p i = Z2
i + TL
0
J
J
http://www.ivobarbi.com
(10.34)
APNDICE
i1
-
+
v1
i2
-
+
v2
i3
-
+
v3
in
-
+
vn
Seja:
i1
i
2
i=
i3
i n
(1)
v1
v
2
v=
v3
v n
(2)
P = vti
(3)
v T = A -1 v
(4)
Seja:
174
APNDICE. CONDIES PARA QUE A POTNCIA SEJA INVARIANTE SOB UMA TRANSFORMAO
i T = A -1i
(5)
(6)
i = Ai T
(7)
v t = vT At
(8)
P = v T A t Ai T
(9)
Seja:
t
PT = v T i T
(10)
At A = I
(11)
A t = A -1
(12)
ou
P = it v
Prof. Ivo Barbi, Dr. Ing.
http://www.ivobarbi.com
(13)
175
Seja:
v T = A -1 v
(14)
i T = A -1i
(15)
v = Av T
(16)
i = Ai T
(17)
Assim:
i t = iT At
t
it = iT At
(18)
(19)
P = i T A t Av T
(20)
Como,
PT = i tT v T
(21)
At A = I
(22)
ou
A t = A -1
(23)
176
APNDICE. CONDIES PARA QUE A POTNCIA SEJA INVARIANTE SOB UMA TRANSFORMAO
At = At
(24)
A t = A -1
(25)
Assim,
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EXERCCIOS
1. CAPTULO 1
R = 2500
1) I = 2A
A = 40cm
0 = 4 x 10-7H/m (SI)
s = 5cm2
m = 50kg
I = 2A
A = 40cm
S = 5cm
x
2
P = 50kg
1 L
F = i2
2 x
(1)
n2
L=
R
(2)
184
R1 =
1 A
1 A
=
(relutncia do ferro)
1 s 0 R s
(3)
1 x
(relutncia do entreferro)
0 s
(4)
R2 =
R = R1 + R 2
R=
L=
1 A 1 x
+
0 R s 0 s
n2
1 A 1 x
+
0 R s 0 s
n 2 0 s
L=
A
+x
R
(5)
(6)
(7)
(8)
Seja:
A = n 2 0s
(9)
A
R
(10)
A
B+ x
(11)
B=
Assim:
L=
n 2 0s
L
A
=
=
2
2
x
(B + x)
A
+ x
Assim:
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(12)
185
n 2 0s
1
F = i2
2
2 A
+ x
(13)
Para x = 0 tem-se:
1
1
F = i2n 2
2
2
1 A
0s
s
R 0
2F 0s 1 A
n=
i2 R 0 s
(14)
(15)
Rx
NI
Rg
Rg
NI = R g
Rg
+ R x =
+ Rx
2
2
Assim:
http://www.ivobarbi.com
(16)
186
R=
Rg
2
+ Rx
(17)
Rx =
1 x
0 d 2
(18)
Rg =
2 g
0 d 2
(19)
1
(g + x)
0d 2
(20)
L=
N 2 0 d 2
(g + x)
(21)
F=
1 2 L
I
2 x
(22)
R=
N 2 0 d 2
L
=
2
x
(g + x)
(23)
1 2 N 2 0 d 2
I
2 ( g + x )2
(24)
F=
Para x = 0, tem-se:
I 2 N 2 0 d 2
F=
2g 2
Supondo:
g = 0,001m
I = 0,5A
d = 0,04m
N = 1000
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(25)
187
F=
F 251, 2N
(26)
(27)
3)
v=
a)
v=
b)
d ( Li )
di dL
= L +i
dt
dt
dt
(28)
L = A + Bx
(29)
dL L dx
dx
=
=B
dt x dt
dt
(30)
d ( Li )
di
dx
= ( A + Bx ) + iB
dt
dt
dt
1 L i 2 B
F = i2
=
2 x
2
Fk
Fi
(31)
(32)
x(0)
M
F
c)
Fk = kx
Fi = m
d2x
dt 2
P = mg
http://www.ivobarbi.com
(33)
(34)
(35)
188
P = Fk0
(36)
mg = kx 0
(37)
1 2
d2x
i B = m 2 + kx
2
dt
(38)
4)
Dados:
L1 = 0,2 mH = 0,2 x 10-3H
L2 = 0,1 mH = 0,1 x 10-3H
M = 0,05cos mH = 0,05cos x 10-3H = m0cos
i1= i2 = i =
2 5sen t
(a)
2
T = m 0i m sen 2 t sen
(39)
Tmd =
1
2
m 0i m sen 2 t sen dt
2 0
2
m i sen t sen 2 t
= 0m
2
4 0
2
2
Tmd
(40)
(41)
Tmd
m i sen
= 0m
2
(42)
Tmd = 0, 00125sen
Prof. Ivo Barbi, Dr. Ing.
http://www.ivobarbi.com
(43)
189
Tk = k
2
(44)
Tk = Tmd
(45)
2
m i sen
k = 0 m
2
2
(46)
0, 004 = 0, 00125sen
2
(47)
3, 2 = sen
2
(48)
Assim:
numericamente e ou graficamente. Reescrevendo (48) na forma da equao (49) podese obter o grfico da Fig. 4 e encontrar o valor de que satisfaz a igualdade.
5
4
3
2
F1 ( )
1
0
1
2
F2 ( )
3
4
5
0.5
1.5
2.5
3.5
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190
F1 ( ) = sen
(49)
F2 ( ) = 3, 2
2
= 1,87rad
(50)
= 107,13o
5)
Mola
v(t)
D
(a)
N2
R
(51)
1 (D x)
0 A
(52)
N 2 A 0
(D x)
(53)
L=
R=
L=
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191
N 2 A 0
L
=
2
x
(D x)
Fe =
(54)
1 2 L N 2 I 2 A 0 1
N 2 I2
I
=
=
2 x 2 ( D x ) 2 2 1 D x 2
A 0
2
0 A
(55)
Como:
1
1 Dx
= 2 2
2
L
N 0 A
(56)
= LI
Tem-se:
Fe ==
1
2
2A 0
(57)
Mas:
2 = B2 A 2 = B2msen 2 t A 2
(58)
Assim:
Fe =
1
AB2m sen 2 t
2 0
(59)
(b)
d
dt
(60)
d ( ABmsen t )
dt
(61)
v(t) = N
v(t) = N
v ( t ) = ANBm cos t
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(62)
192
(c)
Fe
Fx
Fi
Fe = Fk + Fi
(63)
1
d2 x
AB2m sen 2 t = kx + M 2
2 0
dt
(64)
2. CAPTULO 2
(1)
T = i St
LSR ( )
iR
(65)
onde:
cos ( t + )
S
S
2
i S = IS cos S t + S
3
4
cos S t + S
3
(66)
cos ( t + )
R
R
2
i R = I R cos R t + R
3
4
cos R t + R
3
(67)
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LSR
2
4
cos
cos +
cos +
3
3
4
2
= M SR cos +
cos
cos +
3
3
2
4
cos
cos +
cos +
3
3
193
(68)
S t
3
3
2
4
+
cos
cos +
cos
cos
R t
3
3
4
2 _
2
cos +
cos
cos +
cos R t
3
3
3
_
2
4
4
cos
cos +
cos R t
cos +
3
3
3
(69)
onde:
_
S t = S t + S
_
R t = R t + R
(70)
(71)
cos
R t
_
_
3
2
4
4
_
_
T = MSR IS I R cos S t cos S t cos S t cos + R t +
2
3
3
3
_
2
cos + R t +
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(72)
194
T=
_
_
3
2
4
_
M SR IS I R
cos
t
cos
t
cos
t
cos
R
R t+
S
2
3
3
_
4
2
_
+ cos S t cos + R t +
3
3
(73)
T=
_
9
_
M SR IS I R
cos
t
R t
S
(74)
_
9
_
M SR IS I R sen S t + R t +
4
(75)
Assim:
T=
9
M SR IS I R sen ( S t S + R t + R + )
4
(76)
9
M SR IS I R sen ( S t S + R t + R + m )
4
(77)
T=
T=
Mas,
m t S t + R t = 0
(78)
9
MSR IS I R sen ( R S )
4
(79)
Assim:
T=
T=
9
MSR IS I R sen
4
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(80)
195
= (R S) = 45o
sen = 0,866
Assim:
9
T = 0, 265 10 10 0,866
4
(81)
T = 51, 63N m
(82)
(83)
P = 19, 47kW
(84)
3. CAPTULO 3
1)
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196
i1
LS
v3
LS
LS v2
R
i3
i2
v = 380V
i1 = 0
i2 = -i3
i0
2
i = 3
i
1
2
1
0
1
2
1
2
3
2
1
2 0
1
i2
2
i 2
3
(85)
Assim:
i0 = i = 0
(86)
i = 2 i 2
(87)
j S L S
i
v
v + v3 = v 2 v = v 2 v3
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197
v0
2
v = 3
v
v =
1
2
1
0
1
2
1
2
3
2
1
2 v
1
1
v2
2
v3
3
2 3
3 1
1
v2
v3 =
( v 2 v3 ) = v
3 2
2
2
2
(89)
(90)
(91)
v
2 ( R S + jS LS )
(92)
Assim,
i =
i2 =
i
2
i2 =
i3 =
v
2 ( R S + jS LS )
v
2 ( R S + jS LS )
(93)
(94)
Assim:
i 2 = i 3 =
380
= 1,8 90 A
2 (1 + j377 0, 28 )
2)
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(95)
198
i1
R
v1
LS
LS
--
v3
LS
R
v2
i3
i2
v 2 = v3
(96)
v + v1 = v 2
(97)
v1 =
2
v
3
1
v 2 = v3 = v
3
(98)
(99)
v 0 = v = 0
(100)
2
v
3
(101)
I 0 = I = 0
(102)
v =
Assim:
I =
v
2
v
=
Z
3 R S + jS LS
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(103)
199
i1
2
i =
2
3
i3
1
2
0
i0
3
i
2
i
3
1
2
1
2
1
2
1
2
I1 =
2
I
3
(105)
I2 =
I
6
(106)
I3 =
I
6
(107)
(104)
Assim:
v 0 = Ri 0 + pLi 0
(108)
v = Ri + pLi
(109)
v = Ri + pLi
(110)
v0
2
v = 3
v
1
2
1
0
1
2
1
2
3
2
1
2 50
1
30
2
100
3
v 0 = 103,92V
Prof. Ivo Barbi, Dr. Ing.
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(111)
(112)
200
v = 12, 25V
(113)
v = 49,5V
(114)
i0 =
v0
= 207,84A
R
(115)
pois
L 0 = L + 2M = 60 60 = 0
(116)
R
t
v
LS
i =
1 e
= 24,5 (1 e 5,55t ) A
(117)
LS = L M = 60 + 30 = 90mH = 0, 09H
(118)
t
v
i = 1 e LS = 99 (1 e 5,55t ) A
(119)
(b)
pois
(c)
R
i1 =
2 i0
+ i
3 2
i2 =
3 i
2 i0 i
+
3 2 2
2
i3 =
3 i
2 i0 i
3 2 2
2
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201
Assim:
i1 = (100 + 20e 5,55t ) A
i 2 = ( 60 + 60e 5,55t ) A
(121)
i1 = 100A
i 2 = 60A
(122)
i3 = 200A
Estes resultados poderiam ser obtidos sem resolver as equaes diferenciais.
Estas correntes so limitadas apenas pelas resistncias.
Como explicar a existncia de corrente nos enrolamentos quanto t=0?
4) Seja
v1 = V cos ( t )
v 2 = V cos ( t 120o )
(123)
v3 = V cos ( t 240o )
Como:
v0
2
v = 3
v
1
2
1
0
1
2
1
2
3
2
1
2 50
1
30
2
100
3
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(124)
202
v0 = 0
v =
3
V cos ( t )
2
v =
3
Vsen ( t )
2
(125)
(126)
i0 = 0
(127)
v = ( R + pL ) i
( R + pL ) i =
3
V cos ( t )
2
( R + pL ) i = 32 Vsen ( t )
(128)
i ( t ) =
cos ( t ) cos ( + ) e
2 Z
t
3 V
i ( t ) =
sen ( t ) + sen ( + ) e
2 Z
(129)
onde:
Z = R 2 + 2 L2S
LS
R
L S
= tg 1
R
=
(130)
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203
i1 ( t ) =
2 i0 ( t )
+ i ( t )
3 2
i2 ( t ) =
3 i ( t )
2 i0 ( t ) i ( t )
3 2
2
2
i3 ( t ) =
3 i ( t )
2 i0 ( t ) i ( t )
3 2
2
2
(131)
i1 ( t ) = cos ( t ) cos ( + ) e
i2 ( t ) =
t
V
o
cos
t
120
cos
60
e
+
)
(
) (
Z
(132)
t
V
o
4. CAPTULO 4
1)
v1 ( t ) = 2 vS sen ( S t + )
v 2 ( t ) = 2 vS sen ( S t 120o + )
(133)
v3 ( t ) = 2 vS sen ( S t + 120o + )
vS = vSd
vS = vSq
Assim:
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(134)
204
vS
0
2
vSd =
3
v
Sq
1
2
1
0
1
2 v
S
1 1
vS2
2
vS
3 3
1
2
1
2
3
2
(135)
Assim:
a.1)
vS0 =
2 1
2 vS sen ( S t + ) + sen ( S t 120o + ) + sen ( S t + 120o + )
3 2
vS0 = 0
(136)
a.2)
vSd =
2
1
1
(137)
60.000
60.000
v
1
vSd =
2
3
2 vS sen ( S t + )
3
2
vSd = 3 vS sen ( S t + )
a.3)
vSq =
2
3
2 vS
sen ( S t 120o + )
sen ( S t + 120o + )
3
2
2
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(138)
(139)
(140)
205
60
30
30
vS
vS
vS
Assim:
vSq = 3 vS cos ( S t + )
(141)
b) Em seguida sero obtidas as tenses vSd e vSq para o referencial colocado no campo
girante.
(142)
v
Sq sen s t cos s t 3 vS cos ( S t + )
(143)
=0
Prof. Ivo Barbi, Dr. Ing.
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(146)
206
Assim:
vSd = 0
(147)
vSq = 3 vS
0o
60 o
120
180 o
2E/3
E/3
Vs2
Vs0
2E/6^1/2
E/6^1/2
Vsd
0
E/2^1/2
Vsq
0
-E/2^1/2
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207
6)
= m t + 0
S = m + R
(148)
iS1 = IS sen ( S t + )
iS2 = IS sen ( S t 120 + )
(149)
i R1 = I R sen ( R t + )
i R 2 = I R sen ( R t 120 + )
(150)
i R 3 = I R sen ( R t + 120 + )
Aplicando-se a transformao de PARK com referencial no estator obtm-se:
iSd =
3
ISsen ( S t + )
2
3
iSq =
IS cos ( S t + )
2
(151)
Pois:
iSd = iS
iSq = iS
iR =
i R
3
I R sen ( R t + )
2
3
=
I R cos ( R t + )
2
(152)
(153)
mas,
i R d cos m t sen m t i R
i =
R q sen m t cos m t i R
(154)
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208
iRd =
iRq
i R d cos ( m t ) sen ( m t ) i R
i =
R q sen ( m t ) cos ( m t ) i R
(155)
i R d cos ( m t ) sen ( m t ) i R d
=
i
R q -sen ( m t ) cos ( m t ) i R d
(156)
3
I R ( cos m t sen ( R t + ) + sen m t cos ( R t + ) )
2
3
=
I R ( sen m t sen ( R t + ) cos m t cos ( R t + ) )
2
(157)
(158)
Assim:
iRd =
3
I R sen ( ( R + m ) t + )
2
iRq =
3
I R cos ( ( R + m ) t + )
2
(159)
mas:
R + m = S
(160)
Assim:
iRd =
3
I R sen ( S t + )
2
iRq =
3
I R cos ( S t + )
2
(161)
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(162)
209
T=
3
mSR IS I R ( cos ( S t + ) sen ( S t + ) sen ( S t + ) cos ( S t + ) )
2
3
T = mSR IS I R sen ( )
2
(163)
7)
a)
iS = Icc = iSd
(164)
iS = 0 = iSq
0 = R R i R d + n L R i R q
i
i
0 = n mSR iS n L R i R + R R i R
d
d
q
(165)
(166)
Assim, em mdulo:
T = nmSR Icc i R q
(167)
iRq
n mSR Icc n L R
=
+
iRd
RR
RR
(168)
iRd =
n LRiRq
RR
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(169)
210
Assim:
i
iRq
n mSR Icc n L R n L R i R q
=
+
RR
RR
RR
(170)
iRq =
n mSR Icc R R
i2
(171)
R +n L
2
R
2
R
T=
n 2 mSR Icc 2 R R
i2
(172)
R +n L
2
R
2
R
mas,
Icc =
vSd
(173)
RS
Assim:
i
T=
n 2 mSR vSd R R
i2
R R R2 + n 2 L2R
(174)
2
S
b)
T n mSR vSd
=
R S2
i2
2
2
2
R R + n LR
RR
i
2
R R + n 2 L2R
i2
2
1
2n L2R
=
=0
2
i2
i2
2
2
2
R R + n L R R 2R + n 2 L2R
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(175)
(176)
211
Assim:
i2
i2
R 2R + n 2 L2R = 2n 2 L2R
i2
R 2R = n 2 L2R
i
n =
(177)
RR
LR
R
R S2 R R2 + R 2 L2R
LR
T=
nmSR vSd
(178)
2L R R S2
(179)
(180)
v R d = pmSR iSd
Aplicando a transformao de Laplace obtm-se:
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(181)
212
vSd ( s )
R S + sL S
(182)
v R d ( s ) = smSR iSd ( s )
Assim:
v R d ( s ) = smSR
vSd ( s )
R S + sL S
(183)
Seja:
vS1 = vS sen ( S t )
vS2 = vS sen ( S t 120 )
(184)
Assim:
3
vS sen ( S t )
2
(185)
3
S
vS 2 S 2 =
vS
2 s + S
2 ( s + jS )( s jS )
(186)
vSd =
vSd =
Portanto:
vRd ( s ) =
m
3
s
vSS SR
2
LS R S
+ s ( s + jS )( s jS )
LS
(187)
Seja:
1 RS
=
S LS
Assim:
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(188)
213
1
s + ( s + jS )( s jS )
S
A
1
s+
S
B
B
+
s + jS s jS
B
B
+
s + jS s jS
(189)
Assim:
1
s + ( s + jS )( s jS )
S
A=
s+
1
S
1
1
S 2 + S2
S
B=
(190)
2 jS
S
1
C=
1
2 + jS
S
mSR
3
1
1
1
1
1
1
(191)
vRd ( s ) =
vSS
+
+
1
2
LS 1
1
s + jS
1
s jS
2 s+
2 jS
2 + jS
S 2 + S
S
S
1
1
=
e jS t e jS = A1
1
s + jS
1
2 jS
2 2 + S2
S
S
1
1
1
e jS t e jS = A 2
=
1
s jS
1
2 + jS
2 2 + S2
S
S
L
S = tg 1 S S
RS
Somando-se A1 e A2 obtm-se:
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(192)
214
A 3 = A1 + A 2 =
1
j t
j t
e ( S S) + e ( S S)
1
2 2 + S2
S
(193)
Como:
cos A =
1 jA jA
(e + e )
2
(194)
Assim:
A3 =
1
+ S2
S2
cos ( S t S )
(195)
Portanto:
1
t
mSR
3
1
S
vRd ( t ) =
vSS
e
+
2
LS 1
2
S 2 + S
1
cos ( S t S )
1
2
+
S2
t
R S
3
1
S
vRd ( t ) =
vSS mSR 2
e
+
cos
( S S )
2
2 2
( R S + L2SS2 )
2
R
+
L
S
S S
3
vRd ( t ) =
2
t
RS
S
cos ( S t S )
e
R S2 + L2SS2
R S2 + L2SS2
vSS mSR
(196)
(197)
(198)
cos ( S ) =
RS
R + L2SS2
2
S
(199)
Assim:
3
vRd ( t ) =
2
1
t
S
cos ( S t S ) cos Se
R S2 + L2SS2
vSS mSR
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(200)
215
10)
q
m
d
vS
iSq = 0
(201)
(202)
Vamos considerar:
a) RS 0
b) RR >> SLR
Assim:
vSq = jXmiRq
(203)
m = (1 s) S
(204)
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216
Assim:
vSd = jXSiSd + jXmiRd
vSq = jXmiRq
(205)
vSd jXmiRd
jXS
vSd
jXS
XmiRd
(206)
XS
10)
q
m
d
vS
iSq = 0
(207)
Vamos considerar:
c) RS 0
Prof. Ivo Barbi, Dr. Ing.
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(208)
217
d) RR >> SLR
Assim:
vSd = jXSiSd + jXmiRd
vSq = jXmiRq
(209)
m = (1 s) S
(210)
vSq = jXmiRq
(211)
Assim:
vSd jXmiRd
jXS
vSd
jXS
XmiRd
XS
(212)
Xm
X2
vSd + RR j m iRd + (1 s) XRiRq
XS
XS
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(213)
218
vS XmiRd
0 = Xm (1 s) d
(1 s) XRiRd + RRiRq
XS
jXS
vS
X2
0 = Xm (1 s) d + (1 s) m XR iRd + RRiRq
jXS
XS
(214)
X2m
Xm
R
j
vS (1 s) XRiRq
R
iRd =
XS
XS d
( R X jX ) i
R
2
m
iRd =
Rd
= XmvSd (1 s) XSXRiRq
XmvSd
RR XS jX
2
m
(215)
(1 s) XSXRiR
RR XS jXm2
X2
+ (1 s) m XR iRd + RRiRq
jXS
XS
vSd
(216)
XmvSd
(1 s) XSXRiRq
0 = jXm (1 s) vSd (1 s) ( X2m XR XS )
+
RR XS jXm2
RR XS jXm2
Xm vSd
RR XS jX
2
m
(217)
+ RR XSiRq
(1 s) ( Xm2 XR XS )
(218)
(1 s) XSXRiR
RR XS jX
2
m
(219)
Assim:
0 = jXm (1 s) ( RR XS jX2m ) vSd (1 s) ( X2m XR XS ) Xm vSd + RR XS ( RR XS jXm2 ) iRq ( Xm2 XR XS ) (1 s) XSXR iRq
2
(220)
Assim:
( R X ( R X jX ) ( X
R
2
m
2
m
(221)
Prof. Ivo Barbi, Dr. Ing.
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219
( R X ( R X jX ) ( X
R
2
m
2
m
(222)
( R X ( R X jX ) ( X
R
2
m
2
m
(223)
Portanto:
iRq
iRq
(224)
(1 s) XR XSXm (1 s) jXmRR XS
iRq =
iRq =
(1 s) XR Xm (1 s) jXmRR
RR2 XS jXm2 RR (1 s) XR X2m + (1 s) XR2 XS
2
(225)
vSd
(226)
vSd
(227)
Assim:
vSq = jXmiRq
vSq =
vSq =
(228)
vSd
(229)
vSd
(230)
(1 s)
Assim:
Prof. Ivo Barbi, Dr. Ing.
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(231)
220
vSq =
vSd
(232)
(233)
Sendo:
K=
jXm2 ( XR + jXm )
R2R XS jRR Xm2
(234)
mas:
(1 s) =
m
S
(235)
Assim:
vSq =
KvSd
S
(236)
5. CAPTULO V
3) Seja
iS = 2 IS cos St
iS = 2 IS sen St
http://www.ivobarbi.com
(237)
221
(238)
iS+ 1 1 j 2 IS
i =
2 1 j 0
S
(239)
(240)
iS+ = IS
(241)
iS = IS
(242)
(243)
0 = mSR ( p + jR ) IS + ( RR + LR ( p + jR ) ) IR
(244)
pIS = pIR = 0
Assim:
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(245)
222
0 = jR mSR IS + ( RR + jR LR ) IR
jR mSR
IS
RR + jR LR
IR =
_
IR =
( m
2
R
SR
(246)
LR + jR mSR RR )
IS
Assim:
i R+ =
( m
2
R
SR
LR + jR mSR RR )
iR
( m
=
2
R
SR
IS
(247)
LR jR mSR RR )
IS
2R mSR L R + jR mSR R R
T = 2nmSR Im
R R 2 + R2 L2R
T=
2
2nRRR mSR
IS2
R2R +2R L2R
(248)
(249)
(250)
(252)
2
2
2R mSR
R R - j3R mSR
LR
= ( R S + jS LS ) IS +
IS
R R + R L R
(253)
vS+
v S+
(251)
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223
vS+
2
2
2R mSR
RR
3R mSR
LR
= RS +
+ j S LS
R R + R L R
R R + R L R
2
2
2R mSR
RR
3R mSR
LR
vS- = R S +
- j S LS R R + R L R
R R + R L R
(255)
(256)
j
vS+ vS2
(257)
vSq = -
IS
(254)
1
vS+ + vS2
vSd =
IS
Assim:
2 m 2 R
vSd = 2 R S + R SR R
R R + R L R
IS
3 m 2 L
vSq = 2 S LS - R SR R
R R + R L R
IS
(258)
(259)
(260)
Assim:
vS = vSd + vSq sen ( St )
2
tg =
vSq
(261)
vSd
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(262)
224
(263)
vSd = 3Vcos St
(264)
vSq = 3Vsen St
vS+ =
1
vS + jvSq
2 d
(265)
Assim:
vS+ =
3 jSt
Ve
2
( RS + pLS ) iS
3 jSt
Ve
2
(266)
(267)
Seja:
iS0+ = 0
(268)
( RS + sLS ) iS ( s) =
+
3 V
2 s js
(269)
iS+ ( s) =
3
1
V
2 ( RS + sLS )( s js )
(270)
iS+ ( s) =
3 V
1
2 LS 1
s + ( s js )
S
1 RS
=
S LS
(271)
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225
1
A
B
=
+
1 s js
1
s + ( s js ) s +
S
S
A=
(272)
+ js
S
1
B=
1
+ js
S
(273)
3 V
1
1
1
iS+ ( s) =
+
2 LS 1
s + 1 s js
+ js
S
(274)
2 ( RS + jsLS )
(275)
3
1
V
ejst
2 ( RS + jsLS )
(276)
Assim:
iS1 ( t ) =
1
2Vcos s t
( RS + jsLS )
(277)
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