异步电机,变压变频,矢量控制,直接转矩控制

MOTIONCONTROLBy:James(HuangZhaobin)Technicalpresentation（运动控制）ContentsMotionControlSystemMotorControlMethodsMotionControlAsystemusedinindustrialprocessestomoveaspe’cificloadinacontrolledfashionMotioncontrolsystemI.motioncontrolsystemCollegeofautomationscienceandengineeringMotioncontrolsystemI.motioncontrolsystemCollegeofautomationscienceandengineeringLoadSensorMotioncontrolsystemI.motioncontrolsystemCollegeofautomationscienceandengineering,,SSIUThenForce,Tension,Pressure,etc.Speed,Torque推力/拉力,张力,压强…速度，转矩Controlwhat:RotaryMotorClassification(Rotarymotorclassifiedbasedonprincipleofoperation)DCMotorAsynchronousACMotor(异步电机)(InductionMotor/IM感应电机)SynchronousACMotor(同步电机)StepperMotor(步进电机)I.motioncontrolsystemCollegeofautomationscienceandengineeringRotaryMotorClassification(Rotarymotorclassifiedbasedonprincipleofoperation)DCMotorPermanentmagnet(永磁式)Electricalmagnet(励磁式)AsynchronousACMotor(InductionMotor)Squirrelcage(SCIM鼠笼型)Slip-Ring(woundrotor)(绕线型)SynchronousACMotorPermanentmagnet(永磁式)Sinusoidal正弦~(PMSM)Trapezoidal梯形~(BLDCM无刷直流电机)Reluctant(磁阻式)Hysteresis(磁滞式)Electricalmagnet(EMSM励磁式)StepperMotorI.motioncontrolsystemCollegeofautomationscienceandengineeringDCmotorCollegeofautomationscienceandengineeringI.motioncontrolsystemrotorPermanentMagnet(永磁式)Electricalmagnet(励磁式)SquirrelcageasynchronousmotorCollegeofautomationscienceandengineeringI.motioncontrolsystemSynchronousACMotorSynchronousACMotor•SinusoidalPermanentmagnet(永磁式)•Electricalmagnet(励磁式)CollegeofautomationscienceandengineeringI.motioncontrolsystemRotaryMotorClassification(Rotarymotorclassifiedbasedonprincipleofoperation)DCMotorAsynchronousACMotor(InductionMotor)Squirrelcage(SCIM鼠笼型)Slip-Ring(woundrotor)(绕线型)SynchronousACMotorPermanentmagnet(永磁式)Sinusoidal~(PMSM)Trapezoidal~(BLDCM)Reluctant(磁阻式)Hysteresis(磁滞式)Electricalmagnet(EMSM励磁式)StepperMotorI.motioncontrolsystemCollegeofautomationscienceandengineeringVVVFControl(变压变频控制)EasilyControlVVVFControlBasedonstaticmodel:VelocityloopopenConstantV/FcontrolVelocityloopclosedSlipfrequencycontrol(onlyforSCIM鼠笼式异步电机)Basedondynamicmodel:Vectorcontrol(矢量控制)Directtorquecontrol(直接转矩控制)I.motioncontrolsystemCollegeofautomationscienceandengineeringVariableVoltageVariableFrequencyVVVFControlApplicationSquirrelcageasynchronousmotor(SCIM)SynchronousACMotor•SinusoidalPermanentmagnet(PMSM永磁式)•Electricalmagnet(EMSM励磁式)CollegeofautomationscienceandengineeringI.motioncontrolsystemMotorControlMethods1.DCmotorcontrol2.ACConstantV/Fcontrol(恒压频比)3.ACVectorcontrol(矢量控制)4.ACDirecttorquecontrol(直接转矩控制)II.motorcontrolmethodsCollegeofautomationscienceandengineering1.DCMotorControlII.motorcontrolmethodsCollegeofautomationscienceandengineering1.DCMotorControlII.motorcontrolmethodsCollegeofautomationscienceandengineering1.DCMotorControlFeatures:Fieldorientationviamechanicalcommutator(通过机械换向器励磁定向)ControllingvariablesareArmatureCurrentandFieldCurrent,measureddirectlyTorquecontrolisdirectII.motorcontrolmethodsCollegeofautomationscienceandengineeringaTICT1.DCMotorControlII.motorcontrolmethodsCollegeofautomationscienceandengineeringMDriveACRASRai*aiPOWER*+-+-+-ai*asi*miaTICT1.DCMotorControlII.motorcontrolmethodsCollegeofautomationscienceandengineeringMDriveATRASRai*aiPOWER*+-+-*eTeT+-eC*mi1.DCMotorControlII.motorcontrolmethodsCollegeofautomationscienceandengineeringAdvantages:AccurateandfasttorquecontrolHighdynamicspeedresponseSimpletocontrolDrawbacks(缺点):Reducedmotorreliability(低可靠性)Regularmaintenance(长期维护费)Motorcostlytopurchase(价格高)2.ACMotorControlII.motorcontrolmethodsCollegeofautomationscienceandengineeringACMotorIntroduction:Smallsize，LightandcompactRobust(鲁棒性好)Lowmaintenance(低维护费)Lowcost(电机价格低)2.ACMotorControlII.motorcontrolmethodsCollegeofautomationscienceandengineering2.ACMotorConstV/FControlII.motorcontrolmethodsCollegeofautomationscienceandengineeringFeatures:ControllingvariablesareVoltageandFrequencySimulationofvariableACsinewaveusingmodulatorFluxprovidedwithconstantV/fratioOpen-loopdriveLoaddictatestorquelevel2.ACMotorConstV/FControlII.motorcontrolmethodsCollegeofautomationscienceandengineeringMDrivePWMModulatorUPOWER*fffUffRampFunctionV/fratioConstTorqueConstpower2.ACMotorConstV/FControlAdvantages:LowcostNofeedbackdevicerequired–simpleDrawbacks:FieldorientationnotusedMotorstatusignoredTorqueisnotcontrolledDelayingmodulatorusedII.motorcontrolmethodsCollegeofautomationscienceandengineering3.ACMotorVectorControlFeatures:Field-orientedcontrol-simulatesDCdrive(sometimescalledFOC)Motorelectricalcharacteristicsaresimulated(需要电机参数)Closed-loopdriveTorquecontrolledINDIRECTLYII.motorcontrolmethodsCollegeofautomationscienceandengineering3.VectorControlCollegeofautomationscienceandengineeringII.motorcontrolmethods3.VectorControlCollegeofautomationscienceandengineeringII.motorcontrolmethodsMDrive2/3VR-1AΨRATRASRFluxandTorqueEstimationsisi*sAi*sBi*sCi*si*si*sti*smiPOWER*+-++--*eT*rreTPWMModulatorEstimationbasedonmotorprinciple3/2VR1sTLrmrmpLLnmrLT/s1++1