Professional Documents
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ACTIONARI ELECTRICE
DE CURENT CONTINUU
Editura ICPE
1999
PREFATA
1
obtinute în urma simularii functionarii masinii de curent
continuu.
Autorii îsi propun sa continue în anul urmator cu
volumele:
„ACTIONARI ELECTRICE CU MASINI DE CURENT
ALTERNATIV”. Volumul cuprinde notiuni legate de sistemele
de actionari electrice cu masini asincrone si sincrone. Sunt
analizate cele mai moderne solutii de comanda a acestor
masini;
„COMANDA SISTEMELOR DE ACTIONARI
ELECTRICE”. In volum sunt prezentate aspecte legate de
functionarea sistemelor de actionari electrice în bucla închisa,
precum si cele legate de comanda numerica a actionarilor
electrice. Tot aici sunt analizate problemele ce trebuie
rezolvate în momentul implementarii comenzii numerice cu
ajutorul automatelor programabile, a controlerelor industriale
sau a procesoarelor numerice de semnal (Digital Signal
Processors).
Bucuresti, 1999
Autorii
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CUPRINS
PREFATA ................................................................................. 1
CUPRINS .................................................................................. 3
CAPITOLUL 1 ...................................................................... 9
GENERALITATI PRIVIND ELEMENTELE
SISTEMELOR DE ACTIONARI ELECTRICE 9
........
1.1. SCURT ISTORIC AL ACTIONARILOR
ELECTRICE ........................................................ 9
1.2. STRUCTURA GENERALA A UNUI SAE ........ 10
1.3. MECANICA SISTEMULUI DE ACTIONARE
ELECTRICA ........................................................ 17
1.3.1. Ecuatia generala de miscare 18
........................
1.3.2. Componentele cuplului de sarcina .............. 21
1.3.3. Exemple de cupluri de sarcina .................... 23
1.3.4. Clasificarea cuplului de sarcina .................. 25
1.3.5. Stabilitatea statica de functionare ............... 26
1.4. SISTEMUL CONVERTOR - MASINA ............. 28
1.5. REGLAREA VITEZEI UNUI SISTEM DE
ACTIONARE ELECTRICA ............................... 30
1.6. SPECIFICAtIILE NECESARE UNUI SISTEM DE
ACTIONARE ELECTRICA ......................... 33
1.7. ELEMENTE DE MECANICA ACTIONARII ... 33
1.7.1. Legile corpului solid ................................... 33
1.7.2. Raportarea cuplurilor si fortelor la acelasi
arbore .......................................................... 37
1.7.3. Raportarea momentelor de inertie si a
masei la acelasi arbore 40
................................
1.8. EFECTE TERMICE ÎN MASINILE ELECTRICE
........................................................ 41
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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CAPITOLUL 2 ...................................................................... 61
MASINI DE CURENT CONTINUU FOLOSITE
ÎN SAE............................................................... 61
2.1. RELATIILE REGIMULUI STATIC DE
FUNCTIONARE ................................................. 61
2.1.1. Masini de curent continuu cu excitatie
separata si derivatie 61
.....................................
2.1.2. Masini de curent continuu cu excitatie serie
si mixta ........................................................ 67
2.2. METODE DE PORNIRE A MASINII DE
CURENT CONTINUU ........................................ 69
2.2.1. Masini de curent continuu cu excitatie
separata sau derivatie 69
..................................
2.2.1.1. Pornire prin conectare directa la
retea ................................................. 70
2.2.1.2. Pornirea reostatica ........................... 72
2.2.1.3. Pornirea prin variatia tensiunii de
alimentare ........................................ 81
2.2.2. Masini de curent continuu cu excitatie serie 81
2.3. METODE DE FRÂNARE A MASINII DE
CURENT CONTINUU ........................................ 83
2.3.1. Masini de curent continuu cu excitatie
separata sau derivatie 83
..................................
2.3.1.1. Frânarea propriu-zisa prin
inversarea sensului de rotatie 83
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ACºIONÅRI ELECTRICE DE CURENT CONTINUU
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...........
2.3.1.2. Frânarea prin contraconectare 85
.........
2.3.1.3. Frânarea dinamica recuperativa 86
.......
2.3.1.4. Frânarea dinamica nerecuperativa 87
...
2.3.2. Masini de curent continuu cu excitatie serie 89
2.3.2.1. Frânarea propriu-zisa prin
inversarea sensului de rotatie 89
...........
2.3.2.2. Frânarea prin contraconectare 90
.........
2.3.2.3. Frânarea dinamica recuperativa 90
.......
2.3.2.4. Frânarea dinamica nerecuperativa 90
...
2.4. METODE DE REGLARE A VITEZEI MASINII DE
CURENT CONTINUU ................. 91
2.4.1. Reglajul reostatic ........................................ 91
2.4.2. Reglarea tensiunii de alimentare 92
.................
2.4.3. Reglarea câmpului de excitatie ................... 94
2.4.4. Reglarea vitezei prin combinarea
metodelor 2 si 3 ........................................... 95
2.5. FUNCTIA DE TRANSFER A UNEI MASINI DE
CURENT CONTINUU ................................. 96
2.5.1. Masina de curent continuu cu excitatie
separata 96
.......................................................
2.5.1.1. Reglarea tensiunii de alimentare 97
......
2.5.1.2. Reglarea câmpului de excitatie 100
........
2.5.2. Masina de curent continuu cu excitatie
serie 102
.............................................................
2.6 PROBLEME ........................................................ 104
2.6.1. Probleme rezolvate ..................................... 104
2.6.2. Probleme propuse ....................................... 107
2.7. BIBLIOGRAFIE .................................................. 109
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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ACºIONÅRI ELECTRICE DE CURENT CONTINUU
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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CAPITOLUL 1
9
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Sistemul de zi Sistemul
Comandå Informatic
xe zc zr y
Surså de ze zm M ecanism
Energie CE CEM CM Productiv
Electricå
Sistemul de
xp yp
For¡å
M ediul
Exterior
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Semnale de comandå
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Ie¿ire
Comandå Motor Sarcinå
Senzori ¿i traductoare
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Amplificator
Ceas extern de putere
r(n)
Unitate de Convertor
y(n) DSP AP Motor
comandå D/A
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Ω min
γ= (1.1)
Ω max
a).
E E
f fs m ms
( m) (J)
v v
Ω Ω
b). c).
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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dΩ
- pentru miscarea de rotatie m = ms + J ⋅ (1.1.b)
dt
unde termenii:
dv
m⋅ = fi - reprezinta forta de inertie (1.2.a)
dt
dΩ
J⋅ = md - reprezinta cuplul dinamic (1.2.b)
dt
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Ωm
Ω(ms) caracteristica
Ω0 mecanicå a ma¿inii
ΩA
Ω(m) caracteristica
mecanicå a sarcinii
m
0
MA Mm ms
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ωm Ωm
mF mF
0 0
m s0 m
Cuplul de frecåri statice fC
m fv
a) b)
unde:
mfv : cuplul de frecari vâscoase, proportional cu viteza;
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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dΩ m
m − ms = J (1.7.b)
dt
dΩ m
m = ms + J ⋅ + B⋅ Ωm (1.8)
dt
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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dΩ m
m = ms + J ⋅ (1.9)
dt
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Ωm Ω
m
m sarc m sarc
a) b)
Ωm Ωm
A B
A' B'
C
m sarc m sarc
c) d)
Ωm
vitezå mare
vitezå micå
m sarc
e)
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Me = M se (1.10)
dΩ m
=0 (1.11)
dt echilibru
d(Ω m + ΔΩ m )
Me + Δm = Mse + ΔmS + J (1.12)
dt
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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⎛ dm ⎞
Δm = ⎜⎜ ⎟⎟ ⋅ ΔΩ m (1.14)
⎝ dΩ m ⎠
⎛ dms ⎞
Δms = ⎜⎜ ⎟⎟ ⋅ ΔΩ m (1.15)
⎝ dΩ m ⎠
d(Ω m ) ⎛ dms dm ⎞
J + ⎜⎜ − ⎟⎟ ⋅ ΔΩ m = 0 (1.16)
dt ⎝ dΩ m dΩ m ⎠
1 ⎛ dmS dm ⎞
− ⋅⎜⎜ − ⎟⋅t
J ⎝ dΩ m dΩ m ⎟⎠
ΔΩ m = ΔΩ m0 ⋅e (1.17)
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Ωm
Cuplul motor Ω
A m Cuplul motor
Cuplul de sarcin
Cuplul de sarcin
B
0 C
0
m m
a) b)
Fig. 1.9. Stabilitatea statica de functionare.
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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viteza
maximå Ωm
puterea
maximå Ω mb cuplul
în regim maxim
tranzitoriu în regim
tranzitoriu
II I
III IV M
- Ω mb
puterea
maximå cuplul
în regim maxim
continuu în regim
continuu
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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B II Ω I
C m2 F2
a). 0 m
Ωm caracteristica
mecanicå a
sarcinii
F C
2 Ω m1 B
II I A
F1 Ω m2
b). 0 m
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Ω m
caracteristica
A Ω m1 mecanicå a
F1 sarcinii
B
II I
C
0 m
III IV
Ω cuplul
D m2 maxim
F2
E
c).
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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dv
f − fs = m (1.19)
dt
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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J = ∫ r 2 ⋅ dm (1.21)
V
GD2 dn
m − ms = ⋅ (1.23)
375 dt
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Tabelul 1.2.
m D/ 2 2πLρ ⋅ r 4 D / 2 πLρD4
J = ∫ r 2dm= ∫ 2πr 3Lρdr = = =
0 0 4 0 32
(1.27)
4
πLρR 1
= = ⋅ mR2
2 2
Atunci când vorbim despre un punct material cu acelasi
moment de inertie cu cel al corpului, putem defini raza de
giratie, care este:
R
RG = (1.28)
2
2
GDG
si ecuatia 1.27 devine: J = (1.29)
4g
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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2
cu GDG moment de giratie.
2. Cilindru gol γ
R1 R2
m R
2 γ
J = ∫ r 2dm= ∫ r 2 ⋅ 2πLr ⋅ ⋅ dr (1.30)
0 R g
1
γ R4 − R14
J = 2πL ⋅ 2 (1.31)
g 4
Dar:
(
G = πL ⋅ R22 − R12 ⋅ γ ) (1.32)
2 R2 + R22
RG = 1 (1.34)
2
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Ωm
i= (1.35)
Ωs
Ω
m
Ma¿ina
de lucru
Ma¿ina
principalå
Ω
s
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Maşina
principală
Ωm
Ω1 Ω2
Ma¿ina
de lucru
Ωs
MS Ms
M' = = (1.37)
i1 ⋅ i 2 ⋅ ⋅ ⋅ i n itotal
Ms Ms
M' = = (1.38)
(i1 ⋅ i 2 ⋅ ⋅ ⋅ in ) ⋅ (η1 ⋅ η2 ⋅ ⋅ ⋅ ηn ) itotal ⋅ ηtotal
In cazul transmisiilor elastice, apare o diferenta între
viteza reala a masinii de lucru si cea ideala. Acelasi fenomen
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ω s idealå − Ω s realå
s= (1.39)
Ω s idealå
Ωm
i= (1.40)
Ω s idealå ⋅ (1 − s)
Sarcina
Maşina
principală
m vS
FS
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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2 2
Ωm Ωm Ω 12 Ω 22 Ω n2
Je ⋅ = Jm ⋅ + J1 ⋅ + J2 ⋅ + ⋅ ⋅ ⋅ + Jn ⋅ (1.42)
2 2 2 2 2
n 1 m v2
Je = Jm + ∑ Jk ⋅ k + ⋅ s2 (1.46)
k= 1 2 η Ωm
∏ i j ⋅η j
j =1
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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p2 = αA ⋅ (Θ − Θ ma) (1.48)
d(Θ − Θ ma)
C = p1 − αA ⋅ (Θ − Θ ma)
dt
d(ΔΘ )
C = p1 − αA ⋅ ΔΘ
dt
(1.49 - 1.52)
d(ΔΘ )
C + αA ⋅ ΔΘ = p1
dt
C d(ΔΘ )
⋅ + (ΔΘ ) = p1 /αA
αA dt
P1 P2
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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(
ΔΘ (t ) = ΔΘ final ⋅ 1 − e−t / TΘ )
p10 (1.53 - 1.54)
ΔΘ final =
αA
Schimbul de energie termica este prezentat în figura
1.17 sub forma ariei hasurate:
ΔΘ Schimbul de
energie termicå
ΔΘfinal înmagazinatå
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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P, Θ
Θmax
Θ
Θ0 functionare P
t
Fig. 1.18. Serviciul de functionare S1.
P, Θ
Θmax
Θ
P
functionare repaus
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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P, Θ
Θmax
Θ2
Θ
Θ1
P
t
repaus functionare
Fig. 1.20. Serviciul de functionare S3.
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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P, Θ
Θ
P
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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1.10. PROBLEME
a ± a2 − 4bc
Ω m1,2 =
2c
b). presupunem ca are loc o crestere a
vitezei masinii cu 10%, adica noua viteza va fi de 1,1 ⋅ Ω m . In
aceste conditii, pentru ca punctele considerate sa fie static
stabile, conform relatiei 1.18, variatia cuplului de sarcina
trebuie sa fie mai mare decât cea a cuplului masinii:
Ω m1 → 1,1⋅ Ω m1
( ) (
M' − M = 1,1a ⋅ Ω m1 − b − a ⋅ Ω m1 − b = 0,1a ⋅ Ω m1 )
M' S − M S = 1,21c ⋅ Ω 2 − c ⋅ Ω 2 = 0,21c ⋅ Ω 2
m1 m1 m1
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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Rezolvare : a)
DT / 2
m
2
DT / 2
2 r4 πLT ρDT4
JT = ∫ r dm = ∫ r ⋅ 2πLT ρdr = 2πL T ρ ⋅ =
0 0 4 32
0
JT = 0,675kgm2
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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b)
Jtotal = J m + J' S + J' T
1 2 1
⋅ J' S Ω m = ⋅ mv2
2 2
2 2
⎛ v ⎞ ⎛ Ω ⋅ D / 2⎞
J' S = m ⋅ ⎜⎜ ⎟⎟ = m ⋅ ⎜⎜ S T ⎟⎟ =
⎝ Ωm ⎠ ⎝ Ωm ⎠
2
⎛⎛ D ⎞ ⎞
⎜ ⎜ Ω m ⋅ 1 ⎟ ⋅ DT / 2 ⎟
⎜⎜ D2 ⎟⎠
2
⎟ ⎛ D1 ⋅ DT ⎞
= m⋅ ⎜ ⎝ ⎟ = m ⋅ ⎜⎜ ⎟⎟
⎜ Ωm ⎟ ⎝ 4D2 ⎠
⎜ ⎟
⎝ ⎠
2
⎛Ω ⎞ D2
J' T = JT ⋅ ⎜⎜ S ⎟⎟ = JT ⋅ 1
⎝ Ωm ⎠ D22
2 2
⎛ 0,08⋅ 0,2 ⎞ ⎛ 0,08 ⎞ 2
Jtotal = 0,4 + 150⋅ ⎜ ⎟ + 0,675⋅ ⎜ ⎟ = 0,475kgm
⎝ 4 ⋅ 0,3 ⎠ ⎝ 0,3 ⎠
(
ΔΘ (t ) = ΔΘ final ⋅ 1 − e−t / TΘ )
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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(
ΔΘ 2 = ΔΘ final2 ⋅ 1 − e−15/ 45 = 40o C )
ΔΘ final 2 ΔΘ 2 1
P2 = P1 ⋅
ΔΘ final1
= P1 ⋅
(1− e ) ΔΘ 1
− 1/ 3
⋅
40 1
P2 = 3,5 ⋅
(1− e− 1/ 3 ) ⋅
40
= 6,574kW
t
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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⎛ T T T T⎞
Q1 ~ ⎜ P12 ⋅ + P22 ⋅ + P32 ⋅ + P42 ⋅ ⎟ =
⎝ 4 4 4 4⎠
T
(
= ⋅ P12 + P22 + P32 + P42 =
4
)
T
(
= ⋅ P12 + 4P12 + 9P12 + 16P12 = 7,5 ⋅ P12 ⋅ T
4
)
Utilizarea unui volant montat pe arborele motorului, ne
conduce la:
2
Q2 ~ Pmed ⋅T
P2 + P22 + P32 + P42 P1 + 2P1 + 3P1 + 4P1
Pmed = 1 = = 2,5 ⋅ P1
4 4
Q2 ~ 6,25⋅ P12 ⋅ T
Q1 − Q2 7,5 − 6,25
ΔQ = ⋅ 100 = ⋅ 100 = 16,67%
Q1 7,5
PR5. Sa se determine constanta termica a motorului de
curent continuu MFD 112.2, care are urmatoarele date:
puterea nominala 11,1 kW, masa 86 kg si randamentul
nominal de 85%. Masina functioneaza în serviciul S1, iar
supratemperatura finala este Δθfinal = 50oC.
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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P10
αA =
ΔΘ final
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ω M M Ω
A S S
B
M M
M M
Ω MS Ω
M M
M S
C D
M M
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Generalităţi privind Elementele Sistemelor de Acţionări Electrice
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1.11. BIBLIOGRAFIE
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CAPITOLUL 2
MASINI DE CURENT CONTINUU FOLOSITE ÎN
SISTEMELE DE ACTIONARI ELECTRICE
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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(a) (b)
Fig. 2.1. Masini de curent continuu cu
excitatie separata (a) si derivatie (b).
IA RA
A1
UA
M E = kΦ Ω
A2
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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U A = RA I A + E + ΔU p
p
E= N ⋅ Φ ⋅ Ω = kΦ ⋅ Ω
2πa (2.1 - 2.4)
M = kΦ ⋅ I A
M = MS
UA
unde: se noteaza cu Ω 0 si se numeste viteza de
kΦ
mers în gol a masinii.
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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1 U I − Pn 1 U An
RA = ⋅ An An
2
= ⋅ ⋅ (1− ηn )
2 I An 2 I An
(2.8)
unde: ηn randamentul nominal al masinii, (marimile notate
cu indicele n, fiind marimile nominale).
0
M
Fig. 2.3. Caracteristica mecanica a unei masini de curent continuu
cu excitatie separata.
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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U An U An
Ω0 = si M pn = ⋅ kΦ (2.9)
kΦ RA
U An U An − RA I An
−
Ω − Ωn
rcm = 0 ⋅ 100= kΦ kΦ ⋅ 100
Ω0 U An
(2.10)
kΦ
RA I An
= ⋅ 100%
U An
P = E ⋅ I A = kΦ ⋅ Ω ⋅ I A = kΦ ⋅ I A ⋅ Ω = M ⋅ Ω (2.11)
iar cuplul nominal la arborele masinii, cu relatia:
Pn
Mn = (2.12)
Ωn
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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ν = 1 − rAm
(2.14 - 2.15)
ν = 1 − r Ai A
M kΦ ⋅ I A I
m= = = A = iA (2.16)
M n kΦ ⋅ I An I An
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65
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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I A = I Ex.
Ex. A1
UA M
D1 D2
A2
a)
I abs I Ex.
A1 E1
Ex.1
UA M
Ex. 2
D1 D2
IA A2
E2
b)
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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U A ( RA + RE ) ⋅ I A
Ω= − (2.17)
kΦ kΦ
U A ( RA + RE ) ⋅ M
Ω= − (2.18)
kΦ (kΦ )2
Din ultima relatie se observa ca în absenta cuplului de
sarcina (IA=0), viteza masinii ar creste foarte mult. De aceea,
nu este permisa functionarea în gol a masinii cu excitatie
serie. Caracteristica mecanica a masinii, prezentata în figura
2.5, este o caracteristica ”moale”. La sarcini mici corespund
viteze mari, iar la sarcini mari, viteze mici, aspect deosebit de
util mai ales în cazul sistemelor de tractiune electrica.
0
M
Fig. 2.5. Caracteristica mecanica a masinii
de curent continuu serie.
M = kΦ ⋅ I A = k ⋅ kΦ ⋅ I E ⋅ I A = M EAI E ⋅ I A = M EA ⋅ I A
2
(2.19)
unde: MEA este o constanta egala cu produsul dintre
k = pN / 2πa si kΦ, constanta de proportionalitate cu
fluxul, având dimensiunea unei inductivitati (H).
67
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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68
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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69
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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F5
K1 So
F1 Q F3
+
K2 S p1 S p2
K2
E1 K1
- F2 M
E2
U
A
K2 K1
K2 F4
K1
F6 K1 K2
1 2 3 4 5 6 7 8
2 1
2 3
6 5
7 8
Fig. 2.6. Schema secventiala de pornire prin conectare directa a
masinii de curent continuu cu excitatie derivatie.
unde: F sigurante;
K bobinele contactoarelor de curent continuu, cu
contactele lor;
S butoane de pornire/oprire.
70
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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Functionarea schemei:
UA
I pmax = (2.21)
RA + Rp
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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sau cu:
I pmax
UA
i pmax = =
I An I An ⋅ RA + Rp (
(2.22)
)
nu trebuie sa depaseasca valoarea de 1,5 ÷ 2,3 ori valoarea
curentului nominal al masinii, iar cel minim de pornire, trebuie
sa fie mai mare decât cel al sarcinii (de regula de 1,05 ÷ 1,1 ori
valoarea acestuia).
Caracteristica reostatica de pornire este prezentata în
figura 2.7. Pentru exemplificare, a fost ales un reostat de
pornire cu doua trepte, cu valorile Rp1 si respectiv Rp2, care
sunt scoase succesiv din circuitul serie cu indusul masinii.
Ω
G
Ω0 N 2'
Ω2 R = RA
2 1'
Ω1 R = RA + Rp1
1
0' R = RA + Rp1+ Rp2
0 I An I p I pmaxI
min
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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(RA + Rp ) ⋅ I p2 min
= RA ⋅ I p2
max
2
⎛ I pmax ⎞ R + Rp
δ 2 =⎜ ⎟ = A (2.26 - 2.28)
⎜ Ip ⎟ RA
⎝ min ⎠
(
U A = I pmax ⋅ RA + Rp )
Pentru aflarea valorii treptelor reostatului de pornire,
trebuie cunoscute doua dintre urmatoarele trei marimi:
valoarea curentului minim de pornire, valoarea curentului
maxim de pornire si respectiv numarul de trepte ale
reostatului de pornire.
Cu ajutorul relatiilor 2.23 - 2.28, pentru valorile treptelor
reostatului de pornire se obtin urmatoarele relatii:
Rp1 = RA ⋅ (δ − 1)
(2.29)
Rp2 = RA ⋅ (δ − 1) ⋅ δ
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73
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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rA + r p = δ 2 ⋅ rA
1
rA + r p = (2.31 - 2.33)
i pmax
1
δ =2
r A ⋅ i pmax
iar relatia pentru o treapta a reostatului de pornire, la cazul
general este:
r pk = r A ⋅ (δ − 1) ⋅ δ k−1 (2.34)
LA
TA =
RA
(2.35 - 2.36)
J ⋅ RA
Tem =
(kΦ )2
LA
TAk = (2.37)
RA + Rpk
(
J ⋅ RA + Rpk )
Temk = (2.38)
(kΦ )2
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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ΩN
Ω2
Ω1
0 t1 t2 t
a)
iA
Ip
min
I pmax
I An
0 t1 t2 t b)
75
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Functionarea schemei:
K1 F3
So K T1
F1 Q F2
+ Rp1 K2
Sp
Rp2 K3 K T2
K1
- F Rp3 K4
1
Ex.
E1 E2 K T3
M K T3 K T2 K T1
K 1 K2 K3 K4
F2 F3
K1
1 2 3 4 5 6 7 8 9 10
10 9 8 2 3 3 3
2
7
76
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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Functionarea schemei:
77
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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F3
K1 K1
So K T1 K 2 K T2
F1 Q F2
+ Rp1 K2
Sp
K K2 K K3
K I1 I1 I2
K3 K1
- F Rp2 K I2
1
Ex.
E1 E2
M
K1 K T1 K2 K T2 K3
F2 F3
K1
1 2 3 4 5 6 7 8 9
7 9 2 7 3 9 4
52 7 9
6 8
Functionarea schemei:
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78
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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K1 K2
So
F1 Q F2
+ Rp1 K2 Sp
K T2 K
T1
K3 K1
- F1 Rp2
K T2
Ex.
E1 E2
M
K1 K T1 K2 K3
F2 F3
K1
1 2 3 4 5 6 7 8
8 3 7 4 4
53 6
( )
U An = RA + Rp ⋅ I A + kΦ ⋅ Ω
dΩ (2.42 - 2.43)
M = kΦ ⋅ I A = J ⋅ + MS
dt
J⋅
dΩ
+
(kΦ )2 ⋅ Ω = kΦ ⋅ U − M
An S
dt RA + Rp RA + Rp
(2.44 - 2.45)
(
J ⋅ RA + Rp ) ⋅ dΩ + Ω = U An − (RA + Rp )⋅ MS
(kΦ )2 dt kΦ (kΦ )2
Cu ajutorul relatiei 2.38 si cu notatia:
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79
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ω final = −
(
U An RA + Rp ⋅ MS ) (2.46)
kΦ (kΦ )2
putem scrie solutia ecuatiei 2.45:
−t / Temk −t / T
Ω (t ) = Ω ini ¡ial ⋅ e + Ω final ⋅ ⎛⎜ 1 − e emk ⎞=
⎟
⎝ ⎠ (2.47)
(
= Ω final + Ω ini ¡ial − Ω final ⋅ e ) −t / Temk
Ω 1 − Ω final
tk = Temk ⋅ ln =
Ω 2 − Ω final
(2.48)
M − MS
= Temk ⋅ ln max
Mmin − MS
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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U An
Ω lim it = (2.49)
kΦ
U An U An Ωn
Ω limit = = =
(kΦ )n U An − ( RA + RE ) ⋅ I An 1 − A + RE ) ⋅ I An
( R
Ωn U An
(2.50)
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81
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ω ki = Ω lim it i ⋅ ⎢1 −
⎡ (RA + RE + Rpk )⋅ I A ⎤ i
(2.51)
⎥
⎢⎣ U An ⎥⎦
E'
F'
d' d
D'
D Caracteristica
I pmax C' c' c
limitå
C Ω 2 Caracteristica
I pmi n B' b' b naturalå
B Ω 1 Caracteristica
a reostaticå (R + Rp1 )
A' A R p1 R p2 R 0 IS I I
R pmin pmax I
R total
R=R A + R E Caracteristica
UA n / I pmi n
R total= UA n / I pmax reostaticå (R + Rp1 + Rp2 )
82
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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E I E Ex v S
U
m
a)
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83
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ω
Ω0
A RA
B
RA + RF
1
Motor C
M
0 MS RA + RF
2
Generator
D
RA + RF
3
b)
Fig. 2.13. Frânarea propriu-zisa prin inversarea sensului de rotatie.
U An RA + RF
Ω cob = − ⋅ MS (2.52)
kΦ (kΦ )2
si rezulta:
U An ⋅ kΦ (kΦ )2 ⋅ Ω cob
RF = − − RA (2.53)
MS MS
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84
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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RF
MS
Ω M
Sarcinå
U An M
IA E I E Ex
U a)
Ω
B
Ω0
A RA
Generator Motor
M
C 0 MS
Motor Generator
RA + RF
E
RA + RF
- Ω0
D
b)
Fig. 2.14. Frânarea prin contraconectare: a) schema electrica;
b) caracteristica mecanica de frânare prin contraconectare.
Metoda consta în schimbarea polaritatii tensiunii de
alimentare, simultan cu introducerea în serie cu indusul
masinii a unei rezistente de frânare. Schema electrica
corespunzatoare acestui procedeu si caracteristica mecanica
pentru frânarea prin contraconectare sunt prezentate în figura
2.14.
Procedeul este folosit mai ales acolo unde este
necesara obtinerea unui timp mic de frânare. Cuplul maxim
de frânare este limitat în general la aproximativ 2÷ 2,5 ori
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85
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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U An RA + RF
Ω =− − ⋅M (2.54)
kΦ (kΦ )2
unde valoarea cuplului este negativa, el având sensul
schimbat fata de cazul în care masina functiona în regim de
motor. Masina frâneaza si poate fi oprita în punctul C. Daca
procesul continua, va avea loc reversarea, adica schimbarea
sensului vitezei unghiulare a masinii.
Pentru accelerarea în acest nou sens, se poate realiza
o scoatere secventiala a treptelor rezistentei de frânare,
similar cu cazul pornirii reostatice.
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86
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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A
Ω0
M
0 Mn
( RA + RF ) ⋅ I F
Ω =− =
kΦ
(2.55)
( RA + RF ) ⋅ M F
=−
(kΦ )2
unde valoarea curentului de frânare, respectiv a cuplului de
frânare sunt negative. Dezavantajul acestui procedeu consta
în scaderea cuplului de frânare odata cu scaderea vitezei
masinii.
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87
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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MS
Ω M Sarcinå
RF M
IA E I E Ex
Ω
B
Ω0
A RA
RA + RF
Generator Motor M
0 MS
⎧U A = ( RA + RF ) ⋅ I F + kΦ ⋅ Ω
⎪
⎨ dΩ
⎪⎩kΦ ⋅ I F = J ⋅ dt
J ⋅ ( RA + RF ) dΩ
⋅ +Ω = 0
(kΦ )2 dt (2.56 - 2.60)
J ⋅ ( RA + RF )
TemF =
(kΦ )2
dΩ
TemF ⋅ +Ω = 0
dt
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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− t / TemF
Ω = Ω0 ⋅e (2.61)
kΦ − t / TemF
iF = − ⋅Ω ⋅e (2.62)
RA + RF
iA
Ω I An
Tem
F
0
Ω0 t
IF
0 Tem
F
t
89
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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U An RA + RE + RF
Ω =− − ⋅ IF (2.63)
kΦ kΦ
sau:
⎛ RA + RE + RF ⎞
Ω = −Ω lim itå ⋅ ⎜⎜ 1 + ⋅ I F ⎟⎟ (2.64)
⎝ U An ⎠
90
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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RA + RE + RF
Ω =− ⋅ IF (2.65)
kΦ
Si în acest caz, la oprire se poate folosi o schema de
comanda secventiala pentru scurtcircuitarea treptelor
reostatului de frânare.
91
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ω Ω
caracteristica
mecanicå
naturalå caracteristica
mecanicå
naturalå
0 0
M M
92
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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Ex. Ex.
M.As. G M Sarcina
Y/ Δ
RE1 RE2
+
-
3 x 380 V
EG = U G + RAG ⋅ I AG = (kΦ )G ⋅ Ω G
U M = EM + RAM ⋅ I AM = (kΦ ) M ⋅ Ω M + RAM ⋅ I AM
U M = UG
(2.66 - 2.68)
si rezulta pentru viteza masinii relatia:
(kΦ )G R + RAM
ΩM = ⋅ Ω G − AG ⋅IA (2.69.a)
(kΦ ) M (kΦ ) M
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93
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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(kΦ )G R + RAM
ΩM = ⋅ Ω G − AG ⋅M (2.69.b)
(kΦ ) M (kΦ )2M
Din relatiile 2.69 rezulta ca viteza sarcinii poate fi
reglata atât prin modificarea tensiunii generatorului G, cât si
prin slabirea câmpului de excitatie a motorului M. Astfel, cu
ajutorul grupului generator - motor, cunoscut si sub numele
de Grup Ward - Leonhard, dupa numele inventatorilor, se
poate realiza o gama de reglare a vitezei de aproximativ 1:20.
Actionarea poate functiona în patru cadrane. Inversarea
sensului de mers se face prin schimbarea sensului curentului
de excitatie al generatorului G. Aceasta metoda de reglare a
vitezei este folosita la actionarea laminoarelor, a masinilor -
unelte grele (raboteze, strunguri carusel), instalatiilor de
ridicat si transportat (teleferice de persoane, masini de
extractie miniere), a locomotivelor diesel - electrice, etc.
Dintre avantajele actionarii mentionam: timp mic de
pornire, frânarea se poate face lin, nu sunt necesare
rezistente suplimentare în circuitul indusului masinii M. Dar,
actionarea prezinta si o serie de dezavantaje ce trebuie luate
în considerare: putere instalata mare, gabarit mare,
randament inferior actionarilor cu convertizoare cu dispozitive
semiconductoare de putere (produsul randamentelor celor trei
masini de puteri apropiate), cost ridicat, întretinere
pretentioasa datorita uzurii colectoarelor si a periilor.
În general, pe axul masinii asincrone este cuplata o
masina de curent continuu de putere mica cu magneti
permanenti. Ea este folosita pentru alimentarea excitatiilor
masinilor de curent continuu din cadrul grupului si poarta
numele de masina excitatoare.
94
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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caracteristica
mecanicå
caracteristica naturalå
mecanicå
naturalå
0 M 0 M
(a) masina derivatie (separata) (b) masina
serie
Fig. 2.20. Caracteristicile mecanice ale masinii de curent continuu
în cazul reglarii câmpului de excitatie.
95
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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IA
Ω bazå Ω
0
Ω max
reglarea tensiunii reglarea
de alimentare câmpului
de excita¡ie
96
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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di A
uA = RAi A + L A ⋅ + eA
dt
eA = (kΦ ) ⋅ Ω
(2.70 - 2.73)
m = (kΦ ) ⋅ i A
dΩ
m = mS + B ⋅ Ω + J ⋅
dt
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97
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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J
Tmv = (2.76)
B
U A ( s) − kΦ ⋅ Ω ( s)
I A ( s) = (2.77)
RA ⋅ (1 + s ⋅ TA )
kΦ ⋅ I A ( s) − M S( s) 1 M ( s) − M S( s)
Ω ( s) = = ⋅ (2.78)
B + s⋅ J B 1 + s ⋅ Tmv
M S(s)
-
UA (s) 1 / RA IA(s) M(s) 1/B Ω (s)
+ (1+TA ) kΦ (1+Tmv )
+
-
E(s)=kΦΩ (s)
kΦ
Fig. 2.23. Schema bloc a masinii de curent continuu cu excitatie
independenta comandata pe indus.
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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1 M ( s)
Ω ( s) = ⋅ (2.79)
B 1 + s ⋅ Tmv
kΦ I A (s)
U A ( s) − kΦ ⋅ ⋅
B (1 + s ⋅ Tmv)
I A (s) = (2.80)
RA ⋅ (1 + s ⋅ TA )
U A ( s) ⎡
= I A ( s) ⋅ ⎢1 +
(kΦ )2 ⎤
⎥
RA ⋅ (1 + s ⋅ TA ) ⎢⎣ RA ⋅ B ⋅ (1 + s ⋅ TA ) ⋅ (1 + s ⋅ Tmv ) ⎥⎦
I A (s) B ⋅ (1 + s ⋅ Tmv )
=
U A ( s) (kΦ ) + RA ⋅ B + RA ⋅ B ⋅ (TA + Tmv ) ⋅ s + RA ⋅ B ⋅ TA Tmv ⋅ s2
2
(2.81 - 2.82)
Cu folosirea notatiilor:
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99
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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J ⋅ RA
Tem1 =
B ⋅ RA + (kΦ )2
(2.83 - 2.84)
B
K1 =
B ⋅ RA + (kΦ )2
rezulta:
I A (s) K 1 ⋅ (1 + s ⋅ Tmv )
= =
U A ( s) ⎛ T ⎞
1 + Tem1 ⋅ ⎜⎜ 1 + A ⎟⎟ ⋅ s + Tem1 ⋅ TA ⋅ s2
⎝ Tmv ⎠ (2.85)
K 1 ⋅ (1 + Tmv )
=
(1 + s ⋅ T1 ) ⋅ (1 + s ⋅ T2 )
Ω (s) kΦ 1
= ⋅
U A (s) B ⋅ RA + (kΦ ) 2 ⎛ T ⎞
1 + Tem1 ⋅ ⎜⎜ 1 + A ⎟⎟ ⋅ s + Tem1 ⋅ TA ⋅ s2
⎝ Tmv ⎠
(2.86)
100
Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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di E
U E = RE ⋅ i E + L E ⋅ (2.87)
dt
m = kΦ ⋅ I A = kA ⋅ i E (2.88)
dΩ
k A ⋅ i E = mS + B ⋅ Ω + J ⋅ (2.89)
dt
⎧ U E ( s) = RE I E ( s) + s ⋅ L E I E ( s)
⎨ (2.90 - 2.91)
⎩k A I E ( s) = M S ( s) + B ⋅ Ω ( s) + s ⋅ J ⋅ Ω ( s)
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101
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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k A I E (s) − M S(s)
Ω (s) = =
B + s⋅ J
kA UE M S(s)
= ⋅ − = (2.92)
B ⋅ (1 + s ⋅ Tmv ) RE ⋅ (1 + s ⋅ TE ) B ⋅ (1 + s ⋅ Tmv )
kA UE 1 M S(s)
= ⋅ − ⋅
B ⋅ RE (1 + s ⋅ Tmv ) ⋅ (1 + s ⋅ TE ) B (1 + s ⋅ Tmv )
L
unde: TE = E (2.93)
RE
MS (s)
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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L + LE L'A
T' A = A = (2.94)
RA + RE R'A
di A
uA = R'Ai A + L'A ⋅ + eA
dt
eA = (kΦ ) ⋅ Ω
(2.95 - 2.98)
m = (kΦ ) ⋅ i A
dΩ
m = mS + B ⋅ Ω + J ⋅
dt
kΦ = f ( I A ) (2.99)
103
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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-
UA (s) 1 IA(s) M(s) 1/ B Ω (s)
+ k Φ' (1+T’mv
R'A(1+T' )+R +
- A
E(s)
k Φ0
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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2.6. PROBLEME
Rezolvare : U An = RA I An + ( kΦ ) n ⋅ Ω n
U An − RA I An 220 − 20 ⋅ 1
( kΦ ) n = nn
=
500
= 3,82Wb
2π 2π
60 60
U An = ( RA + R)I A + (kΦ )n ⋅ Ω 2 =
K ⋅Ω2
= ( RA + R) ⋅ + (kΦ )n ⋅ Ω 2
(kΦ )n
Mm = MS = K ⋅ Ω n = ( kΦ ) n ⋅ I An
si rezulta:
( kΦ ) n ⋅ I An 3,82⋅ 20
K= = , Nm / rads−1
= 146
n 500
2π n 2π
60 60
500
U An − (kΦ )n ⋅ I An 220− 3,82⋅ 2π 60
RA + R = = = 12Ω
K ⋅Ω2 1,46⋅ 2π ⋅ 250
(kΦ )n 3,82⋅ 60
R = 11Ω
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ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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U An = 230V
nn = 500rot / min
I An = 100A
RA = 0,1Ω
nn 500
Ω n = 2π = 2π = 52,4rad / s
60 60
En 220
(kΦ )n = = = 4,2Wb
Ωn 52,4
En 220 400
E1 = ⋅Ω1 = ⋅ 2π ⋅ = 176V
Ωn 52,4 60
U A1 = E1 + RA I A = 176+ 10 = 186V
b)
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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E2 = (kΦ )2 ⋅ Ω 2 = K ⋅ (kΦ )n ⋅ Ω 2 =
800
= K ⋅ 4,2⋅ 2π ⋅ = 351,9 ⋅ K
60
(kΦ )n ⋅ I A1 = (kΦ )2 ⋅ I A2
(kΦ )n 1 100
I A2 = ⋅I = ⋅ I A1 =
(kΦ )2 A1 K K
U A = RA I A2 + (kΦ )2 ⋅ Ω 2 =
1
= 0,1⋅ 100⋅ + 351,9 ⋅ K = 230
K
2
351,9 ⋅ K − 230⋅ K + 10 = 0
107
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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⎛ P ⎞
nAs = 1500⋅ ⎜⎜ 1 − 0,02⋅ 2As ⎟⎟ rot / min ?
⎝ PnAs ⎠
c). Care va fi turatia nominala a motorului de curent
continuu, daca turatia motorului asincron scade cu
puterea dezvoltata relativa conform relatiei
anterioare?
Se va considera ca pierderile mecanice si de ventilatie ale
masinilor de curent continuu au valoarea nominala, iar
generatorul are excitatie nominala. Puterea la mersul în gol a
motorului asincron, se estimeaza în conditiile date la 10% din
puterea nominala a cestuia.
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Maşini de Curent Continuu folosite în Sistemele de Acţionări Electrice
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109
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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2.7. BIBLIOGRAFIE
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110
CAPITOLUL 3
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111
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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112
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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Observatii:
) Daca se reduce (sau elimina) zona regimului de
curent întrerupt, raspunsul actionarii este sensibil
îmbunatatit (ca si controlul – reglarea vitezei);
) Pentru reducerea pierderilor ar fi util sa se
foloseasca un redresor cu un numar ridicat de
pulsuri, pentru a putea obtine ondulatii ale
curentului de frecvente mai mari si astfel mai mici
în amplitudine. Dar în acelasi timp, factorul de
utilizare al tiristoarelor ar scadea la 2π/p, ceea ce
implica o crestere substantiala a pretului de cost.
Ex
U0
M
113
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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UA
δ t t
T
i
A
δ t t
1 T 1 T
UA = ⋅ ∫ uAdt = ⋅ ∫ Udt = δU (3.1.)
T 0 T 0
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114
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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L i
iA
u
L
U0 u M
A
i
E
di
uA = U 0 − uL = U 0 − L (3.2)
dt
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115
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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0 tA T t
iA
0 tA T t
uA
- Ldi/dt
U0
0 t
tA T
116
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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117
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Chopper
Us
M
R R
A A
+ DRL
U
S - L L
A A
+ +
E E
_ _
Observatii:
) Curentul prin sursa nu este continuu. El este în
pulsuri, ceea ce implica existenta unei puteri
active cerute de la sursa de valoare mare, un timp
mic (pulsuri de putere), care poate duce la variatii
ale tensiunii de alimentare. Armonica
fundamentala a formei de curent are aceeasi
frecventa cu cea a curentului. Ele sunt nedorite
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118
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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i i
a2 A
E
i
A
i i
a1 a2
0 0 t
δt T t δt γT T
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119
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Ipoteze de lucru:
Î Chopper-ul este ideal (fara pierderi);
Î Dioda de regim liber (DRL) este ideala, caderea de
tensiune pe acest element al schemei este nula;
Î Regim de functionare continua;
Î Tensiunea de alimentare a chopper-ului este egala cu
cea a sursei.
Î
di A
RAi A + L A ⋅ + E = Us
dt (3.4.a)
i A (0) = i A1
solutia este:
t
U −E ⎛ U − E ⎞ − TA
iA = s + ⎜⎜ i A1 − s ⎟⋅e
RA ⎝ RA ⎟⎠
δT
U −E ⎛ U − E ⎞ − TA
i A (δT ) = i A2 = s + ⎜⎜ i A1 − s ⎟⋅e
RA ⎝ RA ⎟⎠
(3.4.b)
2). Durata de pauza δT < t < T.
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Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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t ' = t − δT
di A
RAi A + L + E=0
dt'
i A (t' =0) = i A (t =δT ) = i A2
(3.5.a)
solutia este:
t'
E ⎛ E ⎞ − TA
iA = − + ⎜⎜ i A2 + ⎟⋅e
RA ⎝ RA ⎟⎠
T⋅(1−δ )
E ⎛ E ⎞ − TA
i A (t = T⋅(1−δ )) = i A1 = − + ⎜⎜ i A2 + ⎟⋅e
RA ⎝ RA ⎟⎠
(3.5.b)
T δT T −δT
i A − i A2 U 1 + e TA − e TA − e TA
Δi A = 1 = ⋅ (3.7.a)
2 2RA T
e TA − 1
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121
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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⎛ Δi ⎞
ln⎜⎜ 1 + A max ⎟⎟
2( 2I 0 + Δi A max) ⎝ I0 ⎠
A1 = (3.8)
π Δi Amax ⎞
2 ⎛⎜ ⎟⎟
π + ln ⎜ 1 +
2
⎝ I0 ⎠
⎛ δT ⎞
⎜ ⎟
Us ⎜ 1 − e T δU S − keΦ e ⋅ Ω
−δ ⎟ +
A
I0 = ⋅ (3.9)
RA ⎜ T ⎟ RA
⎜ TA ⎟
⎝ 1 − e ⎠
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Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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T
2TA
− 1 Us
2e 2 Us T
kw I An = = ≅
π RA π RA 4TA + T
T
2TA
e +1
2 Us T 2 Us (3.10)
= = T
π RA 4TA π L A
2Us
Lw = T
4π kw I An
unde Lw este valoarea necesara a inductantei de netezire
(filtrare) folosita. Se remarca dependenta acestei valori de
perioda de lucru.
Observatii:
) In regim stabilizat de functionare, valoarea medie
a caderii de tensiune pe bobina este zero. Astfel:
U A = E + RA I A
δUs = E + RA I A (3.11)
δU s − E
IA =
RA
) Daca fluxul de excitatie este constant, atunci în
regim stabilizat de functionare, cuplul de sarcina
MS este egal cu cuplul electromagnetic M si este
proportional cu valoarea curentului din indusul
masinii de curent continuu, IA. Astfel rezulta:
δU s RA
Ω= − ⋅M (3.12.a)
keΦ e (keΦ e )2
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123
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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1 ⎡δT ⎛ i −i ⎞ T −δT ⎛ i −i ⎞ ⎤
IA = ⋅ ⎢ ∫ ⎜ i A1 + A2 A1 ⋅ t ⎟dt + ∫ ⎜ i A2 + A1 A2 ⋅ t ' ⎟dt' ⎥ =
T ⎢⎣ 0 ⎝ δT ⎠ 0 ⎝ T − δT ⎠ ⎥⎦
i +i
= A1 A2 = constant
2
(3.12.b)
O astfel de valoare a curentului mediu prin indusul
masinii de curent continuu poate duce la aparitia
fenomenului de instabilitate statica de functionare,
deoarece pentru aproximatia considerata anterior nu a
contat caracterul sarcinii masinii.
U s − E − RAi A1
− δT = TA ⋅ ln
U s − E − RAi A2
(3.13-3.14)
E + RAi A1
(1 − δT ) = − TA ⋅ ln
E + RAi A2
Din ecuatiile 3.13-3.14 rezulta perioada T si din ecuatia
3.13 se obtine coeficientul δ . Astfel, rezulta valoarea medie a
curentului prin indusul masinii, respectiv valoarea cuplului
electromagnetic dezvoltat de catre aceasta:
δU s − E
IA =
RA (3.15)
M = (keΦ e ) ⋅ I A
Observatie:
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Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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1 ⎡δT ⎛⎜ i A − i A1 ⎞ T −δT ⎛ i A − i A2 ⎞ ⎤
IA = ⋅ ⎢ ∫ ⎜ i A1 + 2 ⋅ t ⎟⎟dt + ∫ ⎜⎜ i A2 + 1 ⋅ t' ⎟⎟dt' ⎥ =
T ⎢⎣ 0 ⎝ T ⎠ 0 ⎝ T − δT ⎠ ⎥⎦
i A1 + i A2
= = const.
2
(3.16)
125
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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L T C
0 L 2
2
U T
0 1
D
2 D
L 1
D
Ex
M
L
1
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Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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diC
U 0 = uC + L1 ⋅
dt
duC
iC = C ⋅ (3.17)
dt
d 2uC
U 0 = uC + CL1 ⋅
dt 2
Solutia este:
uC = C1 ⋅ cosωt + C2 + C3 ⋅ sinωt
uC (0) = 0 C1 + C2 = 0
⇒ (3.18.a)
i C (0) = 0 C3 = 0
C1 = −U 0 C2 = U 0 (3.18.c)
si rezulta:
uC = U0 − U0 ⋅ cosωt
i C = ωC ⋅ Uo ⋅ sinωt (3.19)
1
ω=
L1C
In figura 3.9 este redata variatia în timp a diverselor
marimi care definesc functionarea chopper-ului comandat în
tensiune.
Figura 3.10 arata cum variaza marimile: tensiunea si
curentul condensatorului C.
Observatii:
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127
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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a)
b)
Fig. 3.9. Forme de unda ale chopper-ului comandat în tensiune
a) tensiunea pe condensator; b) curentul prin tiristor.
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Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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c)
d)
Fig. 3.9. Forme de unda ale chopper-ului comandat în tensiune
c) tensiunea pe bobina; d) tensiunea la bornele masinii.
129
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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diC
uC = ( L0 + L2 ) ⋅
dt
duC
i C = −C ⋅ (3.20)
dt
d 2uC
uC + ( L0 + L2 ) ⋅ C ⋅ =0
dt 2
solutia este:
uC = A1 + A2 ⋅ sinω ' t + A3 ⋅ cosω ' t (3.21)
cu conditiile initiale:
uC (t s ) = 2U 0
(3.22)
i C (t s ) = 0
uC (t s ) = 2 ⋅ U0 ⇒
(3.23)
A1 + A2 ⋅ sinω ' t s + A3 ⋅ cosω ' t s = 2 ⋅ U0
(3.25)
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Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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Rezulta: A1 = 0
A2 = 2 ⋅ U0 ⋅ sinω ' t s
(3.27)
A3 = 2 ⋅ U0 ⋅ cosω ' t s
uC = 2U 0 ⋅ cosω ' (t − t s )
(3.28)
i C = 2Cω ' U 0 ⋅ cosω ' (t − t s )
1
ω' = (3.29)
( L0 + L2 )C
L0
uL0 = 2U 0 ⋅ ⋅ cosω ' (t − t s ) (3.30)
L0 + L 2
Observatii:
131
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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+
T +
1
D i
2 i A
D
T
2
U
0 M
C
i L D
C
R
-
-
132
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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133
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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U0
U0
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134
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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Avantaje:
Ï Comutatia este fiabila atâta timp cât curentul de
sarcina este mai mic decât curentul iC;
Ï Condensatorul ramâne întotdeauna încarcat la
aceiasi polaritate;
Ï Tiristorul auxiliar T2 este comutat natural atunci
când curentul sau trece prin valoarea zero.
Alegerea componentelor de comutatie L si C
a) Valoarea maxima a curentului de comutatie este
mai mare decât maximul anticipat pentru valoarea curentului
de sarcina. De aceea:
1/ 2
⎛ C⎞
i C = U0 ⋅ ⎜ ⎟ = x ⋅ I Amax (3.31)
⎝ L⎠
unde: x > 1 .
b) Timpul de stingere tq al circuitului este mai mare
decât timpul de stingere tOFF al tiristorului:
t q = t OFF + Δt
(3.32)
tq = t 4 − t3
daca x = 2, atunci:
2π
ω' tq =
3
(3.33)
2π
tq = ⋅ ( LC)1/ 2 = t OFF + Δt
3
1/ 2
⎛ C⎞
2I A max = U 0 ⎜ ⎟ (3.34)
⎝ L⎠
rezulta:
3 ⋅ U 0 ⋅ (t OFF + Δt )
L=
4π ⋅ I A max
(3.35)
3 ⋅ I A max ⋅ (t OFF + Δt )
C=
πU 0
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135
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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i
C Ex
+ +
u
C
+ - C
i
A
i
D
T T
4 2 U M
A
U
0 D
- -
136
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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tON = δT (3.36)
2U 0C
t ON = (3.37)
IA
t 2 ⋅ U 02 ⋅ C ⋅ f
U A = U 0 ⋅ ON = U 0 ⋅ t ON ⋅ f = (3.38)
T IA
U A ( f max) = U 0 (3.39)
2 ⋅ U02 ⋅ C
U0 = ⋅ fmax (3.40.a)
IA
IA
fmax =
2 ⋅ U0 ⋅ C
(3.40.b)
I A max
C=
2 ⋅ U0 ⋅ fmax
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137
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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Dezavantaje:
Avantaje:
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138
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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i
A
I
A
u
A 2U t
0
E
0
t T
ON U t
u 0
C
T t
-U
i 0
C
t
i
D
u t
T1
t
q t
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139
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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di A
U 0 = RAi A + L A ⋅ + M EAI AΩ + K f Ω pentru 0 < t < tON
dt
di
0 = RAi A + L A ⋅ A + M EAI AΩ + K f Ω pentru tON < t < T
dt
(3.41)
⎛ −
t ⎞ −
t
U0 − K f Ω ⎜ TA'
⎟ TA'
iA = ⋅ ⎜ 1− e ⎟ + I A min ⋅ e , pentru: 0 < t < tON
RA + M EA ⋅ Ω ⎜ ⎟
⎜ ⎟
⎝ ⎠
⎛ −
t ⎞ −
t'
− KfΩ ⎜ TA'
⎟ TA'
iA = ⋅ ⎜ 1− e ⎟ + I A max ⋅ e , pentru: tON < t < T
RA + M EA ⋅ Ω ⎜ ⎟
⎜ ⎟
⎝ ⎠
(3.42)
unde:
t' = t − tON
LA (3.43)
T 'A =
RA + M EA ⋅ Ω
Se obtine:
t ON t ON
− −
U0 − K f Ω TA' '
I A max = i A (tON ) = ⋅ (1 − e ) + I A min ⋅ e TA
RA + M EA ⋅ Ω
(3.44)
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140
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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T − t ON
−
− KfΩ TA'
I A min = i A (t' = T − t ON ) = ⋅ (1 − e )+
RA + M EA ⋅ Ω
T − t ON
−
TA'
+ I A max ⋅ e
(3.45)
si rezulta:
t ON
−
'
U0 e TA − 1 KfΩ
I A min = ⋅ − (3.46.a)
RA + M EA ⋅ Ω −
T RA + M EA ⋅ Ω
'
e TA − 1
t ON
'
U0 e TA − 1 KfΩ
I A max = ⋅ − (3.46.b)
RA + M EA ⋅ Ω T RA + M EA ⋅ Ω
'
eTA − 1
In cazul unui curent discontinuu prin indus Imin = 0,
rezulta:
t ON
−
U0 − K f Ω '
I A max = ⋅ (1 − e TA ) (3.47)
RA + M EA ⋅ Ω
Pentru a gasi momentul t = tm când curentul devine
zero, se înlocuieste valoarea lui IAmax în expresia curentului
prin indus iA care este egalata cu zero:
⎧ t ON ⎡ ⎛ t ⎞⎤ ⎫
⎜ − ON ⎟⎥ ⎪⎪
⎪⎪ ' ⎢ U0 − K f Ω '
t m = TA' ⋅ ln⎨e TA ⋅ ⎢1 + ⋅ ⎜ 1− e TA ⎟⎥ ⎬ (3.48)
⎪ ⎢ KfΩ ⎜⎜ ⎟⎟⎥ ⎪
⎩⎪ ⎣ ⎝ ⎠⎦ ⎭⎪
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141
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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u +
U A
0 u
m
-
-
a)
i
A
I
max
I
min
0 t T t
ON
t'=t - t
ON
b)
i
A
0 t t T t
ON m
t'=t - t
ON
c)
1 ⎡tON tm ⎤
IA = ⋅ ⎢ ∫ i A (t )dt + ∫ i A (t )dt⎥ (3.49)
TA' ⎢⎣ 0 tON ⎥⎦
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140
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
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__________
fie:
U0 − K f Ω − KfΩ
I1 = si I2 = (3.50)
RA + M EA ⋅ Ω RA + M EA ⋅ Ω
1/ 2
⎧ 1 ⎡t ON tm ⎤ ⎫⎪
⎪
⎢ 2 2
I Aef = ⎨ ⋅ ∫ i A (t )dt + ∫ i A (t )dt⎥ ⎬ (3.52)
⎪⎩ T ⎢⎣ 0 t ON ⎥⎦ ⎪
⎭
1 '
I Aef = { ⋅ [ I 12 ⋅ tON + 2⋅ TA' ⋅ I 1 ⋅ ( I A min − I 1 ) ⋅ (1 − e− t ON / TA ) +
T
2t ON
−
T' '
+ A ⋅ I 2 ⋅ ( I A max − I 2 ) ⋅ (1− e TA ) + I 22 ⋅ (t m − tON ) −
2
'
− 2⋅ TA' ⋅ I 2 ⋅ ( I A max + I 2 ) ⋅ (1 − e− (t m − t ON ) / TA ) +
T' '
+ A ⋅ ( I A max + I 2 ) 2 ⋅ (1− e− 2(t m − t ON ) / TA )} 1/ 2
2
(3.53)
Cuplul electromagnetic:
141
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
2
M = M EA ⋅ I Aef (3.54)
U A − keΦ eΩ
I1 =
RA
(3.57)
kΦ Ω
I2 = − e e
RA
__________________________________________________________________________________________________________
__________
142
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
M = keΦ eI A (3.58)
δ ⋅ U0 R
Ω= − A ⋅IA (3.59)
keΦ e keΦ e
1
U medie= [ U 0 ⋅ δ ⋅ T + E ⋅ (1 − δ − β ) ⋅ T ]
T (3.60)
U medie= U 0 ⋅ δ + E ⋅ (1 − δ − β )
δ ⋅U RA
Ω= − ⋅ IA (3.61)
keΦ e ⋅ (δ + β ) keΦ e ⋅ (δ + β )
__________________________________________________________________________________________________________
__________
143
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
δ
Ω lim = ⋅ Ω0 (3.62)
δ +β
⎛ δT ⎞ T T
⎜ TA ⎟ −δ
1− e ⎟ U0
I A lim = 0 ⋅ ⎜ β −
U T TA
≅ ⋅δ ⋅ A ≅
RA ⎜ T ⎟ RA T
⎜ ⎟ 2+ (3.63)
⎝ 1 − eTA ⎠ TA
U T
≅ 0⋅ ⋅ (δ − δ 2 ) = 2πkw I An ⋅ (δ − δ 2 )
RA 2TA
⎛Ω Ω2⎞
I A lim = 4I A lim max⎜ l − 1 ⎟ (3.64)
⎜ Ω0 Ω 2 ⎟
⎝ 0⎠
__________________________________________________________________________________________________________
__________
144
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
0,8
δ=0,8
0,6
δ=0,6
0,4
δ=0,4
0,2
0
i=I /I
A An
145
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
I
ex
Chopper
R
1
* +
U
A
-
Chopper R
2
+ -
Tensiune
continua
__________________________________________________________________________________________________________
__________
146
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
i
+ A
U
C A
+ Ex
U
0
-
Chopper
- I
ex
Filtru
a)
+
i
A
Chopper
U
A + Ex
C
U DRL
0
-
I
ex
-
Filtru
b)
i
M F A
F M
+ +
- -
i
A
c)
__________________________________________________________________________________________________________
__________
147
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
148
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
u i
A A u i
A A
u
U u U A
0 A 0
i E
A2
i i i
A1 A A
0 δT T t 0 δT T t
a) b)
di A
E = RAi A + L A ⋅
dt (3.65)
i A (0) = i A1
di A
E = U 0 + RAi A + L A ⋅
dt
i A (δT) = i A2
(3.66)
E − (1 − δ ) ⋅ U 0
IA =
RA
U A = (1 − δ ) ⋅ U 0
__________________________________________________________________________________________________________
__________
149
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
+
D2
CH1
L netezire i
A
U
0
Ex
+
CH2 D1 u
A I
ex
-
-
+ -
150
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
151
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
i CH1 D1 CH1 D1
A
I
A
0
t
i
S
I
S
0 t
a)
0
t
i CH2 D2 CH2 D2 CH2 D2
A
0
t
i
S
i t
A
0
t
i
S
b)
L netezire
T
d
Ex
U u +
0 A
R
Chopper d -
I
- ex
+ -
R
a
152
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
+
C U
Stg. AB Dr. D2
+ -
A B
U A1 A2
0 Chopper
D1
-
Iex
153
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Observatie:
) Schema de mai sus poate fi folosita si pentru
masinile de curent continuu cu excitatie serie,
caz în care excitatia este conectata în afara
întrerupatorului manual C.
154
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
δ ⋅ U0 − E
U A = δ ⋅ U0 ⇒ IA = (3.67)
RA
i
S
Chopper 1
D2
i
U A
0
Chopper 2
M Ex
D1
u
A
Observatii:
155
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
i
CH1
0
δT T t
i
CH2
0
δT T t
u U
A 0
0
δT T t
i
A
T
0
δT t
i
S
0
t
156
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
Chopper 1 Ex
D2
i
C1
U
0
D1 i
C2
Chopper 2
1 2δT
UA = ∫ U0dt = U0 ( 2δ − 1) > 0 (3.68)
T T
1 T
UA = ∫ − U0dt = U0 ( 2δ − 1) < 0 (3.69)
T 2δT
__________________________________________________________________________________________________________
__________
157
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
i
C1
δT T T+2Tδ 2T t
i
C2
U
0
u
A
i
A
i
S
158
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
i
C1
2T δ T T+2Tδ t
i
C2
t
u
A
t
U
0
i
A
i
S
t
CH1 D1 CH2 D1
D2 D2 D1 D2
Î Modul I.
A. Chopper-ul 2 este activat (închis), iar
chopper-ul 3 deschis.
__________________________________________________________________________________________________________
__________
159
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
+
CH3
D3 D1
CH1
U
0
CH4 + CH4
D2 D4
_ Ex -
160
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
Î Modul II.
161
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
δ < 0,5
2 δ > 0,5
1
δ > 0,5
2 δ < 0,5
1
δ =1
2
δ =0
1
Î Modul III.
__________________________________________________________________________________________________________
__________
162
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
Observatii:
) Puterea medie debitata de sursa si cea absorbita
de sursa sunt identice.
)
U0 ⋅ I 0 = δ ⋅ U0 ⋅ I A
(3.72)
I0 = δ ⋅ I A
unde I0 este valoarea medie a curentului sursei.
Daca perioada activa este mai mica decât 1,
curentul mediu al sursei este mai mic decât
curentul mediu prin indusul masinii de curent
continuu;
163
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
i
CH1
T 2T δ 2T t
i
CH2
i
CH3
U
A
i
CH4
i
Am
t
CH1,CH2 CH1,D1 CH1,CH2 CH2,D2 CH1,CH2
Motor
i
Sm
t
i
Ag
Franå
i
Sg
164
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
+ + i
i A
S
U u
0 A
_ _
(a)
U
0
u
A
0 t
δT T
I
A
i
A
0 t
I
A
i
S
0
t
U
0
0 t
(b)
Fig.3.32. Schema de baza a unui chopper
(a) Circuit; (b) Forme de unda.
__________________________________________________________________________________________________________
__________
165
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Xc / n
In = I CHn (3.73)
(nXL ) − ( XC / n)
Unde:
XL = 2⋅ π ⋅ fCH L
1
XC = (3.74)
2⋅ π ⋅ fCHC
n = ordinul armonicii
i i Ex
S CH
i
+ + A
i
C
U u
0 A
_ _
(a)
I
A
i
A
0
t
I
i A
CH
0 δT T t
i
C
0 t
i
S
t
0
(b)
166
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
capacitiv;
(a) Circuit; (b) Forme de unda.
Din ecuatiile 3.74 rezulta:
1 1
In = ⋅ I CHn = I CHn (3.75)
4⋅π ⋅ n2 f 2CH LC − 1 ⎛ fCH ⎞
2
⎜⎜ n ⎟⎟ − 1
⎝ fr ⎠
unde:
In armonica de ordin n a curentului efectiv prin
sursa;
ICHn armonica de ordin n a curentului efectiv prin
chopper;
fCH frecventa chopper-ului;
fr frecventa de rezonanta a filtrului L, C.
167
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
+ + i
A
i
C
U C u
0 A
_ _
(a)
nX
L i
CHn
i
n X /n
C
i
Cn
(b)
168
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
Ex2
+ i
A
i
CH2
U D1 D2
0 u
A
3.11. PROBLEME
169
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
0 δT T t 0 δT T t
i
i CH2
CH2
0
t 0 t
i
i S
S
0 t 0 t
(a) (b)
i
CH1
t
0 δT T
i
CH2
t
0
i
S
t
0
(c)
U A = I A RA = 20⋅ 0.5 = 10 V
U 1
U A = δU 0 ⇒ δ = A =
U0 12
170
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
acestui parametru.
Turatia maxima se obtine pentru δ = 1 (valoare maxima)
la care avem:
t q = tOFF + Δt = 20 + 20 = 40 μ sec
I A maxt q 100⋅ 40⋅ 10− 6
C= = = 40 μF
U0 100
2 2
⎛ U0 ⎞
⎟⎟ = 40⋅ 10− 6 ⋅ ⎛⎜
100⎞
L > C⎜⎜ ⎟ = 40 μF
⎝ I A max ⎠ ⎝ 100⎠
0,01 0,01
L< = = 158,5 μF
(πf ) C (π 400) 2 40⋅ 10− 6
2
171
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
I A max 100
C= = = 100μF
2⋅ U0 ⋅ f max 2⋅ 100⋅ 5 ⋅ 103
172
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Chopper
__________________________________________________________________________________________________________
__________
3.12. BIBLIOGRAFIE
173
CAPITOLUL 4
4.1. GENERALITATI
174
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
uAα e
175
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
3. necomandate.
In figurile 4.2, sunt reprezentate diverse tipuri de
convertoare statice.
a) b)
c) d)
e) f)
g)
Fig. 4.2. Tipuri de convertoare statice: a) Redresor cu un puls;
b) Redresor monofazat semicomandat în punte; c) Redresor
monofazat necomandat în punte; d) Redresor trifazat complet
comandat în punte; e) Redresor cu punct median cu doua
pulsuri; f) Redresor monofazat complet comandat în punte; g)
Redresor trifazat complet comandat.
176
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
uA
convertor
semicomandat
convertor
complet
comandat
invertor
__________________________________________________________________________________________________________
__________
177
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
iA RA
T1 T2
us LA
DRL
Re , Le
M
D1 D2
ie
__________________________________________________________________________________________________________
__________
178
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
i
A
Convertor
R
A
semicomandat
U
S U
sau A L
~ A
complet comandat Ex
i
Ex
__________________________________________________________________________________________________________
__________
179
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
180
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
Caracteristica mecanica:
Pentru un convertor monofazat complet comandat,
ecuatia de functionare a sistemului descris în figura 4.5 este:
diA
uAα = uS = RAi A + L A +E α < ωt < π + α
dt
(4.1)
diA 1
= (uAα − ( E + i A RA ))
dt L
__________________________________________________________________________________________________________
__________
181
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
182
Sisteme de Ac¡ionare Electricå Ma¿inå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
1 π +α 2 2Us
U Aα = ∫ 2US sinωt dt = cosα (4.3)
π α π
2 2
Pdc = U Aα ⋅ I A = U AI A cosα (4.5)
π
__________________________________________________________________________________________________________
__________
183
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
uA
iA
Observatie:
Din dezvoltarea în serie Fourier a expresiei curentului
prin indusul masinii se obtin relatii care demonstreaza
egalitatea între puterea pe partea de curent continuu si
respectiv pe partea de curent alternativ.
n
I A = ∑ Ai sin(i ωt )
i =1
(4.6.a)
1 2π
Ai = ∫ I A sin(i ωt )dωt
π 0
__________________________________________________________________________________________________________
__________
184
Sisteme de Acţionare Electrică Maţină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
1 2π
A1 = ∫ I A sinτ dτ =
π 0
IA ⎛ α α +π 2π I
⎜ cosτ 0 − cosτ α + cosτ α + π ⎞⎟ = A ( 4 cosα ) (4.6.b)
π ⎝ ⎠ π
1 1 I A2 ⋅ 42 2 2I A
I A1ef = A12 = =
2 2 π π 2
185
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
i iA RA
T1 T4
us LA
Re , Le
M
T2 T3
ie
u
e
iA
u e
uA
186
Sisteme de Acţionare Electrică Maţină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
Modul 1:
diA
uAα = 2US sinωt = LA + RAi A + keΦ eΩ (4.7)
dt
dΩ
m = keΦ ei A = J + BΩ + Ms (4.8)
dt
Modul 2:
__________________________________________________________________________________________________________
__________
187
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
diA
0 = RAi A + LA + keΦ eΩ
dt
(4.9)
dΩ
m = keΦ ei A = J + BΩ + MS
dt
Modul 3:
iA = 0
dΩ (4.10)
0= J + BΩ + MS
dt
Pentru analiza performantelor masinii de curent
continuu cu excitatie independenta alimentata de la convertor
static, se pot folosi doua metode: numerica si analitica.
Modul 1:
diA 2U S sinωt RA kΦ
= − i A − e e Ω = f11(i A, Ω ) (4.11.a)
dt LA LA LA
__________________________________________________________________________________________________________
__________
188
Sisteme de Acţionare Electrică Maţină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
dΩ keΦ e B M
= i A − Ω − S = f21(i A, Ω ) (4.11.b)
dt J J J
Modul 2:
diA RA kΦ
=− i A − e e Ω = f12(i A, Ω )
dt LA LA
(4.12)
dΩ keΦ e B M
= i A − Ω − S = f 22(i A, Ω )
dt J J J
Modul 3:
i A = 0 = f13(i A, Ω )
dΩ B M (4.13)
= − Ω − S = f 23(i A, Ω )
dt J J
__________________________________________________________________________________________________________
__________
189
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
Modul 1:
Tiristoarle sunt în conductie, daca:
diA
2US sinωt = LA + RAi A + E (4.15)
dt
2US E
iA = sin(ωt − θ Z ) − + A1e− ( RA / L A )t
Z RA
Z = [ RA2 + (ωLA ) 2 ] 1/ 2 (4.16)
ωL
θ Z = tg− 1( A )
RA
190
Sisteme de Acţionare Electrică Maţină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
iA =
2US
Z
[
sin(ωt − θ Z ) − sin(θ S − θ Z )e( RA /ωLA )(θ S −ωt ) ]
E ( RA /ωL A )(θ S −ωt )
+ (e − 1) + I ASe( RA /ωLA )(θ S −ωt )
RA
Modul 2:
E
i A = A2e− ( RA /ωLA )ωt − (4.19)
RA
191
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
E
I Aπ = A2e− ( RA /ωLA )π −
RA
⎛ E ⎞ ( RA /ωL A )π
A2 = ⎜⎜ I Aπ + ⎟e (4.20)
⎝ RA ⎟⎠
Modul 3:
Motorul functioneaza fara sa absoarba energie de la
sursa de alimentare, în intervalul β < ωt < π + α.
iA = 0 (4.21)
Curentul prin sursa
Modul 1:
convertor semicomandat i = iA θ S < ωt < π
convertor complet comandat i = iA θ S < ωt < β
convertor semicomandat i = −i A π + θ S < ωt < 2π
convertor complet comandat i = −i A π + θ S < ωt < π + β
(4.22)
Modurile 2 si 3:
iA = 0 (4.23)
192
Sisteme de Acţionare Electrică Maţină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
__________________________________________________________________________________________________________
__________
193
ACºIONÅRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
194
Sisteme de Acţionare Electrică Maţină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
iA
us -us
e
us -us
e
us -us
us -us
emax
e
iA
Fig. 4.10. Forme de unda ale curentului prin indusul masinii si ale
tensiunii electromotoare pentru diverse unghiuri de comanda.
__________________________________________________________________________________________________________
__________
195
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
1 α +π 2 2US
U Aα = ∫α 2US sinωt d(ωt ) = cosα = U A maxcosα
π π
(4.25)
Daca se ia ca baza de raportare pentru unitati relative
UAmax avem:
uA = cosα (u.r.) (4.26)
I = IA (4.27)
1 2π +α
∫ I0 =i d(ωt ) = 0 (4.28)
2π α
Coeficientii Fourier sunt:
an = ∫
π α
[
1 2π +α
i cosnωt d(ωt ) ] (4.29.a)
=
π
[
1 π +α 2π +α
∫α I A cosnωt d(ωt ) + ∫π +α − I A cosnωt d(ωt ) ]
2I A
= [sinn(π + α ) − sinnα ]
nπ
__________________________________________________________________________________________________________
__________
196
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
bn = ∫
π α
[
1 2π +α
i sinnωt d(ωt ) ] (4.29.b)
2I
= A [cosnα − cosn(π + α )]
nπ
1/ 2
⎛ a 2 + b2 ⎞ 2 2I A
In = ⎜ n ⎟ = (4.30)
⎜ 2 ⎟ nπ
⎝ ⎠
an
φn = tg− 1 = − nα (4.31)
bn
__________________________________________________________________________________________________________
__________
197
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
convertor semicomandat
convertor complet comandat
198
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
1 π 2US
U Aα = ∫α 2US sinωt d(ωt ) = (1 + cosα )
π π (4.35)
1
= (1 + cosα ) (u.r .)
2
199
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
200
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
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201
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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T1 T2
us a)
T3
T4
us
b)
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202
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
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uA
c)
203
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
T1 T2
us
D1 D2
a)
us
uA
b)
uA
c)
Fig. 4.13. Comanda asimetrica şi simetrica a tiristoarelor:
a) schema circuitului; b) comanda simetrica; c) comanda asimetrica.
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204
Sisteme de Ac¡ionare Electricå Masinå de Curent Continuu - Convertor Static
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205
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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2(1 − cosβ )
FP =
πβ
β
FD = sin (4.39)
2
1/ 2
⎡ πβ ⎤
FH = ⎢ − 1⎥
⎣ 4(1 − cosβ ) ⎦
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206
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
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T1
T2
us
DDRL
D1 D2
a)
uA
b)
uA
c)
207
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
et
es
uA
uA
d)
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208
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
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2 2 cosα
FP = 1/ 2
⎛ 2α ⎞
π ⎜ 1− ⎟
⎝ π ⎠
FD = 1 (4.41)
1/ 2
⎡ π (π − 2α ) ⎤
FH = ⎢ − 1⎥
⎣ 8 cos2α ⎦
209
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
amplitudinealui es
m= (4.42)
amplitudinealui et
1 p
= ∑ (cosα k − cosβ k ) (u.r .)
2 k= 1
210
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
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1/ 2
⎡1 ⎤
I = ⎢ ∫0π i 2d(ωt )⎥
⎣ π ⎦
1/ 2
I ⎡ p ⎤
= A ⎢ ∑ ( β k − α k )⎥
π ⎣ k= 1 ⎦
I1
FP = (4.45)
I
FD = cosφ1 = 1
1/ 2
⎡ I 2 − I 12 ⎤
FH = ⎢ 2
⎥
⎢⎣ I 1 ⎥⎦
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211
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
212
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
convertor 1
us
convertor 2
a)
u
A
is1
is2
b)
i
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213
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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3 + cosα 2
FP = 1/ 2
⎛ 3α 2 ⎞
π ⎜ 2− ⎟
⎝ 2π ⎠
3 + cosα 2
FD = (4.47)
(10 + 6 cosα 2)1/ 2
1/ 2
⎡ π (π − 3α 2 / 4) ⎤
FH = ⎢ − 1⎥
⎣ 5 + 3cosα 2 ⎦
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214
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
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is1
convertor 1
is2
convertor 2
uA
215
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
cosα 1
UA = u.r .
2
I ⎛ 2α ⎞
I = A ⎜ 1− 1 ⎟
2⎝ π ⎠
2I A
In = cosnα 1
nπ
φn = 0 (4.48)
2 2 cosα 1
FP = 1/ 2
⎛ 2α ⎞
π ⎜ 1− 1 ⎟
⎝ π ⎠
FD = 1
1/ 2
⎡ π (π − 2α 1) ⎤
FH = ⎢ − 1⎥
⎢⎣ 8 cos α 1
2
⎥⎦
1
U A = (1 + cosα 1) u.r .
2
1/ 2
⎛ 3α ⎞
I = I A⎜ 1 − 1 ⎟
⎝ 2π ⎠
2I A
In = (1 + cosnα 1) (4.49.a)
nπ
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216
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
φn = 0
2(1 + cosα 1)
FP = 1/ 2
⎛ 3α 1 ⎞
π ⎜ 1− ⎟
⎝ 2π ⎠
FD = 1
1/ 2
⎡ ⎛ 3α 1 ⎞ ⎤
⎢ π ⎜π − 2 ⎟ ⎥
FH = ⎢ ⎝ ⎠ − 1⎥
⎢ 2(1 + cosα 1) 2 ⎥
⎢⎣ ⎥⎦ (4.49.b)
217
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
is1
convertor
1
us
is2
convertor
2
a)
uA1
uA2
uA
is1
is2
b)
i
218
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
__________________________________________________________________________________________________________
__________
uA1
uA2
uA
is1
is2
c)
Fig. 4.17. Controlul secvential al convertoarelor complet
comandate: c) Forme de unda În cazul regimului invertor.
0.
Tensiunea redresata este zero daca α2=180 . Formele
0 0
de unda pentru α1=0 si α2=60 sunt prezentate În figura
4.17.b.
219
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
4.6. PROBLEME
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220
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
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Rezolvare :
a) En = U An − RA I nA = 220− 1⋅ 10 = 220V
nn 1500
Ω n = 2π = 2π = 157rad / s
60 60
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221
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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En 200
E1 = ⋅ n1 = ⋅ 1000= 133,3V
nn 1500
R i + E1
α 1 = arccos( A A ⋅ π ) = 46,20
2 2 ⋅ 230
RAi A − E1
b) α 2 = arccos( ⋅ π ) = 126,50
2 2 ⋅ 230
2 2 ⋅ 230
⋅ cos1500 − RAi A
c) Ω3 = π ⋅ Ω n = 148,62rad / s
− En
222
Sisteme de Acţionare Electrică Maşină de Curent Continuu - Convertor Static
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223
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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4.7. BIBLIOGRAFIE
224
CAPITOLUL 5
SIMULAREA FUNCTIONARII
MASINII DE CURENT CONTINUU
225
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
EA = kΦΩ m [ V ]
(5.1)
Me = kΦI A [ Nm]
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226
Simularea Funcţionarii Maşinii de Curent Continuu
__________________________________________________________________________________________________________
__________
dI A
+ EA + ΔU p
U A = I ARt + LA
dt (5.2)
dΩ m
Me + Ms − DΩ Ω m = J
dt
unde Rt reprezinta suma rezistentelor (rezistor de pornire plus
rezistenta indusului RA) aflate în circuitul indusului motorului
de c.c., iar ΔUP este caderea de tensiune la perii.
M
M s
R1 R2 R3 Ω e
MC m
+
U - Ex
DC C1 C2 C3
- i
A
227
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
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__________
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__________
228
Simularea Funcţionarii Maşinii de Curent Continuu
__________________________________________________________________________________________________________
__________
Rezulta:
__________________________________________________________________________________________________________
__________
229
ACŢIONĂRI ELECTRICE DE CURENT CONTINUU
__________________________________________________________________________________________________________
__________
U A (t 3 ) = U DC − ΔU p − I Amin( RA + R3 )
= U DC − ΔU p − I A maxRA
U DC − ΔU p
( RA + R1 + R2 + R3 ) =
I A max
I min
( RA + R2 + R3 ) = A ( RA + R1 + R2 + R3 ) (5.4.b)
I Amax
I min
( RA + R3 ) = A ( RA + R2 + R3 )
I Amax
I min
RA = A ( RA + R3 )
I A max
Prin înlocuirea valorilor limita prestabilite pentru curentul
prin indus, rezulta valorile treptelor reostatului de pornire:
R1 = 0,872 Ω; R2 = 0,523 Ω; R3 = 0,313 Ω.
Un esantion al rezultatelor simularii este prezentat în fig.
5.3, unde este redata variatia t.e.m., a curentului prin indus, si
a turatiei. A fost folosita o metoda de integrare numerica
Adams/Gear din mediul MATAB 5 cu timpul de pornire zero,
timpul de oprire 7 s, pasul minim de integrare 0,5 ms, pasul
-6
maxim de integrare 5 ms, si o toleranta a erorii de 10 .
__________________________________________________________________________________________________________
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230
Simularea Funcţionarii Maşinii de Curent Continuu
__________________________________________________________________________________________________________
__________
y
Initialize To
and Mux Mux
Wk
lt
m2
Clock Scope
Ea
.
Product D
2
1.3 - D
218 -
kaphi Tem 1 wm
Vdc- + + 1/J
. s
Vb h - 1 Ia Integrator
- 1/Laq + 1/J
s 0 2
- Integrato Product Sum2
1/Laq Tmech
-
<
Sum AND du/dt
Memory <0 <=
Ra 60
<=Iamin and Deriv
Iamin
Ra
AND S1
S1
0.872 R0
R0 Memory a
C1 1 Latch1
r1 Latch
0.523
C2 Memory
r2 2
AND
S1
0.313 R0 a1
C3 Latch2
r3
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231
Tabelul 1.1.
Clasa de Temperatura
Materiale
izolatie admisibila
Darlington MOSFET de
Tiristor GTO BTJ putere
Tensiunea maxima (V) 6.000 4.500 1.200 500
Curentul maxim (Aef) 3.500 3.000 800 50
Temperatura de lucru (oC) -40 - 125 -40 - 125 -40 - 150 -55 - 150
Frecventa de comutare < 1.200 < 2.000 < 10.000 < 100.000
(Hz)
limitata de limitata de
limitata de
dv / dt (V/ms) 30 pierderile din pierderile din
efectul Miller
dispozitiv dispozitiv
di / dt (A/ms) 200 300 100 foarte mare
Timp intrare în conductie 1,1 4 1,7 90 ns
(ms)
Timp de iesire din conductie
220 10 5 0,14
(ms)
Caderea de tensiune în
direct (V) 1,9 4 1,9 3,2
Actionari cu
Actionari cu Surse de putere
masini de c.c. si
Actionari cu masini electrice, în comutatie,
c.a., surse de
Domeniul de aplicatii uzuale masini electrice, sisteme UPS, actionari cu
putere,
sisteme UPS surse de putere motoare fara
întreruptore
în comutatie perii, relee
electronice
electronice
Tabelul 1.5.