1 institute of mechatronics and information systems control and driving systems
TRANSCRIPT
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Institute of Mechatronics and Information Systems
Lecture programme:
1. Fundamentals of electromagnetic phenomena in electro-mechanic energy conversion
2. Structure and operating principle of modern electrical machines used in driving systems
3. Power supplies – voltage and frequency converters 4. Control modes for chosen mechanical drive parameters 5. Parasitic phenomena 6. Advantages and disadvantages of various driving system
configurations
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Institute of Mechatronics and Information Systems
Structure and operating principle of modern electrical machines used in driving systems
1. Transformer2. Direct current machine3. Induction machine4. Synchronous machine5. Special configurations
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Rotor (armature) types
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Three phase magnetic field excitation
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Rotating magnetic field
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Ferro-magnetic core cross-section (lamination)
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Stator (field) winding
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Three phase magnetic field excitation
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Synchronous speed:
Rotor speed:
Slip:
pf
ns
s1nn s
s
s
nnn
s
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Equivalent circuit
sR
FeRs
s1Rrs
rsRsX rsX
mXphU phE
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Electromagnetic torque:
2rss
2
rss
rs
2
m
s
2ph
s
sem
XXs
RR
sR
XX
1
U
n2m
M
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Electromagnetic torque:
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machineBasic characteristics
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
1
0 0,2 0,4 0,6 0,8 1
M/MN [-]
x/x
N [
-]
n
cosφ
η
I
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Simplified equations Electromagnetic torque:
Breakdown (maximal) torque:
Breakdown slip:
2rss
2
rs
rs
2ph
s
sem
XXs
Rs
R
Un2
mM
rss
2ph
s
sb XX2
1U
n2m
M
rss
rsb XX
Rs
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Simplified equations Electromagnetic torque, Kloss equation:
therefore starting torque:
Overload coefficient:
ss
ss
M2M
b
b
bem
bb
b1
ss1
M2M
N
bNbN M
Mm
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machineLoad torque versus electromagnetic torque
0
0,5
1
1,5
2
2,5
0 0,2 0,4 0,6 0,8 1
n/nsN [-]
M/M
N [
-]
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machineStart-up
0
1
2
3
4
5
6
7
8
9
10
0 2 4 6 8 10 12
time [s]
rati
o [
-] current
speed
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Institute of Mechatronics and Information Systems
Induction slip ring machine
Modification of output characteristics
rss
rsb XX
Rs
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Institute of Mechatronics and Information Systems
Induction slip ring machine
Modification of output characteristics
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Institute of Mechatronics and Information Systems
Induction slip ring machine
Modification of output characteristics
brake motor generator
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Institute of Mechatronics and Information Systems
Induction squirrel cage machine
Modification of output characteristicsDahlander winding setup
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Institute of Mechatronics and Information Systems
Induction squirrel cage machine
Modification of output characteristics Frequency and voltage converter
rectifier inverterDC link
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Simplified equations Electromagnetic torque:
Breakdown (maximal) torque:
Breakdown slip:
2rss
2
rs
rs
2ph
s
sem
XXs
Rs
R
Un2
mM
rss
2ph
s
sb XX2
1U
n2m
M
rss
rsb XX
Rs
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Modification of output characteristics Electromagnetic dependencies:
Breakdown (maximal) torque:
Breakdown slip:
.const f
U
f
U .const
N fS 2
UB
N
phNph
Fe
phm
2
N
phN
ph
bN
b
ff
U
U
MM
ff
ss N
bN
b
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machineModification of output characteristics Varying frequency and voltage – constant Bm
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Modification of output characteristics Varying frequency and constant voltage
0
0,5
1
1,5
2
2,5
0 0,5 1 1,5 2
f/fN [-]
M/M
N [
-]
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Modification of output characteristics Control limitations
0
0,2
0,4
0,6
0,8
1
1,2
1,4
1,6
1,8
2
0 0,5 1 1,5 2
f/fN [-]
x/x
N [
-]
n
U
M
Mb
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Institute of Mechatronics and Information Systems
Induction (asynchronous) machine
Losses and efficiency (Sankey diagram)
s FeP
cosUI3Pin
emPMPout
s2phsRI3
r2pfrRI3 r FeP .frictP .ventP