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Direktna kontrola momentaDTC
(Direct Torque Control)
jedna metoda vektorskog upravljanja. sa određenim prednostima.
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Stacionarni referentni sistem
qsqssqs piRu (1)
dsdssds piRu (2)
drqrqrr piR 0(3)
qrdrdrr piR 0(4)
qs s qs qrL i Mi (5)
ds s ds drL i Mi (6)
qr r qr qsL i Mi(7)
dr r dr dsL i Mi (8)
)(2
3qsdsdsqse iiPm
(9)
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sin2
3
2
3 sssse iPiPm
si
s
em
em
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si
s
su
se
qFazorski dijagram statorskih
veličina
Uvek nam je potreban stalan fluks!
Momenat?1. Stalan: stalna struja– stalan napon.2. Veći : veća struja – viši napon!3. Manji : manja struja – niži napon!
d
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Važne relacije!
dtedtiRu qsqssqsqs
dtedtiRu dsdssdsds
bscsds
asqs
iii
ii
3
1
22dsqss
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cbbscsds
asqs
uuuu
uu
3
1
3
1
3
3
3
bccacs
abbcbs
caabas
uuu
uuu
uuu
acca
cbbc
baab
uuu
uuu
uuu
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3~izvor
3~AM
ab
c
T1 T3 T5
T4 T6 T2
Vdc
+
−
Cf
TR
RR
mostni diodni
ispravljačkolo za kočenje
filter u međukolu
PWM invertor
Šema energetskog dela napajanja pogona sa asinhronim motorom
au
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Stanja prekidača u grani “a” invertora
T1 T2 Sa ua
on off 1 Vdc
onoff 0 0
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Prekidačka stanja invertora i naponi mašine
stanja Sa Sb Sc ua ub uc uab ubc uca uas ubs ucs uqs uds
I 1 0 0 Vdc 0 0 Vdc 0 dcV dcV3
2 dcV
3
1 dcV
3
1 dcV
3
2 0
II 1 0 1 Vdc 0 Vdc Vdc dcV 0 dcV3
1 dcV
3
2 dcV
3
1 dcV
3
1
3dcV
III 0 0 1 0 0 Vdc 0 dcV Vdc dcV3
1 dcV
3
1 dcV
3
2 dcV
3
1
3dcV
IV 0 1 1 0 Vdc Vdc dcV 0 Vdc dcV3
2 dcV
3
1 dcV
3
1 dcV
3
2 0
V 0 1 0 0 Vdc 0 dcV Vdc 0 dcV3
1 dcV
3
2 dcV
3
1 dcV
3
1
3dcV
VI 1 1 0 Vdc Vdc 0 0 Vdc dcV dcV3
1 dcV
3
1 dcV
3
2 dcV
3
1
3dcV
VII 0 0 0 0 0 0 0 0 0 0 0 0 0 0 VIII 1 1 1 Vdc Vdc Vdc 0 0 0 0 0 0 0 0
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d
dcV32
I
II
III
IV
V
VI
VIIIVII, 0,0
Izlazni naponi invertora u skladu sa odgovarajućim stanjima prekidača
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q
dReferentna osa
<1>
<2><3>
<5>
<4>
<3>
600
600
600
600
600
s
qs
ds
fs
Podela na sekstante za identifikaciju položaja statorskog fluksa
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Sektor 600 od punog kruga u kome se nalazi vektor fluksa (S)
fs Sektor 0fs/3 <2>
-/3fs0 <3> -2/3fs-/3 <4> -fs-2/3 <5> 2/3fs <6>
/3fs 2/3 <1>
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Prekidačke logike za fluks i momenatPrekidačke logike za fluks i momenat
*
*
s
s
Uslovi S
1
0
Uslovi Sm
1
0
-1
eee
eeee
eee
mmm
mmmm
mmm
*
*
*
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Sφ
φ*
1
1
-1
φs
me
m*e
2δme
Komparatori fluksa i momenta
Sm
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q
d
qs
ds
s
s VI
s I
V VI
V I
Efekat uključenja prekidača stanje I i stanje VI
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Prekidačka stanja za moguće S Sm i S S
S Sm <1> <2> <3> <4> <5> <6> 1 1 VI I II III IV V (1,1,0) (1,0,0) (1,0,1) (0,0,1) (0,1,1) (0,1,0)
1 0 VIII VII VIII VII VIII VII (1,1,1) (0,0,0) (1,1,1) (0,0,0) (1,1,1) (0,0,0)
1 -1 II III IV V VI I (1,0,1) (0,0,1) (0,1,1) (0,1,0) (1,1,0) (1,0,0)
0 1 V VI I II III IV (0,1,0) (1,1,0) (1,0,0) (1,0,1) (0,0,1) (0,1,1)
0 0 VII VIII VII VIII VII VIII (0,0,0) (1,1,1) (0,0,0) (1,1,1) (0,0,0) (1,1,1)
0 -1 III IV V VI I II (0,0,1) (0,1,1) (0,1,0) (1,1,0) (1,0,0) (1,0,1)
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AMinvertor3~izvor
Logika za upravlajnje paljenjem
T TPrekidačka tablica
prekidačka stanja
Histerezisni komparator
proračun sektora
protačun amplitude
i ugla
sR
sR
6
3
ibs ics vab vbc
vds vqsiqs ids
qsds
s
s*fs
meme*
S
S
Sm
+
histerezisnikomparat
or
me
_
_
_
_ _
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Karakteristike
• Koristi se stacionarni ref sistem.
• Detuning je posledica promene samo otpora statora.
• Vrlo brz odziv momenta.
• Neophodna kompenzacija promene otpora statora.
• Zavisnost od histerezisa komparatora.