A1A2A0A3A4A5A6A8A9A7A10A11A12A13A141雙閉環調速系統調節器設計及MATLAB仿真驗證1設計分析直流雙閉環調速系統中設置了兩個調節器,即轉速調節器ASR和電流調節器ACR,分別調節轉速和電流,即分別引入轉速負反饋和電流負反饋。原理圖如圖1所示。A15A16A17A18A19A20A21A22A23A24A25A26A21A27A18A28A29A30A31A15轉速環和電流環之間實行串級連接，其中，轉速調節器是調速系統的主導調節器，稱為外環。它使轉速N很快地跟隨給定電壓UN變化，穩態時可減小轉速誤差，對負載變化起抗擾動作用，它的輸出當做電流調節器的輸入，其輸出限幅值決定電動機允許的最大電流。電流調節器作為內環的調節器，在轉速外環的調節過程中，它的作用是是電流緊緊跟隨其給定電壓UI變化，對電網電壓的波動起及時抗擾的作用，在轉速動態過程中，保證獲得點動機允許的最大電流，從而加快動態過程。這就形成了轉速G451電流反饋G6523G2058直流調速系統。為了獲得G14403G3921的G19757G451動態G5627G14033，轉速和電流兩個調節器G980G14336G18129G18331用G51G44調節器。對調速系統而G16340，G15999G15999G6523G2058的對G16949是轉速。雙閉環直流調速系統G1867G7389G8616G17751G9397G5859的動態G5627G14033。G14033G2554實G10628所G7411G7407的G5670加速過程，最G13468G1209時間最G1260的形G5347G17810G2052所G16213G8726的G5627G14033G6363G7643，是設置雙閉環G6523G2058的G980個G18337G16213的G17873G8726G6363G7643。A1A2A0A3A4A5A6A8A9A7A10A11A12A13A1422系統設計及參數計算21系統總體設計G7242G19404G12661電動機調速系統G708VM系統G709G17902過調節G16314G2469G16025置G42G55的G6523G2058電壓G7481G12239動G14045G1926的G11468G1313，即可G6925變G5191G3355G6984流電壓，從而實G10628G5191G9381調速。雙閉環直流調速系統的動態G13479G7512圖，如圖G21所示。A15A32A33A34A35A27A18A28A29A36A37A38A39A40A15其中，G252分別為轉速和電流反饋系G6980，G7693G6466G5062G11705G7477G1226G1207入G1209G991G1856G5347。G3404A41A42A43A44A45G708G21G161G709G3404A46A47A48A49A50A51A52G708G21G16G21G709IA53A54G3404IA55G708G21G16G22G709G8726得G340400267，G34040008822電流調節器設計及參數計算電流環的動態G13479G7512圖如圖G22所示，其中，反電動G2195G994電流反饋的作用G11468G1126G1144G2461，這G4570給設G16757G5049作G5114G7481G21647G9914。實G19481G990，反電動G2195G994轉速成G8503G8616，它G1207G15932轉速對電流環的G5445G2721。在G980G14336G5785G1929G991，系統的電G11925時間G5132G6980TA56G17840小G1122機電時間G5132G6980TA57，G3252G8504，轉速的變化G5460G5460G8616電流變化G5942的G3822。對電流環G7481G16840，反電動G2195是G980個變化G17751G5942的擾動，在電流的G11648變過程中，可G1209G16760為反電動G2195G3534G7424G993變，即G440G40G300G19。這G7691，在G6365動態G5627G14033設G16757電流環時，可G1209G7254G993G13783G15397反電動G2195變化的動態G5445G2721。調節器如圖G23所示。A58A59A60A61A62A63A64A65A66A67A68A69A70A71A723A73A74A75A76A77A78A79A80A81A82A73A73A83A84A85A86A87A88A89A90A91A87A88A78A92A93A94A95A96A97A75A76A98A99A100電流調節器G2454G6980G17885G6333G265G714確定時間G5132G69801G709三G11468橋G5347電路的G5191G3355失G6523時間為TA101G340400017S。G21G709電流濾波時間G5132G6980TA102A103，三G11468半波G6984流電路每個波頭的時間是33MS，為了G3534G7424濾G5191波頭，應G7389G466612G4667TA104A105G3404333MS，G3252G8504取TA106A1072MS0002S。G22G709電流環小時間G5132G6980之和TA108A109G3404TA110G3397TA111A112G340400037S。G17885G6333電流調節器G13479G7512G7693G6466設G16757G16213G8726A113G34095，并保證穩態電流無差，可G6365典型G44型系統設G16757電路調節器。電流環G6523G2058對G16949是雙慣G5627型的，G3252G8504可用G51G44型電流調節器其傳遞函G6980為WA114A115A116G4666SG4667G3404A117A118A119A120A121A122A123A124A125A126A127A128G708G21G16G23G709給出電G11925時間G5132G6980TA1290031S檢查對電源電壓的抗擾G5627G14033A130A131A132A133A134G3406A135A136A137A138A139A140A141A142A142A143A144G34068378，G2454照典型G44型系統動態抗擾G5627G14033G6363G7643G994G2454G6980的關系G15932格，可G11705各項G6363G7643G18129是可G1209接受的。電流環開環傳遞函G6980為A145A146A147A148A149A150A151A152A153A154A155A156A157A158A1594WA160A161A162G4666SG4667G3404A163A164A165A166A167A168A169A170A171A172A173A174A175A176A177A178A179A180A181A182A183A184A185A186A187A188A189A190A191A192A193A194G708G21G165G709G3252為TA195G1576TA196A197，所G1209G17885G6333A198G3404TA199，用調節器零點消去G6523G2058對G16949中大的時間G5132G6980點，G1209便矯G8503成典型G44型系統，G3252G8504WA200A201A202G4666SG4667G3404A203A204A205A206A207A208A209A210A211A212A213A214A215A216A217A218A219A220G3404A221A222A223A224A225A226A227A228A229A230A231G708G21G166G709G16757算電流調節器G2454G6980電流調節器超前時間G5132G6980A232G3404TA233G34040031S。電流環開環增益G16213G8726A234G34095時，并G13479合G7424題實G19481，取KA235TA236A237G3404025，G3252G8504KA238G3404A239A240A241A242A243A244A245G3404A246A247A248A249A250A251A252A252A253A254G34066757G708G21G167G709ACR的G8616例系G6980為KA255G3404A16A10A17A4A15A0A9A26G3404A34A1A22A33A2A35A21A3A5A6A7A8A11A12A19A13A24A14A18A20A23A25A25A27A27G34060444G708G21G168G709檢驗近似G7477G1226電流環截至頻率A38A28G3404KA29G34046757SA39A301G709校驗G7242G19404G12661G6984流G16025置傳遞函G6980的近似G7477G1226A31A32A36A37G3404A40A41A42A43A44A45A45A46A47SA48A49G34061911SA50A51G3408A52A53G708G21G169G709G9397足近似G7477G1226G21G709校驗忽略反電動G2195變化對電流環動態G5445G2721的G7477G12263G3495A54A55A56A57A58G34043G3400G3495A59A60A61A62A62A63A64A65A66A67A68A69G340650913G3407A70A71G708G21G161G19G709G9397足近似G7477G1226G22G709校驗電流環小時間G5132G6980近似處理G7477G1226A72A73G3495A74A75A76A77A78A79G3404A80A81G3400G3495A82A83A84A85A85A86A87A88A89A90A91A92A92A93G3406180775G3408A94A95G708G21G1611G709G9397足近似G7477G1226G16757算調節器電阻和電容由圖5，G6365所用運算放大器取040RK，各電阻和電容值G16757算如G991RA96G3404KA97RA98G34040444G340040G34041776K，取20KG708G21G161G21G709CA99G3404A100A101A102A103G3404A104A105A106A107A108A109A110A111A112A113A114A115G3404175F，取175FG708G21G161G22G709CA116A117G3404A118A119A120A121A122A123G3404A124A125A126A127A128A128A129A130A131A132A133G340402F，取02FG708G21G161G23G709G6365照G990述G2454G6980，G4570在MATLAB仿真模型中設置，電流環可G1209G17810G2052的動態跟隨G5627G14033G6363G7643，G9397足設G16757G16213G8726。A134A135A136A137A138A139A140A141A142A143A144A145A146A147A148523轉速調節器設計及參數計算設G16757轉速調節器時，把電流環等效為單G1313負反饋系統和小慣G5627系統。把電流環的等效環節接入轉速環后，G6984個轉速G6523G2058系統的動態G13479G7512框圖如圖5所示。和電流環中G980G7691，把轉速給定濾波和反饋濾波環節G12239G2052環內，同時G4570給定信號G6925成NSU，再把時間G5132G6980為IK1和ONT的兩個小慣G5627環節合并起G7481，近似成G980個時間G5132G6980為NA149T的慣G5627環節。由G1122需G16213實G10628轉速無G19757差，而且在后面G5062經G7389G980個積分環節，G3252G8504轉速環開環傳遞函G6980應共G7389兩個積分環節，所G1209應該設G16757成典型型系統，這G7691的系統同時也G14033G9397足動態抗擾G5627G14033G3921的G16213G8726。由G8504可見，ASR也應該G18331用G51G44調節器，其傳遞函G6980為WA150A151A152G4666SG4667G3404A153A154A155A156A157A158A159A160A161A162A163A164G708G21G1615G709A165A166A167A168A169A170A171A172A173A174A175A170為了實G10628轉速無G19757差，在負載擾動作用點前面必須G7389G980個積分環節，它應該包含在轉速調節器ASR中，由G1122在擾動作用點后面G5062經G7389了G980個積分環節，G3252G8504轉速開環傳遞函G6980共G7389兩個積分環節，應該設G16757成典型型系統。A165A176A177A178A179A180A181A182A183A184A183A185A186轉速調節器G2454G6980G16757算G451G17885G6333G265確定時間G5132G69801G709電流環等效時間G5132G6980A187A188A189，G5062取KA190TA191A192G3404025，1KA193G34044TA194A195G340400148SA196A197A198A199A200A201A202A203A204A205A206A207A208A209A2106G21G709轉速濾波時間G5132G6980TA211A212。取TA213A214G3404001S3G709轉速環小時間G5132G6980TA215A216。G6365小時間G5132G6980近似處理，取TA217A218G34041KA219G3397TA220A221G340400248SG17885G6333轉速調節器G13479G7512G6365照設G16757G16213G8726，G17885用G51G44調節器，其傳遞函G6980為WA222A223A224G4666SG4667G3404A225A226A227A228A229A230A231A232A233A234A235A236G708G21G1616G709調速系統開環傳遞函G6980為WA237G4666SG4667G3404A238A239A240A241A242A243A244A245A246A247A248A249A250A251A252A253A254A255A20A5A9A28A0A8A1A2A18A19A29G3404A16A3A43A15A4A17A6A7A10A11A12A26A13A14A21A22A23A24A25A27A30A31A32A33A34A35A36A37A38G708G21G1617G709另轉速開環增益KA39為KA40G3404A41A42A44A45A46A47A48A49A50A51A52A53G708G21G1618G709則WA54G4666SG4667G3404A55A56A57A58A59A60A61A62A63A64A65A66A67A68A69A70A71A72A73G708G21G1619G709為校G8503后的典型的型系統G16757算轉速調節器G2454G6980G6365跟隨和抗擾G5627G14033G18129G17751G3921的原則，取5H，則ASR的超前時間G5132G6980為A74G3404HTA75A76G34040124SG708G21G16G21G19G709轉速開環增益KA77G3404A78A79A80A81A82A83A84A85A86A87G34061951SA88A89G708G21G16G211G709ASR的G8616例系G6980為KA90G3404A91A92A93A94A95A96A97A98A99A100A101A102A103A104A105A106A107G34041161G708G21G16G21G21G709檢驗近似G7477G1226轉速環截止頻率A108A109G3404A110A111A112A113G3404KA114A115G34042419SA116A117G708G21G16G21G22G7091G709電流環傳遞函G6980簡化G7477G1226為A118A119G3495A120A121A122A123A124G340645045SA125A126G3408A127A128G708G21G16G21G23G709G9397足簡化G7477G1226。G21G709轉速環小時間G5132G6980近似處理G7477G1226為A129A130G3495A131A132A133A134A135G3406274SA136A137G3408A138A139G708G21G16G215G709G9397足簡化G7477G1226。G16757算調節器電阻和電容取040RK，則A140A141A142A143A144A145A146A147A148A149A150A151A152A153A1547RA155G3404KA156RA157G34041161G340040G34044644，取460KG708G21G16G216G709CA158G3404A159A160A161A162G3404A163A164A165A166A167A168A169A168A170A171A172A173G34040267F，取02FG708G21G16G217G709CA174A175G3404A176A177A178A179A180A181G3404A182A183A184A185A186A187A188A189A190A191G34041F，取1FG708G21G16G218G709校核轉速超調量當H5時，A192G3404376，G993G14033G9397足設G16757G16213G8726。應G6365ASR退飽和的G5785G1929G18337新G16757算超調量。G6365ASR退飽和G18337新G16757算超調量過載倍G698015A193G3404G4672A194A195A196A197A198A199A200G4673A201A202A203A204A205G34042G4672A206A207A208A209A210A211A212G4673G708G3398ZG709A213A214A215A216A217A218A219A220A221A222G708G21G16G219G709Z為負載系G6980，ZG3404A223A224A225A226A227A228；NA229為調速系統開環機械特G5627的額定穩態速降NA230G3404A231A232A233A234A235A236G708G21G16G22G19G709NA237G34042G4666G3398ZG4667NA238A239A240A241A242A243G708G21G16G221G709G8726得G13479果，并在MATLAB仿真G16757算，在所得波形圖中進行G16757算，得G2052超調量，可G1209得G2052動態超調量G14033G9397足設G16757G16213G8726。當超調G993符合時，可G1209G7693G6466G1867體的G5785G1929，G18331用經驗試湊G8873，G17885G6333在符合超調內的G6980G6466，G5049程G8873G7481設G16757的原則G980G14336G18129是G1820內環后外環，其中G7389對G980G1135變G6454的近似處理。3仿真分析G7693G6466G990面G16757算的G2454G6980G6980G6466，可G1209用MATLAB的SIMULINKG5326模仿真，仿真模型如圖7所示A244A245A246A247A248A249A250A251A252A253A254A255A25A1A2A0A3A4A5A6A8A9A7A10A11A12A13A148G12366載G2563動G2052額定轉速，可G1209用G980個G19466G17303進行仿真，STEPTIME設置成15，INITIALVALUE設置為0，FINALVALUE設置成760，G11468當G112215G12198之前是G12366載，15G12198之后是額定G9397載。當穩定運行時電流環G12373G9994G7041G13459，在模型中等效為電流反饋G12373G9994減為零，如圖所示，可G1209在電流反饋G17902G17959G990用G19466G17303和電流反饋信號G11468G1068，3G12198之后，G19466G17303由1變為0，電流反饋就變為零，G11468當G1122電流環G12373G9994G7041G13459。電流G451轉速仿真G13479果如圖8所示，G12366載G2563動，15G12198時加G990額定負載電流，3G12198時電流環G12373G9994G7041G13459，得G2052仿真波形圖。A244A32A15A16A33A34A250A253A254A17A18A244A244A37A15A16A17A18A19A20A244A1A2A0A3A4A5A6A8A9A7A10A11A12A13A149A244A40A41A34A250A17A18A19A20A244其中，電流波形圖如圖9，轉速波形圖如圖1G19。由波形圖可G1209G8726出電流超調量A21為G237G21G8，小G11225G8；轉速超調量A22為66G23G8，小G11221G19G8，G3355符合動態G6363G7643，并且穩態無G19757差。直流電壓UA23，ASRG451ACR輸出電壓波形圖如圖11G451圖1G21G451圖1G22所示。A24A26A26A42A27A28A29A30A31A35A36A38A39A43A44A45A46A47A48A49A50A51A52A53A54A55A5610A38A57A58A59A60A61A62A63A64A65A35A36A38A38A57A66A59A67A61A62A63A64A65A35A36A38電動機G2563動時G5132G7389G12366載G2563動G994G9397載G2563動之分，兩G12193G2563動G5785G1929G991的電流和轉速波形略G7389G993同。G12366載G2563動時電流及轉速的波形見G991圖。A39A43A44A45A46A47A48A49A50A51A52A53A54A55A5611A38A57A68A69A70A71A72A35A36A38G9397載G2563動時電流及轉速的波形見G991圖。A38A57A73A74A70A71A72A35A36A38由G990述波形可G11487出，G12366載時，電流IA75從零增G19283G2052IA76，G9994后在G980G8585時間內G13512G6357G993變，后G2460降G2052零，這是G3252為G12366載時G8821G7389加負載電流，G6937G2563動后穩定值為零；而G9397載時，電流IA77也是從零增G19283G2052IA78，G9994后在G980G8585時間內G13512G6357G993變，G1306最后G1262降G2052G980穩定值，而該穩定值G8503G3921是G9397載時所加的額定負載電流。轉速波形則大體G11468同，G1820是G13543G5942G2331速，G9994后G5670加速G990G2331至A79A80A81A82A83A84A85A86A87A88A89A90A91A92A9312最大值，G980個超調后穩定在額定轉速G990。從G2563動所需時間G7481G11487，G12366載G2563動G8616G9397載G2563動快G980點。從電流G994轉速變化過程所反G7156出的特點可G1209把起動過程分為電流G990G2331G451G5670流G2331速和轉速調節三個G19466G8585，由圖1G21和1G22G17836可得出轉速調節器在G8504三個G19466G8585中經G2394了G993飽和G451飽和及退飽和三G12193G5785G1929，而電流調節器在G6984個過程中G980直處G1122G993飽和G10378態。分G7524電流環G7041G13459對系統的G5445G2721G1119可G1209G2454G13783圖8至圖1G22，從這G1972幅圖的波形可G1209G11487出，電流環G12373G9994G7041G13459后，電流和轉速G18129G1262G2469G10995G6403G14645，且是幅值增大后的等幅G6403G14645，系統的穩定G5627降G1314。而調節器的輸出電壓也G18129受G2052了限幅器的限G2058，即調節器G18129G17810G2052了飽和G10378態。這是由G1122G7041G13459的電流環G4658G1122內環反饋G17902G17959G990的G5190擾，雙閉環調速系統G15441G9994G7389反饋G6523G2058，G1306它所G14033G6245G2058的G2494是G15999反饋環所包G3272的前G2533G17902G17959G990的擾動，對反饋G17902G17959G990的G5190擾則無G14033為G2159。G1306是由G1122仿真時轉速調節器和電流調節器的輸出G18129加G7389限幅器，G6937其輸出G993可G14033G980直增大，調節器G1262G3252為輸出G17810G2052限幅器的限幅值而進入飽和G10378態，從而使電流和轉速等幅G6403G14645。A79A80A81A82A83A84A85A86A87A88A89A90A91A92A93134課程設計心得體會G17902過G7424G8437G16850程設G16757，G16765G6117受益G2302G8985。G20330G1820G6117G4410G1262很G3822新的G1008G16211，對G48AG55G47AG37的使用，G17751之G1209前G7389了G7368G3822G7368G1852面的G16760G16794。其G8437，G6117對之前G4410的雙閉環調速系統G7389了G7368G9157G2063的G16760G16794和理G16311，對G980G1135理G16782G11705G16794的實G19481運用G7389了G7368G9157的理G16311，G15441G16840