ʱ : ڶ 电力拖动自动控制系统-运动控制系统习题解答???- 百度文库ϿʼĶ
3֪
149.3K??1??1?36.8
?ncl3.95?nop*RIdKUnRIdΪn? ???Ce(1?K)Ce(1?K)?(1?K)Ce(1?K)*KpKsUn ֪ʽ
???0.0097
Ҳô㷨
?Un*Un15??0.01 ?Un??n??n15004ŴķŴKp?KCeKs?
Kp?KCe36.8*0.134??22.4 Ks?22*0.013.53.4תٸϵͳֹڣҪת
Idbl?2INٽֹIdcr?1.2INӦѡöıȽϵѹ͵
裿Ҫ費·ܵ1/3 ,Ҫ
ӵŴԻϵͳԭͼ;̬ṹͼŴϵʱͱȽϵѹΪ٣
⣺1 Idbl?2IN?25AIdcr?1.2IN?15A
Idcr?Ucom=15 Rs*nIdblU???UcomRs?=25
Rs=Idbl25= *Un?Ucom15+15RsɵRs?1.5?Ucom?15Rs=15?1.5?22.5V
2R??1.6
R? 3Ҫļֵ˵ҪĵźֵҲҪͬʱС͵źŴҪ÷ŴԵźŽзŴΪˣ
Rs?1.5?? ȡRs?0.5?Ucom?Idcr?Rs?15?0.5?7.5V
3 Id?Idcrʱ
*?KpKsUn??KpKsKi?RsId?Ucom???RId?n???????????????C1?KC1?KC1?K??eee??????
*?KpKsUn?KiUcom???R?KpKsKiRs?Id???????????C1?KC1?K??ee??????
n=0ʱ
Idbl?*KpKsUn?KiUcom?R?KpKsKiRs??U*n?KiUcom
KiRs֪
15?7.5*Ki?25ɵKi?3
Ki*0.52
3.63.4ϵͳУƵΪ8KHz·L=15mHϵͳ˶ֵķ
ֹGD=0.16Nmжϰ3.5ҪƵתٸϵͳܷȶУҪ֤ϵͳȶУŴϵKǶ٣⣺
2
GD2?0.16Nm2R??1.6?Ce?0.134Vrpm
Tl?L0.015??0.094s R0.16
1GD2R0.16?0.16Ts??0.000125sTm???0.0363s
375CeCm375?0.134???0.134800030ʽ3-22ȶӦ
Tm(Tl?Ts)?Ts20.0363?(0.094?0.000125)?0.0001252K???291
TlTs0.094?0.000125
ɼ3.4ҪK>36.8ϵͳȶ
3.7 һPWM任ֱϵͳ֪綯PN?2.8kWUN?220VIN?15.6AnN?1500r/minRa=1.5װRrec=0.2 PWM任ķŴ
Ks?31
(1)ϵͳʱԼٷΧD?100ʱľsֵ (2)D?100s?5%ʱϵͳ̬ٽ
*?10VʱId?IN(3)תٸоϵͳҪD?100s?5%Unn?nNתٸϵ?ͷŴŴϵKp
⣺Ce?UN?INRa220?15.6?1.5=?0.1311Vmin/r nN15001?nop?(Ra?Rrec)IN(1.5?0.2)15.6??202.3r/min
Ce0.1311
D?nmax1500??100nmin?15r/min nminnmin
s??nop n0min??nopnmin??nN?202.3?93%
15?202.32D?100s?5%ʱ?nN??nop?ncl202.3?1?255.4 0.789nNs1500?0.05??0.789rmin
D(1?s)100?(1?0.05)3K??1?*Un10??0.0067??n1500
Kp?KCe255.4*0.1311??161 Ks?31*0.0067