1、2.2 1000100 min r s=2% 1000 0.02 (10 0.98) 2.04 (1 ) n ns n rpm Ds 2.04rpm 2.3 0max 1500 min nr 0min 150 min nr 15 min N nr 1 max min D n n ( max 0max 1500 15 1485 N n n n min 0min 150 15 135 N n n n max min 1485 135 11 D n n 2) 0 15 150 10% N s n n 2.4 P N =74kW ,UN=220V I N =378A n N =1430r/min Ra
2、=0.023 Rrec=0.022 s=20% s=30% ( ) (220 378 0.023) 1430 0.1478 N N a N Ce U I R n V rpm 378 (0.023 0.022) 0.1478 115 N n I R Ce rpm (1 ) 1430 0.2 115 (1 0.2) 3.1 N D n S n s (1 ) 1430 0.3 115 (1 0.3) 5.33 N D n S n s 2.5 V -M 60 , 220 , 305 , 1000 min N N N N P kWU VI An r R=0.18 ,Ce=0.2V min/r, 1 N
3、n 2 N S 3 D=20,s 5% N n ? (1) 305 0.18 0.2 274.5 / min NN n I R Ce r (2) 0 274.5 (1000 274.5) 21.5% NN S n n (3) (1 ) 1000 0.05 20 0.95 2.63 / min N n n S D s r 2.6 * 8.8 u UV 2 P K 15 S K =0.7 1 d U 2 d U 3 =0.35 * u U 1 * (1 ) 2 15 8.8 (1 2 15 0.7) 12 d p s u p s U K KU K K V (2) 8.8 2 15 264 d UV
4、 , 22 (3) * (1 ) 12 (1 2 15 0.35) (2 15) 4.6 u d p s p s U U K K K K V 2.7 1500r/min150r/min 5% s 100r/min 1 s n s n D N N 1 / 10 1500 2% / 98% N n 1500 2% / 98% 10 3.06 / min N nr 2 7 . 31 1 06 . 3 / 100 1 / cl op n n K 2.8 15 8 r/min 30 128 8 15 1 1 cl op n K n 30, rpm K n n op cl 13 . 4 30 1 / 12
5、8 1 / D 937 . 1 / 2 1 cl cl n n 2.9 V -M P N =2.2kW , U N =220V , I N =12.5A, n N =1500 r/min R a =1.5 RL=0.8 R rec =1.0 K s =35 D=20 S=10% 1 n op n cl 2 3 U n *=15V I d =I N n=n N 4 1 / 220 12.5 1.5 /1500 201.25 /1500 0.134 min/ N N a e e n U I R C C V r / / 12.5 3.3 / 0.134 307.836 / min N N e op
6、N e n U I R C n I R C r / 1 1500 10% / 20*90% 8.33 / min NN n n s D s r min / 33 . 8 r n cl 2 3 4 K C R I K KU K C R I U K K n e d n e d n s p 1 / 1 / 1 / / 1 307.836 / 8.33 1 35.955 op cl K n n 1500 35.955 15 / 1 35.955 12.5 3.3 / 0.134 1 35.955 r V min/ 0096 . 0 * 35.955*0.134 14.34 * 35*0.0096 e
7、p s KC K K n U U n n 01 . 0 1500 15 * n U n / p e s K KC K 35.955 0.134 / 35 0.01 13.76 p K 2.10 2.9 N dbl I I 2 N dcr I I 2 . 1 1/3 , 1 A I I N dbl 25 2 A I I N dcr 15 2 . 1 s com s com dcr R U R U I / 15 / 5 . 1 / 15 25 / * s s com s com n dbl R R U R U U I V U com 5 . 22 5 . 1 15 2 ( / 3) 1.0 1.5
8、 0.8 / 3 1.1 , ( / 3) 1.1 , s s R R R R 1.1 s R 15 1.1 16.5 com dcr s U I R V 3 dcr d I I K C I R K K K R K C U K U K K K C RI K C U I R K K K K C U K K n e d s i s p e com i n s p e d e com d s i s p e n s p 1 / 1 / 1 / 1 / 1 / * * n=0 * / dbl p s n i com p s i s n i com i s I K K U KU R K K KR U K
9、U KR 25 15 16.5 /1.1 15 / 22.5 13.5 1.36 i i i K K K 2.11 2.9 L=50mH 22 GD =1.6Nm 2-9 mH L 50 2 2 6 . 1 Nm GD 3.3 R 0.134 / e C V rpm 2 / 0.05 / 3.3 0.015 / 375 1.6 3.3 / 375 0.134 0.134 30 / 3.14 5.28 / 64.33 0.082 0.00333 l m e m s T L R s T GD R CC s Ts 22 2 / 0.082 0.015 0.00333 0.00333 / 0.0151
10、*0.00333 0.0015 0.00333 / 0.00004983 30.52 l m l s s s K T T T T TT K35.955 K 30.52 2.12 - kW P N 8 . 2 V U N 220 A I N 6 . 15 1500 N n r/min a R =1.5 rec R =1 , L R =0.8 35 s K (1) 30 D s (2) 30 D % 10 s (3) 30 D % 10 s V U n 10 * N d I I N n n p K r V C e min/ 1311 . 0 1500 / 5 . 1 6 . 15 220 1 mi
11、n 0 min / 15.6 3.3 / 0.1311 392.68 / min 1500 / 30 50 / 392.68 / 392.68 50 88.7% op N e op n I R C r n s n n 2 min / 56 . 5 9 . 0 / 5 50 / 1 . 0 r n n n 3 e s p e d e n s p C K K K K C I R K C U K K n / 1 / 1 / * 5 . 52 1 56 . 5 / 48 . 297 1 / 1 / 6 . 15 1 / 1500 * cl op e e n s p n n K K C R K C U
12、K K2.13 1024 4 MHz 1 f 0 16 M 0.01s min / r 1500 n min / r 150 n 1 M min / 465 . 1 01 . 0 4 1024 60 60 r ZT Q c c ZT M n 1 60min / 1500r n 1024 60 01 . 0 1024 4 1500 60 1 c nZT M min / 150r n 4 . 102 60 01 . 0 1024 4 150 60 1 c nZT M min / 1500r % 098 . 0 % 100 1024 1 % 100 1 % 1 max M min / 150r %
13、98 . 0 % 100 4 . 102 1 % 100 1 % 1 max M M 2 T min / 1500r n min / 171 1500 4 1025 10 1 60 1500 4 1024 60 6 2 0 2 r Zn f Zn Q min / 150r n min / 55 . 1 150 4 1024 10 1 60 150 4 1024 60 6 2 0 2 r Zn f Zn Q 2 0 60 ZM f n Zn f M 0 2 60 min / 1500r n 77 . 9 1500 4 1024 10 60 6 2 M min / 150r n 7 . 97 15
14、0 4 1024 10 60 6 2 M min / 1500r n % 4 . 11 % 100 1 77 . 9 1 % 100 1 1 % 2 max M min / 150r n % 1 % 100 1 7 . 97 1 % 100 1 1 % 2 max M T 3.1 ASR ACR PI * nm U =15V N n =1500r/min N I =20A 2 R=2 s K =20 e C =0.127V min/r 1 * n U =5V dL I =10A n n U * i U i U c U 2 * i U c U (1) * * * * * 0 * / 15 / 1
15、500 0.01 / 5 5 , 500 0.01 / 15 0.375 / 40 0.375*10 3.75 0.127 *500 10* 2 4.175 20 500 , 5 , 3.75 , nm N n n im dm i d i d dL e N dL C s s s n i i c U n V rpm V rpm UV U V n rpm V rpm UV VA IA U I V U U E I R C n I R UV K K K n rpmU V U U V U 4.175v 2 V I U dm i 15 * 0 40*2 4 20 ed d dm c s s s Cn I
16、R U I R UV K K K 3.2 ASR ACR PI N P =3.7kW N U =220V N I =20A N n =1000 r/min , R =1.5 , cm im nm U U U * *=8V dm I =40A, s K =40 1 2 , 0 d U c i i U U U , , * :1 * 88 0.2 / 0.008 / 40 1000 im nm dm N U V U V V A V rpm I A n rpm 2) 0 40 *1.5 60 d dl e N dl U E I R Cn I R A V * 8 , 0 nn U V U ASR * 8
17、 , 8 , ii U V U V 0 60 40 1.5 C d S U U K V 3.3 ASR ACR PI ASR * im U =8V 80A 40A 70A 1 * i U 2 c U 3 c U : 1) * 8 0.1 / 80 im dm UV VA IA 40A 70A * i U 4V 7V 2) C U 3) C U 0 d dl e N dl U E I R Cn I R 0 ed d c ss Cn I R U U KK 3.5 I T=0.1s, 10 1 2 s t r t 3 r t 0.25s, K=? =? 0.69, 0.6, % 9.5% KT (1
18、) 0.69/ 0.69/ 0.1 6.9(1/ ) K T s (2) 3.3 0.33 r t T S 3 6 6 0.1 0.6 s n t T s 3 0.25 r ts 3-1 1, 0.5 KT , 2.4 2.4*0.1 0.24 r t T s 1/ 10 KT , =16.3% 3.6 1 01 . 0 10 1 ) ( 1 s s K s W obj 5 I 0.5, 0.707, 3-1 % 4.3% KT I 1 ( ) , Ws s 1 10 ( ) , T 0.01 (0.01 1) Ws ss K=10/ KT 0.5, K 0.5/T=50, 10/ 10/50
19、 0.2 KS 11 () 0.2 Ws ss 3.7 ) 1 02 . 0 ( 10 ) 1 ( ) ( 1 s s Ts s K s W obj 30 PI 1 ( 1) ( 1) ( ) , ( ) ( 1) PI PI PI K s K s K W s W s s s s Ts 1 / , h 8 3-4 PI K K K hT , %=27.2% 8*0.02 0.16 hT s 1 2 2 2 2 1 8 1 175.78, / 175.78*0.16 /10 2.81 2 2*8 *0.02 PI h K K K K hT 3.8 60 N P kW , 220 N U V ,
20、308 N I A , 1000 N n r/min , e C =0.196 V min/r , R =0.18 , s K =35 l T =0.012s, m T =0.12s, i T 0 =0.0025s, n T 0 =0.015s (Un * )N =10V, ASR ACR Uim * =8V,Ucm =6.5V : , D=10, i 5% , n 10% 1 ( 1.1 N I ) 2 ACR, R i, Ci COi , R 0 =40 k 3 ASR, R n C n COn (R 0 =40k ) 4 40% n 5 1 * / 8 / (1.1* ) 8 / 339
21、 0.0236 / im dm N U I V I V A V A 10 /1000 0.01 min/ Vr 2 ) 0.00333 s a T s ) 0.0025 oi b T s 0 ) 0.0025 0.00333 0.00583 i i s c T T T s 5% i I PI ( 1) () ii ACR i KS WS S , : 1 0.012 , 0.5, 0.5 / 85.76 i l I i I i T s K T K T s 85.76 0.012 0.18 0.224 35 0.0173 Ii i s KR K K 1 85.76 ci I Ks 1 1 0 11
22、 ) 1 101.01 3 3 0.00333 11 ) 3 3 79.06 0.12 0.012 1 1 1 1 ) 115.52 3 3 0.00333 0.0025 ci S ci ml ci si a T bS TT cs TT 0 40 RK , 0 0.224 40 8.96 ii R KR K K , 9K. 3 3 0 0 0 / 0.012 / (9 10 ) 1.33 4 / 4 0.0025 / 40 10 0.25 i i i ii C R F C T R F 3 a) 1/ I K : 0.5 Ii KT 1/ 2 2 0.00583 0.01166 Ii K T s b) 0.015 on Ts c) 1/ 0.01166 0.015 0.02666 n I on T K T s PI ( 1) () nn ASR n Ks Ws s , , 5, 0.1333 n n n n hT h hT s 2 2 2 2 2 16 168.82 2 2 5 0.02666 ( 1) 6 0.0236 0.196 0.12 6.94 2 2 5 0.01 0.18 0.02666 N n em n n h Ks hT h CT K h RT
