[毕业设计精品]双闭环调速系统调节器设计及matlab仿真验证

A1A2A0A3A4A5A6A8A9A7A10A11A12A13A141双闭环调速系统调节器设计及MATLAB仿真验证1设计分析直流双闭环调速系统中设置了两个调节器,即转速调节器ASR和电流调节器ACR,分别调节转速和电流,即分别引入转速负反馈和电流负反馈。原理图如图1所示。A15A16A17A18A19A20A21A22A23A24A25A26A21A27A18A28A29A30A31A15转速环和电流环之间实行串级连接，其中，转速调节器是调速系统的主导调节器，称为外环。它使转速N很快地跟随给定电压UN变化，稳态时可减小转速误差，对负载变化起抗扰动作用，它的输出当做电流调节器的输入，其输出限幅值决定电动机允许的最大电流。电流调节器作为内环的调节器，在转速外环的调节过程中，它的作用是是电流紧紧跟随其给定电压UI变化，对电网电压的波动起及时抗扰的作用，在转速动态过程中，保证获得点动机允许的最大电流，从而加快动态过程。这就形成了转速G451电流反馈G6523G2058直流调速系统。为了获得G14403G3921的G19757G451动态G5627G14033，转速和电流两个调节器G980G14336G18129G18331用G51G44调节器。对调速系统而G16340，G15999G15999G6523G2058的对G16949是转速。双闭环直流调速系统G1867G7389G8616G17751G9397G5859的动态G5627G14033。G14033G2554实G10628所G7411G7407的G5670加速过程，最G13468G1209时间最G1260的形G5347G17810G2052所G16213G8726的G5627G14033G6363G7643，是设置双闭环G6523G2058的G980个G18337G16213的G17873G8726G6363G7643。A1A2A0A3A4A5A6A8A9A7A10A11A12A13A1422系统设计及参数计算21系统总体设计G7242G19404G12661电动机调速系统G708VM系统G709G17902过调节G16314G2469G16025置G42G55的G6523G2058电压G7481G12239动G14045G1926的G11468G1313，即可G6925变G5191G3355G6984流电压，从而实G10628G5191G9381调速。双闭环直流调速系统的动态G13479G7512图，如图G21所示。A15A32A33A34A35A27A18A28A29A36A37A38A39A40A15其中，G252分别为转速和电流反馈系G6980，G7693G6466G5062G11705G7477G1226G1207入G1209G991G1856G5347。G3404A41A42A43A44A45G708G21G161G709G3404A46A47A48A49A50A51A52G708G21G16G21G709IA53A54G3404IA55G708G21G16G22G709G8726得G340400267，G34040008822电流调节器设计及参数计算电流环的动态G13479G7512图如图G22所示，其中，反电动G2195G994电流反馈的作用G11468G1126G1144G2461，这G4570给设G16757G5049作G5114G7481G21647G9914。实G19481G990，反电动G2195G994转速成G8503G8616，它G1207G15932转速对电流环的G5445G2721。在G980G14336G5785G1929G991，系统的电G11925时间G5132G6980TA56G17840小G1122机电时间G5132G6980TA57，G3252G8504，转速的变化G5460G5460G8616电流变化G5942的G3822。对电流环G7481G16840，反电动G2195是G980个变化G17751G5942的扰动，在电流的G11648变过程中，可G1209G16760为反电动G2195G3534G7424G993变，即G440G40G300G19。这G7691，在G6365动态G5627G14033设G16757电流环时，可G1209G7254G993G13783G15397反电动G2195变化的动态G5445G2721。调节器如图G23所示。A58A59A60A61A62A63A64A65A66A67A68A69A70A71A723A73A74A75A76A77A78A79A80A81A82A73A73A83A84A85A86A87A88A89A90A91A87A88A78A92A93A94A95A96A97A75A76A98A99A100电流调节器G2454G6980G17885G6333G265G714确定时间G5132G69801G709三G11468桥G5347电路的G5191G3355失G6523时间为TA101G340400017S。G21G709电流滤波时间G5132G6980TA102A103，三G11468半波G6984流电路每个波头的时间是33MS，为了G3534G7424滤G5191波头，应G7389G466612G4667TA104A105G3404333MS，G3252G8504取TA106A1072MS0002S。G22G709电流环小时间G5132G6980之和TA108A109G3404TA110G3397TA111A112G340400037S。G17885G6333电流调节器G13479G7512G7693G6466设G16757G16213G8726A113G34095，并保证稳态电流无差，可G6365典型G44型系统设G16757电路调节器。电流环G6523G2058对G16949是双惯G5627型的，G3252G8504可用G51G44型电流调节器其传递函G6980为WA114A115A116G4666SG4667G3404A117A118A119A120A121A122A123A124A125A126A127A128G708G21G16G23G709给出电G11925时间G5132G6980TA1290031S检查对电源电压的抗扰G5627G14033A130A131A132A133A134G3406A135A136A137A138A139A140A141A142A142A143A144G34068378，G2454照典型G44型系统动态抗扰G5627G14033G6363G7643G994G2454G6980的关系G15932格，可G11705各项G6363G7643G18129是可G1209接受的。电流环开环传递函G6980为A145A146A147A148A149A150A151A152A153A154A155A156A157A158A1594WA160A161A162G4666SG4667G3404A163A164A165A166A167A168A169A170A171A172A173A174A175A176A177A178A179A180A181A182A183A184A185A186A187A188A189A190A191A192A193A194G708G21G165G709G3252为TA195G1576TA196A197，所G1209G17885G6333A198G3404TA199，用调节器零点消去G6523G2058对G16949中大的时间G5132G6980点，G1209便矫G8503成典型G44型系统，G3252G8504WA200A201A202G4666SG4667G3404A203A204A205A206A207A208A209A210A211A212A213A214A215A216A217A218A219A220G3404A221A222A223A224A225A226A227A228A229A230A231G708G21G166G709G16757算电流调节器G2454G6980电流调节器超前时间G5132G6980A232G3404TA233G34040031S。电流环开环增益G16213G8726A234G34095时，并G13479合G7424题实G19481，取KA235TA236A237G3404025，G3252G8504KA238G3404A239A240A241A242A243A244A245G3404A246A247A248A249A250A251A252A252A253A254G34066757G708G21G167G709ACR的G8616例系G6980为KA255G3404A16A10A17A4A15A0A9A26G3404A34A1A22A33A2A35A21A3A5A6A7A8A11A12A19A13A24A14A18A20A23A25A25A27A27G34060444G708G21G168G709检验近似G7477G1226电流环截至频率A38A28G3404KA29G34046757SA39A301G709校验G7242G19404G12661G6984流G16025置传递函G6980的近似G7477G1226A31A32A36A37G3404A40A41A42A43A44A45A45A46A47SA48A49G34061911SA50A51G3408A52A53G708G21G169G709G9397足近似G7477G1226G21G709校验忽略反电动G2195变化对电流环动态G5445G2721的G7477G12263G3495A54A55A56A57A58G34043G3400G3495A59A60A61A62A62A63A64A65A66A67A68A69G340650913G3407A70A71G708G21G161G19G709G9397足近似G7477G1226G22G709校验电流环小时间G5132G6980近似处理G7477G1226A72A73G3495A74A75A76A77A78A79G3404A80A81G3400G3495A82A83A84A85A85A86A87A88A89A90A91A92A92A93G3406180775G3408A94A95G708G21G1611G709G9397足近似G7477G1226G16757算调节器电阻和电容由图5，G6365所用运算放大器取040RK，各电阻和电容值G16757算如G991RA96G3404KA97RA98G34040444G340040G34041776K，取20KG708G21G161G21G709CA99G3404A100A101A102A103G3404A104A105A106A107A108A109A110A111A112A113A114A115G3404175F，取175FG708G21G161G22G709CA116A117G3404A118A119A120A121A122A123G3404A124A125A126A127A128A128A129A130A131A132A133G340402F，取02FG708G21G161G23G709G6365照G990述G2454G6980，G4570在MATLAB仿真模型中设置，电流环可G1209G17810G2052的动态跟随G5627G14033G6363G7643，G9397足设G16757G16213G8726。A134A135A136A137A138A139A140A141A142A143A144A145A146A147A148523转速调节器设计及参数计算设G16757转速调节器时，把电流环等效为单G1313负反馈系统和小惯G5627系统。把电流环的等效环节接入转速环后，G6984个转速G6523G2058系统的动态G13479G7512框图如图5所示。和电流环中G980G7691，把转速给定滤波和反馈滤波环节G12239G2052环内，同时G4570给定信号G6925成NSU，再把时间G5132G6980为IK1和ONT的两个小惯G5627环节合并起G7481，近似成G980个时间G5132G6980为NA149T的惯G5627环节。由G1122需G16213实G10628转速无G19757差，而且在后面G5062经G7389G980个积分环节，G3252G8504转速环开环传递函G6980应共G7389两个积分环节，所G1209应该设G16757成典型型系统，这G7691的系统同时也G14033G9397足动态抗扰G5627G14033G3921的G16213G8726。由G8504可见，ASR也应该G18331用G51G44调节器，其传递函G6980为WA150A151A152G4666SG4667G3404A153A154A155A156A157A158A159A160A161A162A163A164G708G21G1615G709A165A166A167A168A169A170A171A172A173A174A175A170为了实G10628转速无G19757差，在负载扰动作用点前面必须G7389G980个积分环节，它应该包含在转速调节器ASR中，由G1122在扰动作用点后面G5062经G7389了G980个积分环节，G3252G8504转速开环传递函G6980共G7389两个积分环节，应该设G16757成典型型系统。A165A176A177A178A179A180A181A182A183A184A183A185A186转速调节器G2454G6980G16757算G451G17885G6333G265确定时间G5132G69801G709电流环等效时间G5132G6980A187A188A189，G5062取KA190TA191A192G3404025，1KA193G34044TA194A195G340400148SA196A197A198A199A200A201A202A203A204A205A206A207A208A209A2106G21G709转速滤波时间G5132G6980TA211A212。取TA213A214G3404001S3G709转速环小时间G5132G6980TA215A216。G6365小时间G5132G6980近似处理，取TA217A218G34041KA219G3397TA220A221G340400248SG17885G6333转速调节器G13479G7512G6365照设G16757G16213G8726，G17885用G51G44调节器，其传递函G6980为WA222A223A224G4666SG4667G3404A225A226A227A228A229A230A231A232A233A234A235A236G708G21G1616G709调速系统开环传递函G6980为WA237G4666SG4667G3404A238A239A240A241A242A243A244A245A246A247A248A249A250A251A252A253A254A255A20A5A9A28A0A8A1A2A18A19A29G3404A16A3A43A15A4A17A6A7A10A11A12A26A13A14A21A22A23A24A25A27A30A31A32A33A34A35A36A37A38G708G21G1617G709另转速开环增益KA39为KA40G3404A41A42A44A45A46A47A48A49A50A51A52A53G708G21G1618G709则WA54G4666SG4667G3404A55A56A57A58A59A60A61A62A63A64A65A66A67A68A69A70A71A72A73G708G21G1619G709为校G8503后的典型的型系统G16757算转速调节器G2454G6980G6365跟随和抗扰G5627G14033G18129G17751G3921的原则，取5H，则ASR的超前时间G5132G6980为A74G3404HTA75A76G34040124SG708G21G16G21G19G709转速开环增益KA77G3404A78A79A80A81A82A83A84A85A86A87G34061951SA88A89G708G21G16G211G709ASR的G8616例系G6980为KA90G3404A91A92A93A94A95A96A97A98A99A100A101A102A103A104A105A106A107G34041161G708G21G16G21G21G709检验近似G7477G1226转速环截止频率A108A109G3404A110A111A112A113G3404KA114A115G34042419SA116A117G708G21G16G21G22G7091G709电流环传递函G6980简化G7477G1226为A118A119G3495A120A121A122A123A124G340645045SA125A126G3408A127A128G708G21G16G21G23G709G9397足简化G7477G1226。G21G709转速环小时间G5132G6980近似处理G7477G1226为A129A130G3495A131A132A133A134A135G3406274SA136A137G3408A138A139G708G21G16G215G709G9397足简化G7477G1226。G16757算调节器电阻和电容取040RK，则A140A141A142A143A144A145A146A147A148A149A150A151A152A153A1547RA155G3404KA156RA157G34041161G340040G34044644，取460KG708G21G16G216G709CA158G3404A159A160A161A162G3404A163A164A165A166A167A168A169A168A170A171A172A173G34040267F，取02FG708G21G16G217G709CA174A175G3404A176A177A178A179A180A181G3404A182A183A184A185A186A187A188A189A190A191G34041F，取1FG708G21G16G218G709校核转速超调量当H5时，A192G3404376，G993G14033G9397足设G16757G16213G8726。应G6365ASR退饱和的G5785G1929G18337新G16757算超调量。G6365ASR退饱和G18337新G16757算超调量过载倍G698015A193G3404G4672A194A195A196A197A198A199A200G4673A201A202A203A204A205G34042G4672A206A207A208A209A210A211A212G4673G708G3398ZG709A213A214A215A216A217A218A219A220A221A222G708G21G16G219G709Z为负载系G6980，ZG3404A223A224A225A226A227A228；NA229为调速系统开环机械特G5627的额定稳态速降NA230G3404A231A232A233A234A235A236G708G21G16G22G19G709NA237G34042G4666G3398ZG4667NA238A239A240A241A242A243G708G21G16G221G709G8726得G13479果，并在MATLAB仿真G16757算，在所得波形图中进行G16757算，得G2052超调量，可G1209得G2052动态超调量G14033G9397足设G16757G16213G8726。当超调G993符合时，可G1209G7693G6466G1867体的G5785G1929，G18331用经验试凑G8873，G17885G6333在符合超调内的G6980G6466，G5049程G8873G7481设G16757的原则G980G14336G18129是G1820内环后外环，其中G7389对G980G1135变G6454的近似处理。3仿真分析G7693G6466G990面G16757算的G2454G6980G6980G6466，可G1209用MATLAB的SIMULINKG5326模仿真，仿真模型如图7所示A244A245A246A247A248A249A250A251A252A253A254A255A25A1A2A0A3A4A5A6A8A9A7A10A11A12A13A148G12366载G2563动G2052额定转速，可G1209用G980个G19466G17303进行仿真，STEPTIME设置成15，INITIALVALUE设置为0，FINALVALUE设置成760，G11468当G112215G12198之前是G12366载，15G12198之后是额定G9397载。当稳定运行时电流环G12373G9994G7041G13459，在模型中等效为电流反馈G12373G9994减为零，如图所示，可G1209在电流反馈G17902G17959G990用G19466G17303和电流反馈信号G11468G1068，3G12198之后，G19466G17303由1变为0，电流反馈就变为零，G11468当G1122电流环G12373G9994G7041G13459。电流G451转速仿真G13479果如图8所示，G12366载G2563动，15G12198时加G990额定负载电流，3G12198时电流环G12373G9994G7041G13459，得G2052仿真波形图。A244A32A15A16A33A34A250A253A254A17A18A244A244A37A15A16A17A18A19A20A244A1A2A0A3A4A5A6A8A9A7A10A11A12A13A149A244A40A41A34A250A17A18A19A20A244其中，电流波形图如图9，转速波形图如图1G19。由波形图可G1209G8726出电流超调量A21为G237G21G8，小G11225G8；转速超调量A22为66G23G8，小G11221G19G8，G3355符合动态G6363G7643，并且稳态无G19757差。直流电压UA23，ASRG451ACR输出电压波形图如图11G451图1G21G451图1G22所示。A24A26A26A42A27A28A29A30A31A35A36A38A39A43A44A45A46A47A48A49A50A51A52A53A54A55A5610A38A57A58A59A60A61A62A63A64A65A35A36A38A38A57A66A59A67A61A62A63A64A65A35A36A38电动机G2563动时G5132G7389G12366载G2563动G994G9397载G2563动之分，两G12193G2563动G5785G1929G991的电流和转速波形略G7389G993同。G12366载G2563动时电流及转速的波形见G991图。A39A43A44A45A46A47A48A49A50A51A52A53A54A55A5611A38A57A68A69A70A71A72A35A36A38G9397载G2563动时电流及转速的波形见G991图。A38A57A73A74A70A71A72A35A36A38由G990述波形可G11487出，G12366载时，电流IA75从零增G19283G2052IA76，G9994后在G980G8585时间内G13512G6357G993变，后G2460降G2052零，这是G3252为G12366载时G8821G7389加负载电流，G6937G2563动后稳定值为零；而G9397载时，电流IA77也是从零增G19283G2052IA78，G9994后在G980G8585时间内G13512G6357G993变，G1306最后G1262降G2052G980稳定值，而该稳定值G8503G3921是G9397载时所加的额定负载电流。转速波形则大体G11468同，G1820是G13543G5942G2331速，G9994后G5670加速G990G2331至A79A80A81A82A83A84A85A86A87A88A89A90A91A92A9312最大值，G980个超调后稳定在额定转速G990。从G2563动所需时间G7481G11487，G12366载G2563动G8616G9397载G2563动快G980点。从电流G994转速变化过程所反G7156出的特点可G1209把起动过程分为电流G990G2331G451G5670流G2331速和转速调节三个G19466G8585，由图1G21和1G22G17836可得出转速调节器在G8504三个G19466G8585中经G2394了G993饱和G451饱和及退饱和三G12193G5785G1929，而电流调节器在G6984个过程中G980直处G1122G993饱和G10378态。分G7524电流环G7041G13459对系统的G5445G2721G1119可G1209G2454G13783图8至图1G22，从这G1972幅图的波形可G1209G11487出，电流环G12373G9994G7041G13459后，电流和转速G18129G1262G2469G10995G6403G14645，且是幅值增大后的等幅G6403G14645，系统的稳定G5627降G1314。而调节器的输出电压也G18129受G2052了限幅器的限G2058，即调节器G18129G17810G2052了饱和G10378态。这是由G1122G7041G13459的电流环G4658G1122内环反馈G17902G17959G990的G5190扰，双闭环调速系统G15441G9994G7389反馈G6523G2058，G1306它所G14033G6245G2058的G2494是G15999反馈环所包G3272的前G2533G17902G17959G990的扰动，对反馈G17902G17959G990的G5190扰则无G14033为G2159。G1306是由G1122仿真时转速调节器和电流调节器的输出G18129加G7389限幅器，G6937其输出G993可G14033G980直增大，调节器G1262G3252为输出G17810G2052限幅器的限幅值而进入饱和G10378态，从而使电流和转速等幅G6403G14645。A79A80A81A82A83A84A85A86A87A88A89A90A91A92A93134课程设计心得体会G17902过G7424G8437G16850程设G16757，G16765G6117受益G2302G8985。G20330G1820G6117G4410G1262很G3822新的G1008G16211，对G48AG55G47AG37的使用，G17751之G1209前G7389了G7368G3822G7368G1852面的G16760G16794。其G8437，G6117对之前G4410的双闭环调速系统G7389了G7368G9157G2063的G16760G16794和理G16311，对G980G1135理G16782G11705G16794的实G19481运用G7389了G7368G9157的理G16311，G15441G16840