運(yùn)動控制系統(tǒng)思考題和課后習(xí)題答案.doc

- 22-1 2-2 PWM PWM IGBT PWM PWM IGBT PWM 2-3 PWM 2=4 PWM - V-M PWM PWM Ts IGBT 1/fc Ts 1/2mf fc kHz f 50 60Hz m 20 PWM 2=5 PWM2-6 PWM 2-7 PWM 2-8 2-9 - 2-10 D=nN/n s/1-s 2-11 D=nN/n s/1-s 2-12 2-13 U=0 2-14 2-15 1 Kp 2 Ud 3 Ra 4 If 5 1 Kp 2 3 4 52-16 Ud n Ud 1Ud 2n Ud 2-1 2-2 G-M V-M PWM 2-3 V-M 11-12 2-4 P14 V-M 14 t1 1 t2t1 t3 2t3-t2 t2=t1 2-5 V-M 16 2-6 PWM 17-18 2-7 2-8 2-8 2-9 2-10 2-11 2-12 2-13 2-14 2-15 2-16 2-17 MTM/T 2-18 2-19 KpKsR Id=Idcr Ucom Un* n0=(KpKs(Un*+Ucom)/(Ce(1+K)1. Ud0=(m/)Umsin(m/)cos Um/m_ / / _2U2/2U2/6U2/2/3/62. V-M n=(Ud0-IdR)/Ce3. Tsmax=1/mf4. D=nmax/nmin5. s=n/n6. ncl=(Ud0cl-IdR)/Ce=(KpKsUn*-IdR)/(Ce(1+K) nop=(Ud0op-IdR)/Ce=(KpKsUn*-IdR)/Ce7. D_=(nN/n_)(s/(1-s)ncl= nop/(1+K) 8. K K=KpKs/Ce 9. Kcr=(Tm(Tl+Ts)+Ts2)/(TlTs)T | M | 11. PI ?u(t)=Kpe(t)+(1/)(0_t)e(t)dt 12. PI u(k)=Kpe(k)+(Tsam/)(i=0_k)e(i) 13. PI u(k)=u(k)-u(k-1)=Kp(e(k)-e(k-1)+(Tsam/)e(k)1. V-M - 2. PWM -3.- 4.- 5.- 6.- 1. PWM - 2.-33-1 Idm PI Id Idm3-2 ASR ACR ASR 3-3 Un* Un n Un Un* ASR Ui* Uc n n Un Un n 3-4 1 2 12ACR 3-5 ASR PI ACR Uim*=6V Idm=20A Un*=10V n=1000rpm 1 =0.3 2 =0.013-6 Kn = =| Ks Kn Ks 3-7 ASR Ui*=Ui=Id=IdLACR Uc=Ud0/Ks= P623-8 0 1/1+Kn 0 1/1+Kc 3-9 1 2 3 4 5 3-10 ASR ACR PIR 1 2 1 23-1 3-2 0 3-3 ASR Uim* Id=Idm3-4 Idm 3-5 PI Idm Idm Uim* 3-6 ASR ASR ASR 3-7 63 3-8 3-9 3-10 PIR 3-11 1. P62 Un*=Un=n=n0 Ui*=Ui=Id=IdL Uc=Ud0/Ks=(Cen+IdR)/Ks=(Ce(Un*/)+IdR)/Ks2. =Un*m/nm3. =Ui*m/Idm 1.- 2.- 3.- 1. 2.44-1 PWM 4-2 1. PWM Ud=(2ton/T-1)Us 1.- 2. PWM - 3. PWM -55-1 0ssmsm sm 5-2 5-3 5-4 ms m mr ms m mr ms m mr 5-5 PWM SPWMCFPWM SVPWM 5-6 CFPWM h 5-7 Y 5-8 U I