- -

. .

, 2004.

1. ....................................................................................................................... 1
1.1. ........................................................................................................

2. ..........................................................

2.1. .................................................................................. 7
2.2. ............................................................................ 9
2.3. dq ................................................................................. 10

3. ......................... 13
3.1. .........................................................................................
3.2. ..........................................................
3.3. ....................................................................................

13
16
20

4. ................................................ 23
4.1. ...........................................................

23

4.1.1. ...............................................
4.1.2. ....................................

25
27

4.2. .............................................................
4.3. .........................................................

29
31

5.
...................................................................

32

5.1. .............................................................. 34
5.2. .................................................................. 42
5.3. ................................................................ 48

6. ..............................................................................................................

54

7. ........................................................ 56
8. .................................................................................................................

57

9. ........................................................................................................... 65

1. (1)

.(2)
- ,
, ,
.
()
.
,
,
, . ,
, .
a a ,
aaaa a 1/3 1/2 a a,
a . , ,
, .
, ,
, .
,
.
,
, ,
,
. ,
. , ,
, 3x380 [V], ''''
,
. .
1

 ...

1.1. -
'''' '''' - '' ''.
WRV 114/124/4 , 14
MW 1500 /. ,
.

1.1. ''''
,
.
, ,
'''' . 4-5
. ,
( ),
, . . (3)
,
,
, .

1.1.

, ,
.
2. dq ,
.
2

 ...

.
3.,
,
, ,
.
4. .
: , .
,
,
.
5. WRV 114/124/4
. U/f
, .
.
6. 5.
.
7. ,
.
8. ,
Simulink-, .
9. .

 ...

2.
, , a a aa, a
a a a aa a . a
a a a aa a a aaa. , a
a, aa [1].
aa a a a aaa a a (a a, b, c)
aaa a ( aa a a aaa; a
), aaa a :

c'

b
Q'

F
a'

D
a

F'
D'
Q
c

b'
c

a 2.1 a(4)
a aa a, a
a a a aaa aa a:
d
aa '
dt
d
u b = Rb ib + bb '
dt
d
u c = Rc ic + cc '
dt
d
u F = RF i F + FF '
dt
d
u D = RD i D + DD '
dt
d
u Q = RQ iQ + QQ '
dt
u a = Ra i a +

(2.1)

a ua, ub i uc a a a aa. a uF a
aaa, a a uD uQ a aaa a a uD =
uQ =0. a aaa a a, a a
4

 ...

Ra = Rb = Rc = Rs . aaa RF , a aaa
RD RQ. aaa (2.1) a a
a a a aaa a a
a a (a 2.1.):

aa ' Laa ( ) Lab ( ) Lac ( ) LaF ( ) LaD ( ) LaQ ( ) ia

L ( ) L ( ) L ( ) L ( ) L ( ) L ( ) i
bb
bc
bF
bD
bQ
b
bb ' ba
cc ' Lca ( ) Lcb ( ) Lcc ( ) LcF ( ) LcD ( ) LcQ ( ) ic

=

FF ' LFa ( ) LFb ( ) LFc ( ) LFF ( ) LFD ( ) LFQ ( ) i F

DD ' LDa ( ) LDb ( ) LDc ( ) LDF ( ) LDD ( ) LDQ ( ) i D

QQ ' LQa ( ) LQb ( ) LQc ( ) LQF ( ) LQD ( ) LQQ ( ) iQ

(2.2)

a a a
, , a
aa a. a aa a .
a aa aa .

aaa aa
a a aa aa
aaa, aaa aa a aaa:
Laa ( ) =
Lbb ( ) =
Lcc ( ) =

aa

ia

bb

ib

cc

ic

= Ls + Lm cos 2
2

= Ls + Lm cos 2

(2.3)

= Ls + Lm cos 2

aa Ls aa a a ,
aa a aa a a a Lm. a
a aa a d a a a a.

aaa aa
aa aa a:
Lab ( ) =

ab
ia

= ( M s + Lm cos 2( +

))

 ...

Lbc ( ) =

bcb

Lca ( ) =

ca

ib
ic

= ( M s + Lm cos 2( ))
2
= ( M s + Lm cos 2( +

(2.4)

5
))
6

aa Ms aa , a a ,
aa a aa a a a Lm. a aa aa
a a . aaa
a aa a a a a a a a
aa a.

aaa aaa
a, a a
a a a a a a a.

LFF ( ) = LF

LDD ( ) = LD
LQQ ( ) = LQ

(2.5)

aaa aaa
aaa d , a
a. aa 90,
aaa q , a aaa, .

LFD ( ) = LDF ( ) = M R

LFQ ( ) = LQF ( ) = LDQ ( ) = LQD ( ) = 0

(2.6)

aaa aa aaa a
aa a. aaa
aa aaa:
LaF ( ) = LFa ( ) = M F cos
2

LbF ( ) = LFb ( ) = M F cos

LcF ( ) = LFc ( ) = M F cos

(2.7)

 ...

aaa aa aaa d :
LaD ( ) = LDa ( ) = M D cos
2

LbD ( ) = LDb ( ) = M D cos

LcD ( ) = LDc ( ) = M D cos

aaa aa aaa q :

(5)

(2.8)

LaQ ( ) = LQa ( ) = M Q cos

2

(5)
(2.9)
LbQ ( ) = LQb ( ) = M Q cos

LcQ ( ) = LQc ( ) = M Q cos

aa '''' a aa
a aa. aaa a aa aa
a aaa.

2.1. a aaa
aa aa a , a a
aaa a a aa, aa a
aa a a (6). a
a a a aa aa aa
d , a a a a 90 ., aa
q . a a a aa aa (0 a), a aa a
aa aa a a.
dq0 a a a a a a
[5].

a

d

q
c
b

a 2.2 a dq a
7

 ...

a a aa aa
a a
a a aa aaa aa a a a.
a a aa a aa a
, a aa a a a a aa
a , a a a aa, aa
aa a aaa a a aa. a,
aa a 90 ., a aaa
a aaa a, a a aa a a
a aa a, a a (aa 2.1),
a a a a aa .
a , aa a aa a
aa a (0-a), a a a aaa
a a aaa a.
a 2.2 a a a a a aa a aaa a a.
A a a abc a a d q , a
aa a :

id
i =
q
i0

cos
2
sin
3
1
2

4
2
)
)
cos(
3 ia
3
4
2
) ib
) sin(
sin(
3
3
1
1
ic

2
2

cos(

idq=Biabc

(2.10)

(2.11)

B aa aa.
2
a aa aa3
a aa. aa, a aa a a a :

udq=Buabc,
(2.12)
q=Babc

(7)

a a aa a a dq0 a a a abc
, a a aa aa:

iabc=B-1idq

(2.13)

 ...

B-1= B =

sin
cos

2
2
2
cos(
) sin(
)
3
3
3

4
4
) sin(
)
cos(
3
3

2
1
2
1

(2.14)

a B-1= B, a a, a a a
aa a:

P3f = uaia + ubib + ucic = uabciabc = (B-1udq)( B-1idq) =

= udq( B-1) B-1 idq = udq B B-1 idq = udq idq = udid + uqiq + ui

(8)

(2.15)

a a a a aaa a aa a a a a
.

2.2. aaa a
aa a a a a (2.2) a
aa a ( a a (t)), a
a a a a.
a a a abc , a (2.2):
= L()i

(2.16)

a a a a a 6x1. a a aaa
a aa a a a a 3x3, a a aa
dq a:

B 0
=

0 1

(2.17)

B aa aa, a a 0 1 -a a aa
a 3x3. A aa 2.16 a K, a a:
= L()-1 i

(2.18)

aaa a a a a a
aaa, a, aa, aa a a aaa:

 ...

d Ld
0
q
o 0
=
F kM F
D kM D

Q 0

0
Lq

0
0

kM F
0

kM D
0

Lo

LF

MR

MR

LD

kM Q

0 id
kM Q iq
0 io

0 i F
0 i D

LQ iQ

(2.19)

3
a aa a aaa a.
2
LF, LD, LQ, F, D, Q R a
2.1. Ld, Lq L a d q , L
aa .
a aa a
aa a aa a. , aa, a aa.

k =

2.3. a dq aaa
a 2.5., 2.6., aa a a dq aaa.
a a aa aa a 0- a aaa
a a aaa, a a aa
a. a a:

u d = Rs id q +
u q = Rs iq + d +

d d
dt
d q
dt

d F
dt
d D
0 = RD i D +
dt
d Q
0 = RQ iQ +
dt

u F = RF i F +

(2.20)

aa a aa aaa (2.19)
(2.20) aa a :

10

 ...

RF

uF

iF

LF

id

Ld

RD
iD

Rs

kF

kD

LD

RQ
i Q
Q

ud

Rs
kQ

LQ

iq

Lq
+

uq

a 2.3. a a a) d; ) q-

a a 2.19, , a , aa a d q :
d Ld
= kM
F F
D kM D

kM F
LF
MR

q Lq
= kM
Q Q

kM D id
M R iF
LD iD

kM Q iq

LQ iQ

(2.21)

(2.22)

a Ld Lq a a:
Ld = Lmd + L
Lq = Lmq + L

(2.23)

Lmd Lmq aa d q , a L
aaa aa.
a aa a , aaa (2.20), (2.21)
(2.22) a a a a , aa, aa
a aa a:
J

d
= Te Tm
dt

(2.24)

11

 ...

d
=
dt

(2.25)

m a aa a
a a, a a.

12

 ...

3.

a a aa a
aa aaaa. a a aa a - a
a a aa 3-25 kV, a . a
aa aa, aa
aaa a aa a a (
a a - ..). aa a
aa a a a.

3.1. a
aa a aaa aa
a, a a a a aa
a a., (9) a a a aaa a
aaa . a aa a a a a aa
aa a. a a
a aa [1]:
-

a a a a , a a a
.. SI . , a ,
a a a a a .. aa a.
a a a a a .. SI
(aa a a aa).
a aa a .. %, a a a
a a a a aa
..
A AA:
Sn
[VA]
3
U
= B [V ]
3

S B = S nf =

B =

U B = U nf

tB =

IB =

Sn
3 U n

Z B = RB =

[ A]

U B U n2
=
[ ]
IB
Sn

B = 2f el.[rad / s]

p
1

LB =

B =
TB =

meh.[rad / s]

B [s]

ZB

[H ]

UB

[Wb]

B
B

(10)

(3.1)

Sn
[ Nm]
B
13

 ...

A A:
aa a a a a
a aa a a a a. a a SB=Snf [VA/fazi]
tB=1/B [s] a a a a a . a a
a a a a a a a aa a
a aa a a a
aa a aa, aa d- [1]. a a
aa d q-. a , a:

md = Lmd I B = kM F I FB [Wb]

(3.2)

Lmd aa d-.
Aa MF a a
a, a a a a a a a
a a a aa a:

U [V]

U=f(IF)
Un [V]

IF0 [A]

IF [A]

a 2.4. a a a a

a a, abc , aa a = iF M F cos , a
d a
= iF n M F sin , a a aa a aa
dt
aa iF n M F . a a a a a U n / 3 (a Y),

a u a =

a:
2

MF =

Un
3

n IF0

(3.3)

aa

14

 ...

kF =

kM F
Lmd

(3.4)

a a a a a a, a , a
a:
I FB =
U FB

M FB = k F LB [ H ]

IB
[ A]
kF

Z FB = RFB =

S
= B [V ]
I FB

U FB
[]
I FB

(3.5)

LFB = k F2 LB [ H ]

a a a aa, aa
a a:
Lmd = Ld L = kM F = kM D = M R [ . j.]

(3.6)

Lmq = Lq L = kM Q [ . j.]
a a a (2.14) (2.15) d q ,
.. a:
d Ld
= L
F md
D Lmd

Lmd
LF
Lmd

q Lq
= L
Q mq

Lmd id
Lmd i F
LD i D

(3.7)

Lmq iq

LQ iQ

(3.8)

a aa aa a a a aa:

rs

LF

id

rD
Lmd

ud

Rs

iF

iq
uF

rQ
Lmq

uq

LD
+

LQ
d

a 2.5. a d q

15

 ...

a aa 3.7 3.8 a a aa a d q ,
a a aaa . a a d a:

LF LD L2md
id
i = 1 L2 L L
md D
F Dd md
2
Lmd Lmd LF
i D

L2md Lmd LD
Ld LD L2md
L2md Lmd Ld

L2md Lmd LF d

L2md Lmd Ld F
Ld LF L2md D

(3.9)

Dd = Ld ( LF LD L2md ) Lmd ( Lmd LD L2md ) + Ld ( L2md LF Lmd )

(3.10)

aa a aa 3.7.
a q a:
iq
1 LQ

i =
Q Dq Lmq

Lmq q

Lq Q

(3.11)

Dq = Lq LQ L2mq

(3.12)

aa a aa 3.8.

3.2. a aaaa a
a a a a aaaa
a a . aa
a, a a aa, a a a aa
a aa a. a aa a a a
a.
a a aa, a
a a a, a a aaaa
aa aaaa . , a a
aa [1]:
-

aa aa aa Sn [VA];

a a Un [V];

aa a fn [Hz] a aa nn [/m];(11)

aa a a aa In [A];

a a a a cosn;

a aaa aa ( Y);

a aa [..]:
16

 ...

a [s]:

xd, xq, xd', xd'', xq'', x;

d0', d'', q'', a;

a aa aaa a []:

Rs, RF;

aa GD2 [kpm2];

aaa a a;

aaa a a;

a a ();

a aa aa a
a a a a 2.5 [10]. aa a
aa.
a a
L

Ld

Ld = L + Lmd [ . j.]

Lmd

(3.13)

a 3.1. a a a aa d
L

Lq

Lmq

Lq = L + Lmq [ . j.]

(3.14)

a 3.2. a a a aa q
L

L'd

Lmd

LF

L'd = L +

1
1
1
+
Lmd LF

[ . j.]

(3.15)

a 3.3. a a a a aa d

17

 ...
L

L'q

L'q = Lq [ . j.]

Lmq

(3.16)

a 3.4. a a a a aa q
L

L'd'

Lmd

LF

LD

L'd' = L +

1
[ . j.]
1
1
1
+
+
Lmd LF LD

(3.17)

a 3.5. a a a a aa d
L

L'q'

Lmq

L'q' = L +

LQ

1
1
1
+
Lmq LQ

[ . j.]

(3.18)

a 3.6. a a a a aa q
a a a

rF

LF

Td' 0

Lmd

Td' 0 =

1
(LF + Lmd ) [ s ]
n rF

(3.19)

a 3.7. a a a a a d a
a a
rF

Td'

LF

Lmd

1
1

[ s]
'
LF +
Td =
1
1
n rF
+

Lmd L

(3.20)

a 3.8. a a a a a d

18

 ...
rD

LD

''
d

Lmd

LF

1
1

[s]
''
L +
Td =
1
1
1
n rD D
+
+

Lmd LF L

(3.21)

a 3.9. a a a a a d

rQ

LQ

''
q

Lmq

1
1

[ s]
''
LQ +
Tq =

1
1
n rQ
+

Lmq L

(3.22)

a 3.10. a a a a a q

rD

LD

''
d0

Lmd

1
1

[ s]
''
LD +
Td 0 =
1
1
n rD
+

Lmd LF

LF

(3.23)

a 3.11. a a a a a d
a a a
rQ

Tq''0

LQ

Tq''0 =

Lmq

1
(L + Lmq ) [ s ]
n rQ Q

(3.24)

a 3.12. a a a a a q
a a a

aa aa a aa a a
a aaa, a a
a aa. a:
''
''
1 Ld + Lq
Ta =
2 n rs

[s]

(3.25)

19

 ...

n aa a a. a a aa a aa.
a a:
Td' = Td' 0

L'd
Ld

[s ],

Td''0 = Td''

L'd
L'd'

[s ],

Tq''0 = Tq''

Lq
L'q'

[s ];

(3.26)

aa a (2.5), a aaa
aaa aaa d q , aa aa.
aa aaa aa aaaa
aa:

aaa

xd [.j.]
xd' [.j.]
xd'' [.j.]
xq [.j.]
xq'' [.j.]
d0' [s]
d' [s]
d'' [s]
a [s]

a a

1.5-2.5
0.15-0.35
0.1-0.25
1.2-2.3
0.1-0.25
5-15
0.6-2.0
0.02-0.6
0.1-0.7

a a
aa

a
aaa

p<8

p>8

p<8

p>8

0.95-1.78
0.15-0.37
0.08-0.24
0.46-0.91
0.08-0.26
2-10
0.4-2.5
0.02-0.08
0.04-0.25

0.83-1.6
0.23-0.34
0.16-0.24
0.57-0.89
0.17-0.25
4.2-10
1.0-2.0
0.02-0.05
0.07-0.15

0.98-1.7
0.2-0.35
0.2-0.35
0.52-0.9
0.52-0.9
2-10
0.5-2.5
0.09-0.6

0.86-1.5
0.25-0.4
0.25-0.4
0.45-0.8
0.45-0.8
1.5-8
0.55-2.5
0.1-0.6

a a

aa
0.85-2.5
0.22-0.56
0.11-0.32
0.5-1.5
0.11-0.32
1-7
0.2-1.5
0.004-0.06
0.02-0.15

aa 1. aaaa aa

3.3. a a
aa a a a a, a
aa a aa, aa a
aa a . a, aa,
a a a a a a a a
aaa, a aa aa aa a a a a
a.
a a a aa a
aa a ([3], [4]). a aa a
, aa , , a a a a
. aa a . A a
aa a, a aa a a aa
a aa aa a, a
a 5% a.

20

 ...

a a a , a
a, a aa a aa aaa :
Topt = Tm 0 + C 2 [ Nm]

(3.27)

a a aaaaa a a a a aaa
a a a a a aa :
Topt = A1 e ( / T1 ) + A2 e ( / T2 ) + A3 ( + T3 ) 2 [ Nm]

(12)

(3.28)

a a , a a a a a .
aaa a a a a a a A ''a''
a . aa a a a a (aa .5).
a a a a a, a a a a
(3.28) a a a. a:
Topt = 592.16 e ( / 4.398) + 601.97 e ( / 17.279 ) + 0.0341 ( + 13.82) 2 [ Nm]

(3.29)

a a a a
a, .5:

a 3.13. a a

aa a aa
a (3.29) a, a a a a aa
a a .
21

 ...

a a a aa aa ''a''
a a a , a a a a aa
aa a a a a , a aaa
a . aaa a a
a aa a a , a
a a a a a aa a [4].
a a a ( a)
a A ''a'' aa 412-470 Nm [3]. a, 2,5 a
a a a . a, a aa, a
a a a aaa (a
1.1) aa a a a a a a a (3), a
a, a a aa a. a a a,
a , a a a, a aaa a,
a a aa.
A a a (470 Nm), a
aa a . a (.5) a
a a a a 1200 Nm, a
km:
470
= 0.39167
km =
(3.30)
1200
aa a :
Tm = k m Topt = 231.67 e ( / 4.398) + 235.52 e ( / 17.279 ) + 0.0133 ( + 13.82) 2 [ Nm]

(3.31)

a a . a a, a aa a
a a :

a 3.14. a a a a

22

 ...

4. A

a a 2.24, (13) a a a:
t e = ( d iq q id ) [ . j.]

(4.1)

a, a 3.7 3.8:

d = Ld id + Lmd i F + Lmd i D
q = Lq iq + Lmq iQ

[ . j.]

(4.2)

[ . j.]

(4.3)

a , aa 4.1, a a a a:
t e = Lmd i F iq + ( Ld Lq ) id iq + Lmd i D iq Lmq iQ id

[ . j.]

(4.4)

Lmd iF iq - a a a,

( Ld Lq ) id iq - a
Lmd iD iq Lmq iQ id - a ;
a aa, a a a a a
a aaaa aaa.

4.1. A
a aa a
a . a a a ,
aaaa a 1/3 1/2 a
a, a a a [14]. A ''a''
a .
A aa a a, . aa, aa
aa a. aa a a
a a a a
aa a aaa a a a a. a a aa.
a aa aa aa
a a, a a
a 50% a ().

a 4.1. aa (14)

23

 ...

a a a , a
a a 150% a a [14].
aa aaa a, a a, , , a a aaaa a:

a 4.2. aa aaa a aa

a a a a a aaa
a, aa , a a a a,
aa aaa a 10-15 a
a aaa [14]. a a aa
aa a a a a, a
aa aa a a.
a aa a, aa
. a, a aa a a (a a
a a) a a a a a a
a, a a a a a a . a aa
aa (Grges) ([13],[14]).
a aaa a : aa a ( a
a a a a) aa a a a.
a a a a aa a.
aa a a a a a , , a
aa a a. a a a
a aa. aa a a a
a , a a S=0,5 a
a (a 4.3 - a ). a a a
a a . a aa a
a aaa.

24

 ...

a+b

a 4.3. a a a a aa

4.1.1. a a a

Moment (r..)

a aa aa , a a ,
a a WRV 114/124/4 a
aa, a . a a a a
aaa.

Brzina (r..)

Brzina (r.j.)

a 4.4. M a WRV 114/124/4 a aa

Vreme (s)

a 4.5. a a aa

25

 ...

a aa a (a 4.4) a
a a aa a , a a
a a aa. a aa
=0,5 .. a , , a a . aa a ,
a, aaa a 4.4.
a a a a a [13]:
t e = Ta + Tom cos(2 S S t )

[ . j.]

(4.5)

a a .:

1
1 u 1
1
2
1
2

+
Ta = 2 '
+ '' '
1
1
4 s Ld Ld
L d Ld
'
''

S s Td +
S s Td +

S s Td'
S s Td''

1
1
2

+ ''

L
'
'
q S T +
q
s q
''
S s Tq
2

(4.6)

Tom aa a , a S a. a
aa a 3.2.
aa a a om, a aa aa a a 5%.
, aa, a a a , aa a .
a 4.6 a a:
- a a a,
- a a aaaa a
- a aa aa.
(15)
a a a:
Ta = T pI

S pI =

T pI =

u2
4 s2

2
S pI
S
+
S pI
S

+ T pII

2
S pII
S
+
S pII
S

+ T pIII

2
S
S pIII

S pIII

(4.7)

1
1
1
, S pII =
S pIII =
aa aa aa, a
'
''
s Td
s Td
s Tq''
1
1
u2
, T pII =
'

4 s2
Ld Ld

1
u2
1
'' ' T pIII =
4 s2
Ld Ld

1
1
'' a
L

q Lq

...
26

 ...

A a 4.6 S=1, a a a, a
WRV 114/124/4 35% a. a, a
a a 1,3 .., , 130%. aa a
a Td' (a 3.20). a a, aa
a aa a a a a a, a
aa, a aa a a . a Spr a 0,1,
a a , a a aa a. a
a, 90-95%
a, a . a a a,
aa a a. ,
a aa a aa a a a
, a aa . a, a
a, , aa a a a . a
aa a aa a WRV 114/124/4 a a aa 0
0,1.
a a a a a a , aa,
, a a a a , a aa, a a aa aa aa.
, a aa aa aa a aa.

4.1.2.
aa a a a a a
WRV 114/124/4 130%. aa aa a
a aa a a 1 [..]:

a 4.6. aa aaa a, a a a
a WRV 114/124/4 aa aa a

a a a a a aa
1 .., a aa a WRV 114/124/4 a
a a aa. SI , 1 [..] a
97000 Nm.
27

 ...

a aa, aa a a .
a a a a a, a a
(16)a aa [13]. a a , , a a, a
aa :
ia = 2 I a1 cos s t + 2 I a 2 cos(1 2 S ) s t

(4.8)

a a a , a aa a , aa a :

a 4.7. a a a a WRV 114/124/4

a

a 4.8. a a WRV 114/124/4 a

28

 ...

a 4.9. a WRV 114/124/4 a

a 4.10. a a WRV 114/124/4 a

a a a, a , aa a a
a a, a.

4.2. aa a
a a aa, aa a a 5%, a
a , ''a'' a.
aa a aaa aa a aa, aa a a
a. a aa . a
aa a, a a a aa
aa a [15]:

29

 ...

a 4.11. a a a a aa, ,
aa a

a a aa a, a
a aa aa a.
a aa a a a:
u e
u2 1
1
sin + s 2

(4.9)
t e = 2s
sin 2 [ . j.]
s Ld
2 s Lq Ld
us a aa, (a)a a, s a aa a, a a
aa . a a a. a a aa . a a aa, a aa
. a a a a aa a
a a .
a aa a a a , a
a a us/:

a 4.12. a a a

30

 ...

aa aa a a 0<<ax. aa
a, , a a, a ax aa 45 90, a aa
aa a a aa a a a. a ,
a, a 30, a a
a [16]. a 4.12. a a a
, , , a aa aa a
a a aa. aa aa a a . ,
aa aa .
aa a a a, , a us/,
aaa a aa 4.9 a . a a:

max

e Lq

= arccos
+
4u s ( Ld Lq )

e Lq
+ 1 []

4u ( L L )
2
d
q
s

(4.10)

4.3. a aa a
a a (a a aa 4.9) a
a a aa aa a a
a a a a a. a a, a
aaa 95% aa a a. a ,
a aa a, a aa a
a a aa aa a.
a a (a 4.11.), a . aa, a
a aa a. a, a aa a a a,
'''' a aa a a a
aa [15].
aa WRV 114/124/4 a a a a a
a a aa a 20% a
() a. a aa a ax=45. aa aa,
a , a a =20, aa a
aa a '''' a a a 10% a ( 9700
Nm).

31

 ...

5.

aaa aa a WRV 114/124/4 3040% a a a. a

aa (U/f aa) a a,
aa a a a aaa
aa a - a a.

1. A
a aaa a aaa :
UF

iF

Us=f(s)

s f

aa

Rd

Us
s

PW

a 5.1. aa a (17)

U/f aa aa - a (PW)
aa a a a a a a.
Aa a aa a , , aa a
a a aa a . a
aa , a a a aa , a
a aa , , a aa a aa aa
a a , a , .
a a a a aa a , a
a, aa , a, a a a a a a a
a a aaa aa. aa a,
''aa'' aa aaa (a 5.1), a
[17].
, a a aaa a a
aa a a a a
a.

32

 ...

2. A A
a a a (CRPW), a
a aa a ([9], [16]). a
aa a aa a, a aaa
aa a a aa a . a, a a
a a a .
UF

iF

id ref

+
-

RD

ia ref

dq

iq ref

ib ref

ic ref

abc

CRPW

d/dt

a 5.2. aa a a a
a (18)

a a a aaa ,
aa aaa a a a, a , a aa
aaa a, a, a a. aaa a a
aa a ([9], [17], [16]).
a aa aa a aa, a
m, aa a a aa. a a aa,
a a aa aaa, aa , aa aa
aa a [11]. (19)
a aa a a a, a rs0, a
:
q-sa

Lqiq
rsid

rsiq

us

Ldid

is

iq

d-sa
id

a 5.3. a aa a

33

 ...

a a aa, aa a a d,
q :

[ . j.]

Lq iq rs id = u s sin
Ld id + rs iq + e = u s cos

(5.1)

[ . j.]

(5.2)

a a aa aa id iq:
id =

iq =

Lq (u s cos e ) rs u s sin
rs2 + 2 Ld Lq

Ld u s sin + rs (u s cos e )
rs2 + 2 Ld Lq

[ . j.]

(5.3)

[ . j.]

(5.4)

a a a:
t e = ( d iq q id ) [ . j.]

(5.5)

d q aa a:

d = Ld id + Lmd i F
q = Lq i q

[ . j.]

(5.6)

[ . j.]

(5.7)

a , aa a 5.6 5.7 5.5, a a a a:

t e = Lmd i F iq + ( Ld Lq ) id iq

[ . j.]

(5.8)

:
Lmd iF iq - a a a

( Ld Lq ) id iq - a ;
aa aa aaa a, a
aaa a a a, a aa a 5.1 5.2.

5.1. a aa a
4. a a a a aa
aaa. A a 5.8. a a iF = 0, a :
t e = ( Ld Lq ) i d i q

[ . j.]

(5.9)

34

 ...

a aa a d q aa 5.3 5.4, a a
a a a a a:
Ld Lq
u s2
te =
2
( 2 Ld Lq rs2 ) sin 2 + rs ( Ld + Lq ) cos 2 rs ( Ld Lq )
2
2
2 (rs + Ld Lq )

] [ . j.] (5.10)

a a a a, a a a a :

a 5.4. a a

dt e
= 0 a aa a a
d

max =

2 Ld Lq rs2
1
arctg
[]
2
rs ( Ld + Lq )

(5.11)

a a a a aa aaaa a a 0 1
a a a :

a 5.5. aa a a a a

aa a a a a,
a aa, 3x330 [V], , 330/ 3 [V] (0.055 [..]) a aa.

35

 ...

a a a, aa a us/, aa
a a aa a a a a a,
a a a aa a a a.
a aa us=1 =1 a 5.10., 0.1917 [..].
A a 5.10. a :
u s = f (t e , , )
(5.12)
a t= tmax= 0.1917, =ax aa 5.11., a a a aa
a a, , , a '''' a
a a a aa a a. a a
aa aaa a a :

a 5.6. a aa a a

a aa a a WRV 114/124/4 a a
aaa, a , a a a, a :

a 5.7. aa a a WRV 114/124/4

a aa, a a, a
a aa a aa a, a
a a aa a a, a a a. a ,
a, a 0.4 .. a
aa a a a a. a a,
a a a 40% a . a a a
36

 ...

aa a a a , a a a, a a
a a 1 .. (1200 -900 A), a a a
a aa . A aa a 5.7, a
a aa, 10% a, aa aa a
. a , ( = t (ax) / t ()) a 40, a
a, a a a aa a a a
, , a us/<1, aa aa aa a.
a a, . a, a aa
a a a, 0.005 .. (470 Nm), aa a
aa a a ( 0 30, 40% a), a a
a a aa aa aa a 0.01 .. (a, 1%
a a) ax, a a a aaa ,
a aa aa. aa aa a a a.
a 5.12, a a t=tmax=0.01 .., =ax, a a
a aa a a, , aa a
a a:

a 5.8. a aa a a

a a a, a a, aa a a 24% a a
a. aa a a WRV 114/124/4 a
a aaa, a , a a:

a 5.9. aa a a WRV 114/124/4

37

 ...

a aa aa aaa a a :

a 5.10. a aa aa

a aa a aa a a aa
aa 0.19 [..], . 277 [A]. a 220 [A] a
a 10% 24% a (aa aa aa), a
aa a aaa a us/.
a , a a , a a,
aa a a, a aa a a a a
a a, aa a a a 5.11:

a 5.11. aa a a a a a a WRV
114/124/4

a , a a a =

t e ( max )
:
t e ( )

38

 ...

a 5.12. a

a aa a 35% a, aa a
2. , a aa a a
aa a aa aa aa a , a
a aa a. a aaa a a a =1, a
a, aa 42% a. a , a, a aaa a
a a, a a, a a aa WRV
114/124/4 a a a 40% a (600 /). a 5.12,
a a 1,36.
aa a a 5.2, aa a
a, a a a, a a aa aa
.
a a a a 5.9, , :
id = i sin

(5.13)

iq = i cos

(5.14)

aa :
t e = ( Ld Lq ) i 2 sin cos

[ . j.]

(5.15)

Ld Lq

[ . j.]

(5.16)

te =

i 2 sin 2

a a a q (a 5.3.), a a a
...
aa a aa a a a
, a a a aa . , a, a a
a , a aa a.
dt
aa e = 0 , a = 45 a a a
d
a :
39

 ...

q-sa

is

iq
45

d-sa
id

a 5.13. a a aa a a

a a a a a a:
te =

Ld Lq
2

i 2 [r. j.]

(5.17)

a U/f aaa a ,
aa a aa a a 0.01 .. . 1%- a
a.
aa 5.17 a aa
a a aa, a i=0.191 [..], 277 [A]. , a
a a a , a a
a a a, a, a a, 3x330 [V].
a aa a a, a
a aa a a 45. a a a
d q , . aa a id = iq= i / 2 . a a 5.1 5.2 aa
a ( =0):
u s sin = Lq

u s cos = Ld

i
2
i

rs

+ rs

i
2
i

Lq rs
2
Ld + rs

[ . j.]

(5.18)

[ . j.]

(5.19)

A aa a, a a:
(Lq rs ) 2 (Ld + rs ) 2 2
u =
+
i
2
2

2
s

[ . j.]

(5.20)

aa a, aa i=0.191 [..],
aa a a 1%- a a, ,
a aa aa a. a a:

40

 ...

a 5.14. a aa a a aa

a, aa a 0.191 [..] 24%

a . a , a ''a a'' a aa , a
aaa aa a a . A a 5.20
us=0.055 [..], a a 24% a. a
a aaa a a a, a a:

a 5.15. a aa

A aa a 5.17 a a, a
aa, a , a a:

a 5.16. a a WRV 114/124/4

41

 ...

aa a a a a a 40% a, aa a aa.
a a aa aaa a :

a 5.17. a aa aa

a a a a a
( 5.9 5.16), a aa aa a aaa
(a 5.10.), a aa a a.

5.2. aa a
4. a a a a a
aaa. a aa a aa aa,
, a :
t e = Lmd i F iq + ( Ld Lq ) id iq

[ . j.]

(5.21)

a aa a d q aa 5.3 5.4, a a a
a a a:
te =

e Ld u s sin + rs (u s cos e)

rs2 + 2 Ld Lq

Lq (u s cos e) rs u s sin Ld u s sin + rs (u s cos e)

+ ( L d Lq )
rs2 + 2 Ld Lq
rs2 + 2 Ld Lq

[ . j.]

(5.22)

a a a a, a a a a a a 4.12.
aa a a 5.1 a a aa a,
a a a .
aa a 5.21 a a, a a
a a a a a aa a, a a
a a a, a a , a
42

 ...

a a a . aa a aa aa
a. aa aa a a , a
a a aa a.
A a aa a 5.8., a
a a a a a 0.055 [..], aa
a a, aa a a a aa a
a . a a:

a 5.18. a

a a a a a a , aa:
3 e = Lmd i F

[ . j.]

(5.23)

a a a (24% a , 0.24 [..]), a

a a iF = 0.296 [..], . 55 [A]. a a a
a a a :

a 5.19. a a

a aa aa a aa aaa aaa a
a:

43

 ...

a 5.20. a aa aa

a a aa a aa a
aa (a 5.10) aa. , a
a aa a a a aa:

a 5.21. aa a a a a a WRV
114/124/4
t ( )
a , a a a = e max :
t e ( )

a 5.22. a

44

 ...

a aa a 50% a, aa a
2. aaa a a a =1,
a a, aa 62% a. a a aaa
a a a, a a, a a
aa WRV 114/124/4 a a a 50% a .
aa a a 5.2, a a
a a, a, a aa aa , a
a a aa a. a
, a a a aa a .
aa a a, ,
a, a a aa a. a a a
a, aa aa a a a d
, a a a. a a aa q ,
aa a. a aa a a
a aa .
q-sa

is=iq

d-sa
id=0

a 5.23. a a aa a a

a a a 5.2. aa a a aa :
t e = Lmd i F iq

[ . j.]

(5.24)

a a aa aaa, a a
aa aa aa a. a, aa a
a a a, a, a a, 3x330 [V],
a a aa aa, a a aaa a a
a aaa (a 5.15). a a a aa a
, , aa a aa a a ,
a a aa a aa aa. a a
aa aa aa, a a aaa.
a, a a aa, aa a a 40% a
, aa a aaa a a a
a 40% a, aa a
. aa aa a aa ,
a a , a aa a a.
aa aa a a a aaa.

45

 ...

a a a aa d aa (id=0), a a q
aa aa iq=i, a a 5.1 5.2 aa a:

Lq i = u s sin

[ . j.]

rs i + e = u s cos

(5.25)

[ . j.]

(5.26)

aa aa aa, a aa a ,
a a a:
u s = ( 2 L2q + rs2 ) i 2 + 2rs i e + e 2

3 e = Lmd i F

[ . j.]

(5.27)

[ . j.] , , aa 5.24, aa a:
e=

te
3 i

[ . j.]

(5.28)

a a 5.27. a aa a a aa a a
aa, a:
i = f ( , u s , t e )

(5.29)

a aa, a a aa a
1%- a a, a a t=0.01 [..], aa
aa us=0.05 [..] aa =0.4 [..]. aa a, a
i=0.102 [..], 147.6 [A]. a
aa 40% a .
a , a a 40%, a a 1%:

a 5.24. a a WA 114/124/4

a a a, aa aaa a :

46

 ...

a 5.25. aaa aaa a a WRV 114/124

a a aa a aa a aa , a aa a aa a :

a 5.26. a aa aa a a aa

a a aa 5.24 iF = 0.1217 [..] . 22.6 [A], a

a a :

a 5.27. a aa aa a a aa

47

 ...

5.3. A aa a
A aa a aa a
a aa, a a a a , aa 4.
a, aa a a a a a aa
a , a a a a a.
, aaa aa a a a a aa, aa
a a a aa aa a a . a a
a a a, a a, a a a a,
a, a aa. a a
aa, aa a a a a, a
a a a . a,
aa a a a a
aa.
aa aa a a aa a
5.1.
a , aa aa aa
aa a . a
a WRV 114/124/4, a a aaa rs=0.0039 [..],
q a Lq=0.95 [.]. a Lq a a rs
=0.004 [.], a aa a aa 0.04 [..].
aa, , a a a, a a
a a a a, a a
a a aa a =0.2 [.], , a 4.6,
a a 20 % a, a a aa.
a aa a aa ''a''
a a a a a, (a 4.1.2),
a aa a a 1 [..], a aa
a a .
a , a aaaa a
aaa, a 1% a a, a a .
a aa aaa a a a aa a:

a 5.28. aa aaa a aa

48

 ...

a a a a 1%, . 0.01 [..], aa

a a a , s =0.2 [..], us=0.0176 [..], a a aa a a
us/s= 8,81% a. , aa, a a a aa
a a s=usmax/0.0881=0.055/0.0881=0.62 [..]. aa,
a a aa a aa a, a a a
a a:

a 5.29. a a WRV 114/124/4

a a aa a a 60% a
.
a a a , a a
a a aa 0<s0.62 [..], a a aa
a a. a a a a S=0,11.
a a aa us/s aa, a
a aa a aa aa a a
. a a aa a
aa a 5.28., a a. a
a , a a 20% a, (us,s) a
a a a a. A , , aa a
a a us/s, a s=0.1 [..], aa a us=0.00881 [..], a
aa a, a a a:

a 5.30. a a a a a WRV 114/124/4

49

 ...

a a a S0.5.
aa aaa, a, aaa , a
aa , , a a ( -0.015 [..]).
a a a a a,
a a a a a , a aa
a a . a, a a a,
a, aa a a aaa a a
a aa 0.01 [..]. a , a a aa a a a
aa. a , a aa 20% a a,
a aa a a a a a
a. a a aaa a :

a 5.31. a aa a a a aa a
a a WA 114/124/4

a aa a aa aaa a
5.28. aa , a aa aaa a a :

a 5.32. aa a aaa a us/s

a a aa a a 5.1,

50

 ...

a a a a aa : a a, a
a a aaa a 5.31. a, aa a a
a, a a, a a aa aaa, a a
a. a a , a aa 40% a,
aa a (a 5.32.).
aa a aa aaaa a a 0.02 [..], , 1 [Hz],
aa aaa aa a a : (20)

a 5.33. a a a aa
a 1 [Hz]

aa aa aaa a a aa a
a a aaa. a , aa aa a
a 0.3 0.34 [..], a aa a 1 [Hz]:

a 5.34. a a aa a WRV 114/124/4

51

 ...

a 5.35. a a aa a WRV 114/124/4

a 5.36. a aa a WRV 114/124/4

a 5.37. a aa a WRV 114/124/4

4. aa a aa a a aa a
. a a a a a
aa, a a a aa. a
aa a . a 52

 ...

, a a a, a aa
aa a aa aa a a . a
, a a aa aa a WRV 114/124/4,
a a a (aa), a aa a aaa a a 1 [Hz],
a a 0 70% a.
aa 5.34., a aa a, a aa
a 0.3 [..], 15- . a aa a
0.1 0.06 [..], a a 0.08 [..] a a
aa aa. a a a, a 0 70% a a, a
a aa aa aaa a :

a 5.38. a aa aa a a a
WRV 114/124/4

a , a a
aa a (a 5.37). , a a aa
aa a 1 [Hz], a aa.

53

 ...

6.
,
3x330 [V],
. ,
U/f ,
.
2.
.

,
. ,
.
4.,
, 5. WRV 114/124/4
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5.
, .
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Ld-Lq,
. ,
( 5.7.),
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1% ,
. ,
0,48% ( 3.14). 24% (
5.8).
5.10,
, 0.19 [..],
, ( 3.1), 277 [].
,
( 5.1),
300 []. Sn= 3U n I n =170 [kV].

0.19 [..] ( 5.15),
1% ( 5.16).
300 [] 170 [kV], .
'''' ,
54

 ...

. 5.8,
, ,
0.065 [..], , 94.5 [].
5.20, 100 [],
Sn= 3U n I n =60 [kV].

,
. , ,
, , .

5.19.

.
, 40%
. ,
. 5.26.
0.102 [.], , 147.6 [],
150 [].
Sn= 3U n I n =85 [kV]. , ,
.
0.122 [..] . 22.6 [].
,
10
.
, ,
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(1% ) .
( 5.28).
5.31.
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0.12 [..], 175 [] ( 5.38), , ,
. 200
[], Sn= 3U n I n =115 [kV].
, ,
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'''' ,
,
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55

 ...

7. (21)
,
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BBC
WRV 114/124/4 1975. ,
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56

 ...

8.
WRV 114/124/4
BBC,
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,
Simulink-.
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- [6]:

BBC - Brown Bovery

:

25
25

WRV 114/124/4
Sn
Un
fn
nn
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cosn
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RF
GD2

15.1 [V]
6 [V]
50 [Hz]
1500 [/]
1453 []
0.95
1.5 [..]
0.95 [ ..]
0.3 [ ..]
0.22 [ ..
0.27 [ ..
0.1 [ ..]
2.55 [s]
0.51 [s]
0.02 [s]
0.02 [s]
0.2 [s]
0.00768 []
0.1073 []
4771 [kpm2]

.1. WRV 114/124/4

57

 ...

WRV 114/124/4:
U [V]

U=f(IF)
Un = 6000 [V]
n = 1500 [obr/min]

IF [A]
IF0 = 230 [A]

.1. WRV 114/124/4

1500
[/] . 230 [].
.1. 3.1:

SB [V]
UB [V]
IB []
ZB []
B [rad/s]
B [rad/s]
tB [s]
LB [H]
B [Wb]
B [Nm]

5033333.33
3464.1
1453
2.384106
314.1593
157.0796
0.003183
0.007589
11.02657
96129.587

.2.

.1. 3.5:

IFB []
UFB [V]
ZFB []
LFB [H]
MFB [H]

185.90679
27074.5002
145.6348
0.46356
0.05931

.3.

58

 ...

.1,
:

rs [..]
rF [..]
rD [..]
rQ [..]
Ld [..]
Lq [..]
L [..]
Lmd [..]
Lmq [..]
LF [..]
LD [..]
LQ [..]

0.0039159
0.0009201
0.0583568
0.0480606
1.5
0.95
0.1
1.4
0.85
0.2333333
0.3
0.2125

.4.

''''
:

n [/]
0
100
200
300
400
500
600
700
800
900
1000
1100
1200
1300
1400
1500

opt [Nm]
1200
240
140
190
290
430
610
830
1080
1390
1690
2020
2390
2780
3210
3670

..:

[..]
0
0.0667
0.1333
0.2
0.2667
0.3333
0.4
0.4667
0.5333
0.6
0.6667
0.7333
0.8
0.8667
0.9333
1

topt [.]
0.0125
0.0025
0.0015
0.0020
0.0030
0.0045
0.0063
0.0086
0.0112
0.0145
0.0176
0.0210
0.0249
0.0289
0.0334
0.0382

.5.

59

 ...

, :

.6. dq

, , ,
.
'' ''
2.20, ,
:
1
(ud rs id + q ) [r. j.]
s
1
q = nom (u q rs iq q ) [r. j.]
s
1
F = nom (u F rF iF ) [r. j.]
s
1
D = nom ( rD iD ) [r. j.]
s
1
Q = nom ( rQ iQ ) [r. j.]
s

d = nom

(.1.)

nom 2.20,
,
, , ( 3.1 3.5). [s],
,
nom=B=100 [rad/s] .1.
,

60

 ...

2.24, :

.3. dq

,
, , , GO FR .
, .
nom. Gain 12 1/3,
.
Subsystem (d-) (
3.9) d

.4. d

61

 ...

ij , , 3.9, Gain0, Gain4 Gain8

3.10.
Subsystem (q-) ( 3.11)
q :

.5. q

, Bij 3.11, Gain3 Gain8

3.12.

'' .''
2.10.:

.6.

Gain1 Gain2

2
.
3

62

 ...

''. .''
2.14:

.7.

'' ''
,
, 120.

.8.

'' .''
3.3:

63

 ...

.9.

64

 ...

9.
[1]

. . , '' , -2'', , ,
1997.

[2]

. , '' I'', , ,
2002.

[3]

. ., . . , . , . , ''
'''', ,
, 1998.

[4]

. . , ''
'' ,
, 2001.

[5]

P. C. Krause, "Analysis of Electric Machinery", McGraw-Hill, New York, 1986.

[6]

BBC - Brown Boveri Wienes Neudorf, 1976.

[7]

''
'' .
(http://kiklop.etf.bg.ac.yu/~web1/eg4ev)

[8]

. ., . . , M. . , "
", XXXIX
, , 6.-9. 1995.

[9]

. . , ''
'' , , 1989.

[10] . , '' '', ,

, 2001.
[11] F. Rahman, ''Synchronous motor drives'' Electrical Drive Systems Chapter 6.
(http://alpha400.ee.unsw.edu.au/elec4216/2002_Lectures_8-12.pdf)
[12] . . , , .
[13] I. M. Canay, ''Asynchronous Starting of Synchronous Machines with or without
Rectifiers in the Field Circuit'', Proc. IEE, Vol. 119, No. 12, pp. 1701-1708, December
1972.
[14] . , '' I'', , , 1978.
[15] L. M. Piotrovskij, ''Elektriki strojevi'', Tehnika knjiga, Zagreb, 1974.
[16] . , '' '', , , 2002.
[17] Danfos Frequency Converters, www.danfos.com

65