运动控制系统讲义.pdf

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Lanzhou University of Technology Lanzhou University of Technology IRUn eK 1-1 n U I R Ke Lanzhou University of Technology Lanzhou University of Technology • = N R = Ra • UN U U n n0 • n n n0 n0 O O nN nN n1 n1 n2 n2 n3 n3 IL IL UN UN U 1 U 1 U 2 U 2 U 3 U 3 I I Lanzhou University of Technology Lanzhou University of Technology 2 • = N U =UN • Ra R R n n0 • n n0 O nNn1n2n3 IL R a R 1 R 2 R 3 I n n0 O n3 n2 n1 nN TL N 1 2 3 Te Lanzhou University of Technology Lanzhou University of Technology

Lanzhou University of Technology Lanzhou University of Technology TeU P O N Te U P UN nN nmax n Lanzhou University of Technology Lanzhou University of Technology Lanzhou University of Technology Lanzhou University of Technology • • • 1.1.1 G-M Ward-Leonard 1-1 G-M Lanzhou University of Technology Lanzhou University of Technology • G-M II -TL n n0 O I n1 n2 TL Te III IV 1-2 G-M 1.1.2 1-3 -V-M

Lanzhou University of Technology Lanzhou University of Technology – 10 4 – Lanzhou University of Technology Lanzhou University of Technology – – du/dt di/dt – + Us - L VD M M + - a u Us ton O T Ud t b 1-5 - Lanzhou University of Technology Lanzhou University of Technology VT VD VT ton Us VT T – ton VD tU on T d U s U s (1-2) T — ton — — = ton / T = ton f , f H Lanzhou University of Technology PWM- Pulse Width Modulation Lanzhou University of Technology +Us VD1 + VD3 - M M B A VD2 VD4 VT1 VT1 VT2 VT2 Ug1 Ug1 Ug2 Ug2 VT3 VT3 VT4 VT4 Ug3 Ug3 Ug4 Ug4 1-6 PWM 1 2 3 4 5

Lanzhou University of Technology Lanzhou University of Technology V-M2060~70 PWM V-M V-M 1 2 3 4- 5 Lanzhou University of Technology Lanzhou University of Technology 1.2.1 O O O O O • ud0 Id E ud0 1-7 V-M Lanzhou University of Technology Lanzhou University of Technology u d0 iLRiE d d t d d (1- 4) — V — A — H — E id L R R = Rrec + Ra + RL ud0 Ud0 Um sin m cos U (1-5) d0 m — Um — Vm— Lanzhou University of Technology Lanzhou University of Technology • • 0 < < /2 Ud0 > 0 • /2 < < max Ud0 < 0 Um m Ud0 22U * 2 2U cos 9.0 22U 3 2U cos 17.1 26U 6 2U 34.2 cos 22U 6 2U cos 35.1 * U2

Lanzhou University of Technology Lanzhou University of Technology ua ub uc ud ud ua ub uc ud Ud E t O id t O ic ia ib ic Ud E t t ud O id ic ia ib ic O Lanzhou University of Technology Lanzhou University of Technology n (1 U C e RI d ) 0d (1 C e Um sin m m cos RI d ) 1-9 n n = Id R / Ce O IL Id 1-10 V-M Lanzhou University of Technology Lanzhou University of Technology U 2 2 n cos [sin( I d U 23 R 2 2 [cos( 6 6 ) sin( C ) e1( ctg e ) cos( 6 ) 6 ] ctg e) C e U 2 2 n ] (1-10) (1-11) 2/3 arctg L R 1-11 V-M Lanzhou University of Technology Lanzhou University of Technology

Lanzhou University of Technology Lanzhou University of Technology K s U U c d (1-12) 1-13 - T s max 1 mf — Hz — f m Lanzhou University of Technology Lanzhou University of Technology Ts = Tsmax /2 Ts = Tsmax f =50Hz Tsmaxms Tsms 20 10 6.67 3.33 10 5 3.33 1.67 - TtUK s s (1 U 0d c ) sUsW )( 0d sU )( )( s c sTK se s 1-14 Lanzhou University of Technology Lanzhou University of Technology sW )( s K s sT s e K s sT e s 1 sT s K s 22 sT s 1 !2 1 !3 33 sT s sW )( s K s sT s 1 1-16 Lanzhou University of Technology Lanzhou University of Technology Uc(s) K e s s sT s s Ud0(s) Uc(s) K s s 1sT s s Ud0(s) a) b 1-15

Lanzhou University of Technology Lanzhou University of Technology Ug O VT t Ug 1 M+ M E id 2 VD + Us _ C Ud _ a 1-16 PWM- Lanzhou University of Technology Lanzhou University of Technology Us— C — M — VD — VT — VT Ug • U, i • 0 t < tonUg VT VT • ton t < T Ug VT VD Us Ud E id 0 O ton T 1-16 b t Lanzhou University of Technology Lanzhou University of Technology • U d t on T U s U s (1-17) = ton / T PWM 0 < 1 = Ud / UsPWM PWM = (1-18) 2. PWM PWM H1-18 M PWM Lanzhou University of Technology Lanzhou University of Technology H VT1 VT1 VT2 VT2 Ug1 Ug1 Ug2 Ug2 4 VD1 + A +Us 2 VD3 - M M B VD2 3 VD4 1 1-18 PWM VT3 VT3 VT4 VT4 Ug3 Ug3 Ug4 Ug4 1 – 1 0 t ton Ug1 Ug4 VT1 VT4 Ug2 Ug3VT2 VT3 id 1M UAB = +Us – 2ton t T Ug1 Ug4 VT1 VT4 VD2 VD3 VT2 VT3 id 2 MUAB = –Us

Lanzhou University of Technology Lanzhou University of Technology 2 – 1 0 t ton Ug2 Ug3 VT2 VT3 VD1 VD4 VT1 VT4 –id 4 MUAB = +Us – 2ton t T Ug2 Ug3 VT2 VT3 Ug1 Ug4VT1 VT4 – id 3 MUAB = – Us U, i +Us O 0 ton T -Us (1) U, i +Us ton T O 0 Ud E id t -Us (2) t id E Ud Lanzhou University of Technology Lanzhou University of Technology PWM U d t on T tTU T s on U s t 2( on T U )1 s 1-19 = 2 – 1 1-20 0~1 –1<<+1 – >0.5 – <0.5 – = 0.5 = 0 Lanzhou University of Technology Lanzhou University of Technology U s Ri d U s iL d d t d iLRi d d t d d E E ( 0 t < ton ) (1-23) (ton t < T ) (1-24) Lanzhou University of Technology Lanzhou University of Technology Id Te n = E/Ce Ldid / dt U s RI d E RI nC e d (1-25) s n R C U C U C n e e s e I d n 0 R C e I d R CC me T e n 0 R CC me T e

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