電力拖動自動控制系統(tǒng)-第四版-課后答案

1、習題解答（供參考）習題二r/minAn = "'%(_$)= 1000x0.02/(10 x 0.98) = 2.04r/mi2.04rp/n«omax =1500r/min= 150r/min A/g = 15r/min£) = »max/%in«max = % max -= 1500-15 = 1485Hmin = /70min 一 =150-15 = 135D = "max /"min =】485/135 = 11s = A/i v /n0 = 15/150 = 10%Ce = (Un 一 /v/?J/nv =

2、 (220-378 x 0.023)/1430 = 0.1478V/pmA/2 = INR/Ce = 378 x (0.023 + 0.022)/0.1478 = 1 5rprnD = nNS/A/z(l- s) = 1430x 0.2/115x(1-0.2) = 3D = nNS/(l-s) = 1430x0.3/115x (1-0.3) = 5.33nN = IN xR/Ce = 305x0.18/0.2 = 274.5r/minSN = 2卞 /n0 = 274.5/(1000 + 274.5) = 21.5%An = nNS/D(-s) = 1000x0.05/20x0.95 = 2.

3、63” min*=8.8V Kp = 2Ks=5Ud Ud U：Ud = KpKsU"( /(I + KpKsy = 2x 15x &8/(1 + 2 x 15 x 0.7) = 12VUd =8.8x2xl5 = 264Vq；=Ud(l + K/,Ky)/KK$ =12x(l + 2xl5x0.35)/(2xl5)=4.6U$55%D = nNs/iiN(-s)10 = 1500x2%/ x98%沁= 1500x2%/98%x10 = 3.06r / minK =(4切 /4如)一 1 = 100 /3.06 -1 = 31.7M 仲=(1 + K)g = (1 + 15)

4、x8 = 128Ancl = f /(1 + K)= 128 /(1 + 30)= 4A3rpm% /A/id2 = 1.937n = (UN-INxRz)/Cf=>4仃=/v x/?z /Cr =12.5x33/0.134 = 307.836廠/ minA?jV = nNs/(D(1-5) = 1500x10%/(20 * 90%) = 8.33r / minA/ic/ =8.33/7 minr-J.Rn =(K“K0；-胡/(Ce(l + K)= KU： /a(l + K)-ldR/(Ce(l + K)K = ('s / /) 1 = 307.836 / 8.33 -1 二

5、35.9551500 = 35.955 xl5/a(l + 35.955)-12.5 x 3.3 /(0.134(1 + 35.955)=>a = 0.0096V min/ r= 35.955534 十.3435*0.0096小匕=3"牛二禽“01Kc = KCe/K、a Kphbl - 21N her - l 2g【dbl £21N = 25A Jdcr n2IN = 154dcr = U com / R$ 亠 15 = Ucom / R$1血也 +/為/心=25 = (15 + /爲/& nR, =1.5Q % = 15x1.5 = 22.5V(冬/3)

6、= (10 + 15 + 08)/3 = 1C,7?v>(/?z/3)不符合要求，取R, =1.10 需加電流反饋放大器/?v=l.lQt/_ = /dirX/?f=15xLl = 16.5V+1 d > dcr“ =KpK5U；ICe + K)_KpK5KXRsId -%)/C°(l + K)-弘 ©(1 + K) =k，K$(S； + KQs”)/(G，(l + K)(/? + K“K$KR)/d /(Q(l + K)G = K$ (U； +/ (R + KpK、KK)w(U： + K,Ucaf>l)/K,25 = (I5 + 165Kr)/lKr=&

7、gt;£=15/(225-13.5) = l36GD2 = 1.6Nm2L = 50mH GD2 =.6Nm2 飩=33G Ce =QA?AV I rpm7； =£/?, =0.05/33 = 0.01557；=GD2/?x/(375C,Cw= 5.28/64.33 = 0.082$Tl =0.003335K <7；(7；4-T) + T2/TT = 0.082x(0.015 + 0.00333) + O.OO3332/=0.0015 + 0.003332 / 0.00004983 = 30.52Pn = 2.8MV UN = 22(V IN = 15.6A nN =

8、1500 Ra Rtec RL Ks = 35D = 30sD = 305 = 10%D = 30 5 = 10% Un = 10V I & = I & 卄="n a K pCe =(% = 7vx/?z/ min怙=1500/30 = 50s = An® / A/?Omin = 392.68 / (392.68 + 50) = 88.7%0=A/z /(A/t + 50)An = 5/0.9 = 5.56/7 min“ =KpKsU； /Q(l + K)-RzId/Ce(l + K)K = KpaKs/Ce1500 =KpKQ； /C,(1 + K)- (

9、飩 15.6)/C。(1 + K)'K = (%, /")-1 =(297.48/5.56)-1=52.5f0 = 1MHz n = 1500i7min n = 150r/min6060=1.465 r / nin1024 x4x0.0160M|n =L tZTcn = 1500/7 mill M 】nZT( _ 1500x4x 1024x0.01=1UZ460 60n = 150/7 min M 】nZT(. _ 150x4x1024x0.01=1 UZ.460 601500,7mh1% = Xxl00% = i±rxlOO% = 0.098%15Or/mmJnH

10、X% = Axioo% = _xlOO% = O.98%n = 1500/7 min Q =Zn26O.foZ1024x4x150()260xlxl06-1025x4xl500=171/7 minn = 150/7 ming 工 亠102tx4xl5()2= 1.55r/min 60/o-Zn 60xlxl06-1024x4x150/z=604=604ZM2 一 Zn60 x 106n = 1500/7min M. = 9.771024 x4x1500n = 150/7 min M = "= 97.7-1024 x4xl50n = 1500/7 min% =! x 100 % = !

11、x 100 % = 11.4%嘰-19/77-1n = 150/7 min% = ! x 100 % = !x 100 % = 1%,mx M-l97.7-1習題三Q. H U訂 一 =N n 15V 二 500w= n o.olv 一 rpm 心 uall-55席溥；L H N 5。0 艾Q. o.olv - _pm0.3751 AUYEd n 0375 *3n 3.75 V n uiCISN + Id0127 決 500 + 10 決 220若 二 H500w?5H55u-'-HSH3.7550 =4一 75 弋$,(£ + £) Hep 2 2、 K, K K

12、, 204175v0aUdo. UMM.ho2v、a qnlpnH0.00W.7M 廠 i 40 A =N looow* udoHE + LR" H40A*5QH60v u3ii*oc50 no u_ UOC5W UOC5F Hudo/KS H 60*40 H 1.5VUy uo wrT>uuuso(cm U c U c U de H E + I2RZ n CJ-N + LR" OK kKT = 0.69,纟=0.6, <t% = 9.5%(i) K = 0.69 / T = 0.69/0.1 = 6.9(1 / s)(2) tr = 3.3T = 0.33S

13、r5 = 67 = 6x0.1 = 0.65現(xiàn)tr < 0.25s KT = 1< = 0.5 tr = 2ATKzs +10.015+110KT = 0.5, 纟=0.707.查表3-1,得<r% = 4.3%W = y VV(5)=丄 歲 .這樣，T=0.0h K=10/r r = 10/= 10/50=0.25 TSTS (0.015 + 1)W(s) =丄=丄rs 0.2s旳(y) = Z =aJ 5(75 + 1)5(0.025+1)VV/7(5)=心土丄校正后系統(tǒng)的開環(huán)傳遞函數(shù)w(£)=心gi TSTSs(Ts +1)K = Kr/K / r,r = /

14、7,選h=8,査表34 cr%=27. 2% r = /?T = 8*0.02 = 0.165K = 2 =一巴一 =175.78, Kp, =Kr/K| =175.78 *0.16/10 = 2.812/片 22 * 82 * 0.022"1=8V/(1.1*/v) = 8V/339A = 0.0236V/Aa = 10/1000 = 0.01Vmin/ra) Ts = 0.003335b) T, = 0.00255c) TZi = TQi + T = 0.0025 + 0.00333 = 0.00583s/5%2)=竽；+1)g =7； =0.0125,選 K】T& =0

15、.5,匕=0.5/7 = 85.76s"“ K,rR八Ksp 35x0.0173coci = K = 85.76s"1Rq= 40K尺=K,&)= 0.224 x 40K = 8.96KG =可 / R = 0.012 / (9 x 10)= 1.3 3“FCo/ = 47；)-/?0=4x 0.0025 / 40 x 10 = 0.25pFa) /KJ K,TZi=0.5/K,=2TZi=2x 0.00583 = 0.011665b) G= 0.015sc) TZn=l/K,+ T(m =0.01166 + 0.015 = 0.02666srrl= hTZn,取力

16、=5, rn = hTZtl = 0.1333sh + _62/72Kr " 2x52x0.026662=16&82 嚴(力+ 1)0<?兀2haRTZn6x0.0236x0.196x0.122x5x0.01x0.18x0.02666= 6.94號=心/® =Kn© =16&82x0.1333 = 22.5r* rn = hTZfl = 0.079985*Kn =(/? + l)/2/227Lr = 4 / (2 X 9 X 0.0266622K” = S +1)pcj,n /2haRTZn% = Kn / =KNrna) l/3(K7)&q

17、uot;2 =i/3(85.76/0.00583嚴=40.43s" > %b) l/3(K, /匚嚴=i/3©5 76/o.O15)"2 = 25.2s"b” = 2 x 72.2% xl.lx (308 x0.18/0.196xl 000) x (0.02666 / 0.12) = 9.97% < 10%R° = 40K Rn = Kn xRq = 7.6x40 = 304ATC = r / Rti =0.07998/310x10 =0.258“FCon =4：/他=4x0.015/40x10' =15“F6 % = 2

18、x 72.2% x (1 1 一 0.4) x (308 x0.18/0.196xl00)x (0.02666 /0.12) = 63.5%根據(jù)電機運動方程:黑%血=CjJeU = R(I® 一/血)=仃 _ )R 礦 gF "c gd2r 品 血丿農(nóng) *37?5 375C Cm eCJmn 0,196*0.12*1000(4»-) = 01*308-0)*0.18= 0.385.y10"?75=0.0267V min/ ra) Ts =0.001765b) Tol = 0.0025c) 7L. = 0.003675T/TZi=<10Ti=T|=K

19、 =KITIR/ Ksfl = 136.24 x 0.03 lx0.14/75x 0.00877 = 0.899& = K, x&= 0.899 x40 = 35.96G=TJ Rj = 0.03 1/36x1O3= 0.86/FC(» = 4%i / & = 4X0.002/40xl0- = 0.2/f確定時間常數(shù)：a) 電流環(huán)等效時間常數(shù)1/Ki：因為KiT滬 則"Ki=2TZi=2*=b) b)T°n=c) C)Tn=VK|+Ton=+=速度調(diào)節(jié)器結(jié)構(gòu)確定：按照無靜差的要求，應(yīng)選用PI調(diào)節(jié)器，WASR(S)=Kn(TnS+l)/TnS

20、速度調(diào)節(jié)器參數(shù)確定：6二hT”選 h=5,則 rn=hTn=,KN=(h+l)/ (2h2T2zn)=2*25*=s'2Kn=(h+l)pCeTm/ (2haRTZn)=6*2*5*=可見滿足近似等效條件。速度調(diào)節(jié)器的實現(xiàn)：選Ro=4OK,則Rn=Kn*Ro=*4O=42OK曲此 Cn=Tn/Rn=420*103=nF 取 pF Con=4Ton/Ro=4*40*103=2nF2)電流環(huán)的截止頻率是：a)ci=Kl= S'1速度環(huán)的截止頻率是：U)cn= S-2從電流環(huán)和速度環(huán)的截止頻率可以看出，電流環(huán)比速度環(huán)要快，在保證每個 環(huán)都穩(wěn)定的情況下，再求系統(tǒng)的快速性，充分體現(xiàn)了多環(huán)

21、控制系統(tǒng)的設(shè)計特點。L/dBIdL / 沖 H T>n max心(q$ + l)/(為$ + 1)習題五22S =1叫號(21)us = (uA + uneiY +ucej2/)SUAUBs叫“CwoUd2_匕22W1Ud2一經(jīng)2Ud2匕25252矜“3(匕2Ud2Ud2W4匕2Ud2Ud2加W5匕2一冬2匕2W6匕2_匕2匕2M7A匕2Ud25211 AO U BO 11 CO UAO UBO U CO Uj%屮宀。u bo畑屮,atJ（3"£+<P）叫彩卩屮& 2開關(guān)周期7；） = T,輸出頻率州° 3NwUs l,. Us = «! + 上Si上 IJ*IifU* fw*（0 *0 *0 （0.f_2 T丄 "2 V3 T習題六丄"2T. = Seos®） iB =人“S（期一斗）ic = Im cos（期 + 年）isa iifiha匚+y=o1 '2V0迺V3L 22 J321a00c>/3.x/3.0lc23cos(Q/)221 .