CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE
Purpose. The aim of the work is the calculation and design of a robust speed controller of a frequency-controlled induction electric drive with parametric uncertainty and the presence of interferences in the feedback channel. Methodology. The calculation and design of the controller was carried out...
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| Дата: | 2020 |
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| Формат: | Стаття |
| Мова: | English Ukrainian |
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National Technical University "Kharkiv Polytechnic Institute" and State Institution “Institute of Technical Problems of Magnetism of the National Academy of Sciences of Ukraine”
2020
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| Онлайн доступ: | http://eie.khpi.edu.ua/article/view/2074-272X.2020.3.05 |
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| Назва журналу: | Electrical Engineering & Electromechanics |
Репозиторії
Electrical Engineering & Electromechanics| id |
eiekhpieduua-article-206155 |
|---|---|
| record_format |
ojs |
| institution |
Electrical Engineering & Electromechanics |
| collection |
OJS |
| language |
English Ukrainian |
| topic |
электропривод асинхронный частотное управление робастный регулятор электрическая схема 621.3.07 induction electric drive frequency control robust controller electric circuit 621.3.07 |
| spellingShingle |
электропривод асинхронный частотное управление робастный регулятор электрическая схема 621.3.07 induction electric drive frequency control robust controller electric circuit 621.3.07 Khlopenko, N. J. CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE |
| topic_facet |
электропривод асинхронный частотное управление робастный регулятор электрическая схема 621.3.07 induction electric drive frequency control robust controller electric circuit 621.3.07 |
| format |
Article |
| author |
Khlopenko, N. J. |
| author_facet |
Khlopenko, N. J. |
| author_sort |
Khlopenko, N. J. |
| title |
CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE |
| title_short |
CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE |
| title_full |
CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE |
| title_fullStr |
CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE |
| title_full_unstemmed |
CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE |
| title_sort |
calculation and design of a robust speed controller of a frequency-controlled induction electric drive |
| title_alt |
РАСЧЕТ И ПРОЕКТИРОВАНИЕ РОБАСТНОГО РЕГУЛЯТОРА СКОРОСТИ СИСТЕМЫ ЧАСТОТНОГО УПРАВЛЕНИЯ АСИНХРОННОГО ЭЛЕКТРОПРИВОДА |
| description |
Purpose. The aim of the work is the calculation and design of a robust speed controller of a frequency-controlled induction electric drive with parametric uncertainty and the presence of interferences in the feedback channel. Methodology. The calculation and design of the controller was carried out in four stages. At the first stage, a linearized mathematical model of the control object with parametric uncertainty was constructed and the transfer function of the H∞-suboptimal controller was calculated in the Robust Control Toolbox using the mixed sensitivity method. At the second stage, the stability of the robust system and the accuracy of stabilization of the induction machine speed with random variations of the object's and controller's uncertain parameters within the specified boundaries were explored. At the third stage, the influence of interferences arising in the feedback channel on the speed of the electric motor was explored in the Simulink package. At the final stage, the transfer function of the H∞-suboptimal controller was decomposed into a continued fraction using the Euclidean algorithm. This fraction was used to build the electric scheme of the controller. Results. Computer modelling of the transfer function of H∞-suboptimal controller, the robust stabilization system for the speed of the frequency-controlled electric drive with random variations of the uncertain parameters of the object and the controller at specified boundaries, as well as with the presence of varying intensity interferences in the feedback channel, was carried out. The choice of variable parameters was carried out according to the Monte-Carlo method. The curves of transient processes of the induction machine speed with parametric uncertainty and at different ranges of interference are constructed, as well as a Bode diagram for an open system. By the scatter of the obtained curves of the transient processes, the accuracy of speed stabilization of the machine was determined, and according to the Bode diagram, stability reserves in the amplitude and the phase of the robust system were determined. They are within tolerances with comparatively large deviations of the varied parameters and the range of interferences. Based on the investigations, an electrical circuit of the H∞-suboptimal robust controller was developed. Originality. The mathematical model has been developed and the methodology for calculating and designing of H∞-suboptimal robust speed controller of the frequency-controlled system of an induction electric drive with random variations of the uncertain parameters of the object and the controller at determined boundaries and the presence of interferences in the feedback channel, ensuring the stability of the system with allowable reserves of the amplitude and the phase and high accuracy of speed stabilization of the machine within the tolerances of uncertain system parameters and interferences was proposed. Practical value. The obtained structure of the controller from analog elements makes it possible to carry out modernization of the electric drives frequency-controlled systems in operation with minimal financial costs. |
| publisher |
National Technical University "Kharkiv Polytechnic Institute" and State Institution “Institute of Technical Problems of Magnetism of the National Academy of Sciences of Ukraine” |
| publishDate |
2020 |
| url |
http://eie.khpi.edu.ua/article/view/2074-272X.2020.3.05 |
| work_keys_str_mv |
AT khlopenkonj calculationanddesignofarobustspeedcontrollerofafrequencycontrolledinductionelectricdrive AT khlopenkonj rasčetiproektirovanierobastnogoregulâtoraskorostisistemyčastotnogoupravleniâasinhronnogoélektroprivoda |
| first_indexed |
2024-06-01T14:39:35Z |
| last_indexed |
2024-06-01T14:39:35Z |
| _version_ |
1800670046405525504 |
| spelling |
eiekhpieduua-article-2061552020-06-25T09:20:13Z CALCULATION AND DESIGN OF A ROBUST SPEED CONTROLLER OF A FREQUENCY-CONTROLLED INDUCTION ELECTRIC DRIVE РАСЧЕТ И ПРОЕКТИРОВАНИЕ РОБАСТНОГО РЕГУЛЯТОРА СКОРОСТИ СИСТЕМЫ ЧАСТОТНОГО УПРАВЛЕНИЯ АСИНХРОННОГО ЭЛЕКТРОПРИВОДА Khlopenko, N. J. электропривод асинхронный частотное управление робастный регулятор электрическая схема 621.3.07 induction electric drive frequency control robust controller electric circuit 621.3.07 Purpose. The aim of the work is the calculation and design of a robust speed controller of a frequency-controlled induction electric drive with parametric uncertainty and the presence of interferences in the feedback channel. Methodology. The calculation and design of the controller was carried out in four stages. At the first stage, a linearized mathematical model of the control object with parametric uncertainty was constructed and the transfer function of the H∞-suboptimal controller was calculated in the Robust Control Toolbox using the mixed sensitivity method. At the second stage, the stability of the robust system and the accuracy of stabilization of the induction machine speed with random variations of the object's and controller's uncertain parameters within the specified boundaries were explored. At the third stage, the influence of interferences arising in the feedback channel on the speed of the electric motor was explored in the Simulink package. At the final stage, the transfer function of the H∞-suboptimal controller was decomposed into a continued fraction using the Euclidean algorithm. This fraction was used to build the electric scheme of the controller. Results. Computer modelling of the transfer function of H∞-suboptimal controller, the robust stabilization system for the speed of the frequency-controlled electric drive with random variations of the uncertain parameters of the object and the controller at specified boundaries, as well as with the presence of varying intensity interferences in the feedback channel, was carried out. The choice of variable parameters was carried out according to the Monte-Carlo method. The curves of transient processes of the induction machine speed with parametric uncertainty and at different ranges of interference are constructed, as well as a Bode diagram for an open system. By the scatter of the obtained curves of the transient processes, the accuracy of speed stabilization of the machine was determined, and according to the Bode diagram, stability reserves in the amplitude and the phase of the robust system were determined. They are within tolerances with comparatively large deviations of the varied parameters and the range of interferences. Based on the investigations, an electrical circuit of the H∞-suboptimal robust controller was developed. Originality. The mathematical model has been developed and the methodology for calculating and designing of H∞-suboptimal robust speed controller of the frequency-controlled system of an induction electric drive with random variations of the uncertain parameters of the object and the controller at determined boundaries and the presence of interferences in the feedback channel, ensuring the stability of the system with allowable reserves of the amplitude and the phase and high accuracy of speed stabilization of the machine within the tolerances of uncertain system parameters and interferences was proposed. Practical value. The obtained structure of the controller from analog elements makes it possible to carry out modernization of the electric drives frequency-controlled systems in operation with minimal financial costs. Цель. Целью работы является расчет и проектирование робастного регулятора скорости частотно-регулируемого асинхронного электропривода с параметрической неопределенностью и наличием помех в канале обратной связи. Методология. Расчет и проектирование регулятора проводился в четыре этапа. На первом этапе строилась линеаризованная математическая модель объекта управления с параметрической неопределенностью и рассчитывалась в пакете Robust Control Toolbox передаточная функция Н∞-субоптимального регулятора по методу смешанной чувствительности. На втором этапе исследовалась устойчивость робастной системы и точность стабилизации скорости асинхронной машины при случайных вариациях неопределенных параметров объекта и регулятора в заданных границах. На третьем этапе изучалось в пакете Simulink влияние помех, возникающих в канале обратной связи, на скорость электродвигателя. На заключительном этапе выполнялось разложение передаточной функции Н∞-субоптимального регулятора в цепную дробь по алгоритму Евклида. Эта дробь использовалась для построения электрической схемы регулятора. Результаты. Проведено компьютерное моделирование передаточной функции Н∞-субоптимального регулятора, системы робастной стабилизации скорости частотно-регулируемого электропривода при случайных вариациях неопределенных параметров объекта и регулятора в заданных границах, а также при наличии помех различной интенсивности в канале обратной связи. Выбор варьируемых параметров осуществлялся по методу Монте-Карло. Построены кривые переходных процессов скорости асинхронной машины с параметрической неопределенностью и при размахах помех, а также диаграмма Боде для разомкнутой системы. По разбросу полученных кривых переходных процессов определялась точность стабилизации скорости машины, а по диаграмме Боде – запасы устойчивости по амплитуде и фазе робастной системы. Они находятся в пределах допусков при сравнительно больших отклонениях варьируемых параметров и размахах помех. На базе проведенных исследований разработана электрическая схема Н∞-субоптимального робастного регулятора. Новизна. Разработана математическая модель и предложена методика расчета и проектирования Н∞-субоптимального робастного регулятора скорости системы частотного управления асинхронного электропривода при случайных вариациях неопределенных параметров объекта и регулятора в заданных границах и наличии помех в канале обратной связи, обеспечивающая устойчивость системы с допускаемыми запасами по амплитуде и фазе и высокую точность стабилизации скорости машины в пределах допусков неопределенных параметров системы и помех. Практическое значение. Полученная структура регулятора из аналоговых элементов дает возможность проводить модернизацию систем частотного управления электроприводов, находящихся в эксплуатации, с минимальными финансовыми затратами. National Technical University "Kharkiv Polytechnic Institute" and State Institution “Institute of Technical Problems of Magnetism of the National Academy of Sciences of Ukraine” 2020-06-25 Article Article application/pdf application/pdf http://eie.khpi.edu.ua/article/view/2074-272X.2020.3.05 10.20998/2074-272X.2020.3.05 Electrical Engineering & Electromechanics; No. 3 (2020); 31-36 Электротехника и Электромеханика; № 3 (2020); 31-36 Електротехніка і Електромеханіка; № 3 (2020); 31-36 2309-3404 2074-272X en uk http://eie.khpi.edu.ua/article/view/2074-272X.2020.3.05/206283 http://eie.khpi.edu.ua/article/view/2074-272X.2020.3.05/206284 Copyright (c) 2020 N. J. Khlopenko https://creativecommons.org/licenses/by-nc/4.0 |