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1 Modelo
2 Controlador
3 Transformaciones
1 Modelo
2 Controlador
3 Transformaciones
1 Modelo
2 Controlador
3 Transformaciones
did
Ld = ωLq iq P − Rid + vd (1)
dt
diq
Lq = −ω(Ld id P + Km ) − Riq + vq (2)
dt
dω 3
J = Km iq − (TL + Bω) (3)
dt 2
El controlador es:
−PLωiq∗ − γ1 id
vd
u= = (4)
vq Km ω ∗ + Riq∗ − γ2 (iq − iq∗ )
donde:
2
iq∗ = (TL + Bω ∗ ) (5)
3Km
Transformación directa
Transformación inversa
Constantes experimentales
Parameters Value
Rs 1.6 Ω
Ld = Lq = Ls 6.635 mH
No. of poles (2P) 4
Moment of Inertia (J) 1,82X 10−4 kg · m2
Friction coefficient (B) 8,75X 10−5 kg · m2 /s
Km (constant of back emf) 0.43
Constantes experimentales
Parameters Value
Rs 2.35 Ω
Ld = Lq = Ls 7 mH
Pair of poles (P) 4
Moment of Inertia (J) 31x10−6 kg · m2
Friction coefficient (B) 7,75X 10−5 kg · m2 /s
Km (constant of back emf) 0.1744
Parameters Value
R 1Ω
L 0.5 H
Moment of Inertia (J) 0,01kg · m2
Mech. time constant (τmech ) 2.09195 s
Friction coefficient (B) 0,1kg · m2 /s
Km 0.01 N.m/Amp
Controlador
Z
de(t)
C (t) = kp e(t) + ki e(t) + kd (9)
dt
Donde:
Kp=100
Ki=200
Kd=10
Diagrama a bloques
Figura 1