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Princpios do Controle Vetorial

Fundamentos das Mquinas de Corrente Contnua


Regra da Mo Direita
( )
= F q v B
Regra da Mo Direita
Vetor resultado
Fora

primeiro vetor
Campo
segundo vetor
Comprimento

Mo Direita
GERADOR
( )
=
=
f J B
F i l B
Vetor resultado
Fora F
primeiro vetor
Campo B
segundo vetor
Comprimento l
Mo Direita
GERADOR
Espira Rotativa Entre dois Plos Curvos
( )
e v B l =
( )
=
=
f J B
F i l B
Linhas de Campo e Vista Superior
( )
e v B l =
Fora de Laplace
( )
F i l B =
Tenso da Espira e Tenso Induzida
Obtendo uma Tenso CC da Espira Rotativa
( )
e v B l =
dc
e v B l =
0
ad
e =
0
cb
e =
ba
e v B l =
Tenso na Carga com Comutao
Torque Induzido em uma Espira Rotativa
=
= O
=
=
=
0,5 m
0,3
120 V
1,0 m
0,25 T
B
r
R
V
l
B
( )
F i l B =
dc
F i l B =
0
ad
F =
0
cb
F =
ba
F i l B =
Excitao Separada
Ajustanto a Corrente de Campo
1. O Aumento de

causa a reduo de

2. Caindo

cai o
3. Reduzindo o f cai

4. Caindo

sobe

5. Aumentando

sobe
ind
6. Aumentando
ind
(
ind
>
load
) aumenta
7. O aumento de aumenta

8. Aumentando

cai

9. Caindo

, cai
ind
at

em uma maior
T A
A
A
V E
I
R
+
=
T
F
F
V
I
R
=
|
A
E K | e = +
ind A
K I t | = + l
| e = |
A
E K
1. O Aumento de V
A
causa um aumento de I
A
2. Aumentando I
A
aumenta o t
ind
3. Aumentando t
ind
(t
ind
>t
load
) aumenta e
4. O aumento de e aumenta E
A
5. Aumentando E
A
cai I
A
6. Caindo I
A
cai t
ind
at t
ind
=t
load
em um e maior
Ajustando a Tenso de Armadura
A A
A
A
V E
I
R
|
=
ind A
K I t | = |
A
E K | e = |
A A
A
A
V E
I
R
|
=
Variveis de entrada e de sada
Malha aberta
Motor CC
Tenso de
Armadura
Torque da
Carga
Velocidade
do Eixo do
Motor
Corrente de
Campo
Variveis de entrada e de sada
Malha fechada
Motor CC
Torque da
Carga
Velocidade
do Eixo do
Motor
Corrente de
Campo
(constante)
Referncia
de
velocidade
Tenso de
Armadura
Controlador
Pensar no diagrama de blocos do Sadowski
Variao da Carga e Controle da Velocidade
1. Mquina CC malha aberta
2. Mquina CC malha controle PI
Transformao de Sistemas
Trifsicos em Bifsicos abc-o|0
Sistemas Trifsicos
O campo magntico girante [1]
Dois campos magnticos tendem a se alinhar
Correntes defasadas de 120
'
'
'
sen 0 A
sen 120 A
sen 240 A
aa M
bb M
cc M
i t I t
i t I t
i t I t
e
e
e
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
B C A
A
A
C
C
B B
Transformao de Sistemas
Trifsicos em Bifsicos abc-o|0
Sistema Bifsico Equivalente a um Sistema Trifsico
o
|
Transformada de Clarke
-1.50
-1.00
-0.50
0.00
0.50
1.00
1.50
0.00 1.00 2.00 3.00 4.00 5.00 6.00 7.00
va vb vc a b g
o
|

A
B
B
A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
A
B
B
A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
B
B
A A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
B
B
A A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
B
B
A A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
B
B
A A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
B
B
A A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
B
B
A A
-1.50
-1.25
-1.00
-0.75
-0.50
-0.25
0.00
0.25
0.50
0.75
1.00
1.25
1.50
000.00E+00 5.00E-03 10.00E-03 15.00E-03 20.00E-03 25.00E-03 30.00E-03 35.00E-03
a
b
0
A
B
B
A
Transformada de Clarke e campo girante
1. Campo girante
a) Trifsico
b) Bifsico
1. Transformada
a) Potncia invariante
b) Tenses invariantes
Transformao abc-qd0
Sistemas Trifsicos
Transformada abc-dq0

0
=

=
2
3
cos cos
2
3
cos +
2
3
sin sin
2
3
sin +
2
3
1
2
1
2
1
2
importante no confundir

com
fasores. Elas so valores instantneos que
dependem do tempo.
Obs: pode ser , ou outra varivel.
( )
( )
( )
( )
( )
0
0
cos cos cos
1cos 2
sin sin sin 1cos 2
1cos 2
1 1 1
2 2
3 3
60 30
2 2 2
60 30 120
3 3 3
60 30 120
2
,86
2
0
2
abc
s
qd
qd
t
t
t
t t
u u u
t
t t
u u u t
t
(
| | | |
| | (
\ . \ .
(
(
(
| | | | (

( | |
(
\ . \ .
(
(

(
(

+
+
= + +
+ +
=
v
K
v
v
6
0, 500
0, 000
(
(
(
(

Aplicao Mecnica da Transformada
PR PR
t u e =
Plano de Referncia
0 qd s abc
= v K v
= 60 Hz
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-0.5
0
0.5
1


X: 23.6
Y: 0.866
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)
X: 42.7
Y: 0.5
X: 64.4
Y: -1.665e-016
v
q
v
d
v
0
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
7
8
9
1
0
1
1
1
2
1
2
3
4
5
6
7
8
9
1 0
1 1
1 2
1
2
3
4
5
6
7
8
9
1
0
1
1
1
2
= 0 Hz
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)


v
q
v
d
v
0
= 60 Hz
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-0.5
0
0.5
1


X: 23.6
Y: 0.866
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)
X: 42.7
Y: 0.5
X: 64.4
Y: -1.665e-016
v
q
v
d
v
0
= 90 Hz
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)


v
q
v
d
v
0
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-0.5
0
0.5
1


X: 23.6
Y: 0.866
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)
X: 42.7
Y: 0.5
X: 64.4
Y: -1.665e-016
v
q
v
d
v
0
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)


v
q
v
d
v
0
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)


v
q
v
d
v
0
0 Hz
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema abc
T
e
n
s

o

a
b
c

(
p
u
)


v
a
v
b
v
c
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0
0.5
1
Tenses no Sistema qd0
Tempo (ms)
T
e
n
s

o

q
d
0

(
p
u
)


v
q
v
d
v
0
60 Hz
90 Hz 120 Hz
Transformao abc-qd0
Transformao dos elementos de circuito eltico
Elementos Resistivos
abcs abc s s
= v r i
( )
1
0 0 qd s s s s qd s

= v K i r K
( )
1
0 0
0 0
0 0
s
s s s s s
s
r
r
r

(
(
= =
(
(

K r K r
( )
1
0 0
0 0
0 0
0 0
0 0
qs s qs
qd s s s s qd s ds s ds
s s s
v r i
v r i
v r i

( ( (
( ( (
= =
( ( (
( ( (

v K r K i
Elementos Indutivos
( )
( )
( )
0
1
0
0
1
1 0
0 qd s
abcs
abcs
qd s s
qd s s
s
qd s
s qd s s
d
dt
d
dt
d
d
dt dt

=
(

=
(
(
(

(
= +
(
(

v
K
v K
K

K K v
( )
( )
( )
1
1 0
0
1
0
2 2
cos cos cos
sin cos 0 3 3
2 2 2 2 2
sin sin sin sin cos 0
3 3 3 3 3
1 1 1
2
sin c
2 2 2
3
qd s
q
s
s
s
d s qd s s
s
s
d
dt
d
dt
d
dt
t t
u u u
u u
t t t t
u u u e u u
t
u

(

(
| | | |
+
| | (

\ . \ .
(
(
| | | | | | | |
= +
( | | | |
\ . \ . \ . \ .
(
(
| |

(

= +
+
(
|
\ .

K
K
K

v K K
K
( )
1
2
os 0
3
0 1 0
1 0 0
0 0 0
s
s
d
dt
t
u
e

(
(
(
(
(
(
(
| |
+
(
|
\ .

(
(
=
(
(

K
K
t u e =
( )
( )
1
0 1
0
0 0
0
0
0 0
0
0 1 0 1 0 0
1 0 0 0 1 0
0 0 0 0 0 1
s
qd s
qd s
qd s s qd s s s dqs
qs qs
qs ds
qs
ds ds
qd s ds ds qs
s
s s
s
d
d
d
dt dt dt
d d
v
dt dt
d d
v
dt dt
d d
v
dt
e

e


e e

(
(

= + = +
(
= +
(
(
( ( (
(
( ( (
= + = = +
(
( ( (
(
( ( (

(
=
(

K

v K K K
v
dt

Elementos Capacitivos
abcs
abcs
d
dt
=
q
i
( )
( )
( )
1
0
0
1
1 0
0 0
s qd s
qd s s
s
qd s
s qd s qd s s
d
dt
d
d
dt dt

(

=
(
(
(

(
= +
(
(

i
K q
i K
K
q
K q K
( )
( )
0
1
1 0
0 0
0
0
0
0
qs
dqs ds
s
d
s
qd s
qd s s qd s s s
qd s
qds
q
q
q
qs
qs ds
ds
ds qs
s
s
q
s
d
d
dt dt
d
dt
dq
i q
dt
dq
i q
dt
dq
i
dt
e
e
e

(
(
=
(
(

(
(

= +
= +

= +

= +

q
K
q
i K q K K
i
q
q
( )
1
0 1 0
1 0 0
0 0 0
s
s
d
dt
e

(
(
=
(
(

K
K
Resumo dos elementos , e
0 0
qs s qs
ds s ds
s s s
v r i
v r i
v r i
=

0
0
qs
qs ds
ds
ds qs
s
s
d
v
dt
d
v
dt
d
v
dt

= +

= +

0
0
qs
qs ds
ds
ds qs
s
s
dq
i q
dt
dq
i q
dt
dq
i
dt
e
e

= +

= +

as s as
bs s bs
cs s cs
v r i
v r i
v r i

as
bs
as
bs
c cs s
v d dt
v d dt
v d dt
=

as
bs
c
as
bs
cs s
i d dt
i d dt
i d dt
q
q
q
Enrolamento trifsico com indutncias
mtuas
0 0
0 0
0 0 0
(
(
=
(
(

(
(
=
(
(

s
s s
s
s s
s
r
r
L M M
M L M
M M L
r
L
s
r
s
L
s
r
s
L
s
r
s
L
cs
i
bs
i
as
i
M M
M
as
v
bs
v
cs
v
( )
1
0 0
0 0
0 0 2
s
s s
s
s
s s s s
s
L M M
M L M
M M L
L M
L M
L M

(
(
=
(
(

(
(
=
(
( +

L
K L K
( )
( )
( )
0
2
0 0 0 0 0 0
s qs
s ds
s s
as asR asL
bs bsR bsL
cs csR csL
L M i
L M i
qs
qs qsR qsL s qs ds
ds
ds dsR dsL s ds qs
L M i
s sR sL s s
v v v
v v v
v v v
d
v v v r i
dt
d
v v v r i
dt
v v v r i

e
e

+
= +
= +
= +
= + = + +
= + = +
= + = +
ds
v
+

s
r
qs
e
s
L M
ds
i
2 2
cos cos cos
cos sin 1 3 3
2
2 2 2 2
sin sin sin cos sin 1
3
3 3 3 3
1 1 1 2 2
cos sin 1
2 2 2 3 3
L M M
s
M L M
s s
M M L
s
t t
u u u
u u
t t t t
u u u u u
t t
u u
(
( | | | |
( +
( | |
(
( \ . \ .
(
(
(
(
| | | | | | | | (
(
= + (
| | | |
(

\ . \ . \ . \ . (
(

(
| | | |
( + +
| |


\ . \ .
L
2 2 2 2 2 2
cos cos cos cos cos cos cos cos cos
3 3 3 3 3 3
2 2 2 2 2
sin sin sin in sin sin s
3 3 3 3 3
L M M M L M M M L
L M M M L M M
s
S S S
s S
t t t t t t
u u u u u u u u u
t t t t
u u u u u u
(
(
(
(
| | | | | | | | | | | |
+ + + + + + + + +
| | | | | |
\ . \ . \ . \ . \ . \ .
| | | | | | | |
= + + + + + +
| | | |
\ . \ . \ . \ .
L
cos sin 1
2 2 2 2
in sin sin cos sin 1
3 3 3 3
1 1 1 1 1 1 2 2
cos sin
1 1 1
2 2 2 2
1
2 2 2 3 3
cos cos co
2
3
2 2
S
S S S
S
M L
L M M M L M M M L
L
s
S
M L
u u
t t t t
u u u u u
t t
u u
u u
( (
( (
( (
( (
| | | | | | | |
+ + + ( ( | | | |
\ . \ . \ . \ . ( (
( (
| | | |
+ + + + + + ( ( + +
| |
( ( \ . \ .

= L
2 2 2 2
s cos cos cos
cos sin 1 3 3 3 3
2 2 2
sin sin sin sin sin sin cos sin
3 3 3 3 3
1 1 1
2 2 2
M M L
L M L M M L
L M L M L
S
s S S
S S S
M
t t t t
u u u u
u u
t t t t t
u u u u u u u u
( | | | | | | | |
+ + +
| | | | (
\ . \ . \ . \ .
(
(
| | | | | | | | | |
+ + + + ( | | | | |
\ . \ . \ . \ . \ . (
(
+ + + (
(

( ) ( ) ( ) ( ) ( ) ( ) ( )
2
1
3
2 2
cos sin 1
3 3
2 2 2 2 2 2
cos cos cos cos s
2 2 2
s in cos sin cos cos
3 3 3 3
in
3 3
2
3
L M L M L M L M L M L M
S S S S S S
L M
S
s
t
t t
u u
t t t t t t
u u u u u u u u u u
(
(
(
(
| |
( |
\ . (
(
| | | |
( + +
| |
( \ . \ .
| | | | | | | | | | | |
+ + + + + +
| | | | | |
\ . \ . \ . \ \
=
+
. \ . .
L
( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
2 2
cos cos
3 3
2 2 2 2 2 2 2
cos sin cos sin cos sin sin sin sin sin sin
3 3 3 3 3 3 3
2 2 2
sin
S S
S S S S
L M L M
S S S
L M L M L M L M L M L M L
S
M L L
S
M M
t t
u u
t t t t t t t
u u u u u u u u u u u u
| | | |
+ +
| |
\ . \ .
| | | | | | | | | | | | | |
+ + + + + + + +
| | | | | | |
\ . \ . \ . \ . \ . \ . .
+
\
( )
( )
2
3
1 1 2 1 2 1 1 2 1 2 3
cos cos cos sin sin sin 3
2 2 3 2 3 2 2
3
2
3
3 2 3
0
2
2
0 0
2
0
3
3
0 0
L M L M L M L M L M L M L M
L M
L
S S S S S S S
S
S
M
s
t
t t t t
u u u u u u
(
(
(
(
| |
( |
\ . (
(
| | | | | | | | | | | | | | | | | | | |
( + + + + + + + + +
| | | | | | | | | |
( \ . \ . \ . \ . \ . \ . \ . \ . \ . \ .
+ +

=
+ +

L
3
2
0 0
0
0 2
0
0
L M
L M
L M
s
L M
S
S
S
S
(
(
(
(
(
(
(
+
(

(

(
(
=
(
(
+

L
Deduo de

Teoria dos eixos de referncia


Motor de induo trifsico
0 0
0 0
0 0
1 1
2 2
1 1
2 2
1 1
2 2
s
abcs s
s
ls ms ms ms
abcs ms ls ms ms
ms ms ls ms
r
r
r
L L L L
L L L L
L L L L
(
(
=
(
(

(
+
(
(
(
= +
(
(
(
+
(

r
L
-1.5
-1
-0.5
0
0.5
1
1.5
0 0.005 0.01 0.015 0.02 0.025 0.03
B C A
A
A
C
C
B B
( )
( )
0
1
1
0
1 1
2 2
1 1
2 2
1 1
2 2
3
0 0
2
3
0 0
2
0 0
abcs s abcs
dq s dq s
ls ms ms ms
s ms ls ms ms
ms ms ls ms
s s s
s
ls ms
ls ms
ls
s s
L L L L
L L L L
L L L L
L L
L L
L

=
(
=

(
+
(
(
(
= +
(
(
(
+
(

(
+
(
(
(
= +
(
(
(
(

K L K
K L

K
L i
i
L
indutncia de disperso
indutncia de magnetizao
ls
ms
L
L

Matriz indutncia
vlida para
motores trifsicos
no sistema
Matriz indutncia
vlida para
motores trifsicos
no sistema 0
( )
( )
0
0 0
0
0 0
qs
qs s qs ds
ds
ds s ds ds
s
s s s
qr
qr r qr r dr
dr
dr r dr r qr
r
r r r
v r i
v r i
v r i
v r i
d
dt
d
dt
d
dt
d
d
v r i
v r i
t
d
dt
d
dt

e e

e e

= +
=
=
'
' ' ' ' = +
'
' ' ' ' =

'
' + =

( )
( )
( )
( )
0 0
0 0
qs ls qs M qs qr
ds ls ds M ds dr
s ls s
qr lr qr M qs qr
dr lr dr M ds dr
r lr r
L i i
L i i
L i i
L i
L i
L i
L i
L i
L i
L i
i

=
=
' ' ' =
' + +

' + +

=
' ' ' =
' '

' + +

' + +

Torques
Eletromagnticos
Sistema
Sistema 0
Mecnico
( )
( ) ( ) ( ) ( )
1 1 1 1 1 1
sen
2 2 2 2 2 2 2
3
cos
2
e ms as ar br cr bs ar br cr bs ar br cr
a
r
s br cr bs cr ar c r r s ar b
P
T L i i i i i i i i i i i i
i i i i i i i i i
u
u
(

| | | | | | | |
' ' ' ' ' ' ' ' ' = + + +

( | | | |
\ . \ . \ . \ .

' ' ' ' ' ' ( + + +


`

)
( )
3
2 2
e M qs dr ds qr
P
T L i i i i
| || |
' ' =
| |
\ .\ .
r
m n r d
d
T J B
dt
t e
e
= + +
Equaes de estado Parte Eletromagntica
Equaes de estado Parte
Eletromagnetomecnica
Equaes de estado [1]
Equaes de estado [2]
Equaes de estado [3]
Simulao
Correntes do estator
0 1 2 3 4 5 6 7
-1500
-1000
-500
0
500
1000
1500
Correntes do Estator
Tempo (s)
C
o
r
r
e
n
t
e

(
A
)


i
as
i
bs
i
cs
0 1 2 3 4 5 6 7
-200
0
200
400
600
800
1000
1200
Correntes do Estator (qd0)
Tempo (s)
C
o
r
r
e
n
t
e

(
A
)


i
qs
i
ds
i
0s
Correntes do rotor
0 1 2 3 4 5 6 7
-1500
-1000
-500
0
500
1000
1500
Correntes do Rotor
Tempo (s)
C
o
r
r
e
n
t
e

(
A
)


i
ar
i
br
i
cr
0 1 2 3 4 5 6 7
-1000
-800
-600
-400
-200
0
200
Correntes do Rotor (qd0)
Tempo (s)
C
o
r
r
e
n
t
e

(
A
)


i
qr
i
dr
i
0r
Torque eletromagntico
0 200 400 600 800 1000 1200 1400 1600 1800 2000
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
5000
Curva Torque x Rotao
Rotao (min
-1
)
T
o
r
q
u
e

(
N
m
)
0 1 2 3 4 5 6 7
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
5000
Torque Eletromagnttico
Tempo (s)
T
o
r
q
u
e

(
N
m
)
Torque eletromagntico
0 1 2 3 4 5 6 7
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
5000
Torque Eletromagnttico
Tempo (s)
T
o
r
q
u
e

(
N
m
)
0 1 2 3 4 5 6 7
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
5000
6000
Torque Eletromagnttico
Tempo (s)
T
o
r
q
u
e

(
N
m
)
Somente fundamental Fundamental + 3 harmnico
Corrente sem carga com 3 harmnico
0 1 2 3 4 5 6 7
-200
0
200
400
600
800
1000
1200
Correntes do estator (qd0)
Tempo (s)
C
o
r
r
e
n
t
e

(
A
)


i
qs
i
ds
i
0s
0 50 100 150 200 250 300
0
50
100
150
Mdulo da Corrente no Estator, com carga nominal
Frequncia (Hz)
C
o
r
r
e
n
t
e

d
e

P
i
c
o

(
A
)
Torque com desequilbrio na alimentao
0 1 2 3 4 5 6 7
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
5000
6000
Torque Eletromagnttico
Tempo (s)
T
o
r
q
u
e

(
N
m
)
0 200 400 600 800 1000 1200 1400 1600 1800 2000
-4000
-3000
-2000
-1000
0
1000
2000
3000
4000
5000
6000
Curva Torque x Rotao
Rotao (min
-1
)
T
o
r
q
u
e

(
N
m
)
Corrente com desequilbrio na alimentao
0 1 2 3 4 5 6 7
-200
0
200
400
600
800
1000
1200
Correntes do estator (qd0)
Tempo (s)
C
o
r
r
e
n
t
e

(
A
)


i
qs
i
ds
i
0s
0 20 40 60 80 100 120
0
50
100
150
200
250
300
Corrente no neutro, com carga nominal
Frequncia (Hz)
C
o
r
r
e
n
t
e

d
e

P
i
c
o

(
A
)