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TEORIA
FUNDAMENTAL DO
MOTOR DE INDUO
EDIO DO
AUTOR
CAPTULO
INTRODUO A TEORIA DE CONVERSO
1 ELETROMECNICA DE ENERGIA
1.1 INTRODUO
1.2 CIRCUITO R - L
+ vL -
+
R vR
i
v v
Fig. 1.1 Circuito magntico simples. Fig. 1.2 Circuito eltrico equivalente.
v = vR + vL (1.1)
di
v = Ri + L (1.2)
dt
di
v i = Ri 2 + Li (1.3)
dt
mas
1
d Li 2
di 2
Li = (1.4)
dt dt
Assim
1
d Li 2
2
vi = Ri 2 + (1.5)
dt
1 2
Li energia instantnea armazenada no campo
2
magntico;
1
d Li 2
2 velocidade instantnea de crescimento da energia no
dt
campo magntico. Esta grandeza tem a dimenso de
potncia.
Considerando-se a Fig. 1.3, semelhante a Fig. 1.1, mas com uma diferena
fundamental: possibilidade de haver movimento relativo entre a bobina e o seu ncleo.
Desta forma existe a possibilidade de variao do valor da indutncia. A indutncia da
bobina funo de x, posio relativa entre ela e o seu ncleo.
x
L(x)
+ vL -
+
i R vR
L(x)
-
i
v
v
Fig. 1.3 Circuito magntico sujeito a uma fora Fig. 1.4 Circuito eltrico equivalente.
mecnica externa.
v = vR + vL (1.6)
d
v = Ri + (1.7)
dt
= L (x ) i (1.8)
Assim:
d ( L ( x ) i)
v = Ri + (1.9)
dt
di dL ( x )
v = Ri + L ( x ) +i (1.10)
dt dt
di 2 dL ( x )
vi = Ri 2 + L ( x ) i +i (1.11)
dt dt
1
d L ( x ) i2
2 = L x i di + 1 i 2 dL ( x )
( ) (1.12)
dt dt 2 dt
1
d L ( x ) i2
di
L(x)i =
2 - 1 i 2 dL ( x ) (1.13)
dt dt 2 dt
1
d L ( x ) i2
vi = Ri 2 +
2 - 1 i 2 dL ( x ) + i 2 dL ( x ) (1.14)
dt 2 dt dt
Assim:
L ( x ) i2
d
2 2 1 2 dL ( x )
vi = Ri + + i (1.15)
dt 2 dt
1 2 dL(x )
Observamos que a expresso (1.15) possui o termo i a mais em
2 dt
relao a expresso (1.5). Esse termo existe como conseqncia da variao da
indutncia do sistema e representa a diferena entre a potncia fornecida pela fonte e
as potncias dissipadas na resistncia do circuito e armazenada no campo magntico.
Assim:
1
d L ( x ) i2
1 2 dL ( x ) 2
i = vi - Ri 2 + (1.16)
2 dt dt
Portanto:
dx 1 2 dL(x )
Pme c = F = i (1.17)
dt 2 dt
dL ( x ) dL ( x ) dx
= (1.18)
dt dx dt
Assim:
1 dL ( x )
F = i2 (1.19)
2 dx
Fi
F Fe
Fa
R L(x)
i
dx
Fa = D a fora de atrito.
dt
d2x
Fi = m a fora de inrcia.
dt 2
1 dL ( x )
F = i2 a fora eltrica.
2 dx
F = Fe + Fi + Fa (1.20)
1 2 dL ( x ) dx d2 x
i - D - m 2 = Fe (1.21)
2 dx dt dt
di dL(x )
Ri + L(x ) +i =V (1.22)
dt dt
v(t) x(t)
SISTEMA
- Parmetros
Fe(t) - Modelo i(t)
R
+
v L( )
d
-
Rotor
0
Por analogia com o sistema apresentado na Fig. 1.5, podemos obter a equao
eltrica do sistema, representado pela expresso (1.23):
di dL()
V = Ri + L() +i (1.23)
dt dt
d 1 2 dL( )
Pmec = T = i (1.24)
dt 2 dt
Assim:
d 1 2 dL ( ) d
T = i (1.25)
dt 2 d dt
Portanto:
1 dL ( )
T = i2 (1.26)
2 d
2 Lm
Ld
L0
Lq
Tal funo pode geralmente ser representada com boa preciso pela
expresso (1.27):
1 2 d
T= i (L m cos 2 + L 0 ) (1.28)
2 dt
Assim, em mdulo:
T = L m i 2 sen 2 (1.29)
Ld = L0 + Lm (1.30)
L q = L 0 + L m (1.31)
Assim:
Ld Lq
Lm = (1.32)
2
(L d Lq )
T= i 2 sen (1.33)
2
Sabe-se que:
n2
Ld = (1.34)
Rd
n2
Lq = (1.35)
Rq
n2 1 1 2
T= i sen 2 (1.36)
2 R
d Rq
Deste modo:
n2 Rq Rd 2
T= i sen 2 (1.37)
2 R R
d q
T = Ta + Te + Ti (1.38)
1 2 dL ( ) d d 2
i - D - J 2 = Te (1.39)
2 d dt dt
di dL ( )
Ri + L ( ) +i =v (1.40)
dt dt
v(t) i(t)
MQUINA
Te(t)
ELEMENTAR (t)
Fig. 1.9 Representao de mquina elementar de um enrolamento com as variveis de entrada e sada.
+ iS
vS
R
-
iR
+
vR
d ( LSiS ) d ( M SR ( ) i R )
v S = R Si S + + (1.41)
dt dt
d ( L R i R ) d ( M SR ( ) iS )
vR = R R iR + + (1.42)
dt dt
LS e LR so as indutncias prprias.
diS dMSR ( ) di
v S = R Si S + L S + iR + MSR ( ) R (1.43)
dt dt dt
di R dMSR ( ) di
vR = R R iR + LR + iS + MSR ( ) S (1.44)
dt dt dt
diS dMSR ( ) di
+ MSR ( ) iS R
2
PS = vSiS = R SiS + LSiS + i R iS (1.45)
dt dt dt
di R dMSR ( ) di
+ MSR ( ) i R S
2
PR = v R i R = R R i R + L R i R + i Si R (1.46)
dt dt dt
P = PR + PS (1.47)
Assim:
diS dMSR ( ) di
+ M SR ( ) iS R +
2
P = R Si S + L Si S + i R iS
dt dt dt
(1.48)
di dM SR ( ) di
+ M SR ( ) i R S
2
+R R i R + L R i R R + iSi R
dt dt dt
Sabemos que:
d 1 1
LSiS + L R i R + M SR ( ) iSi R =
2 2
dt 2 2
(1.49)
di di di di dM SR ( )
= LSiS S + L R i R R + M SR ( ) iS R + M SR ( ) S i R + i Si R
dt dt dt dt dt
Portanto:
diS di di di dM SR ( )
L Si S + L R i R R + MSR ( ) iS R + MSR ( ) i R S + 2iSi R =
dt dt dt dt dt
1 1 (1.50)
d LSiS + L R i R + MSR ( ) iSi R
2 2
=
2 2 + dM SR ( ) i i
S R
dt dt
1 1
d LSiS + L R i R + MSR ( ) iSi R
2 2
dM SR ( )
2 2
iSi R +
2 2
P = R Si S + R R i R + (1.51)
dt dt
Seja:
2 2
Pr =R SiS +R R i R (1.52)
1 1
d LSiS + L R i R + MSR ( ) iSi R
2 2
2 2
PL = (1.53)
dt
Assim:
dM SR ( )
Pmec = i Si R (1.54)
dt
mecnica. Isto decorre do fato que a potncia fornecida igual potncia dissipada,
mais a potncia acumulada, mais a potncia convertida.
d
Pmec = T (1.55)
dt
Assim:
d dM SR ( ) d
T = i Si R (1.56)
dt d dt
dM SR ( )
T = iSi R (1.57)
d
M SR( )
M0
3
2 2
2
M SR () = M 0 cos (1.58)
T = M 0i Si R sen (1.59)
M 0i R i S
3
2 2 2
Seja:
T = Te + Ta + Ti (1.60)
dM SR ( ) d d 2
Te = iSi R -D -J 2 (1.61)
d dt dt
diS dM SR ( ) di
v S = R Si S + L S + iR + MSR ( ) R (1.62)
dt dt dt
di R dM SR ( ) di
vR = R R iR + LR + iS + MSR ( ) S (1.63)
dt dt dt
vS (t)
(t)
vR (t)
MQUINA iS (t)
Te(t) iR (t)
Fig. 1.13 Representao da mquina eltrica elementar de dois enrolamentos com as variveis de entrada e
sada.
+
i
S
v
S
i
R
+
v
R
Fig. 1.14 Representao fsica da mquina eltrica elementar de dois enrolamentos de plos salientes.
dMSR ( )
Texc = iSi R (1.64)
d
1 2 dL ( )
TR = iS (1.65)
2 d
O torque total produzido pela mquina ser a soma dos torques de relutncia e
de excitao. representado pela expresso (1.66):
1 2 dLS ( ) dMSR ( )
T = iS + i Si R (1.66)
2 d d
M SR () = M 0 cos (1.68)
Obtm-se:
2
T = L m i S sen 2 + M 0 i Si R sen (1.69)
d ( M12i1 ) d ( L 2i 2 ) d ( M 23i3 )
v 2 = R 2i 2 + + + (1.71)
dt dt dt
v1 R1 0 0 i1 L1 M12 M13 i1
v = 0 d
2 R2 0 i 2 + M12 L2 M 23 i 2 (1.74)
dt
v3 0 0 R 3 i3 M13 M 23 L3 i3
i1
1 dL1 ( ) dM12 ( ) dM13 ( )
T = i1 + i1 + i1 i2 +
2 d d d
i3
i1
1 dM12 ( ) dL 2 ( ) dM 23 ( )
+ i 2 + i2 + i2 i2 + (1.75)
2 d d d
i3
i1
1 dM13 ( ) dM 23 ( ) dL3 ( )
+ i 3 + i3 + i3 i2
2 d d d
i3
Seja:
i1
i = i 2 (1.77)
i3
R1 0 0
R = 0 R2 0 (1.78)
0 0 R 3
i t = [ i1 i 2 i3 ] (1.79)
dL ( )
v = Ri + i (1.81)
dt
1 t dL ( )
T= i i (1.82)
2 d
As expresses (1.81) e (1.82) foram estabelecidas para uma mquina com trs
enrolamentos. Contudo podem ser empregadas para qualquer sistema onde exista
converso eletromecnica de energia.
1.8 CONCLUSES
+ v -
I = 2A
2) O rel mostrado na Fig. 1.16 tem uma armadura mvel de seco quadrada, com
lado d, guiado por dois suportes no magnticos de espessura q e comprimento d/2. A
carcaa excitada por duas bobinas percorridas pela mesma corrente i. Cada bobina
possui N espiras. Supe-se que a carcaa e a armadura possuem permeabilidade
infinita.
x
d I
d/2
d N
- +
v
L2 = 0,1mH,
L3 = 0,05cos mH
(b) Supor que a bobina mvel seja mantida no ngulo = 900, por
ao de uma mola espiral que exerce um torque dado pela
expresso T = K( - /2) com K = 0,004J/rd2. Calcular o valor do
ngulo de equilbrio em graus.
x Mola
v(t)
A
D
R
+
v L( )
d
-
Rotor
0
q
Fig. 1.20 Mquina eltrica elementar com um enrolamento.
2.1 INTRODUO
Neste captulo ser modelada apenas a mquina trifsica, porm sem perda de
generalidade. O mtodo pode ser empregado para qualquer nmero de fases e
conseqentemente para o rotor em gaiola.
-
+ vS
1
iS
1
+ vR
3
i iS
R 3
iR - -3
1
+
-i
R2
vR
2
+
vS
v
R1 + 3
- vS
2 iS
+ 2
3 3
total =
i =1
Ri + Si
i =1
(2.1)
enrolamento i do estator.
LS1 = LS 2 = LS3 = LS
LR1 = LR 2 = LR 3 = LR
R S1 = R S2 = R S3 = R S
R R1 = R R 2 = R R 3 = R R
M R12 = M R 23 = M R13 = M R
onde:
S2
R1
R2
S1
S3
R3
M S1R1 = M SR cos
M S1R 2 = M SR cos( + 2 / 3) (2.2)
M S1R 3 = M SR cos( + 4 / 3)
M S2 R1 = M SR cos( + 4 / 3)
M S2 R 2 = M SR cos (2.3)
M S2 R 3 = M SR cos( + 2 / 3)
M S3R1 = M SR cos( + 2 / 3)
M S3R 2 = M SR cos( + 4 / 3) (2.4)
M S3R 3 = M SR cos
B) Convenes:
da
va = R a ia + (2.5)
dt
S = LSS i S + LSR ( ) i R
(2.10)
R = L RS ( ) i S + L RR i R
onde:
LS MS MS
LSS = M S LS MS (2.11)
M S MS LS
LR MR MR
L RR = M R LR M R (2.12)
M R MR L R
L RS ( ) = LSR ( )
t
(2.14)
Das leis da fsica, podemos escrever as expresses das tenses como esto
representadas nas expresses (2.15) e (2.16):
dS
vS = RS iS + (2.15)
dt
dR
vR = RRiR + (2.16)
dt
onde:
R S 0 0
R S = 0 RS 0 (2.17)
0 0 R S
R R 0 0
R R = 0 RR 0 (2.18)
0 0 R R
dS d ( L SS i S + L SR ( ) i R )
= (2.19)
dt dt
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 31
dS d ( L SS i S ) d ( L SR ( ) i R )
= + (2.20)
dt dt dt
dS di S di dL ( )
= L SS + L SR ( ) R + SR iR (2.21)
dt dt dt dt
mas
dL SR ( ) L SR ( ) d
= (2.22)
dt dt
dS di S di L ( ) d
= L SS + L SR ( ) R + SR iR (2.23)
dt dt dt dt
dR di R di L ( ) d
= L RR + L RS ( ) S + RS iS (2.24)
dt dt dt dt
di S di L ( ) d
v S = R S i S + LSS + LSR ( ) R + SR iR (2.25)
dt dt dt
di R di L ( ) d
v R = R R i R + L RR + L RS ( ) S + RS iS (2.26)
dt dt dt
d M SR ( )
T = iS i R (2.27)
dt
M S1R1 M S2 R1 M S3R1
T = i R1 iS1 + iS2 + iS3 +
M S1R 2 M S2 R 2 M S3R 2
+i R 2 iS1 + iS2 + iS3 + (2.28)
M S1R 3 M S2 R 3 M S3R 3
+i R 3 iS1 + iS2 + iS3
M S R M S1R 2 M S1R 3 i R 1
[
T = i S1 i S2 i S3 ] 1 1
MS R
2 1
M S2 R 2
M S2 R 3 i R 2 (2.29)
M S R M S3 R 2 M S3 R 3 i R 3
3 1
Seja:
i R1
i R = i R 2 (2.31)
i R
3
iS1
i S = iS2 (2.32)
iS
3
t ( LSR ( ) )
T = iS iR (2.33)
t ( L RS ( ) )
T = iR iS (2.34)
1 t ( LSR ( ) ) t ( L RS ( ) )
T = iS iR + iR iS (2.35)
2
1 0 LSR ( ) i S
T= (
iS
2
t
iR
t
) L ()
0 i R
(2.36)
RS
LSS L RR
= =0 (2.37)
Seja:
i t = iS ( t
iR
t
) (2.39)
i
i = S (2.40)
iR
LSS LSR ( )
L () = (2.41)
L RS ( ) L RR
1 L ( )
T= it i (2.42)
2
di S di L ( ) d
v S = R S i S + LSS + LSR ( ) R + SR iR (2.43)
dt dt dt
di R di L ( ) d
v R = R R i R + L RR + L RS ( ) S + RS iS (2.44)
dt dt dt
1 L ( )
T= it i (2.45)
2
v S R S 0 i S LSS 0 d iS
= + +
v R 0 R S i R 0 L RR dt i R
(2.46)
LSR ( ) 0 d iS 0 LSR ( ) i S d
+ +
0
L RS ( ) dt i R L RS ( )
0 i
R dt
di L ( ) d
v = Ri + L ( ) + i (2.47)
dt dt
Pois:
R 0
R = S (2.48)
0 R R
L ( )
v = Ri + L ( ) pi + i
(2.50)
1 L ( )
T= it i
2
L ( )
v = Ri + L ( ) pi + i (2.51)
L ( )
i t v = i t Ri + i t L ( ) pi + i t i (2.52)
1 1 di 1 L ( ) 1 di t
p i tL () i = i tL () + + i t i + L () i (2.53)
2 2 dt 2 2 dt
mas:
1 t di 1 d i t
i L () = L () i (2.54)
2 dt 2 dt
Assim:
di 1 L ( ) i 1
i tL () = it i + p i t L ( ) i (2.55)
dt 2 2
1 1 L ( )
i t v = i t Ri + p i t L ( ) i + i t i (2.56)
2 2
1 t L ( )
Pm = i i (2.57)
2
portanto:
1 t L ( )
T= i i (2.58)
2
L ( )
(c) i So as tenses geradas nos enrolamentos, quando h
deslocamento relativo entre eles. So denominadas tenses rotacionais.
Quando = 0 , ou seja, quando o rotor estiver em repouso, o modelo passa a
ser representado pela expresso (2.59):
v = Ri + L ( ) pi (2.59)
2.8 CONCLUSES
iS1 = IScos ( S t + S )
iS2 = IScos ( S t + S 2 / 3)
iS3 = IScos ( S t + S 4 / 3)
i R1 = I R cos ( R t + R )
i R 2 = I R cos ( R t + R 2 / 3)
i R 3 = I R cos ( R t + R 4 / 3)
S = R + m
3 ESTUDO DA TRANSFORMAO 0
3.1 INTRODUO
Seja duas estruturas, uma trifsica e uma bifsica, representadas Fig. 3.1 e
Fig. 3.2:
Cada enrolamento, ao ser percorrido por uma corrente produz uma fora
magnetomotriz F.
40 CAPTULO 3. ESTUDO DA TRANSFORMAO 0
S2
n3 S
F2 iS
2 F1
F n2
S1
iS iS iS F
3
1 n3
S
n3
F3 iS n2
Assim:
F
FS 1 1 2 1 2 S1
F = FS (3.3)
S 0 3 2 3 2 2
FS3
mas:
FS iS
F = n 2 (3.4)
S iS
FS1 iS1
FS2 = n 3 iS2 (3.5)
FS iS
3 3
i
iS n 3 1 -1 2 -1 2 S1
i = i S (3.6)
S n 2 0 3 2 - 3 2 2
iS3
Para que a matriz definida pela expresso (3.6) possa ser invertida, vamos
definir a corrente i0 segundo a expresso (3.7):
n3
iS0 = a (
iS + iS2 + iS3
n2 1
) (3.7)
iS a a a iS1
0 n3
iS = n 1 1 2 1 2 iS2 (3.8)
i 2 0 3 2 3 2 iS3
S
a a a
1n3
A = 1 1 2 1 2 (3.9)
n 2
0 3 2 3 2
(A ) 1 1
= At
1
(3.10)
ou
A 1 = A t (3.11)
ou
t
A 1 A 1 = I (3.12)
1 0 0
I = 0 1 0 (3.13)
0 0 1
Portanto:
2 a a a a 1 0 1 0 0
n3
1 1 2 1 2 a 1 2 3 2 = 0 1 0 (3.14)
n2
0 3 2 3 2 a 1 2 3 2 0 0 1
Assim:
2
n
3 3 a 2 = 1 (3.15)
n2
2
n3
(1 + 1 4 + 1 4) = 1 (3.16)
n2
Portanto:
n3 2
= (3.17)
n2 3
1
a= (3.18)
2
1 2 1 2 1 2
2
A 1 = 1 1 2 1 2 (3.19)
3
0 3 2 3 2
Seja:
iS
0
i S 0 = iS (3.20)
i
S
iS1
i S 12 3 = iS 2 (3.21)
i S
3
i S 0 = A 1 i S 12 3 (3.22)
i S 12 3 = A i S 0 (3.23)
1 L M M i1
= M L M i (3.24)
2 2
3 M M L i 3
ou
1 2 3 = L i1 2 3 (3.25)
Seja:
0 = A 11 2 3 (3.26)
i 0 = A 1 i1 2 3 (3.27)
Assim:
A 11 2 3 = A 1 L i1 2 3 (3.28)
0 = A 1 L A i 0 (3.29)
Seja:
L N = A 1 L A (3.30)
Assim:
0 = L N i 0 (3.31)
Calculemos a matriz L N :
1 2 1 2 1 2 L M M 1 2 1 0
2 2
LN = 1 1 2 1 2 M L M 1 2 1 2 3 2 (3.32)
3 3
0 3 2 3 2 M M L 1 2 1 2 3 2
L + 2M 0 0
LN = 0 LM 0 (3.33)
0 0 L M
Seja:
L 0 = L + 2M (3.34)
LS = L M (3.35)
Assim:
0 L 0 0 0 i0
= 0 LS 0 i (3.36)
0 0 LS i
LS - indutncia cclica
i1
v1
R1
M 12
L2 L1
M 13
i2 R2
v2 L3
M 23
R3
i3
v3
A 1 V1 2 3 = A 1 R i1 2 3 + p A 1 L i1 2 3 (3.38)
Assim:
Seja:
R N = A 1 RA (3.40)
L N = A 1LA (3.41)
Assim:
V0 = R N i 0 + pL N i 0 (3.42)
mas,
R 0 0
R N = 0 R 0 (3.43)
0 0 R
L0 0 0
L N = 0 LS 0 (3.44)
0 0 LS
O modelo do reator trifsico simtrico ser ento descrito pela expresso (3.45)
v0 R + pL 0 0 0 i0
v = 0 R + pLS 0 i (3.45)
v 0 0 R + pLS i
v 0 = ( R + pL 0 ) i 0
v = ( R + pLS ) i (3.46)
v = ( R + pLS ) i
R L0
i0
v0
R L
i
v
R L
i
v
Fig. 3.4 Modelo eltrico equivalente para o reator trifsico usando a transformada 0.
S3
R3
S1
M SR
R1
S2
R2
iS1 i R3
vS 1
R R3
RS 1
L R3
L S1
iS RS 2 L S2 LR R R2 i R2
vS 2 2
L S3 2
LR
1
RS
3
RR
1
iS iR
3 1
vS 3
di S di
v S = R S i S + LSS + LSR R
dt dt
(3.47)
di di
v R = R R i R + L RR R + L RS S
dt dt
onde:
R S 0 0
R S = 0 RS 0 (3.48)
0 0 R S
R R 0 0
R R = 0 RR 0 (3.49)
0 0 R R
LS MS MS
L SS = M S LS M S (3.50)
M S MS L S
LR MR MR
L RR = M R LR M R (3.51)
M R MR L R
M SR M SR 2 M SR 2
LSR = L RS
= M SR 2 M SR M SR 2 (3.52)
M SR 2 M SR 2 M SR
di S 0 di R 0
v S 0 = A 1 R S Ai S 0 + A 1 LSS A + A 1 LSR A (3.53)
dt dt
di R 0 di S 0
v R 0 = A 1 R R A i R 0 + A 1 L RR A + A 1 LSR A (3.54)
dt dt
di S 0 di R 0
v S 0 = R S N i S 0 + LSS N + LSR N (3.55)
dt dt
di R 0 di R 0
v R 0 = R R N i R 0 + L RR N + L RS N (3.56)
dt dt
R S 0 0
R SN = 0 RS 0 (3.57)
0 0 R S
R R 0 0
R RN = 0 RR 0 (3.58)
0 0 R R
LS 0 0
LSS = 0 LS 0 (3.59)
0 0 LS
LR 0 0
L RR = 0 LR 0 (3.60)
0 0 L R
0 0 0
L SR = L RS = 0 m SR 0 (3.61)
0 0 m SR
onde:
3
mSR = MSR indutncia mtua cclica.
2
vS R S 0 iS LS0 0 iS
= +p (3.64)
v R 0 R R i R 0 L R 0 i R
vS R S 0 iS LS0 0 iS
= +p (3.65)
v R 0 R R i R 0 L R 0 i R
+
vS iS0 i R0
0
vR0
-
+
vS iS i R
vR
-
+
vS iS i R
vR
-
di S di L ( ) d
v S = R S i S + LSS + LSR ( ) R + SR iR (3.66)
dt dt dt
di R di L ( ) d
v R = R R i R + L RR + L RS ( ) S + RS iS (3.67)
dt dt dt
1 L ( )
T= it i (3.68)
2
diS0 di R0 1 d
A1 vS = A1 RS AiS0 + A1 LSS A + A1 LSR ( ) A + A LSR ( ) Ai R0 (3.69)
dt dt dt
Definindo-se:
R S N = A 1 R S A (3.70)
R R N = A 1 R R A (3.71)
L RR N = A 1 L RR A (3.73)
di S 0 di R 0 LSR ( ) N d
v S 0 = R S N i S 0 + LSSN + LSR ( ) N + i R 0 (3.76)
dt dt dt
di R 0 di S 0 L RS ( ) N d
v R 0 = R R N i R 0 + L RR N + L RS ( ) N + i S 0 (3.77)
dt dt dt
t LSR ( )
T = iS iR (3.78)
i S = A i S 0 (3.79)
t t
i S = i S 0 A t (3.80)
t LSR ( )
T = i S 0 A t Ai R 0 (3.81)
t
( A t LSR ( ) A )
T = i S 0 i R 0 (3.82)
Assim:
t LSR ( ) N
T = i S 0 i R 0 (3.83)
transformador.
expresso (3.84).
1 1 1 2 4 1
cos cos + cos + 1 0
2 2 2 3 3 2
2 1 1 4 2 1 1 3
LSR ( ) N = MSR 1 cos + cos cos + (3.84)
3 2 2 3 3 2 2 2
3 3 2 4
1 1 3
0 cos + cos + cos
2 2 3 3 2 2 2
0 0 0
LSR ( ) N = 0 mSR cos mSR sen (3.85)
0 mSR sen mSR cos
0 0 0
L RS ( ) N = 0 mSR cos mSR sen (3.86)
0 mSR sen mSR cos
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 55
Pois
L RS ( ) = LSR ( )
t
(3.87)
N N
Com:
di R 0 LSR ( ) d dLSR ( ) N
LSR ( ) + N
i R 0 = i R 0 (3.88)
N
dt dt dt
di S 0 dLSR ( )
v S 0 = R S N i S 0 + LSSN + N
i R 0
dt dt
di R 0 dLSR ( )
v R 0 = R R N i R 0 + L RR N + N
i S 0 (3.89)
dt dt
t
LSR ( )
T = i S 0 N
i R 0
vS0 iS0
R 0 0 i
vS S S
0 RS 0 0
iS
v 0 0 RS +
S
v = RR 0 0 iR
R0 0
vR 0 0 RR 0
i
0 0 R R R
v R i R
i
LS0 0 0 0 0 S0 0
0 LS 0 0 mSR cos mSR sen iS
0 0 LS 0 mSR sen mSR cos iS
+p
0 0 0 LR0 0 0 iR0
0 mSR cos mSR sen 0 LR 0 i
R
0 mSR sen mSR cos 0 0 LR i R
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
56 CAPTULO 3. ESTUDO DA TRANSFORMAO 0
0 0 0 iR0
T = mSR iS0 iS iS
0 sen cos i R (3.90)
0 cos sen i R
S2
iS
2
R1
iR
1
R2
iR
2
S1
iS
1
iS
3
iR
3
S3
R3
S
R
iR iS
R
iR
iS
S
S1 i S1 R1
vS
S2 iS 2 R2
iS S3 iS 3 R3
Fig. 3.12 Mquina simtrica trifsica com enrolamentos rotricos abertos sendo os estatricos alimentados
com a mesma tenso.
v S 0 = A 1 v S 1 2 3 (3.92)
vS = 0 (3.93)
vS = 0 (3.94)
vS0 = 3 vS (3.95)
vS0
iS0 = (3.96)
2f L 0
1
iS0 = ( iS + iS2 + i S3 )
3 1
(3.97)
Ento
iS
iS 0 = (3.98)
3
iS 3 vS
= (3.99)
3 2f L 0
Assim:
3 vS
iS = (3.100)
X0
onde:
X 0 = 2f L 0 (3.101)
FS
1
iS
1
iS
ROTOR 3
FS
3
FS iS
2 2
com exceo dos fluxos de disperso, que se fecham pelo ar e que esto
representados na Fig. 3.13.
R i1 R = 1
LS
L S = 0,280H (indutncia cclica)
LS LS
f = 60Hz
R R
i2 i3 V = 380V (valor eficaz)
i1
+
R
v1
LS
+ -
LS LS
v
--
- R R
v3 v2
+ +
i3 i2
Fig. 3.15 Rotor trifsico com duas fases em paralelo e em srie com a terceira sendo alimentadas por uma
fonte de tenso nica.
+ + +
i1 i2 i3
v1 v2 v3
- - -
onde: R 1 = R 2 = R 3 = R = 0,5 ,
L1 = L 2 = L 3 = L = 60 mH (prprias)
M = -30mH (mtuas)
S1 i1
R
LS
M
S2 i2
v
S3 i3
fechados simultaneamente.
v1 = Vcos t
2
v 2 = Vcos t
3
4
v3 = Vcos t -
3
onde
= 377 rad/s
v = 2 220 volts
Determinar as correntes i1 (t ) , i 2 (t ) e i 3 (t ) .
v1 v2 v3
iS iS iS
1 2 3
S1 S2 S3
R1 R2 R3
iR iR iR
1 2 3
v1 = Vcos t
2
v 2 = Vcos t
3
4
v3 = Vcos t -
3
4.1 INTRODUO
S0 i
L S0 0 0 0 0 0 S0
S
0 LS 0 0 m SR cos m SR sen iS
S 0 0 LS 0 m SR sen m SR cos iS
= 0 0 0 LR0 0 0
(4.1)
R0 iR0
R 0 m SR cos m SR sen 0 LR 0
i R
0 m SR sen m SR cos 0 0 LR
R i R
S L 0 0 iS0 0 0 0 iR0
0 S0 0 m cos m sen i
S = 0 LS 0 i S + SR SR R (4.2)
0 i
S
0 LS S 0 mSR sen mSR cos i R
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 65
R 1 0 0 R 0
0
R d = 0 cos sen R (4.3)
0 sen cos R
Rq
Assim:
i R dq 0 = B 1 i R 0 (4.4)
onde:
1 0 0
B 1
= 0 cos sen (4.5)
0 sen cos
S = LS I i S + mSR B 1 i R (4.6)
R = L R I i R + mSR B i S (4.7)
onde:
cos sen
B= (4.8)
sen cos
1 0
I = (4.9)
0 1
B 1R = mSR B 1B i S + L R B 1B i R dq (4.10)
Assim:
R dq = mSR I i S + L R I i R dq (4.11)
S = mSR I i R dq + LS I i S (4.12)
S0 iS0
LS0 0 0 0 0 0
S 0 LS 0 0 mSR 0 iS
S 0 0 LS 0 0 mSR iS
= 0 0 0 LR0 0 0
i (4.13)
R0 R0
R 0 mSR 0 0 LR 0 i R
d 0 0 mSR 0 0
L R d
R q i R q
Portanto a transformao de PARK, como foi definida ortogonal. Por isto, sob
esta transformao, a potncia invariante.
Rq
R
iR
iR
q R
iR
iR
d
Rd
Os eixos R R giram no sentido anti-horrio com velocidade . Os eixos
considerados idnticos.
i R d cos sen i R
i = (4.17)
R q sen cos i R
VR
R Rq
R VR q
Rd
VR
VR d
S
R
Sq = S
R
Rq
S
Rd Sd = S
d
Fig. 4.3 Mquina original.
Fig. 4.4 Mquina transformada.
d
v S = R S i S + S (4.18)
dt
d
v R = R R i R + R (4.19)
dt
B 1 v R = B 1 R R B i R dq + B 1
(
d B R
dq
) (4.20)
dt
dR B d
v R dq = R R i R dq + B 1B dq
+ B 1 R (4.21)
dt dq dt
Assim:
B 0 1
B 1 = (4.23)
1 0
d R d 0 1
v R dq = R R i R dq + dq
+ R (4.24)
dt dt 1 0 dq
dS
v S dq = R S i S dq + dq
(4.25)
dt
iSd iSd
v R d R R 0 i R d mSR 0 L R 0 iSq 0 1 mSR 0 L R 0 iSq
= + p + (4.27)
v R q 0 R R i R q 0 mSR 0 L R i R d
1 0 0 mSR 0 L R i R d
i i
R q R q
vSd R S + pLS 0 pmSR 0 iSd
vSq 0 R S + pLS 0 pmSR iSq
= i (4.28)
v R d pmSR mSR R R + pL R LR Rd
v i R q
R q m pmSR LR
R R + pL R
SR
t LSR ( )
T = i S i R (4.29)
mas,
L SR ( ) = m SR B 1 (4.30)
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 71
Portanto:
t B 1
T = mSR i S iR (4.31)
t B 1
T = mSR i S dq Bi R dq (4.32)
B 1 sen cos
= (4.33)
cos sen
B 1 0 1
B= (4.35)
1 0
Assim:
t 0 1
T = mSR i S dq iR (4.36)
1 0 dq
0 1 i R d
T = mSR iSd iSq (4.37)
1 0 i R q
(
T = mSR iSq i R d iSd i R q ) (4.38)
vSd R S + pLS 0 pmSR 0 iSd
vSq 0 R S + pLS 0 pmSR iSq
= i (4.39)
0 pmSR n mSR R R + pL R n LR Rd
0 i R q
n m pmSR
n L R R R + pL R
SR
(
T = nmSR iSq i R d - iSd i R q ) (4.40)
n= (4.41)
S
onde:
R
d
iR is
is
d m
is R
q
q iR
iR d
q iR
S
is
a)
b)
i R d cos ( ) sen ( ) i R
= (4.47)
i R q sen ( ) cos ( ) i R
I ) Referencial no estator ( = 0 )
iSd 1 0 iS
i = (4.48)
Sq 0 1 iS
i R d cos sen i R
i = (4.49)
R q sen cos i R
II ) Referencial no rotor ( = )
i R d 1 0 i R
i = (4.51)
R q 0 1 i R
= S t (4.52)
= m t (4.53)
i R d cos ( S - m ) t sen ( S - m ) t i R
= (4.55)
i R q -sen ( S - m ) t cos ( S - m ) t i R
1 cos sen
BS = (4.56)
sen cos
1 cos ( ) sen ( )
BR = (4.57)
sen ( ) cos ( )
dS
v S = R S i S +
(4.58)
dt
dR
v R = R R i R +
(4.59)
dt
dS
1 1 1
BS v S = BS R S i S + BS
(4.60)
dt
1
v S dq = BS R S BS i S dq + BS
1
(
d BS S
dq
) (4.61)
dt
1
BS R S BS = R S (4.62)
dBS S dq dS dq BS
BS 1 = BS 1BS + BS 1 S dq (4.63)
dt dt
dBS 0 1
BS 1 = (4.64)
d 1 0
dS 0 1
v S dq = R S i S dq + dq
+ S (4.65)
dt 1 0 dq
dR 0 1
v R dq = R R i R dq + + dq
R dq (4.66)
dt 1 0
t LSR ( )
T = i S i R (4.67)
i S = BS i S dq (4.68)
Assim:
t t t
i S = i S dq B S (4.69)
i R = B R i R dq (4.70)
Assim:
t t LSR ( )
T = i S dq BS B R i R dq (4.71)
mas,
Assim:
t t B 1
T = mSR i S dq BS B R i R dq (4.73)
Assim:
(
T = mSR i R d iSd - i R q iSd ) (4.74)
RS + pLS LS n pmSR mSR n
vSd iS
d
=
(4.75)
vR d pmSR
mSR n R R + pLR
LR n
iRd
v
Rq iRq
mSR n pmSR LR n R R + pLR
(
T = n mSR iSq i R d iSd i R q ) (4.76)
vSd 0 0 0 Sd
v
1
vSq 0 1 0 0 vSq
' = (4.77)
vRd 0 0 a 0 vRd
' 0
0 0 a v
v R q R q
Assim:
S d 1 0 0 0 iS d
iS q = 0 1 0 0 iSq
i 'R (4.79)
0 0 1 a 0 i R d
' d
i R q 0 0 0 1 a i R q
'
i SR = P S i SR (4.80)
'
v SR = Z i SR (4.81)
' '
P S v SR = Z P S 1 i SR (4.82)
' '
v SR = P S 1Z P S 1 i SR (4.83)
R S + pLS LS n pmSR mSR n
L S n R S + pLS mSR n pmSR
Z= (4.84)
pmSR mSR n R R + pL R L R n
m SR n pmSR L R n R R + pL R
RS + pLS LS n p ( a mSR ) ( a mSR ) n
vSd i
Sd
L n RS + pLS ( a mSR ) n p ( a mSR ) i
vSq S
S
' = q' (4.85)
vRd p ( a m )
a mSR n a ( RR + pLR )
2 i
n a2 LR Rd
' SR
'
v
q
R iRq
a mSR n p ( a mSR ) n a 2 LR a 2 ( RR + pLR )
ao estator.
estator.
'
3) a 2 L R = A 2 + m1 = L R sendo A 1 a indutncia de disperso do rotor
referida ao estator.
4) R S resistncia do estator.
'
5) a 2 R R = R R resistncia do rotor referida ao estator.
RS + pLS LS n pm1 m1 n
vS iSd
d
vS LS n RS + pLS m1 n pm1 iSq
=
q
(4.86)
vR ' ' ' ' iRd '
d pm1 m1 n RR + pLR n LR
vR '
iR '
q
' ' '
q
m1 n pm1 n LR RR + pLR
( '
T = nm1 iSq i R d - iSd i R d
'
) (4.87)
1) Seja:
vS1 = 2 Vsen ( S t + )
campo girante.
(2E/3)
vS (E/3)
1
O O O O
0 60 120 180
(2E/3)
vS (E/3)
2
vS (2E/3)
3
(E/3)
vS1 = 2VsenS t
v R1 = 2VR sen ( R t + )
Seja R + m = S onde:
m velocidade do rotor
v R1 = 2VR sen ( R t + )
= m t + 0
S = m + R
iS1 = ISsen ( S t + )
i R1 = I R sen ( R t + )
i R 2 = I R sen ( R t 120 + )
i R 3 = I R sen ( R t + 120 + )
iSd = IS senS t
iSq = IS cos S t
pelo motor.
10) Considere uma mquina de induo bifsica com rotor em gaiola. A fase d
alimentada por uma tenso do tipo:
vSd = 2V sen S t
12) Refazer o exerccio nmero 10, supondo que o enrolamento d alimentado por
uma corrente contnua.
5.1 INTRODUO
RS + pLS LS pmSR mSR
vSd i
Sd
L RS + pLS mSR pmSR
vSq iS
S
= q (5.1)
vR d i
pmSR mSR R R + pLR LR Rd
v i
Rq Rq
SR
m pmSR LR
R R + pLR
a b
Z= (5.2)
b a
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 87
( a )( a ) + b2 = 0 (5.3)
encontra-se:
1 = a + jb
(5.4)
2 = a jb
a b z11 z11
b a z = ( a + jb ) z (5.5)
21 21
Assim:
a b z12 z12
b a z = ( a jb ) z (5.8)
22 22
Assim:
z
z1 = (5.11)
jz
z
z2 = (5.12)
jz
1 1
D2 = z (5.13)
j j
t
D2 = D2 ( )
1 *
(5.14)
ou
1
D2 = D2 ( )
t *
(5.15)
t 1 j
D2 = z (5.16)
1 j
1 1 j
(D )
2
1 *
=
2z 1 j
(5.17)
1
z= (5.18)
2z
1
z= (5.19)
2
Assim:
1 1 1
D2 = (5.20)
2 j j
1 1 1 j
D2 = (5.21)
2 1 j
1
ZD = D2 ZD2 (5.22)
Assim:
a + jb 0
ZD = (5.23)
0 a jb
Sabe-se que:
Sabemos que:
1
Z+- = D2 ZdqD2 (5.26)
Assim
1
v+- = D2 ZdqD2i +- (5.27)
ou
D2 v +- = ZdqD2i +- (5.28)
1
v+- = D2 vdq (5.30)
1
i+- = D2 idq (5.32)
vS+ 1 j 0 0 vSd
v
S = 1 1 j 0 0 vSq
(5.33)
vR + 2 0 0 1 j vR d
vR 0 0 1 j vRq
2 0 0
1 1
D2 = 0 1 j (5.34)
2
0 1 j
vSdq Z1 Z3 iSdq
= (5.35)
vRdq Z2 Z4 i Rdq
Assim:
D2 0 vS+- Z1 Z3 D2 0 iS+-
0 D v = Z Z 0 D i (5.36)
2 R+- 2 4 2 R+-
v = 1 1
(5.37)
R+- D2 Z2D2 D2 Z4D2 i R+-
i
R
S + LS p + j 0
1
D2 Z1D2 = (5.38)
i
0 RS + LS p j
i i
m
SR p + j j 0
D2 Z2D2 =
1
(5.39)
i i
0 mSR p j + j
i
mSR p + j 0
D2 Z3D2 =
1
(5.40)
i
0 mSR p j
i i
R R + L R p + j j 0
D2 Z4D2 =
1
(5.41)
i i
0 R R + LR p j + j
i
i
R S + LS p + j 0 mSR p + j 0
vS+ i
i
iS+
v 0 R S + LS p j 0 mSR p j i
S- S- (5.42)
vR = i i
i i
iR
+ mSR p + j j 0 R R + LR p + j j 0 +
vR- i R-
i i
i i
0 mSR p j + j 0 R R + LR p j + j
*
vS- = vS+ (5.43)
*
vR- = vR+ (5.44)
i
i
R + L S p + j mSR p + j
vS+ i
S
S+
v = (5.45)
R + mSR p + j j i
i i i i
R R + LR p + j j R +
Fica assim estabelecido que a mquina, mesmo para uma situao genrica,
fica representada por apenas duas equaes. Isto possvel porque as variveis so
complexas e contm sempre duas informaes, uma do eixo d e outra do eixo q.
(
T = mSR iSq i R d iSd i R q ) (5.46)
mas,
iSd 1 1 1 iS+
i = (5.47)
Sq 2 j j iS-
i Rd 1 1 1 iR +
i = (5.48)
Rq 2 j j i R -
Assim:
1
iSd = ( iS + iS- )
2 +
(5.49)
j
iSq = ( iS - iS )
2 + -
(5.50)
1
iRd = ( iR + iR- )
2 +
(5.51)
j
iRq = ( iR - iR )
2 + -
(5.52)
( * *
T = mSR jiS+ i R- jiS+ i R - ) (5.54)
( * *
T = mSR j iS+ i R - iS+ i R - ) (5.55)
se
A = a + jb (5.56)
A* = a jb (5.57)
obtm-se
A* A = 2jb (5.58)
portanto
j ( A* A ) = 2b (5.59)
Assim:
(
T = 2 mSR Im iS+ i R - ) (5.60)
(
T = 2 mSR Im iS- i R + ) (5.61)
i
i
R S + LS p + jn mSR p + jn i
vS+
v = S+ (5.62)
R + mSR p + jn jn i
i i i i
R R + LR p + jn jn R +
(
T = 2 n mSR Im iS+ i R - ) (5.63)
i
Para o referencial colocado no estator, toma-se = 0 .
q
iS q iS +
iS d d
- S
- iS q
- iS
-
como
iS+ =
1
(
iS + jiSq
2 d
) (5.64)
iSd 2 iSq 2
iS+ = + (5.65)
2 2
obtm-se
I
iS+ = ( cos ( s t ) + jsen ( s t ) ) = I e jst (5.68)
2 2
I js t
iS- = e (5.69)
2
A exemplo do que foi feito para o modelo de PARK obtido no captulo IV, sero
estabelecidas as equaes da mquina para componentes simtricas instantneas,
representadas pelas expresses (5.70) e (5.71).
i
i
R S + LS p + jn m1 p + jn
vS+ iS
'= +' (5.70)
vR + i
i i i i
m1 p + jn jn R R ' + LR ' p + jn jn R +
(
T = 2 n m1 I iS+ i R-
'
) (5.71)
onde:
m1 = a mSR (5.72)
'
RR = a2 RR (5.73)
'
LR = a 2 LR = l2 + m1 (5.74)
LS = l1 + m1 (5.75)
(2E/3)
(E/3)
O O O O
0 120 240 360
iS = IS cos ( s t ) (5.76)
iS = IS sen ( s t ) (5.77)
i
i
R S + L S p + j mSR p + j i
vS+
v = S+ (5.81)
R + mSR p + j j i
i i i i
R R + LR p + j j R +
INTRODUO
RS + pLS pmSR
vS+
= iS+ (6.1)
0 m p jn R + L p jn i
SR R R R+
(
T = 2 n mSR Im iS+ iR ) (6.2)
vSd = vS
(6.3)
vSq = vS
v = v cos ( t + )
(6.4)
v = vsen ( t + )
v =
2
e (
v j( t + ) j( t + )
+e )
(6.5)
v = e
2j
(
v j( t + ) j( t + )
e )
Definindo-se:
_ _
v = e j v v = e j v
*
_ _
(6.6)
j * j
v = je v v = je
v
1 _ _
*
v = v e jt + v e jt
2
(6.7)
1 _ _
*
v = v e jt + v e jt
2
Considerando que:
1
vS+ =
2
( v + jv )
(6.8)
1
vS =
2
( v jv )
obtemos
1 1 _ jt _ * jt 1 _ jt _ * jt
vS+ = v e + v e + j 2 v e + v e (6.9)
2 2
Assim:
_ _
_ * _ *
1 v + jv jt v + jv jt
vS+ = e + e (6.10)
2 2 2
Definindo-se:
_ _
_
v + jv
vS+ =
2
_ _
(6.11)
_
v jv
vS =
2
Assim:
1 _ _
*
vS+ = vS+ e jt + vS e jt
2
(6.12)
1 *
_ _
vS = vS+ e jt + vS e jt
2
_ _ _ _
Convm ressaltar que v e v so fasores. Portanto vS+ e vS- tambm so fasores.
_ _
v
= S+ 1 1 j v
(6.13)
_
2 1 j _
vS v
1_ _
*
iS+ = i S+ e jt + i S e jt
2
(6.14)
1 *
_ _
iS = i S+ e jt + i S e jt
2
1_ _
*
iR + = i R+ e jt + i R e jt
2
(6.15)
1_ * _
iR = i R+ e jt + i R e jt
2
1 _ _
* jt 1_ _
* jt 1_ _
* jt
vS+ e + vS e = ( R S + pLS ) i S+ e + i S e + pmSR i R+ e + i R e
jt jt jt
(6.16)
2 2 2
i 1 _ _
*
1 _ _
*
0 = mSR p jn i S+ e jt + i S e jt + R R + LR p jn i R+ e jt + i R e jt (6.17)
2 2
_ _ _
vS+ e jt = ( RS + pLS ) i S+ e jt + pmSR i R+ e jt
(6.18)
i _
_
0 = mSR p jn i S+ e jt + R R + LR p jn i R + e jt
_ _ _
vS e jt = ( RS + pLS ) i S e jt + pmSR i R e jt
* * *
(6.19)
*
i _
_ *
0 = mSR p jn i S e jt + R R + LR p jn i R e jt
Tomando-se as derivadas
pe jt = j e jt (6.20)
_ _ _
vS+ = ( RS + jLS ) i S+ + jmSR i R+
(6.21)
i _
_
0 = mSR j jn i S+ + R R + LR j jn i R +
_ * _ * _ *
vS = ( R S + jLS ) i S + jmSR i R
* * (6.22)
i _ i _
0 = mSR jn + j i S + R R + LR jn + j i R
como
n = m (6.23)
m = R = s (6.24)
+ m = ( 2 s ) (6.25)
_ _ _
vS+ = ( RS + js LS ) i S+ + js mSR i R +
_ _
(6.26)
0 = jss mSR i S+ + ( R R + jss LR ) i R +
_ _ _
vS = ( RS + js LS ) i S + js mSR i R
_ _
(6.27)
0 = jmSR ( 2 s ) s i S + ( R R + jLR ( 2 s ) s ) i R
_ _ _
vS+ = ( RS + js LS ) i S+ + js mSR i R +
(6.28)
R
_
_
0 = js mSR i S+ + R + js LR i R +
s
_ _ _
vS = ( R S js LS ) i S js mSR i R
* * *
(6.29)
* R _ *
_
0 = mSR s i S + R - jLR s i R
( 2 s)
RS (LS - m SR ) (LR - m SR ) RR
iS iR
+ +
vS mSR RR (1 - s)
+
s
vS mSR - RR (1 - s)
-
iS iR (2 - s)
- -
RS (LS - m SR ) (LR - m SR ) RR
Fig. 6.1 Circuito eqivalente para o motor de induo com operao desbalanceada.
Este circuito vale para operao desbalanceada, desde que as tenses sejam
senoidais e a velocidade constante.
_
Para operao balanceada, tem-se vS- = 0; assim o modelo e o circuito
eqivalente so representados pela expresso (6.32) e pela Fig. 6.2.
_ _ _
vS+ = ( RS + js LS ) i S+ + js mSR i R +
(6.30)
_
R _
0 = js mSR i S+ + R + js LR i R +
s
RS (LS - m SR ) (LR - m SR ) RR
iS iR
+ +
vS mSR RR (1 - s)
+
s
Fig. 6.2 Circuito eqivalente para o motor de induo com operao balanceada.
mSR
RS RR
iS iR
+ +
vS LS LR RR (1 - s)
+
s
Fig. 6.3 Representao alternativa para o circuito eqivalente do motor de induo com operao
balanceada.
TRANSFORMAO PRIMRIO-SECUNDRIO
mSR
RS
iS iR
+ +
vS LS LR R2
+
s
n1 n2
Seja
n1
a= (6.31)
n2
Assim
_
vS+
_
=a (6.32)
vR +
_
i R+
_
=a (6.33)
i S+
Seja
'
vR + = avR + tenso rotrica referida ao estator e (6.34)
' iR+
iR+ = corrente rotrica referida ao estator. (6.35)
a
Definimos a transformao:
iS+ 1 0 iS+
'
i = ' (6.36)
R + 0 a iR +
Assim:
iS ' 1 0 iS
+ ' = 1 + (6.37)
iR + 0 iR +
a
Do mesmo modo:
vS+ 1 0 vS+
'
= ' (6.38)
vR + 0 a vR +
vS ' 1 0 vS
+ ' = 1 + (6.39)
v
vR + 0 a R +
Seja
1 0
PS1 = (6.40)
0 a
1 0
PS = 1 (6.41)
0
a
_ R S + jSLS jSmSR
_
vS+ = RR i S+ (6.42)
_ jSmSR + jSLR _
vR + s i R+
_ _
v+ = Z i + (6.43)
Assim
_ _
' '
PS v+ = Z PS-1 i + (6.44)
_ _
' '
v+ = PS-1 Z PS-1 i + (6.45)
Seja
Assim
_ _
' '
v + = Z' i + (6.47)
R + jSLS jSmSR
1 0 S 1 0
Z = '
RR (6.48)
0 a jSmSR + jSLR
0 a
s
Assim:
R S + jSLS jSamSR
Z =
'
a 2R R
(6.49)
j am + jSa LR
2
S SR
s
_ _ _ _
' '
Como vS+ = vS+ e i S+ = i S+ tem-se para o motor de induo o seguinte modelo:
_ R S + jSLS jSamSR _
vS+ = i S+ (6.50)
j am a 2R R _ '
0 + jSa LR
2
i R +
S SR
s
2
RS (LS - amSR ) (a L R- am SR)
iS iR
+ +
2
vS amSR RR a
+
s
_ _ _ _ '
vS+ = ( RS + jX1 ) i S+ + jXm1 i S+ + i R +
(6.52)
_ _ r '
_
'
0 = jXm1 i S+ + i R + + R + jX2 i R+
s
RS jX1 jX2 RR
vS jXm1 RR (1-s)
+
s
RS jX1 jX2 RR
vS jXm1 RR (1-s)
+
s
RS jX1 jX2 RR
(
T = 2 n mSR Im iS+ iR ) (6.53)
1_ _ * _ * _
T = 2 n mSR Im i S+ e jt + i S e jt i R + e jt + i R e jt (6.54)
4
Portanto
n mSR _ _
* _ * _ * _ _ _ * _
j2 t j2 t
T= Im i S+ i R + + i S i R + e + i S+ i R e + i S i R (6.55)
2
Os termos onde aparecem ej2t e e-j2t possuem torque mdio nulo e podem
ento ser abandonados. Assim:
n mSR _ _
* _ * _
T= Im i S+ i R + + i S i R (6.56)
2
Podemos definir:
n mSR _ _
*
T+ = Im i S+ i R + (6.57)
2
n mSR _ _
*
T = Im i S i R (6.58)
2
Assim:
T = T+ + T (6.59)
_ R S + js LS js mSR _
vS+ = RR i S+ (6.60)
0 js mSR + js LR _
s i R +
RR
1
Z =
1 s + js LR js mSR
(6.61)
( RS + js LS ) R + js LR + s2mSR 2
R
js mSR R S + js LS
s
Como:
_ RR _
i S+ = 1 s + js LR js mSR vS+
(6.62)
_ RR 0
i R+ ( RS + js LS ) s + js LR + s mSR
2 2
js mSR RS + js LS
obtm-se:
RR _
_ + j L
s R vS+
s
i S+ = (6.63)
( RS + js LS ) R + js LR + s2mSR 2
R
s
_
_
js mSR vS+
i R+ = (6.64)
( RS + js LS ) R + js LR + s2mSR 2
R
s
RR _
+ js L R vS
_
2s
i S = (6.65)
( RS + js LS ) R + js LR + s2mSR 2
R
2s
_
_
js mSR vS
i R = (6.66)
( RS + js LS ) R + js LR + s2mSR 2
R
2s
RR _
_ + j L
s R vS+
s
i S+ = (6.67)
R SR R 2 2 2 L R
s LR LS + s mSR + j s S R + s LR RS
s s
_
_
js mSR vS+
i R+ = (6.68)
R SR R 2 2 2 L R
s LR LS + s mSR + j s S R + s LR R S
s s
_
*
_
* js mSR vS+
i R+ = (6.69)
R SR R 2 2 2 L R
s LR LS + s mSR j s S R + s LR RS
s s
Assim:
2 s mSR R R _ _ *
_ _ s mSR L R + j vS+ vS+
*
i S+ i R + = s (6.70)
2 2
R SR R 2 2 2 s LSR R
s L L
R S + s m SR + + L R
s R S
s s
_ _ _ 2
*
vS+ vS+ = vS+ (6.71)
2 2
1 ns mSR R R _
vS+
2 s
T+ = 2 2
(6.72)
R SR R 2 2 2 s LSR R
s L L
R S + s mSR + + L R
s R S
s s
2 2
1 ns mSR R R _
vS
2 (2 s)
T = 2 2
(6.73)
R SR R 2 2 2 s LSR R
(2 s) s LR LS + s mSR + (2 s) + s LR RS
_ _
v = jv (6.74)
_
vS = 0 (6.75)
_ 2jv _
2 _
vS+ = vS+ = v (6.76)
2 2
_
v = v = v = v (6.77)
_ 2
2
vS+ = 2v (6.78)
mas
3
v = VSP (6.79)
2
Assim:
_ 2
2
vS+ = 3VSP (6.80)
mas
VSP = 2 vS (6.81)
Assim:
_ 2
2
vS+ = 6vS (6.82)
RR 22
3ns mSR vS
T+ = s (6.83)
2 2
R SR R 2 2 2 s LSR R
s LR LS + s mSR + + s LR RS
s s
RR 2 2 2
3 s mSR vS
T+ = s (6.84)
R SR R 2 2 2
2
s LSR R
2
SN s LR LS + s mSR + + s LR RS
s s
R 2 2 2
3 a 2 R s a 2 mSR vS
s
T+ = (6.85)
R a 2R 2 2 2 2 2
2
s LSR R a 2
2
SN S R
s a LR LS + s a mSR + + sa LR RS
2
s s
Seja:
R Sa 2 R R 2 2 2
A= s a 2LR LS + s a 2 mSR (6.86)
s
s LSR R a 2
B= + s a 2 LR R S (6.87)
s
Assim:
R Sa 2 R R 2
A= a 2XR XS + a 2 XM (6.88)
s
onde:
R Sa 2 R R 2 2 2
A= a 2 XR XS + a 2 XM a 3XM XR + a 3XM XR aXSXM + aXSXM + a 2 XM a 2 XM (6.89)
s
Assim:
R Sa 2 R R
A= aXM ( a 2 XR aXM ) aXM ( XS aXM ) ( XS aXM ) ( a 2 XR aXM ) (6.90)
s
mas:
'
R R a 2R R
= (6.91)
s s
R Sa 2 R R
A= Xm X2 X1Xm X1X2 (6.92)
s
X R
B = a 2 S R + XR R S (6.93)
s
a 2 XSR R a 3 XM R R a 3 XM R R
B= + a 2 XR R S + + RSaXM RSaXM (6.94)
s s s
' '
B=
RR
s
R
(
( XS aXM ) + aXM R + RS aXM + ( a 2XR aXM )
s
) (6.95)
' '
R R
B = R X1 + Xm R + RS Xm + X2
s s
'
( ) (6.96)
RR' 2 2
3
Xm vS
T+ = s (6.97)
R a 2R '
2
RR' RR' '
2
SN S R
Xm X2 X1Xm X1X2 +
'
X1 + Xm + R S ( Xm + X2 )
s s s
T
MAX
Nos itens anteriores, for a obtidos modelos para o motor de induo em regime
permanente, a partir do modelo genrico estabelecido para componentes simtricas
instantneas.
vSd RS + pLS 0 pmSR 0 iSd
vSq 0 RS + pLS 0 pmSR iSq
= i (6.98)
vRd pmSR mSR n R R + pLR LR n R d
v iRq
Rq m n pmSR -LR n
R R + pLR
SR
vSd RS + jLS 0 jmSR 0 iSd
vSq 0 RS + jLS 0 jmSR iSq
= i (6.99)
vRd jmSR mSR n R R + jLR LR n R d
v iRq
Rq m n jmSR -LR n
R R + jLR
SR
v = Z i (6.100)
-1
i =Z v (6.101)
RS 0 0 0
0 RS 0 0
R= (6.102)
0 0 RR 0
0 0 0 R R
LS 0 mSR 0
0 LS 0 mSR
L= (6.103)
mSR 0 LR
0 mSR 0 LR
0 0 0 0
0 0 0 0
G= (6.104)
0 mSR 0 LR
mSR 0 -LR 0
Assim:
i
v = Ri + jwLi + n Gi (6.105)
i
i*t v = i*t Ri + ji*t Li + n i*t Gi (6.106)
i
Re ( i*t v ) = Re ( i*t Ri ) + Re ( ji*t Li ) + Re n i*t Gi (6.107)
onde:
Pm = n Re ( i*tGi )
i
(6.108)
Pm
T= i
(6.109)
Assim:
Assim:
0 0 0 0 iSd
* 0 0 0 0 iSq
T = nRe iSd iRq
* * *
iSq iRd (6.111)
0 mSR 0 LR iRd
mSR 0 -LR 0 i
Rq
( *
T = nmSR Re iSq iRd iSd iRd
*
) (6.112)
EXERCCIOS PROPOSTOS
X1 = X2 = 4 (reatncias de disperso)
RS = 2
R R = 3
Xm1 = 100 (reatncia magntica) (6.113)
f = 60Hz
n=2 (pares de plos)
vS = 220V (tenso eficaz de fase)
v f = 220V
(a) Ensaio a vazio:
i f = 2, 2 A
v f = 80V Pf = 130W
(b) Ensaio do rotor travado:
i f = 5, 2 A
Determinar:
escorregamento.
(2E/3)
(E/3)
O O O O
0 120 240 360
7.1 INTRODUO
Tn
1 sn 0
s
(c) por outro lado, por serem os transitrios mecnicos muito lentos, as
variveis eltricas evoluiro atravs de regimes permanentes
sucessivos.
n 2 R 2
mSR R vS+
T= 2 s (7.1)
2 2
R SR R
s
2
L (L
R S mSR
2
+ )
2
L R
R S + LS
RR
s
n 2 R 2
mSR R vS+ s2
T= 2 s (7.2)
( ( ))
2
+ 2 ( LR RSs + LSR R )
2 2
RSR R s2 LR LS mSR
2 2
n mSR R R vS+ s
T= (7.3)
2 RS2 R R 2 + 2 LS2 R R 2
2 2
n mSR vS+ s
T= (7.4)
(
2 R R R S2 + 2 LS2 )
nm n
s= = 1 m (7.5)
Assim:
2 2 n
mSR vS+ 1 m
n
T= (7.6)
2
2 R R RS + 2 LS(2
)
Podemos ento concluir que na regio de baixos escorregamentos o torque
funo linear da velocidade. Desenvolvendo a expresso (7.6) encontramos a
expresso (7.7).
2 2 2 2
n mSR vS+ n 2 mSR vS+ m
T= (7.7)
(
2 R R RS2 + 2 LS2 )
2 R R R S2 + 2LS2 ( )
Seja:
2 2
n2 mSR vS+
De = (7.8)
(
2 R R RS2 + 2 LS2 )
Portanto o torque pode ser representado pela expresso (7.9):
De
T= De m (7.9)
n
T = Tj + TD + TL (7.10)
onde:
T torque do motor
TL torque de carga
assim,
dm
TL + J + ( D + De ) m = De (7.11)
dt n
De
m0 = (7.12)
( D + De) n
j t
I = T(t)dt (7.13)
0
I = Jm (7.14)
assim:
I
m = (7.15)
J
De
m0 = (7.16)
( D + De) n
m0+ = m0 m (7.17)
Assim:
De I
m0+ = (7.18)
( D + De) n J
de carga TL nulo. Vamos rescrever a equao mecnica, que passa a ser representada
pela expresso.
dm
J + ( D + De ) m = De (7.19)
dt n
De
sJm ( s ) Jm0+ + ( D + De ) m ( s ) = (7.20)
n s
De
Jn m0+
m ( s ) = + (7.21)
D + De D + De
ss + s +
J J
De
D+ De D+ De
t t
m ( t ) = 1 e J
+ m0+ e J (7.22)
( D + De) n
Assim:
D+ De
De I t
m ( t ) = e J
(7.23)
( D + De) n J
m
D
(D+De) n
m0 +
t 0+ tf t
5J
t f ~ 5m = (7.24)
D + De
1 D + De
fmx = = (7.25)
tf 5J
RR
+ jLR vS+
iS+ = s (7.26)
( RS + jLS ) R + jLR + 2mSR 2
R
s
( R R + jLRs ) vS
iS+ = +
(7.27)
( RS + jLS )( R R + jLRs ) + s2mSR 2
Como s 0 encontramos:
( R R + jLRs ) vS
iS+ = +
(7.28)
R R ( RS + jLS )
nm
s= (7.29)
Assim:
iS+ =
(R R + jLR ( nm ) ) vS+
(7.30)
R R ( RS + jLS )
De n J t
D+ De
R R + jLR Ie vS+
( D + De ) J
iS+ = (7.31)
R R ( RS + jLS )
vS+ e iS+ esto relacionados com o valor de pico dos valores de fase pela mesma
constante de proporcionalidade.
t
D+ De
2
R R + LR De n
2 2
+ Ie J
( D + De ) J
vSp
iSp ( t ) = (7.32)
(
2
R S + 2 LS
2
) RR
is(t)
t0 t
Seja a Fig. 7.5. Nela esto representados o torque produzido pelo motor e o
torque oferecido pela carga, TE e TL respectivamente, em funo da velocidade.
TE
T(m)
TL
0
n m
Fig. 7.5 Caracterstica de torque-velocidade de um motor de induo (TE) e de uma carga (TL).
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
136 CAPTULO 7. TRANSITRIOS MECNICOS DO MOTOR DE INDUO
T ( m ) = TE TL (7.33)
dm
TE TL = J (7.34)
dt
ou
dm
T ( m ) = J (7.35)
dt
Podemos escrever:
J
dt = dm (7.36)
T ( m )
m
J
t= T ( ) d
0 m
m (7.37)
J
T(m)
m
0 m
1 n
Fig. 7.6 Curva para o clculo do tempo de acelerao na partida do motor de induo.
na Fig. 7.7.
m
n
n = 4 (pares de plos)
mSR = 265 mH
RS = 2,0
RR = 3,0
LS = 275 mH
LR = 275 mH
Seja:
Assim:
vS = 3vSsen ( t ) (8.5)
i
i
R + L p + j mSR p + j i
vS+ S S
0 = S+ (8.6)
m p + j j
i i
i i
i
SR R R + LR p + j j R +
140 CAPTULO 8. ESTUDO ANALTICO DE ALGUNS TRANSITRIOS ELTRICOS DO MOTOR DE INDUO
i
Como o motor encontra-se em repouso = 0. Colocando-se o referencial no
i
estator tem-se = 0.
Assim:
iS iR
+ +
vS mSR
+
Fig. 8.1 Circuito eqivalente para o motor de induo com operao balanceada.
Seja:
como AS e AR so muito menores que mSR, a presena desta ltima indutncia ser
RS AS AR RR
iS
+
vS
+
Seja:
R = RS + R R (8.9)
A = AS + AR (8.10)
Assim:
vS+ ( s ) 1
iS+ ( s ) = (8.12)
A R
s +
A
vS+ =
1
(
vS + jvS
2
) (8.13)
3
vS+ = vS ( cos ( t ) + jsen ( t ) ) (8.14)
2
Assim:
3
vS+ = vS e jt (8.15)
2
Assim:
3 vS
vS+ ( s ) = (8.16)
2 s j
3 vS 1
iS+ ( s ) = (8.17)
( s j) s +
2 A R
A
3 1 jt RA t
iS+ ( t ) = vS e e (8.18)
2 ( R + jA )
R + jA = R 2 + 2 A 2 e j0 (8.19)
onde
A
0 = tan 1 (8.20)
R
Assim:
3 vS j( t 0 ) RA t j0
iS+ ( t ) = e e (8.21)
2 R 2 + 2 A 2
Assim:
vS R
t
iSd ( t ) = 3 cos ( t 0 ) e A
cos ( 0 ) (8.23)
R 2 + 2 A 2
mas,
3
iSd = iS (8.24)
2 1
Assim:
2vS R
t
iS1 ( t ) = cos ( t 0 ) e cos ( 0 )
A
(8.25)
R + A
2 2 2
iS
1
R S + R R 2,0
(8.26)
XA S + XA R 4,0
Assim:
A S + A R = A = 10,6mH (8.27)
Assim:
A 10,6
e = = = 5,3ms (8.28)
R 2,0
t = 5e = 26,5ms (8.29)
a) modelos bsicos:
i 1 (t)
i 2 (t)
MOTOR
i 3 (t)
R S + pLS pmSR
vS+ iS
0 = + (8.30)
m p jn
i
i
i
SR R R + LR p jn R +
i
Durante o curto tem-se n = m . Assim o modelo adquire a forma de expresso
(8.31).
pLS pmSR
0 i
0 = S+ (8.31)
m p jn i i
i
SR R R + LR p jn R +
Seja:
Portanto:
iS+ ( s )
1
sLS smSR S0+
= (8.37)
iR + ( s ) mSR ( s jm ) R R + LR ( s jm ) R0+
(8.38).
RR mSR
L + ( s jm ) S0+ s L R0+
iS+ ( s ) = R R
(8.38)
L m
2
s S R R + LS SR ( s jm ) s
LR LR
2
' mSR
LS = LS (8.39)
LR
Assim:
RR mSR
L + ( s jm ) S0+ s L R0+
iS+ ( s ) = R R
(8.40)
L
s S R R + LS ( s jm ) s
'
LR
mSR
( s jm ) S s R
0+
LR 0+
iS+ ( s ) = (8.41)
LS ( s jm ) s
'
1 mSR
iS+ ( t ) = S0+ R0+ e jm t (8.44)
LS
'
LR
R = S m (8.46)
( R R + jLR R ) vS
iS0+ = 0+
(8.48)
( R R + jLR R )( RS + jSLS ) + SR mSR 2
jmSR R vS0+
i R 0+ = (8.49)
( R R + jL R R )( R S + jSLS ) + SR mSR 2
S0+ =
(L (R
S R )
+ jLR R ) jmSR R vS0+
2
(8.50)
( R R + jLR R )( RS + jSLS ) + SR mSR 2
R0+ =
(m (R
SR R + jLR R ) jLR mSR R ) vS0+
(8.51)
( R R + jLR R )( RS + jSLS ) + SR mSR 2
3 jSt
vS+ = vSe (8.52)
2
Para t = 0, tem-se:
3
vS+ = vS (8.53)
2
1) R 0
2) RS 0
3 vS
S0+ = (8.54)
2 jS
3 mSR vS
R0+ = (8.55)
2 jSLS
Assim:
3 vS j 2
S0+ = e (8.56)
2 S
3 mSR vS j 2
R0+ = e (8.57)
2 SLS
3 vS j 2 mSR j m t 2
2
iS+ ( t ) = e e (8.58)
2 SLS' LSLR
(
iSd ( t ) = 2 Re iS+ ( t ) ) (8.59)
Assim:
2
vS mSR
iSd ( t ) = 3 sen ( m t ) (8.60)
SLS LSLR
'
2
iS1 = iS (8.61)
3 d
Assim:
2
vS mSR
iS1 ( t ) = 2 sen ( m t ) (8.62)
XS LSLR
'
onde:
' '
X S = S LS reatncia transitria.
'
LS indutncia transitria.
(b) o pico da corrente de curto circuito limitado pela reatncia transitria do motor.
RR mSR
L + ( s jm ) S0+ s L R0+
iS+ ( s ) = R R
(8.63)
LS
R R + LS ( s jm ) s
'
s
LR
' R L
= sLS s jm + R S' (8.64)
LR LS
Seja:
'
L L
= S R
'
(8.65)
LS R R
Assim:
' 1
= sLS s jm ' (8.66)
RR mSR
L + ( s jm ) S0+ s L R0+
iS+ ( s ) = R R
(8.67)
' 1
sLS s jm '
3 vS j 2
S0+ = e (8.68)
2 S
3 mSR vS j 2
R0+ = e (8.69)
2 SLS
mSR 2 RR
s 1 jm +
iS+ ( s ) =
3 vS j 2
e LR LS LR
(8.70)
2 SLS' 1
s s jm '
Como:
2
mSR
=1 (8.71)
LR LS
Assim:
RR
j
jm
3 vSe 2
LR
iS+ ( s ) = (8.72)
2 XS' 1
s s jm '
Seja:
RR
jm
LR A B
= + (8.73)
1 s 1
s s jm ' s jm '
Assim:
RR RR
jm jm
LR LR
A= = (8.74)
1 LS R R
jm jm
'
LS LR
'
RR
jm
LR
B= = A (8.75)
1
jm '
RR
j
jm
3 vSe 2
LR 1 1
iS+ ( s ) = (8.77)
2 XS' LS R R s 1
jm s jm '
LS LR
'
mas,
RR
jm
LR
1 (8.78)
LS R R
jm
LS LR
'
Assim:
j
3 vSe 2
1 1
iS+ ( s ) = (8.79)
2 XS' s 1
s jm '
3 vSe 2
j
jm ' t
1
iS+ ( t ) = 1 e (8.80)
2 XS'
3 vS j 2 j m 2 t ' t
1
iS+ ( t ) = e e e (8.81)
2 XS'
como:
obtm-se:
1
't
v
iSd ( t ) = 3 S ' sen ( m t ) e (8.83)
XS
1
v 't
iS1 ( t ) = 2 S ' e sen ( m t ) (8.84)
XS
2 Vs
Xs
2 i s (0)
1 0
s
2
s
2
m
'
LS LR
' = (8.85)
LS R R
LR
R = (8.86)
RR
Assim:
'
L
= R S
'
(8.87)
LS
RR LS
iS
1
vS
1
afirmar que:
'
L
= S
'
(8.88)
RR
2
mSR
L'S = LS (8.89)
LR
mas:
LS = A S + amSR (8.90)
A R + amSR
LR = (8.91)
a2
onde:
Assim:
2
a 2 mSR
L'S = A S + amSR (8.92)
A R + amSR
2 2
a 2S mSR
SL'S = SA S + aSmSR (8.93)
SA R + SamSR
Assim:
2
xm
XS' = xS + x m (8.94)
xR + xm
xS = 1
xR = 1
xm = 100
Assim:
XS' =1
R S + pLS pmSR
vS+ iS
0 = + (8.95)
m p jn
i
i
i
SR R R + LR p jn R +
0 = R R iR + + pLR iR + jm LR iR + (8.97)
Assim:
i R0+
iR+ ( s ) = (8.99)
R
s + R jm
LR
R
R jm t
iR + ( t ) = iR0+ e LR
(8.100)
d jm t
RR
vS+ = mSR iR0+ e R
L
(8.101)
dt
Assim:
R
R Rt
LR
vS+ = mSR jm R i
R0+ e e jm t (8.102)
LR
jmSR R vS0+
i R 0+ = (8.103)
( R R + jL R R )( R S + jSLS ) + SR mSR 2
3
vS0+ = vS (8.104)
2
Assim:
3 jmSR R vS
i R 0+ = (8.105)
2 ( R R + jL R R )( R S + jS LS ) + SR mSR 2
Vamos tomar:
R 0 e RS 0
Assim:
3 mSR R vS
i R 0+ = - (8.106)
2 R R S LS
R
3 vS mSR R R R LRR t jm t
2
vS+ ( t ) = jm e e (8.107)
2 SLS R R LR
ou
2 R
3 vS mSR R Rt
vS+ ( t ) = ( R R jm LR ) e LR e jmt (8.108)
2 SLS R R LR
LR
R = constante de tempo de circuito aberto.
RR
2 2 2
R R jm LR = R R + m LR e jR (8.109)
L
R = tg 1 m R (8.110)
RR
Assim:
2 t
3 vS mSR R
{ }
vS+ ( t ) = R R + m LR e R e ( m R )
2 2 2 j t
(8.111)
2 SLS R R LR
2
mSR
1 (8.112)
LR LS
Assim:
( )
t
3 R
vS+ ( t ) = vS 1 + m 2 R 2 e R
cos ( m t R ) (8.113)
2 S
9.1 VARIVEIS DQ
RS + pLS LS n pmSR mSR n
vSd iS
d
L n RS + pLS mSR n pmSR
vSq S iSq
= (9.1)
vR d pmSR
mSR n R R + pLR
i
n LR Rd
v
Rq iRq
SR n
m pmSR n LR
R R + pLR
vSd LS 0 mSR 0 Sd
i
0 L
vSq S 0 mSR iSq
= p +
v
dR mSR 0 L R 0 i R d
v
0 mSR 0 L R i R
R q q
R S L S n 0 mSR n
iS
d
L S n R S m SR n 0 iSq
+
i
0 mSR n RR n LR R d
i R q
m n 0 n L R RR
SR
(9.2)
Assim:
v = pZ4 i + Z3 i (9.3)
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 161
-1 -1
pi = -Z4 Z 3 i + Z 4 v (9.5)
onde:
LS 0 mSR 0
0 L 0 mSR
Z4 = S
(9.6)
mSR 0 LR 0
0 mSR 0 LR
LR 0 mSR 0
0 LR 0 mSR
-1 1
Z4 = (9.7)
LS LR mSR
2
mSR 0 LS 0
0 mSR 0 LS
R S L S n 0 m SR n
LR 0 mSR 0
0 LS n RS mSR n 0
1 LR 0 mSR
Z4 Z3 =
-1
mSR 0 LS 0
0 mSR n RR n LR
0 mSR 0 LS
mSR n 0 n L R
RR
(9.8)
onde:
1 1
= (9.9)
L R LS mSR 2
L L
S R n+
R S L R mSR R R mSR LR n
2
mSR n
LS L R n +
iSd R S L R mSR LR n mSR R R iSd
2
+ mSR n
iSq 1 iSq
p = i +
i
d
R
LSLR n + R d
i mSR R S mSR LS n R R LS i
R q R q
2
mSR n
L L
S R n +
mSR LS n mSR R S R R LS
2
+ mSR n
0 mSR 0 Sd
v
LR
LR 0 mSR vSq
1 0
+ (9.10)
mSR 0 LS 0 vRd
0 mSR 0 LS v
R q
i i
Te = Jp + D + TL (9.11)
Assim:
i Te D i TL
p = (9.12)
J J J
mas,
(
Te = nmSR iSq i R d iSd i R q ) (9.13)
Portanto:
nmSR
( ) Di T
i
p = iSq i R d iSd i R q L (9.14)
J J J
i
i
R S + L S p + jn mSR p + jn i
vS+
v = S+ (9.15)
R + mSR p + jn jn i
i i i i
R R + LR p + jn jn R +
i i
R + jn LS jn mSR
mSR iS+ i
S
vS+ LS
v = p + S+ (9.16)
R+ mSR LR iR + i i i i i
jn mSR R R + jn LR R +
Assim:
v = pZ4 i + Z3 i (9.17)
-1 -1
pi = -Z4 Z 3 i + Z4 v (9.18)
Onde:
L mSR
Z4 = S (9.19)
mSR L R
i i
R S + jn LS jn mSR
Z3 = (9.20)
i i i i
jn mSR R R + jn L R
1 1 L R mSR
Z4 = m (9.21)
SR LS
2
LS L R mSR
Assim:
i i
R S + jn LS jn mSR i
1 L mSR L mSR vS+
pi = R S+ + 1 R (9.22)
mSR LS i i i i
i
mSR LS vR +
jn mSR R R + jn LR R +
i
i
L R
R S + jn LS + jLR n mSR +
i i i i
2 mSR R R + jn LR
mSR jn iS 1 L mSR vS+
1 + + R
pi = (9.23)
i
i iR + mSR LS vR +
mSR R S + jn LS +
2
jn mSR +
i i i i
+LS R R + jn LR
+ jn mSR LS
onde:
1 1
= (9.24)
L R LS mSR 2
Portanto:
pi = Ai + Bv (9.25)
i
i i 2
i
R SLR jn LR LS + jn mSR R R mSR jn mSR LR
1
A= (9.26)
i i
2 i i
R m
S SR + jn mSR LS jn mSR R R LS jn LSLR
1 LR mSR
B= (9.27)
mSR LS
Assim:
i i
Te = Jp + D + TL (9.29)
i Te D i TL
p = (9.30)
J J J
i
Caso se deseje o referencial colocado no estator, basta fazer = 0 .
10.1 INTRODUO
Ser utilizado o referencial colocado no campo girante. Com isto, para tenses
de alimentao senoidal, obtm-se valores iniciais das tenses e das correntes com
maior facilidade, por serem constantes.
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 167
RS + pLS LS n pmSR mSR n
vSd iS
d
L n RS + pLS mSR n pmSR
vSq S iSq
= (10.1)
vR d pmSR
mSR n R R + pLR
i
n LR Rd
v
Rq iRq
SR n
m pmSR n LR
R R + pLR
(
T = nmSR iSq i Rd iSd i R q ) (10.2)
i i
T = Jp + D + TL (10.3)
( )
i
TL = Jp + nmSR iSq i R d iSd i R q (10.4)
i
v = Ri + pL1i + SL 2i + n L 3 i (10.5)
onde:
i
S = n (pulsao da alimentao)
i
= velocidade do referencial igual velocidade sncrona.
Sendo:
R S 0 00
0 RS 0 0
R= (10.6)
0 0 RR 0
0 0 0 R R
LS 0 mSR 0
0 LS 0 mSR
L1 = (10.7)
mSR 0 LR 0
0 mSR 0 LR
0 LS 0 mSR
L 0 m 0
L2 = S SR
(10.8)
0 mSR 0 LR
mSR 0 LR 0
00 00
00 00
L3 = (10.9)
0 mSR 0 LR
mSR 0 L R 0
( v + v ) = R ( i + i ) + pL1 ( i + i ) + SL2 ( i + i ) + n + L3 ( i + i )
i i
(10.10)
i i i i
v + v = Ri + Ri + pL1i + pL1i + SL2i + SL2 i + n L3i + n L3 i + n L3i + n L3 i (10.11)
i i
v = Ri + pL1i + SL2 i + n 0 L3 i + n L3i 0 (10.12)
onde:
i
0 = velocidade inicial do motor.
Assim:
i
i
v = R + pL1 + SL2 + n 0 L3 i + n L3 i 0 (10.13)
i
TL = Jp + Te (10.14)
i i
TL + TL = Jp + + Te + Te (10.15)
Assim:
i
TL = Jp + Te (10.16)
(
Te = nmSR iSq i R d iSd i R q ) (10.17)
((
Te + Te = nmSR iSq + iSq ) (i Rd ) (
+ i R d iSd + iSd ) (i Rq + i R q )) (10.18)
Assim:
(
Te = nmSR iS0q i R d iS0d i R q + i R 0d iSq i R 0q iSd ) (10.19)
( )
i
TL = Jp + nmSR iS0q i Rd iS0d iR q + i R 0d iSq i R 0q iSd (10.20)
Seja:
vSd
v
Sq
v = (10.22)
v
Rd
v R q
iSd
i
Sq
i = (10.23)
i
Rd
i R q
R S S LS 0 S mSR
L RS S mSR 0
Z1 = S S
0 (10.24)
R 0 mSR R R R 0 L R
R 0 mSR 0 R 0 L R R R
i
R 0 = S n (10.25)
0
0
Z3 = nm i + nL i (10.27)
SR S0q R R 0q
(
nmSR iS0d + nLR i R 0d )
LS 0 mSR 0
0 L 0 mSR
Z4 = S
(10.28)
mSR 0 L R 0
0 mSR 0 L R
Assim:
v Z1 Z 3 i Z4 0 i
=
T Z 0 i + p 0T - J i (10.29)
L 2
pX = AX + BU (10.30)
Z4 0 i v Z1 Z3 i
p T i = Z 0 i (10.31)
0 - J
TL 2
Assim:
i Z4 0 v Z4 0 Z Z i
1 1
1 3
p i = T 1 T 1 Z 0 i (10.32)
0 - L T 0 - 2
J J
i Z4 0 v Z4 Z1 Z4 Z3 i
1 1 1
p i = T 1 Z2 i (10.33)
0 - TL - 0
J J
i1 i2 i3 in
- + - + - + - +
v1 v2 v3 vn
Seja:
i1
i
i=
2
(1)
i3
i n
v1
v
v=
2
(2)
v3
v n
P = vti (3)
Seja:
v T = A -1 v (4)
174 APNDICE. CONDIES PARA QUE A POTNCIA SEJA INVARIANTE SOB UMA TRANSFORMAO
i T = A -1i (5)
v = Av T (6)
i = Ai T (7)
t
v t = vT At (8)
t
P = v T A t Ai T (9)
Seja:
t
PT = v T i T (10)
At A = I (11)
ou
A t = A -1 (12)
P = it v (13)
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 175
Seja:
v T = A -1 v (14)
i T = A -1i (15)
Assim:
v = Av T (16)
i = Ai T (17)
t
i t = iT At (18)
t
it = iT At (19)
t
P = i T A t Av T (20)
Como,
PT = i tT v T (21)
At A = I (22)
ou
A t = A -1 (23)
At = At (24)
Assim,
A t = A -1 (25)
1. CAPTULO 1
1) I = 2A R = 2500
s = 5cm2 m = 50kg
I = 2A
n A = 40cm
2
S = 5cm
x
2
P = 50kg
1 L
F = i2 (1)
2 x
n2
L= (2)
R
184 EXERCCIOS. RESOLUO DOS EXERCCIOS
1 A 1 A
R1 = = (relutncia do ferro) (3)
1 s 0 R s
1 x
R2 = (relutncia do entreferro) (4)
0 s
R = R1 + R 2 (5)
1 A 1 x
R= + (6)
0 R s 0 s
n2
L= (7)
1 A 1 x
+
0 R s 0 s
n 2 0 s
L= (8)
A
+x
R
Seja:
A = n 2 0s (9)
A
B= (10)
R
Assim:
A
L= (11)
B+ x
L A n 2 0s
= = (12)
x (B + x)
2 2
A
+ x
R
Assim:
1 n 2 0s
F = i2 2
(13)
2 A
+ x
R
Para x = 0 tem-se:
1 1
F = i2n 2 2
(14)
2 1 A
0s
R 0 s
2
2F 0s 1 A
n= (15)
i2 R 0 s
n 100 espiras
NI
Rg
2
Rx
Rg
2
NI
Rg
NI = R g + R x = + Rx (16)
2 2
Assim:
Rg
R= + Rx (17)
2
1 x
Rx = (18)
0 d 2
2 g
Rg = (19)
0 d 2
1
R= (g + x) (20)
0d 2
N 2 0 d 2
L= (21)
(g + x)
1 2 L
F= I (22)
2 x
L N 2 0 d 2
= (23)
x (g + x)
2
1 2 N 2 0 d 2
F= I (24)
2 ( g + x )2
Para x = 0, tem-se:
I 2 N 2 0 d 2
F= (25)
2g 2
Supondo:
g = 0,001m I = 0,5A
d = 0,04m N = 1000
F 251, 2N (27)
3)
d ( Li ) di dL
a) v= = L +i (28)
dt dt dt
L = A + Bx (29)
dL L dx dx
= =B (30)
dt x dt dt
d ( Li ) di dx
v= = ( A + Bx ) + iB (31)
dt dt dt
1 L i 2 B
b) F = i2 = (32)
2 x 2
Fk Fi
x(0)
F P
c) Fk = kx (33)
d2x
Fi = m (34)
dt 2
P = mg (35)
P = Fk0 (36)
mg = kx 0 (37)
1 2 d2x
i B = m 2 + kx (38)
2 dt
4) Dados:
i1= i2 = i = 2 5sen t
(a)
2
T = m 0i m sen 2 t sen (39)
2
1
2
Tmd = m 0i m sen 2 t sen dt (40)
2 0
2
m i sen t sen 2 t
2
Tmd = 0m (41)
2 2 4 0
2
m i sen
Tmd = 0m (42)
2
Tk = k (44)
2
Tk = Tmd (45)
2
m i sen
k = 0 m (46)
2 2
Assim:
0, 004 = 0, 00125sen (47)
2
3, 2 = sen (48)
2
2
F1 ( )
1
2
F2 ( )
3
5
0 0.5 1 1.5 2 2.5 3 3.5 4
F1 ( ) = sen
(49)
F2 ( ) = 3, 2
2
= 1,87rad
(50)
= 107,13o
5)
x Mola
v(t)
A
D
(a)
N2
L= (51)
R
1 (D x)
R= (52)
0 A
N 2 A 0
L= (53)
(D x)
L N 2 A 0
= (54)
x (D x)
2
1 2 L N 2 I 2 A 0 1 N 2 I2
Fe = I = = (55)
2 x 2 ( D x ) 2 2 1 D x 2
2 A 0
0 A
Como:
2
1 1 Dx
= 2 2
L2
N 0 A (56)
= LI
Tem-se:
1
Fe == 2 (57)
2A 0
Mas:
2 = B2 A 2 = B2msen 2 t A 2 (58)
Assim:
1
Fe = AB2m sen 2 t (59)
2 0
(b)
d
v(t) = N (60)
dt
d ( ABmsen t )
v(t) = N (61)
dt
(c)
Fe Fx
Fi
Fe = Fk + Fi (63)
1 d2 x
AB2m sen 2 t = kx + M 2 (64)
2 0 dt
2. CAPTULO 2
(1)
LSR ( )
T = i St iR (65)
onde:
cos ( t + )
S S
2
i S = IS cos S t + S (66)
3
4
cos S t + S
3
cos ( t + )
R R
2
i R = I R cos R t + R (67)
3
4
cos R t + R
3
2 4
cos cos + cos +
3 3
4 2
LSR = M SR cos + cos cos + (68)
3 3
2 4
cos + cos + cos
3 3
_ _ 2 _ 4
T = M SR IS I R cos S t cos S t cos S t
3 3
2 4 _
cos cos + cos + cos R t
3 3
(69)
4 2 _ 2
cos + cos cos + cos R t
3 3 3
2 4 _ 4
cos + cos + cos cos R t
3 3 3
onde:
_
S t = S t + S (70)
_
R t = R t + R (71)
_
cos + R t
3 _ _ 2 _ 4 _
4
T = MSR IS I R cos S t cos S t cos S t cos + R t + (72)
2 3 3 3
_
2
cos + R t +
3
3 _ _
_ 2 _
4
T= M SR IS I R cos t
S cos + t
R + cos
S t cos + R t+ +
2 3 3
(73)
_ 4 _
2
+ cos S t cos + R t +
3 3
9 _ _
T= M SR IS I R cos
S t R t (74)
4
Assim:
9 _ _
T= M SR IS I R sen S t + R t + (75)
4
9
T= M SR IS I R sen ( S t S + R t + R + ) (76)
4
9
T= M SR IS I R sen ( S t S + R t + R + m ) (77)
4
Mas,
m t S t + R t = 0 (78)
Assim:
9
T= MSR IS I R sen ( R S ) (79)
4
Assim:
9
T= MSR IS I R sen (80)
4
IS = 10A
IR = 10A
MSR = 0,245H
= (R S) = 45o
sen = 0,866
Assim:
9
T = 0, 265 10 10 0,866 (81)
4
3. CAPTULO 3
1)
R i1
LS
v3 - -
LS LS v2
+ R R
+
i3 i2
v = 380V
i1 = 0
i2 = -i3
1 1 1
2 2 2 0
i0
2 1 1
i = 3 1
2
i2
2
(85)
i i 2
3 3
0
2 2
Assim:
i0 = i = 0 (86)
i = 2 i 2 (87)
RS j S L S
i
v
v + v3 = v 2 v = v 2 v3 (88)
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 197
1 1 1
2 2 2 v
v0 1
2 1 1
v = 3 1
2
v2
2
(89)
v v3
3 3
0
2 2
2 3 3 1 1
v = v2 v3 = ( v 2 v3 ) = v (90)
3 2 2 2 2
v = ( R S + jS LS ) i (91)
Assim,
v
i = (92)
2 ( R S + jS LS )
i v
i2 = i2 = (93)
2 2 ( R S + jS LS )
v
i3 = (94)
2 ( R S + jS LS )
Assim:
380
i 2 = i 3 = = 1,8 90 A (95)
2 (1 + j377 0, 28 )
2)
i1
+
R
v1
LS
+ -
LS LS
v
--
- R R
v3 v2
+ +
i3 i2
v 2 = v3 (96)
v + v1 = v 2 (97)
2
v1 = v (98)
3
1
v 2 = v3 = v (99)
3
v 0 = v = 0 (100)
2
v = v (101)
3
Assim:
I 0 = I = 0 (102)
v 2 v
I = = (103)
Z 3 R S + jS LS
1
1 0
2 i0
i1
i = 2 1 1 3
i (104)
2
2
3 2 2
i3 i
1 1 3
2 2 2
Assim:
2
I1 = I (105)
3
I
I2 = (106)
6
I
I3 = (107)
6
v 0 = Ri 0 + pLi 0 (108)
v = Ri + pLi (109)
v = Ri + pLi (110)
1 1 1
2 2 2 50
v0
2 1 1
v = 3 1
2
30
2
(111)
v 100
3 3
0
2 2
v 0 = 103,92V (112)
v = 49,5V (114)
(a)
v0
i0 = = 207,84A (115)
R
pois
L 0 = L + 2M = 60 60 = 0 (116)
(b)
v t
R
= 24,5 (1 e 5,55t ) A
LS
i = 1 e (117)
R
pois
(c)
v t
R
i = 1 e LS = 99 (1 e 5,55t ) A (119)
R
2 i0
i1 = + i
3 2
2 i0 i 3 i
i2 = + (120)
3 2 2 2
2 i0 i 3 i
i3 =
3 2 2 2
Assim:
Assim:
i1 = 100A
i 2 = 60A (122)
i3 = 200A
4) Seja
v1 = V cos ( t )
v 2 = V cos ( t 120o ) (123)
v3 = V cos ( t 240o )
Como:
1 1 1
2 2 2 50
v0
2 1 1
v = 3 1
2
30
2
(124)
v 100
3 3
0
2 2
v0 = 0
3
v = V cos ( t ) (125)
2
3
v = Vsen ( t )
2
v 0 = ( R + pL 0 ) i 0
v = ( R + pL ) i (126)
v = ( R + pL ) i
i0 = 0 (127)
3
( R + pL ) i = V cos ( t )
2
(128)
( R + pL ) i = 32 Vsen ( t )
3 V
t
i ( t ) = cos ( t ) cos ( + ) e
2 Z
(129)
3 V
t
i ( t ) = sen ( t ) + sen ( + ) e
2 Z
onde:
Z = R 2 + 2 L2S
LS
= (130)
R
L S
= tg 1
R
2 i0 ( t )
i1 ( t ) = + i ( t )
3 2
2 i0 ( t ) i ( t ) 3 i ( t )
i2 ( t ) = + (131)
3 2 2 2
2 i0 ( t ) i ( t ) 3 i ( t )
i3 ( t ) =
3 2 2 2
V
t
i1 ( t ) = cos ( t ) cos ( + ) e
Z
V
t
i2 ( t ) =
Z
cos ( t 120 o
) (
+ cos + + 60 )
e
(132)
V
t
4. CAPTULO 4
1)
v1 ( t ) = 2 vS sen ( S t + )
v 2 ( t ) = 2 vS sen ( S t 120o + ) (133)
v3 ( t ) = 2 vS sen ( S t + 120o + )
vS = vSd
(134)
vS = vSq
Assim:
1 1 1
2 2 2 v
vS S
0 2 1 1 1
vSd = 1 vS2 (135)
v 3 2 2
vS
Sq 3 3 3
0
2 2
Assim:
a.1)
vS0 =
2 1
3 2
(
2 vS sen ( S t + ) + sen ( S t 120o + ) + sen ( S t + 120o + ) ) (136)
vS0 = 0
a.2)
2 1 1
vSd = 2 vS sen ( S t + ) sen ( S t 120o + ) sen ( S t + 120o + ) (137)
3 2 2
v
S
2
60.000
v v
60.000 S S
1
v
S
3
2 3
vSd = 2 vS sen ( S t + ) (138)
3 2
2 3 3
a.3) vSq = 2 vS sen ( S t 120o + ) sen ( S t + 120o + ) (140)
3 2 2
60
30
30
vS vS
2 3
vS
Assim:
b) Em seguida sero obtidas as tenses vSd e vSq para o referencial colocado no campo
girante.
Seja:
=0 (146)
Assim:
vSd = 0
(147)
vSq = 3 vS
as tenses transformadas.
2)
2E/3
E/3
Vs1
0o 60 o 120
o 180 o
2E/3
E/3
Vs2
Vs0
2E/6^1/2
E/6^1/2
Vsd
0 2
E/2^1/2
Vsq
0 2
-E/2^1/2
6)
= m t + 0
(148)
S = m + R
iS1 = IS sen ( S t + )
iS2 = IS sen ( S t 120 + ) (149)
iS3 = IS sen ( S t + 120 + )
i R1 = I R sen ( R t + )
i R 2 = I R sen ( R t 120 + ) (150)
i R 3 = I R sen ( R t + 120 + )
3
iSd = ISsen ( S t + )
2
(151)
3
iSq = IS cos ( S t + )
2
Pois:
iSd = iS
(152)
iSq = iS
3
iR = I R sen ( R t + )
2
(153)
3
i R = I R cos ( R t + )
2
mas,
i R d cos m t sen m t i R
i = (154)
R q sen m t cos m t i R
i R d cos ( m t ) sen ( m t ) i R
i = (155)
R q sen ( m t ) cos ( m t ) i R
i R d cos ( m t ) sen ( m t ) i R d
= (156)
R q -sen ( m t ) cos ( m t ) i R d
i
3
iRd = I R ( cos m t sen ( R t + ) + sen m t cos ( R t + ) )
2
(157)
3
iRq = I R ( sen m t sen ( R t + ) cos m t cos ( R t + ) )
2
Assim:
3
iRd = I R sen ( ( R + m ) t + )
2
(159)
3
iRq = I R cos ( ( R + m ) t + )
2
mas:
R + m = S (160)
Assim:
3
iRd = I R sen ( S t + )
2
(161)
3
iRq = I R cos ( S t + )
2
(
T = mSR iSq i R d iSd i R q ) (162)
3
T= mSR IS I R ( cos ( S t + ) sen ( S t + ) sen ( S t + ) cos ( S t + ) )
2
(163)
3
T = mSR IS I R sen ( )
2
7)
a)
iS = Icc = iSd
(164)
iS = 0 = iSq
v S = R Si S
d d
i
0 = R R i R d + n L R i R q (165)
i i
0 = n mSR iS n L R i R + R R i R
d d q
(
T = nmSR iSq i R d iSd i R q ) (166)
Assim, em mdulo:
i i
n mSR Icc n L R
iRq = + iRd (168)
RR RR
i
n LRiRq
iRd = (169)
RR
Assim:
i i i
n mSR Icc n L R n L R i R q
iRq = + (170)
RR RR RR
i
n mSR Icc R R
iRq = (171)
i2
R +n L
2
R
2 2
R
i
2
n 2 mSR Icc 2 R R
T= (172)
i2
R +n L
2
R
2 2
R
mas,
vSd
Icc = (173)
RS
Assim:
i
2 2
n 2 mSR vSd R R
T= (174)
i2
R R R2 + n 2 L2R
2
S
b)
2 2 2 i
T n mSR vSd RR
= (175)
R S2
2 i 2
R R + n 2 L2R
i i2
= 1 2n L2R
2
=0 (176)
2 i2 i2
i2
2
R R + n LR R R + n L R R 2R + n 2 L2R
2 2 2 2 2
Assim:
i2 i2
R 2R + n 2 L2R = 2n 2 L2R
i2
R 2R = n 2 L2R (177)
i RR
n =
LR
c)
RR 2 2
n mSR vSd R R
LR
T= (178)
R
2
R S2 R R2 + R 2 L2R
LR
2 2
nmSR vSd
T= (179)
2L R R S2
Assim:
vSd ( s )
v R d ( s ) = smSR (183)
R S + sL S
Seja:
vS1 = vS sen ( S t )
vS2 = vS sen ( S t 120 ) (184)
vS3 = vS sen ( S t + 120 )
Assim:
3
vSd = vS sen ( S t ) (185)
2
3 3 S
vSd = vS 2 S 2 = vS (186)
2 s + S 2 ( s + jS )( s jS )
Portanto:
3 m s
vRd ( s ) = vSS SR (187)
2 LS R S
+ s ( s + jS )( s jS )
LS
Seja:
1 RS
= (188)
S LS
Assim:
s A B B
= + + (189)
1 1 s + jS s jS
s + ( s + jS )( s jS ) s+
S
S
Assim:
s A B B
= + +
1 1 s + jS s jS
s + ( s + jS )( s jS ) s+
S
S
1
A=
1
S 2 + S2
S
(190)
1
B=
1
2 jS
S
1
C=
1
2 + jS
S
3 mSR 1 1 1 1 1 1
vRd ( s ) = vSS + + (191)
2 LS 1 2 s+
1 1 s + jS 1 s jS
S 2 + S S
2 jS 2 + jS
S S S
1 1 1
= e jS t e jS = A1
1 s + jS 1
2 jS 2 2 + S2
S S
1 1 1
= e jS t e jS = A 2 (192)
1 s jS 1
2 + jS 2 2 + S2
S S
L
S = tg 1 S S
RS
Somando-se A1 e A2 obtm-se:
A 3 = A1 + A 2 =
1
1
(
e ( S S) + e ( S S)
j t j t
) (193)
2 2 + S2
S
Como:
1 jA jA
cos A =
2
(e + e ) (194)
Assim:
1
A3 = cos ( S t S ) (195)
1
+ S2
S2
Portanto:
1
3 mSR 1 t 1
vRd ( t ) = vSS e S
+ cos ( S t S ) (196)
2 LS 1 2 1
S 2 + S + 2
S
S S2
3 R S
1
t 1
vRd ( t ) = vSS mSR 2 e S
+ cos ( S S )
t (197)
2 ( R S + L2SS2 ) R 2
+ L
2 2
S S S
3 vSS mSR RS t
1
vRd ( t ) = cos ( S t S ) e
S
(198)
2 R S2 + L2SS2 R S2 + L2SS2
RS
cos ( S ) = (199)
R + L2SS2
2
S
Assim:
3 vSS mSR t
1
10)
m
d
vS
d
iSq = 0 (201)
Vamos considerar:
a) RS 0
b) RR >> SLR
Assim:
m = (1 s) S (204)
Assim:
10)
m
d
vS
d
iSq = 0 (207)
Vamos considerar:
c) RS 0
Prof. Ivo Barbi, Dr. Ing. http://www.ivobarbi.com
TEORIA FUNDAMENTAL DO MOTOR DE INDUO 217
d) RR >> SLR
Assim:
m = (1 s) S (210)
Assim:
vS XmiRd
0 = jXm d + RRiRd + (1 s) XRiRq
jXS XS
X X2
0 = m vSd j m iRd + RRiRd + (1 s) XRiRq (213)
XS XS
Xm X2
0= vSd + RR j m iRd + (1 s) XRiRq
XS XS
vS XmiRd
0 = Xm (1 s) d (1 s) XRiRd + RRiRq
jXS XS
(214)
vS X2
0 = Xm (1 s) d + (1 s) m XR iRd + RRiRq
jXS XS
X2m Xm
R
R j iRd = vS (1 s) XRiRq
XS XS d
( R X jX ) i
R S
2
m Rd = XmvSd (1 s) XSXRiRq (215)
XmvSd (1 s) XSXRiR
iRd = q
RR XS jX 2
m RR XS jXm2
vSd X2
0 = Xm (1 s) + (1 s) m XR iRd + RRiRq (216)
jXS XS
XmvSd (1 s) XSXRiRq
0 = jXm (1 s) vSd (1 s) ( X2m XR XS ) + + RR XSiRq (218)
RR XS jXm2 RR XS jXm2
Xm vSd (1 s) XSXRiR
0 = jXm (1 s) vSd + RR XSiRq (1 s) ( Xm2 XR XS ) (1 s) ( Xm2 XR XS ) q
(219)
RR XS jX 2
m RR XS jX2
m
Assim:
0 = jXm (1 s) ( RR XS jX2m ) vSd (1 s) ( X2m XR XS ) Xm vSd + RR XS ( RR XS jXm2 ) iRq ( Xm2 XR XS ) (1 s) XSXR iRq
2
(220)
Assim:
( R X ( R X jX ) ( X
R S R S
2
m
2
m ) (
XR XS ) (1 s) XSXR iRq = jXm (1 s) ( RR XS jXm2 ) (1 s) ( X2m XR XS ) Xm vSd
2
)
(221)
( R X ( R X jX ) ( X
R S R S
2
m
2
m
2
) ( )
XR XS ) (1 s) XSXR iRq = jXm (1 s) ( RR XS jXm2 ) (1 s) ( Xm2 XR XS ) Xm vSd
(222)
( R X ( R X jX ) ( X
R S R S
2
m
2
m
2
) ( )
XR XS ) (1 s) XSXR iRq = (1 s) ( Xm2 XR XS ) Xm jXm (1 s) ( RR XS jXm2 ) vSd
(223)
Portanto:
(1 s) XR XSXm (1 s) jXmRR XS
iRq = vSd (226)
RR XS ( RR XS jXm2 ) ( Xm2 XR XS ) (1 s) XSXR
2
(1 s) XR Xm (1 s) jXmRR
iRq = vSd (227)
RR2 XS jXm2 RR (1 s) XR X2m + (1 s) XR2 XS
2 2
Assim:
Assim:
Sendo:
jXm2 ( XR + jXm )
K= (234)
R2R XS jRR Xm2
mas:
m
(1 s) = (235)
S
Assim:
KvSd
vSq = m (236)
S
5. CAPTULO V
3) Seja
iS = 2 IS cos St
(237)
iS = 2 IS sen St
iS+ 1 1 j 2 IS
i = (240)
S 2 1 j 0
iS+ = IS
(241)
iS = IS
_
Em regime permanente, tem-se i R + = I R .
Seja
jS jm = jR (243)
_
0 = mSR ( p + jR ) IS + ( RR + LR ( p + jR ) ) IR (244)
_
As correntes IS e I R so constantes. Portanto:
_
pIS = pIR = 0 (245)
Assim:
_
0 = jR mSR IS + ( RR + jR LR ) IR
_
jR mSR (246)
IR = IS
RR + jR LR
_
IR =
( m 2
R SR LR + jR mSR RR )
IS
R2R +2R L2R
Assim:
i R+ =
( m2
R SR LR + jR mSR RR )
IS
R2R +2R L2R
iR = iR+
(247)
iR =
( m 2
R SR LR jR mSR RR )
IS
R2R +2R L2R
2R mSR L R + jR mSR R R
T = 2nmSR Im - (249)
R R 2 + R2 L2R
2nRRR mSR2
T= IS2 (250)
R2R +2R L2R
2R mSR
2
vS+ = ( R S + jS LS ) IS + IS (252)
R R + jR L R
2R mSR
2
R R - j3R mSR
2
LR
v S+ = ( R S + jS LS ) IS + IS (253)
R R + R L R
2R mSR
2
RR 3R mSR
2
LR
vS+ = RS + + j S LS - IS (254)
R R + R L R R R + R L R
2R mSR
2
RR 3R mSR
2
LR
vS- = R S + - j S LS - IS (255)
R R + R L R R R + R L R
1
vSd =
2
(vS+ + vS- ) (256)
j
vSq = -
2
(
vS+ vS- ) (257)
Assim:
2 m 2 R
vSd = 2 R S + R SR R IS (258)
R R + R L R
3 m 2 L
vSq = 2 S LS - R SR R IS (259)
R R + R L R
Assim:
vSq (261)
tg =
vSd
vSd = 3Vcos St
(264)
vSq = 3Vsen St
vS+ =
1
(
vS + jvSq
2 d
) (265)
Assim:
3 jSt
vS+ = Ve (266)
2
3 jSt
( RS + pLS ) iS = Ve (267)
+
2
Seja:
iS0+ = 0 (268)
3 V
( RS + sLS ) iS ( s) = (269)
+
2 s js
3 1
iS+ ( s) = V (270)
2 ( RS + sLS )( s js )
3 V 1
iS+ ( s) =
2 LS 1
s + ( s js ) (271)
S
1 RS
=
S LS
1 A B
= + (272)
1 1 s js
s + ( s js ) s +
S S
1
A=
1
+ js
S (273)
1
B=
1
+ js
S
3 V 1 1 1
iS+ ( s) = + (274)
2 LS 1 s + 1 s js
+ js S
S
3 1 j t 1 t
iS+ ( t ) = V e s e S (275)
2 ( RS + jsLS )
3 1
iS+ ( t ) = V ejst (276)
2 ( RS + jsLS )
Assim:
1
iS1 ( t ) = 2Vcos s t (277)
( RS + jsLS )