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Prof. Cassiano Rech N 4
Modelagem no sistema de
coordenadas abc
Somando as três equações:
• • •
(v a + v b + v c ) = Rf ( ia + i b + ic ) + Lf i a + i b + i c + (uaPWM + ubPWM + ucPWM ) + 3v Nn
Aplicando a Lei de Kirchhoff das Correntes (LKC) no nó n:
• • •
ia + i b + ic = 0 ia+ ib+ ic = 0
Logo:
1 1
v Nn = ( a b c ) (uaPWM + ubPWM + ucPWM )
v + v + v −
3 3 +
S1 S3 S5
va Rf Lf ia
a
vb ib
n b C vo
vc ic
c
S2 S4 S6
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Prof. Cassiano Rech N 5
Modelagem no sistema de
coordenadas abc
Substituindo VNn na Lei de Kirchhoff das tensões da fase a, tem-se:
•
1 1
v a = Rf ia + Lf i a + uaPWM + ( a b c ) (uaPWM + ubPWM + ucPWM )
v + v + v −
3 3
• Rf 2 1 1 2 1 1
i a = − ia − uaPWM + ubPWM + ucPWM + va − vb − vc
Lf 3Lf 3Lf 3Lf 3Lf 3Lf 3Lf
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Prof. Cassiano Rech N 6
Modelagem no sistema de
coordenadas abc
Assim:
uaPWM ( t ) d a ( t )
u (
bPWM t ) = V d
o b ( t )
ucPWM ( t ) dc ( t )
PARÂMETROS
20
10
Current (A)
-10
-20
-30
0.28 0.282 0.284 0.286 0.288 0.29 0.292 0.294 0.296 0.298
Time (s)
1 1
Fα = Fa − Fb − Fc
2 2
Fα Fa
Fβ = Fb sen60° − Fc sen 60°
Fβ
3 3
Fβ = Fb − Fc
Fb 2 2
Fα Fa
1 1 F = T −1 F
1 − −
2 2 β αβ 0 b
F0 Fc
2 3 3
Tαβ0 =
−1
0 −
3 2 2 Fa Fα
1 1 1 F = T F
b αβ 0 β
2 2 2 Fc F0
Fb
Prof. Cassiano Rech 14
Sistema de coordenadas dq0:
Transformação dq0 (Park)
Adicionando a componente de seqüência zero, obtém-se:
Fd Fα
F = T −1 F
cos θ sen θ 0 q dq 0 β
F0 F0
Tdq 0 −1 = −sen θ cos θ 0
0 0 1 Fα Fd
F = T F
β dq 0 d
F0 F0
F0 F0 F0 Fc
Fd Fa
F = T −1 F onde: T −1 = Tdq 0 −1Tαβ 0 −1
q b
F0 Fc
Prof. Cassiano Rech 18
Modelagem no sistema de
coordenadas dq0: Lado CA
Assim:
2π 2π
cos ( θ ) cos θ − cos θ +
3 3
2 2π 2π
T =
−1
−sen ( θ ) −sen θ − −sen θ + 3
3 3
1 1 1
2 2 2
6 6 2 6 2
cos ( θ ) − cos ( θ ) + sen ( θ ) − cos ( θ ) − sen ( θ )
3 6 2 6 2
6 6 2 6 2
T = −
−1
sen ( θ ) sen ( θ ) + cos ( θ ) sen ( θ ) − cos ( θ )
3 6 2 6 2
3 3 3
3 3 3
Prof. Cassiano Rech 19
Modelagem no sistema de
coordenadas dq0: Lado CA
Logo:
x dq 0 ( t ) = T −1x ( t ) x ( t ) = Tx dq 0 ( t )
ddq 0 ( t ) = T −1d ( t ) d ( t ) = Tddq 0 ( t )
w dq 0 ( t ) = T −1w ( t ) w ( t ) = Tw dq 0 ( t )
onde:
id
x dq 0 = i q −1 0 0
V
0 Bdq 0 = T −1Babc T = o 0 −1 0
Lf
Rf 0 0 0
− ω 0
Lf
−1
•
Rf 1 0 0
Adq 0 = T A abc T − T = −ω − 0
= T −1Fabc T = 0 1 0
1
Lf Fdq 0
Lf
Rf 0 0 0
0 0 −
Lf
Prof. Cassiano Rech 21
Modelagem no sistema de
coordenadas dq0: Lado CA
50
40
30
20
dq0-axis current (A)
10
-10
-20
-30
-40
0 0.05 0.1 0.15 0.2 0.25 0.3
Time (s)
d Rf Vo 1
dt
( ˆ )
Id + i d ( t ) = −
Lf
( ˆ ) ( ˆ
Id + i d ( t ) + ω Iq + i q ( t ) −
Lf
) ( )
Dd + dˆd ( t ) + Vd
Lf
d Rf Vo 1
dt
( ˆ ) ( ˆ
Iq + iq ( t ) = −ω Id + id ( t ) −
Lf
) ˆ (
Iq + i q ( t ) −
Lf
) ˆ (
Dq + dq ( t ) + Vq
Lf
)
Dˆ d ( s )
D̂ V + 1 Iˆd ( s )
− o Rf
Lf s+
Lf
+
−ω
+
Dˆ q ( s ) V + 1
− o Rf
Lf s+ Iˆq ( s )
Lf
Prof. Cassiano Rech 25
Modelagem no sistema de
coordenadas dq0: Lado CC
Dˆ d ( s ) V + 1 Iˆd ( s )
− o Rf
Lf s+
Lf
+
−ω
Vˆo ( s )
+
Dˆ q ( s ) V + 1
− o Rf
Lf s+ Iˆq ( s )
Lf
Logo:
i cc ( t ) = x dq 0 ( t ) T -1 Tddq 0 ( t )
T
T
i cc ( t ) = x dq 0 ( t ) ddq 0 ( t )
i cc ( t ) = id ( t ) dd ( t ) + i q ( t ) dq ( t )
Icc + iˆcc ( t ) = Id + iˆd ( t ) Dd + dˆd ( t ) + Iq + iˆq ( t ) Dq + dˆq ( t )
ωL L
Dˆ d ( s ) = f Iˆq ( s ) − f s + f Iˆd ( s )
R
Vo Vo Lf
ˆ Lf Rf ˆ ωLf ˆ
Dq ( s ) = − s + Iq ( s ) − Id ( s )
Vo Lf Vo
Substituindo:
ˆI ( s ) = D + ωLf Id − Lf Iq s + Rf Iˆ s + D − ωLf Iq − Lf Id
q ( ) d
s + Rf Iˆ s
d ( )
cc q L L
Vo Vo f Vo Vo f
Rf Vo 1
0 = − Id + ωIq − Dd + Vd
Lf Lf Lf 3
Vd = Vp
onde: 2
Rf Vo 1 Vq = 0
0 = −ωId − Iq − Dq + Vq
Lf Lf Lf
Então:
ωLf Vp 3 Rf ωLf Rf
Dd = Iq + − Id Dq = − Id − Iq
Vo Vo 2 Vo Vo Vo
Prof. Cassiano Rech 32
Modelagem no sistema de
coordenadas dq0: Lado CC
Por outro lado, as potências médias de entrada do retificador são
dadas pelas seguintes equações:
PIN Po QIN
Id = = Iq =
Vd ηVd Vd
PIN Po 2 QIN 2
Id = = Iq =
Vd ηVp 3 Vp 3
ωLf QIN 2 Vp 3 Rf Po 2
Dd = + −
Vo Vp 3 Vo 2 Vo ηVp 3
ωLf Po 2 Rf QIN 2
Dq = − −
Vo ηVp 3 Vo Vp 3
Q 2ˆ Vp 3 P 2ˆ
Iˆcc ( s ) = − [Lf s + 2Rf ] IN Iq ( s ) + − ( Lf s + 2Rf ) o Id ( s )
VoVp 3 Vo 2 ηVpVo 3
2ˆ
ˆI ( s ) = Vp 3
− ( Lf s + 2Rf )
Po
Id ( s )
cc
Vo 2 ηVpVo 3
iˆcc ( t )
Vˆo ( s ) R
=
Iˆcc ( s ) RCs + 1
Vˆo ( s ) R Vp 3 Po 2
− ( Lf s + 2Rf )
ˆI ( s ) RCs + 1 Vo
=
d 2 ηVpVo 3
2 Po
ˆ 1 − ( Lf s + 2Rf ) 2
Vo ( s ) 3 Vp 3 ηVp
= R
ˆI ( s ) 2 Vo 1 + sRC
d