SU1436265A2 - Method of controlling angular position of rotor of double-supply motor - Google Patents

Description

(61) 1372582

(21) 4229541 / 24-07

(22) 04/13/87

(46) 11/07/08/8. BOGOL. № 41

(71) Krasnoyarsk Polytechnic Institute

(72) S.A.Bronov and V.V.Balabaev

(53) 621.316.718 (088.8)

(56) USSR Author's Certificate No. 1372582, cl. H 02 R 7/46, 1986.

(54) METHOD OF REGULATING THE ANGULAR POSITION OF THE ROTOR OF THE DUAL POWER ENGINE

(57) The invention relates to electrical engineering. The purpose of the invention is to increase the stability of a dual-feed motor in transient conditions by controlling the magnitude of the increment of the phase shift between the voltages supplying the motor windings. The method is regulated

The angular position of the rotor of the dual-feed motor is that block 10 gives the required rotation angle of the rotor of the dual-feed motor 1, and block 7 shows the first increment of the phase shift, measures the position of the rotor of the engine and determines that the rotor reaches the specified phase shift . The elementary increment is set again. phase motor and the above operations are repeated. Such adjustment of the angle of rotation of the rotor in small portions ensures stable operation of the dual-feed motor or at any desired angle of rotation, since load angle never exceeds the maximum allowable value. 2 hp f-ly, 1 ill.

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WITH

one

The invention relates to electrical engineering, can be used to create low-speed servo AC systems with a dual-power actuating engine, and is an improvement to the method of author. St. N: 1372582.

The purpose of the invention is to increase the dual power supply of the motor in transient conditions by controlling the magnitude of the increment of the phase shift between the voltages supplying the motor windings.

The drawing shows a functional diagram of the electric drive, which realizes this method for an inductive motor of dual power supply.

The rotation angle of the dual-feed motor rotor is adjusted as follows.

The dual feed motor has first and second multi-phase windings. For example, in a dual-feed motor based on an asynchronous motor with a fuse-rotor, the first winding is the stator winding, and the second is the rotor winding. For a double-induction motor, both windings are located on the stator. The first and second multi-phase windings of a dual-feed motor are supplied with separate power sources (inverters), respectively, with the first and second supply voltages. The first harmonics of both supply voltages have exactly the same frequency, which can easily be provided by synchronizing the operation of inverters from one master oscillator. The supply voltages are a sequence of clock pulses, width modulated or amplitude

1436265

W of the first harmonics supplying the voltage with a differential equation:

d

. ". five

dt

KpWp- (), (2)

five

0

where uip is the angular velocity of the rotor

dual feed motor; O) are the angular frequencies of the first harmonics, respectively, of the first and second supply voltages;

Kp is the electrical reduction factor (for a power motor based on a phase-rotor induction motor, Kp is equal to the number of pole pairs, and DD1I of a dual-feed inductor motor is the number of rotor teeth).

Integrating expression (2), you can get the equation for the angle of loading

25 CRCr- (i |, -q, j) KpVp-d (/, (3)

0

five

0

where tfp is the rotation angle of the rotor of the dual feed motor; if and t / d are the current values of the phases of the first harmonics of the first and second supply voltages, respectively;

. D1 is a phase shift between the supply voltages. When the phase shift changes (by changing the phase of one of the supply voltages or both at the same time), the rotation angle of the rotor tfp due to the inertia at the first moment will remain unchanged. Therefore, in accordance with (3), the angle of the load c will also change instantaneously and by the same magnitude as the phase shift, L (/. After that, the gradual

modulated by a sinusoidal change of the angular position of the rotor tacon.

The load angle of a dual power engine, determining the stability of a dual power engine, must be in the range

-90: “G -1-90

(one)

where cf is the load angle.

In the event of a violation of condition (1), the dual-feed motor drops out of sync, loses stability and becomes uncontrollable. Load angle associated with angular frequency

In this way, after some time due to the change, the magnitude of the load angle c / becomes equal to the initial value of the load angle (if the static moment on the shaft of the dual Pouring engine remains the same). The rotor of the dual-feed motor will rotate by an angle proportional to the change in phase shift I, and, g inversely proportional to the electrical reduction coefficient Kp, and stop.

Thus, with a constant static moment on the engine shaft

dual power end value of the load angle is always equal to the initial value of the load angle. However, during the adjustment, the angle of the load necessarily changes, and at the first moment of the adjustment, the change in the angle of the load occurs instantaneously (instantaneously).

If the phase shift C is changed so that the first after the start of the adjustment, the value of the load angle is in the range of values, defined by. expression (1), then the regulation is normal. If the phase shift / 5 if gets too large an increment and the condition () does not hold even on MrHOBeiiiiCj, then the double-lit engine will go out of synchronicity, lose stability and become uncontrollable,. The component of the angular velocity of the rotor of a dual-feed motor is determined by the expression that is obtained from expression (2), taking into account that for a forced process, the derivative of the angle of load is zero.

 )

- -,

coz ()

W

where are u

s „- the angular frequency of the first

harmonics, respectively, of the first and second supply voltages. Since the frequencies of the first harmonics of the supply voltage are the same, i.e. . s w, the motor rotor is stationary (synchronous dto mode). The expression for the rotation angle is derived from (3):

Lfp (t) (t) + -3l |) (t). (5) From expression (5) it follows that at a constant value of the phase shift

dq (t) const

the rotation angle of the rotor is also constant tfpCt) const if the static moment on the shaft of the dual-feed motor remains constant (i.e. if the load angle J is constant). To rotate the rotor of a dual-feed motor, the phase shift is proportional to the required angle of rotation of the rotor and inversely proportional to the coefficient of electrical reduction.

-JQ -. 15 20 25

thirty

35

40

45

50

55

By p. A change in the phase shift means a single (in one period of the supply voltage) change in the frequency pi-. thawing stresses, which leads to the appearance of a torque pulse and rotation of the rotor of the engine. Before the beginning and after the end of the phase shift change, the dual feed motor is in standby mode, which makes it possible to reliably fix the position of the rotor of the motor. In general, the dual-feed mode of the motor resembles that of a stepper motor.

In a dual-feed motor, the adjustable values are not only the parameters of the rotor's gripper (angular force V is the rotation angle of the rotor-3) g, but also the load angle c /, which determines the stability of the dual-feed dual-drive in all modes. For stable operation of a dual-feed motor, the instantaneous value of the load angle must always be within the limits defined by the criterion (1).

The peculiarity of the control of the rotation angle of the rotor from the phase shift between the two, the supply strains is that the load angle in this case changes instantaneously (without delay) by the value of the phase shift increase. Therefore, the introduction of different reverse bounds I (including the load angle) to prevent an excessive increase in the load angle (i.e., regulation along the (Closed loop) does not guarantee that the double power motor is kept in sync at the first time of the setting. , as the change of the loading angle is inertialess, and the sensors in the feedback circuits necessarily possess some inertia.

In order to reliably guarantee the fulfillment of condition (1), it is necessary to limit the magnitude of the phase shift increment, as foreseen by the invention.

When the required angle of rotation of the rotor is small and the corresponding increment of the phase shift in the stepwise setting cannot force the dual-feed motor out of synchronism, the adjustment of the angle of rotation of the dual-feed motor can be carried out according to a known method. However, such a situation is rare. The total increment of the phase shift corresponding to the required rotation angle of the rotor turns out to be too large and if such a phase shift is set, the double motor - the power supply may lose synchronism, lose stability and become equivalent, to prevent the entire phase shift increment, corresponding to the required angle of rotation (and equal to the angle of rotation multiplied by the coefficient of electrical reduction Kp) is divided into a number of elementary increments, and the amount of elementary increments is chosen such at least zadanii.odnogo elementary increments of phase shift alc load angle remains within the range defined emom expression (I).

.To rotate the rotor of the dual feed motor to the required angle. one after another, the elementary of the phase shift increment is specified, but not uninterruptedly, but with a pause. After setting the next elementary increment of the phase shift vig-1 number 1 of 5 by what angle should the rotor of the double feed motor turn under the action of a given elementary increment of the phase shift (i.e., calculate the value of the specified rotor pitch).

Double feed motor rotor

begins to move as a result of the transition process. This movement of the rotor is controlled by an appropriate sensor (angle sensor) and when the rotor is rotated by an angle equal to the ear that corresponds to a given increment of the phase shift (t, e, when the actual rotational pitch of the rotor will be equal to the value of the specified rotor rotation step), the next elementary increment of the phase shift is set.

Thus, the rotation of the rotor of the dual-feed motor to the required angle is not carried out immediately, but in small doses (steps) with the control of the development of each step. The angle of the shot in this mode changes by

the house is a step from its initial value to some maximum (lower maximum allowable) and again to the initial value (if

from 10 to 20

25 ao 5

. 0 5 p

five

the static moment remains constant on the motor shaft).

The proposed method actually implements a phase shift intensity regulator that fulfills the functions of a speed regulator, and this intensity master is adaptive, since it determines the rate of working off automatically depending on the inertia of the dual power motor (or inertia of the entire electric drive) The speed of movement of the rotor at the required angle is the maximum possible, taking into account the fulfillment of the condition that the value of the load angle is in a certain range. One of the boundaries of this range is the magnitude of the working angle of the load, the second boundary is the maximum permissible value of the angle of the load. The adaptability of setting the rate of development of a given movement is manifested in the fact that the operation of the electric drive is weakly influenced by the change in the inertia of the electric drive (from the point of view of keeping the motor in synchronism), since when the inertia of the electric drive changes, the rate of development of the specified movement changes accordingly

I

-The choice of the magnitude of the elementary phase shift increments can be made in various ways. S the simplest case, the value of each elementary increment of the phase shift is chosen to be constant depending on the operating angle of the load (40-50) and the maximum permissible angle of load (60-70). For a fixed magnitude: the magnitude of the elementary shear increment, the magnitude of the specified rotor pitch is also fixed and equal to / IM / Kp, i.e. it does not need to be calculated every time after setting the next incremental phase shift increment. The values of the elementary increments of the phase shift and a given tag of rotor rotation can be incorporated into the drive control system in advance. When assigning the required rotor rotation angle, the drive control system sets the incremental phase shift increments in accordance with the proposed method until the actual rotor rotation angle is equal to the required one (until the engine has completed all the required rotor movement).

In the case of a change in the static moment on the double shaft of the engine ..

l food may change working

load angle. In this case, the value of the elementary phase shift increment is also advisable to be made variable and dependent on the current value of the load angle. To do this, it is necessary to control the current value of the load angle and determine the margin by the load angle (the difference between the maximum permissible load angle and the current load angle).

At the time of setting the next elementary increment of phase shift, the value of this elementary increment is taken equal to that margin of the angle of load that was at the time of assignment of this elementary increment of phase shift. Such an algorithm: regulation guarantees the stability of the operation of the dual 25 power supply even with a variable static torque on the dual supply motor shaft.

In most cases, the power of the executive motors of dual 30 power is supplied from pulse-width or amplitude-pulse-voltage modulated inverters. In this case, the change in the phase shift occurs discretely, 5 at intervals that are multiples of the phase discrete, which depends on the number of clock pulses in the period of the first harmonic of the supply voltage.

It is possible to specify 40 elementary increments of phase shift with a value equal to one phase discrete. Such regulation provides a dual-feed engine operating mode close to the step. The magnitude of the elementary increment of the phase shift in this case remains constant and sufficiently small, at a time, the magnitude of the required angle of rotation. Implementing such a control is not the easiest.

An electric drive that implements a method for adjusting the rotation angle of a dual-feed motor (in this case

the stroke of the frequency setting unit 6 is supplied to the frequency control inputs of the inverters 4 and 5; the first output of the phase shift setting unit 7 is connected to the inverter 4 phase control input, and the second output of the phase shift block 7 to the inverter phase adjustment input sensor 8 angle of rotation is mechanically connected with the rotor of the engine 1 dual feed, the output of the sensor 8 of the angle of the gate is connected to the first input n

first comparison unit 9, to the second unit of which the output of the angle setting unit is connected. The output of the first comparison unit 9 is connected to the first input of the phase shift regulator 11. The output of the rotation angle sensor 8 is also connected to the information input of the memory 12 and the first input of the second comparison block 13, to the second in which the output of the memory block is connected, K The third output of the phase shift block 7 is connected to the recording input of the 12 unit. The output of the second comparison unit 13 is connected to the first input of the 14-comparison unit, the second input of which is connected to the output of the calculation block 15 of the specified step. The output of the third comparison unit 14 is connected to the second input of the phase shift regulator 11, the output of which is connected to the input of the phase offset setting unit 7, as well as to the input of the unit 15 for calculating the specified step. The output of the unit 16 for calculating the incremental phase shift increment is connected to the third input of the phase shift controller 11. To the first input of block 16 for calculating an elementary increment of phase shift, the output of block 17 sets the maximum load angle, and to the second INPUT - output of the load angle pull switch 18, which includes the phase detector 19, the output of the load angle sensor 18 and an adder 20, the output of which is connected to the first input of the phase detector 19. The first input is the sum of pa 20 connected to the code of the signal winding 21 of the dual-feed 1 motor. One of the phases of the second winding 3 is connected to the second inputs of the adder

inductor motor dual power supply 55 o and phase detector 19) does not contain the motor 1 dual Block 6 sets the frequency of the power supply, in which the first 2 and second 3 windings are connected to the outputs of inverters 4 and 5, respectively. Molecular or sinusoidal pulses. 8 angle sensor turned

the stroke of the power frequency setting unit 6 is connected to the frequency control inputs of inverters 4 and 5. The first output of the phase shift setting unit 7 is connected to the inverter 4 phase control input, and the second output of the phase shift block 7 is connected to the inverter phase control input 5. Sensor The rotation angle 8 is mechanically coupled to the rotor of the dual-power engine 1. The output of the angle-of-rotation sensor 8 is connected to the first input of the first comparison unit 9, to the second input of which the output of the rotation angle setting 10 is connected. The output of the first comparison unit 9 is connected to the first input of the phase shift adjuster 11. The output of the rotation angle sensor 8 is also connected to the information input of the memory 12 and the first input of the second comparison unit 13, to the second input of which the output of the memory 12 is connected. A third output of the phase shift setting unit 7 is connected to the recording input of the memory 12. The output of the second comparison unit 13 is connected to the first input of the 14-comparison unit, with the second input of which is connected to the output of the calculating unit 15 of a predetermined step. The output of the third comparison unit 14 is connected to the second input of the phase shift controller 11, the output of which is connected to the input of the phase shift setting unit 7, as well as to the input of the unit 15 for calculating the specified step. The output of the unit 16 for calculating the incremental phase shift increment is connected to the third input of the phase shift adjuster 11. The output of the maximum load angle setting unit 17 is connected to the first input of the unit for calculating the elementary increment of the phase shift, and the output of the loading angle sensor 18, including the phase detector 19, the output of which is the output of the loading angle sensor 18, and the adder 20, output which is connected to the first input of the phase detector 19. The first input of the adder 20 is connected to the code of the signal winding 21 of the dual-feed 1 motor. One of the phases of the second winding 3 is connected to the second inputs of the adder

0 and phase detector 19. Unit 6 setting the frequency of power

Voltage is a generator of square or sinusoidal pulses. Pivot angle sensor 8

t5

25

91436265

This may be a serial code sensor with an output signal in the form of a parallel code corresponding to the current angle of rotation of the rotor (in the case of a digital drive control system) or a sine-cosine rotating transformer (in the case of an analog drive control system).

As an IO unit for setting the rotation angle, a higher level control computer with a digital output (for the digital version of the electric drive) or equipped with a digital-to-analog converter at the output (for the analog version of the electric drive) can be used. Blocks 9, 3, and 14 comparisons can be made on the basis of digital totalizers (for the digital version of the electric drive) or analog comparators (for the analog version of the electric drive).

The memory unit 12 is implemented on the basis of microcircuits of random access memory devices (for the digital version of the electric drive) or on the basis of analogue: memory devices with memory capacitors and operational amplifiers according to known circuits. The phase shift regulator 1I is in its functions a digital or analog switch with an input matching circuit (the logical inputs of the matching circuit are the first and second inputs, and the information inputs from which are switched to the output are the third input, connected to the output block 16 vig-1 of elementary increments of phase shift),

The block 15 for calculating a predetermined step performs the operation of dividing the input signal by a constant coefficient equal to the coefficient of electrical reduction Kr. Therefore, in the analog variant of the electric drive, the unit 15 for calculating the specified pitch is performed in the form of a resistor divider or scaling amplifier with a transmission coefficient equal to 1 / Kr.

In the digital version of the electric drive, it is possible to build block 15 and 10

sensor sensor using a signal winding placed in the grooves of the second winding 3 of the engine 1 double supply

Inverters 4 and 5 can be performed with pulse-width modulation of supply voltages according to widely used bridge circuits, and with pulse-amplitude modulation of supply voltages, for example, with a known pattern with an output transformer having taps at the primary winding , switched power transistor khpochami. These inverters must have control systems that provide the ability to adjust the phase of the supply voltage.

The unit works as follows.

The unit 6 for setting the frequency of the power supply 1- apr provides the setting of the same frequency of the first harmonics of the supply voltage received from inverters 4 and 5. Therefore, in the absence of regulation, the dual-feed motor 1 is in the synchronous mode and its rotor is stationary. If necessary, turn the engine rotor at a certain angle block

The 10th angle of rotation forms a signal at its output proportional to the required angle of rotation. This | Signal is compared using the first comparison unit 9 with a real rotation angle, the value of which is determined by the rotation angle sensor 8.

As a result of the comparison, generate a mismatch signal, which is fed to the first input of the controller

11 phase shift and allows the beginning of the regulation (this signal is not consistent from the output of block 9

45 may be, for example, a logical signal carrying information on the presence and sign of a mismatch). With the help of the load angle sensor 18, the current (working) value of the load angle is specified using the block 17 for setting the maximum load angle. The result of the comparison is determined by block 16 in terms of the elementary increment of phase 30

35

40

50

lag of a given step using register-55 shift and represents the shift masses. The load angle sensor 18 is the largest of the possible (from the point of view, it can be performed according to various stability stability measurements) by the value of the circuits. In the variable increment of the phase ante of the electric drive under consideration, the shear is used in which the engine is double

t5

25

36265

0

ten

sensor sensor using a signal winding placed in the grooves of the second winding 3 of the engine 1 double supply

Inverters 4 and 5 can be performed with pulse-width modulation of supply voltages according to widely used bridge circuits, and with pulse-amplitude modulation of supply voltages, for example, with a known pattern with an output transformer having taps at the primary winding , switched power transistor khpochami. These inverters must have control systems that provide the ability to adjust the phase of the supply voltage.

The unit works as follows.

The unit 6 for setting the frequency of the power supply 1- apr provides the setting of the same frequency of the first harmonics of the supply voltage received from inverters 4 and 5. Therefore, in the absence of regulation, the dual-feed motor 1 is in the synchronous mode and its rotor is stationary. If necessary, turn the engine rotor at a certain angle block

The 10th angle of rotation forms a signal at its output proportional to the required angle of rotation. This | Signal is compared using the first comparison unit 9 with a real rotation angle, the value of which is determined by the rotation angle sensor 8.

As a result of the comparison, generate a mismatch signal, which is fed to the first input of the controller

11 phase shift and allows the beginning of the regulation (this signal is not consistent from the output of block 9

5 may be, for example, a logical signal carrying information on the presence and sign of a mismatch). With the help of the load angle sensor 18, the current (working) value of the load angle is specified using the block 17 for setting the maximum load angle. The result of the comparison is determined by block 16 in terms of the elementary increment of phase 30

35

0

0

The power is still in sync.

The phase shift regulator I1 sets the first I phase increment equal to or less than the value calculated by the phase shift increment calculator 16. The phase shift setting unit 7 generates signals for changing the phases of the first harmonics of the supply voltages for inverters 4 and 5. The signals for changing the phases are formed depending on the sign of the required angle

turning. The calculation unit 15 for a given rotor 15 does not become equal to the required step increment determines the magnitude of the rotational step of the rotor to which the rotor of the engine must move for a given elementary increment of the phase shift.

Further, the task of the electric drive control system is to determine the moment when the dual-feed motor has fully completed the specified aa turn, in order to specify the next 25 elementary phase shift increment. This task is solved by calculating the actual pitch of the torus's mouth and comparing it with the given one. For this, the signal from the third output of the phase shift setting unit 7 in the memory unit 12 records the initial (at the start of the adjustment) value of the rotor angle. The second comparison unit 13 determines the difference between the current value of the rotation angle of the rotor, which begins to change under the influence of the elementary increment of the phase shift, and its initial value, i.e. the value of the actual pitch of the rotor is determined. This value is compared with the predetermined rotor pitch, previously calculated using the computation unit 15, the predetermined step, using comparison unit 14.

If the error signal at the output of the comparator unit 14 is present, then it, acting on the second input of the phase shift adjuster 11, prohibits the filing of the next increment of the phase shift. When the error signal at the output of the comparator unit 14 becomes zero, the phase shift controller 11 will set the next elementary increment of the phase shift. In this case, the phase shift setting unit 7 will form the tasks for changing the phases of the first and second supply voltages and

with

35

40

50

55

at the same time, from its third output, a signal will be written to the memory unit 12 of the new value of the rotation angle of the rotor, which is currently taking place. The value of the new elementary increment of the phase shift may also be different than for the previous value of the elementary increment of the phase shift, since it is calculated by the unit 15 for calculating the elementary increment of the phase shift. Then the adjustment process continues until the angle of rotation

5, the rotation of the rotor, after which, at the output of the comparison unit 9, a signal is formed that prohibits further regulation. The signal is fed to the first input of the phase shift adjuster 11 and the regulation is stopped.

The adjustment of the rotation angle of the rotor of the dual feed motor consists of the following steps; setting the required rotation angle of the rotor, setting the first elementary increment of the phase shift, waiting for the rotor of the double feed motor to reach the angular position corresponding to the specified increment of the phase shift} setting the next elementary increment of the phase shift after the rotor reaches the angular position corresponding to the specified increment of the phase shift .d

Such adjustment of the angle of rotation in small portions ensures stable operation of the dual-feed motor at any desired angle of rotation of the rotor, since the angle of the load never exceeds the maximum permissible value.

In the case of a fixed value of c; the elementary phase shift increment the load angle sensor 18, the signal winding 21 and the maximum load angle block 17 are missing. The phase shift elementary increment calculator 16 simply represents a fixed value of the phase shift incremental element.

In the case of a fixed value — the phase shift increments, the unit 15 for calculating a given step also changes its functions, because the turn of a given step turns out to be constant and known in advance (it is equal to 5).

0

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five

: on the elementary phase shift increment divided by the electrical reduction factor Kp). The remaining blocks retain their functions.

In the case of pulse-width or amplitude-pulse modulation of the supply voltages, the phases of the supply voltages are measured discretely according to a sinusoidal law. In this case, an elementary increment is set to be equal to one phase. To the disk-disk (which is defined as the fraction of the period of the first harmonic of the supply voltages 5 per pa one clock pulse). In such a case, the inverter etching system with pulse-width or amplitude-pulse modulation operates not with the magnitude of the phase, but with the clock i and the clock corresponding to the required phase. Each clock pulse has its own width (with latitude modulation) or amplitude ( at amplitude modulation), and the average value of the voltage obtained when applying a particular clock pulse to the winding of the dual-feed motor (first or second) is equal to the value of the sinusoidal voltage at the corresponding fiza. For example, if the period of the first harmonic of the supply voltage contains 36 clock pulses, during the transition from one clock pulse to the next one. the phase changes — on H, the number of the clock pulse corresponds to the phase of 5 °, the number 2 to the IS phase, the number 7 to the phase 65, and so on.

In the absence of regulation at each clock cycle of the inverters 4 and 5 (set by the unit 6 to set the supply voltage frequency), the number of the clock pulse, which is applied to the windings of the dual-use motor J, is equal to the number of the preceding clock pulse plus 1. When the phase shift is adjusted, the number of each the subsequent clock pulse is taken equal to the number of the previous plus 1 plus or minus 1 (depending on the desired direction of the jog (rotor and algorithm, operation of the phase shift setting unit 7), i.e., a skip occurs the next clock pulse or the delay on the previous one (repeating the previous one).

Thus, it is carried out with a compelling change of the phase of

0

other power it. The choice of exactly which phase and in which direction should be changed in order to provide the required angle of rotation of the rotor is performed by block 7 of setting the phase shift according to a program previously embedded in it. In the simplest case, this program may be, for example, the following. If it is necessary to turn the rotor of the motor in the direction taken as positive, the signal for forced phase change is fed only to the input of the phase 5 adjustment of the inverter 4, and the jump over the next pulse is received. If the direction of the required movement of the rotor is negative, the signal for positive phase measurement is fed to the phase adjustment input of the inverter 5 of the T7L-i, and jumps over the next clock pulse as well. Such a program is relatively simple to implement and has the symmetry property. The sign of the direction of movement of the rotor is determined by the first comparison unit 9 and is fed to the first input of the phase shift adjuster 11.

Thus, the proposed method of adjusting the angular position of the rotor of the engine is double; the power supply allows control of the magnitude of the set increment of the phase shift of the motor voltage, supplying the motor windings, as well as ensuring the application of the instantaneous load angle within the specified limits, therefore, due to Compared with the known method, it is guaranteed that the dual feed motor is in syncro. at any value of the required angle of rotation of the rotor and increases stability.

The adaptive speed controller ensures the earliest possible development of a given rotor movement with limitations on the instantaneous value of the load angle. Changes in the moment of inertia of the drive or the static moment in the hall of a dual-feed motor do not affect the stability of a dual-feed motor in transient conditions.

0

five

0

five

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Claims (3)

1. Method of adjusting the angular position of a double rotor engine power on auth. J 1372582, distinguished by the fact that, with uianbip, the stability of a dual-feed motor in transient conditions, sets the supply voltage for the windings of the specified motor as a sequence modulated in width or amplitude in accordance with the sinusoidal law of clock pulses with the same first harmonic frequencies , at the beginning of the adjustment, the required phase shift between the specified supply voltage changes is established in the form of a series of elementary phase shift increments, over the interval p -regulation of each of the elementary phase shift increments of measured value of the actual angle of rotation of the rotor dual power engine compare it with the value of the angle of elementary rotation of the rotor, the phase shift corresponding to the elementary feed variables stresses and when the specified values coincide, the transition to the regulation of the next elementary increment of the phase shift to complete processing of the entire phase shift and the corresponding rotation angle of the rotor of the dual-feed motor. 2. Method of pop. 1, which differs from the fact that the value of the elementary increment of the phase shift is chosen to be equal to the value of the load angle, determined by comparing the measured current value of the load angle with its maximum acceptable value. 3. Method according to Claim 1, that is, with the fact that the value of the elementary increment of the phase shift is chosen equal to the value of the phase discretes, defined as part of the period of the first harmonic of the supply voltage, per clock pulse ,