/Elektroprivod 189/
.
, :
I , , d/dt
.
I=0:
.8.2. -
i = f(t) (.8.2,). , , 0,63*Iyc; 3 0,95*Iyc; 5 0,996*Iyc, , - - 3-5 .
32
, -. -, .
(teoriya_elektroprivoda_2- 302.) -
, , , , , . .
- . ,
m > 2, , , - -
.
=f(t) = 0 :
(1)
.
.
- - .
, ,
.
(3)
, ≤ , , - . = ;
(3)
- (1)
(4)
- . . 4.29,, - 1; = , - 2. = 0 ,
- ( 3 . 4.29,), 0 = . M(t)
|
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. 4.29,5 0 ≤t≤ t.
. 4.29. - () ()
(4) t = t. , (1) ,
. , . (4) = . = + 3. , =f(t), , - 3 . 4.29, = 0 = , .
t0, . 4. , , . (. 4.29,6). t = t0+3T. t0,
(t ≈t0).
- ,
, - 1 2, . 4.30,. (1)
, 4.76) ,
(5)
(5) - , t0, . , M(t) . 4.30,. ,
. . , , , : . ,
() (), . .
, . . , , = .. , . . , . .= = t= t0 . -, () , . 4.30, ( 3).
, = = const.
=M , 2 (. 4.30,)
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. T, t= t0p+ T, t0p .
- . , - , - - 1
2, , . 4.31,. . 4.31, - u= Unom - ( 1). - , .
. 4.31. - - () u, . i =f(t) Mt ()
u = , ,
, I. = M./. I I. , . () i(t) . 4.31, ( 2 ), = 0 .
-. , , . , . 4.29,, t.. :
= 0. , I= I. :
. . 4.31, u(t), e(t) I(t) ( 1 3) (t), (t) M(t) . . 4.29,. - -, , . 4.31, ( 3).
du/dt, I.= I I , , t. I.= I . = ,
:
,
. - , , . 4.31, ( 4).
33
1. () - . 2. - . 3. .
1 (moskalenko_v_v_avtomatizirovannyy_elektroprivod 359 ; moskalenko_v_v_elektricheskiy_privod 188) - , . , , .
- - -, . - , , - , , . .
|
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- :
, (7.34)
ΔAK ΔAv , .
Δ , -.
. (7.35)
ΔAv , . ,
. (7.36)
(7.36) ΔAv - , - i(t), R. .. i(t) , - R , (7.36) .
ΔAv , ν - . - -.
2. ) - ( = 0)
: , :
) ;
) () .
( )
- , .. . - - -. , . . .
-, , , -. - t , () Dw(w0 w)
s = (ω0 ω)/ω0
..
(6.10)
- ( = 0) :
(6.11)
(6.11) (6.10) , :
. 6.12)
, : ( = 0) - w0 . (s =1, s = 0) W20 = Jw02/2 (s =2, s = 1) 3Jw02/2, (s =2, s = 0) 4Jw02/2 = 2Jw02. - -, -, - - , J w0, .
(≠0) (6.10). , , - , . . ω(t) M(t). (6.10) . - -
. (7.49)
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(7.49) , w , . Mc = const, (7.49)
. (7.50)
(7.50) = 0, , . ΔW2 , (7.50).
w(t) , , . 7.3.
. 7.3 -
, , w(t), t = t. . 7.3 ,
, (7.51) (7.50) . (7.52)
. ., c=const = 0, w(t) , F (7.52).
. , - , - , . (6.10),
dt = J w0ds/(MMc), (7.55)
, + . (7.55) (6.10) = :
. (7.56)
, - .
(7.56) - . , (7.56) [ (7.56)]. , , .
¹ 0 ( ), , = const = = const; w() w(t) . 6.4. 1 = w0, 2 = w, D = 1 2 (. 6.4), (6.10) , ..
t = J w0/( ):
. (6.14)
. 6.4 - -
:
(6.15)
3. :
- ;
- - ;
- w0 ; , ;
- w0 -.
, .
.. 2 : 1) ; 2) w0 -.
w0 - . . 6.5, () t1 >> T, .. ε = ω01/t1 () .
, , . 6.5,
. 6.5, :
(6.16)
, (6.16), (. . 5.3) t1 >> T; .
|
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, e, .. , , .
) )
. 6.5 () ()
, - ,
ΔW2 = Jω20n /(2n), (7.60)
ω0n , .
:
V2 = ω0 ω = ω0s, (7.37)
s = (ω0 ω)/ω0 ().
(7,36)
(7.38)
(7 38) ,. - . = 0
dt = Jdω/M = Jω0ds/M. (7.39)
(7.38) dt (7.39), . t = 0 s = s, t s = s.
. (7.40)
(7.40) , . . - , - J, ω0 s s.
(7.40) , .
ω = 0 ω = ω0, s =1, s = 0, ΔW2 = Jw02/2 (7.41)
, , -.
(7.41), . .
ΔW2 ΔW2. , .
, I1 = I2/
(6.13)
, .. D, , .
(),
(6.1)
- , , -
(6.2)
, D ,
h = f(P/P); h = f(w) .
, , -, , - ,
(6.3)
;
n = I/I(1) ;
U, I, I(1) , , ;
j(1) .
n 1, ..
c sj (6.4)
R cosj ¹ 1 D~ D=
- (6.1) , , , . , , t: