The theme of Master project of Energetics engineer is to analyze the power paremeters of noncontrollable speed AC drive. Is to analyze the power paremeters of variable speed AC drive. Is to accomplish the power paremeters of variable and noncontrollable speed AC drive. Describe the results of investigate and render the respective findigs.

Disertacijoje siekiamas tikslas: sudaryti trifazio asinchroninio variklio matematinius modelius fazinėje koordinačių sistemoje, esant įvairiems variklio apvijų jungimo būdams, sukurti modelį tiesiaeigio asinchroninio variklio dinamikos tyrimui, jo pagrindu sudaryti kompiuterinius modelius dažniu valdomiems asinchroniniams varikliams tirti. / The aim of dissertation is to develop mathematical and computer models of induction motor in phase coordinate system at various ways of stator windings connection, transform this model for investigation of dynamics of linear induction motor, and carry out computer models for investigation of frequency-controlled induction motors.

Disertacijoje keliamas tikslas - sudaryti trifazio asinchroninio variklio matematinį modelį, kuris ne tik adekvačiai aprašo nesimetriškų asinchroninių variklių dinamiką, bet ir kurio greitaveika būtų didesnė už universalaus elektrodinaminio modelio greitaveiką, ši modelį pritaikyti įvairiems variklio apvijų jungimo būdams, jo pagrindu sudaryti kompiuterinius modelius dažniu valdomiems asinchroniniams varikliams tirti. Pirmajame skyriuje aptariami šiuo metu dažniausiai naudojami asinchroninių variklių modeliai, aptariami jų privalumai ir trūkumai. Nesimetriško asinchroninio variklio matematinio modelio fazinėje koordinačių sistemoje lygtys išvestos antrajame skyriuje. Trečiasis skyrius skirtas kompiuteriniams asinchroninio variklio modeliams. Sudarytas universalus, t. y. visiems variklio apvijų jungimo atvejams tinkamas, programinis asinchroninio variklio modelis. Sudarytas Simulink paketui tinkamas objektinis asinchroninio variklio modelis. Ketvirtasis skyrius skirtas valdomų elektros pavarų modeliams. Sudaryti algoritmai inverterio-variklio ir lygintuvo-inverterio-variklio sistemų imitavimui. Pateikti šių sistemų imitavimo rezultatai. Sudarytas Simulink paketui tinkamas srovės kanalo metodu valdomos dažninės pavaros modelis. Darbo pabaigoje pateiktos išvados. / The aim of dissertation is to develop mathematical and computer models of induction motor in phase coordinate system at various ways of stator windings connection, transform this model for investigation of dynamics of linear induction motor, and carry out computer models for investigation of frequency-controlled induction motors. Chapter 1 discusses mathematical models of induction motors, their advantages and shortcomings. Mathematical model of induction motor in phase coordinate system applicable to consider non-symmetry of motors is derived in Chapter 2. Chapter 3 is devoted for computer models of induction motors. Universal algorithm of programmed motor model is elaborated and presented. Objective Simulink motor model is developed. Chapter 4 is devoted for models of controlled electric drives. Algorithm to simulate system inverter-motor is carried out and results of simulation are presented. Model of system rectifier-inverter-motor with changeable structure was proposed and simulations of transients are discussed. Model of drive, controlled by current channel is developed. General conclusions of the research are made.

Darbe analizuojamos dažnio keitiklio į tinklą generuojamos aukštesniosios eilės harmonikos. Atlikti nagrinėjamo dažnio keitiklio tuščiosios veikos ir apkrovos bandymai, bei išmatuotos generuojamos į tinklą aukštesniosios eilės srovės harmonikos. Nustatyta netiesinių iškreipių faktoriaus priklausomybė nuo maitinimo įtampos dažnio ir apkrovos. Taip pat atliktas vieno iš tinklo taršos slopinimo įrenginių – linijinio droselio bandymas. Nustatyta, kad netiesinių iškreipių faktorius, priklausomai nuo apkrovos kito nuo 30 % iki 80 %, dirbant 50 Hz dažniu. Didinant maitinimo įtampos dažnį, netiesinių iškreipių faktorius kito nuo 43,3 % iki 79,5 %, esant nurodytąjai variklio apkrovai. Naudojant linijinį droselį, santykinis netiesinių iškreipių faktorius sumažinamas 5,8 %, dirbant 25 Hz, ir 9 %, dirbant 50 Hz maitinimo įtampos dažniu. Nustatyta, kad dažnio keitiklio į tinklą generuojamos aukštesniosios eilės srovės harmonikos gerokai viršino leistinąsias ribines vertes, atitinkamai 5-oji – 3,3 karto, 7-oji – 4,7 karto, 11-oji – 5,9 karto, 13-oji – 8,5 karto ir 15-oji – 1,8 karto. Taigi naudoti harmonikų filtrus rekomenduotina, norint užtikrinti sistemos patikimumą ir ilgesnį eksploatacijos laiką, taip pat filtrų pagalba galima apsaugoti tinklo iškraipymams jautrią įrangą. / The work analyses the higher order harmonics into power system generated by the frequency inverter. Perform issue frequency inverter non load and load test and established generates into network higher order harmonics. Established total harmonic distortion dependence of the mains frequency ant the load. Also was made research of one network pollution reduction equipment – line choke. It was found that harmonic distortion, depending on the load was varied from 30 % to 80 %, at 50 Hz operating frequency. Increasing mains voltage frequency, harmonic ranged changed from 43,3 % to 79,5 %, at full asynchronous motor load. Using line choke total demand distortion is reduced from 5,8 % at 25 Hz, to 9 % at 50 Hz mains frequency. Established that frequency inverter pollution of higher current harmonics significatly higher than allowable, accordingly, the 5 th – 3,3 time, the 7 th – 4,7 times, the 11 th – 5,9 times and the 15 th – 1,8 times. Thus, the use of harmonic filter ir recomended to ensure system reliability and longer service life, as well filter heps to protect for current distortion sensitive equipment.

The final work of master studies reviews various industrial robots constructions and parameters, from which they are characterized. Robotics systems and control of flexible production have been discussed in here. Various robots’ drives and their control advantages and disadvantages are analyzed. In the practical part original robot global movement platform is suggested and algorithm of two flexible production bays handling is created. Static characteristics of linear drive used in platform are calculated. Using software package “Matlab Simulink” model of symmetrical linear induction motor (LIM) is created and dynamic characteristics are gained. Concluding part presents inferences and suggestions.

Šiame baigiamajame darbe išnagrinėti tiesiaeigio asinchroninio variklio ypatumai ir naudojimo sritys, padaryta dažnio keitiklių ir juose naudojamų valdymo būdų apžvalga. Išanalizuoti impulsų pločio moduliacijos realizavimo principai, apžvelgti skaliarinio ir vektorinio valdymo metodai. Remiantis išanalizuota teorija sudarytas tiesiaeigio asinchroninio variklio matematinis ir kompiuterinis modelis α-β ir x-y koordinačių sistemoje, sudaryti TAV dažninių atviros ir uždaros sistemų matematiniai bei kompiuteriniai modeliai. Sudarius atviros ir uždaros sistemos modelius: gautos TAV antrinio elemento linijinio greičio, kelio ir jėgos pereinamųjų procesų charakteristikos ir palyginti rezultatai. / The properties of linear induction motor and areas of its application are analyzed; frequency converters and their control methods are discussed in this final work. Methods to realize a pulse width modulation are analyzed, scalar and vector control principles are discussed. The principle of operation of control systems applied in frequency converters is analyzed On the base of analysis mathematical and Simulink model of linear induction motor in α-β and x-y reference frame is developed, mathematical and Simulink models of frequency variable open and closed systems are carried out. Open and closed systems are investigated: transient characteristics of secondary element linear speed, developed force and way are analyzed and results of different characteristics are compared.

The properties of linear induction motor and areas of its application are analyzed; frequency converters and their control methods are discussed in this final work. Methods to realize a pulse width modulation are analyzed, scalar and vector control principles as well as perspectives of perfection of semiconductor commutating elements and control systems are discussed. The principle of operation of control systems applied in frequency converters is analyzed On the base of analysis mathematical and Simulink model of linear induction motor in α-β reference frame is developed, mathematical and Simulink models of frequency controlled linear induction drives are carried out. Two models of linear frequency controlled induction drive: scalar and vector control are investigated, transient characteristics of inverter output voltage, currents of linear motor, developed force and linear speed are analyzed and results of different control principles are compared.