Том 2

<.#. + , ".; . . . , . . ., . . . (#$ « % »)

D$# > ? % "# > 8 E# " %? # 8 $"- > 8 A # #8 @ >" # # 8# " # $% , " ? " ?- > $#%# > $#8 # [1]. D 8 > " " $&- # C& # " #8 $# 8 $% & @ $#% # * % " /" "-$# " 8 #$% . { " > #" # # "#" 8> @ ? & $& $" & # " # " # # # 8# " # " /- " $ " #@ " " #"$&*% @= /" " = 8 $ - / #" # / — # / "#" 8> " % # [2].

/ #% # , #% @=# # 8# " # " /" C&- $# , & " $& " $ $" # A # ($&- # , " " #, "#&>/ ). "$&*% # " > #" # $%- & $#8#%# * " / # & "E# # $& "> $ $" #

# # ?>" /" # "#" 8>. F # &* "E# # $& "> $ $" # "#" 8> 8 $& # * # 8 "#A & $ $&- # . < % &* 8 $#8#% ## $8> " % / 8 $ MatLab $& " $ $" # " " # $#%# A / A C&$# [1] ( ? % / / "# / 8 E# > D-1.5-3.3 # " "# & DDU5), % ? > 8 A ! < « », #& "* " 290 560 .

D # " > #" # $# #"$&*% ## " 8 > " " $& # ? $& # &* A ? # . " / "$# % # &* $= " ?& A # ! 8 ## ? " / #- " # " / "#" 8> " 8 # A #% C& 8 ( A &- , ?&@ & /, $8> " % /, $A 88 > % #/ # % "#- " 8> $& # ) # % " , 8 #"& 8 # " # [2, 3].

% "#" 8> " 8 #$% $% & " # * $& #$#8 &* > " C!!# # A & , $8> " % /, ?&@ & /, > # * & &* > % "> & # $ - & # # " # .

0 +

1. ( ! & .'., % . . < #%# >/ C&$# " #&*- >8 #A & 8. .: % &*" #/ 8 . 2010.

2. !Y* . . # &$# . .: A 8#% , 2001.

3. Krah J.O. Antriebsinterne Frequenzanalyse zur Parameteroptimierung von Servoreglern. SPS/IPC/Drives, Seite 105-113, Nurnberg, 2007.

271

#. . , ".; . . . + 9 , . . ., . (5 % 2. )

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< " #""& # # 8 #% # "#" 8> 8 = A (6,3 ' ) "# A C&$# A %$# @= A A A , " &- A / #% 8$"" > " #/ &* A A# M # $ - " A $ " 8 « >/ $? % &* " > " — "# >/ C& #A &*» (-). " #% " >8# "- # " 8# # " 8> $? % & / #8 @ " :

- # "#" 8> $# @= @ " * " # 8 A 8 # " # #"- #/, $& " $>E / #? ## "# > #A- & /, $# 8 " "& ?> A# $?# & /, $&@ > / " ## E# "! 8 ;

-" " # %8 " # $## C A## " * 8 % > - #8 .

" > ? >: % ? 8 " = " @= / "#" 8> C&$# ; $& # 8 "#" 8 / # A !#&* A 8- # [1] & #" &@ # A 8 # " # " " & @=# , "#8> 8 = >8 $&$# >8 $? % & 8 $# @= @ " *; $#" # ? "- # >? &A # 8 $& # !#&* 8 A 8 # .

& E # $" & > % " % # # 8 &* "-MatLab. 8 $ C "$#8 . < > "& @- =# $% " " # [2]: A 8 # " # #" # , * - # / 8 = " # # C!!# # 8 = " # " #. < & , - C!!# # A 8 # " # #" #/ ( ) & ! % > #" / " 8 " " & 8 10 % % #"#8 " # #8 . < # #"$&*%- ## !#&* $>E 3 % & " #8 . C!!# # 8 = " # " #" > 0,9 " 8# " " 8 " # >8 !#&* 8 0,995.

' & $%> " , $& 8 #% # #" / " 8> -, % &@ @= " " # A !#&* $&- & &* #8 @= /" " 8 $? % & , ? "$# ? 8> $ - 8 > " $# @= / " #.

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1.! . ., ! . . 8$" # 8 = " # #" #/ # # / 8 = " # $" " 8 # A !#&* " $A %# 8>8 & / >8 $&- # 8 // & # . 2008. R 3. D. 2—10.

2.!" & .1., ! . . &$# : C A- # " " "?- # : ?. $" ?# & " . >"E. ?. % #/. — .: % &*" #/« 8# », 2008. — 208 ".

272

./. 02 , .; . . . , . . ., . . . (#$ « % »)

< 8> C&$# > #8 @ ? &*E# $#8 = " $ $#- 8# " # 8 # " #8# $? % & 8#. #? & > #% # — " % # ? &*E / "#&> ? % $# " " # # " #. % # # $8 A C&$# $#" # $& ## $>E # < , 8 #"& % " #"$&*% # %8 " / 8#$"" / # #, > 8 # &A # 8 $#%# A $& # , $## # " 8- " / #.

' " = 8 ! < " % ? # ?& " # $8 A C&$# : " % @ " ? % > / > # $> C& # " # 8 E# , #! > " "# & / " 8 / C&- 8 / ? % . # # #"$&*% @ " , $#8 , < < « " » & % > 8 E# . <$& A " $#8 * > 8$& > " "# & / $# $# % > " & 8 && ?- ? #.

# " "# " & > ? % 8# && TMS320F2812. ' $A 88 ? "$# (< ) " "# & # "& %>-$A 88# # ? > $# .

' =# 8# > $#% # (Siemens, Yaskawa, Panasonic, ACS) $" & @ 8$& " " "# & 8# < & # " / # # $ - A 88# # . ' # " " # "& %> $A 88# # $8 = #/. , "8 ?=# $# #$> $" # , #"$&*% * "& / !# 8> & $A 88# # " "# & A / %8 #%-% # &* " # A < % > $#% # & /.

U>& $" & % — " % * "& & % ? > 8 A ! < "$# . < # A " % ## # > "* # ! >:

—? $ $& # 8 D Windows;

—? "$# ? > $&*% & " " >8 # ! /" 8;

—%$#"* $A 88> # #"$& 8 A , % A 8 A $8 * && % # ! /" RS-232 # $8 * 8$*@ $ 8 $&*% & & &* /E / 8 / ? > $# .

>/ "& #8 # ! /", " #/ " " = " @=#8# &- A 8#, # $# " ? #8> ! ## ? > " $A 88 / ? > $# .

–%> $A 88# # &@ " ? " ? #8> & $#"- # ? > $# ! ##.

' " ? $ " E " #@ $A 88 A $.

273

.#. 1 , .'. , .*. , 0; . . . 8 " , . . ., . ( 71$, 2. )

' " 8 > # #" > C&$# $#8 @ $"&- &* > # @=# " /" $ $# #$ 8$" ## ? &*E# $" > 8 #, % > $# > "# & , - > %> @ A & 8#. ?> C <-A & > / "#" 8 $# A A # # <-A & > - > "#" 8 , > #8 @ # A # @= % .

< # "#A & % # , A &@, % " # A # @= A %$# > 8 % " *, #A &* %A # " , % 8 " # " % " ? / " %# — % # & ? # .

& " # & ? #/ 8 $#% # * E # # $# ? / " %# A & $& >8 %#" 8 $# & 8 % ##,C " % $& # &* @ % " # &* " # "#A & %- # "# > C&$# % " $# " #8$, & &* , $#8 , "& =# "#" 8 " "# >8 C&$# 8. < & A " & " # & ?-

"$#8 &* #""& # & A #!-8# " # 8$ > - " > -#" # ? # A & $% & , ?& " # "- # " # % @ " ? & 8 3,0 U $# "& ##, $ - " 8 # ` = !(R2+R3)>32·!R3, " #" # A- & ? % R2 "$& A " ?& " # $& # &* A "#& # . C!!#- # "#& # " R2 k=R2/R1. "$#8 &* > $> -

274

. . 1 " , ".; . .#. 8 , . . ., " . (#$ « % »)

IGBT,

'"& # # " 8 > C A "? A @=# & A#/, $# ? # >" > & A# " # $"" , IGBT-8 " A E #/ * " O 8& 8 / " *@ A 8 A C&- $# , ? % / %8 $& # * " &* >" # $% ? > $# & 8 " % [1]. > " /" $" " E " @ " , $# C 8 8 @ " # E #/ # , " , " 8 "#8 &* > $% # $#/, $# 8 %8 $ - " 8 *E " [2]. & # % #, $& #" &- & , " $* &@ , % ? " # # &* > E# " ? & "& >8# & " . < C 8 > >" & A# > " /" @ " $" 8 #% ##.

& E # $?& 8> #"$> # IGBT-8 & / E# A #$% 8 = " /, % # @= / $# $# ## # C "$& ## $? %- & / " $&$# > &@ / A #$, ?> $- %# > " > $# # > > 8 & / #% " , $% & $ - * ? # ? = 8 " . U>& % ? ! # &* " 8 , # > @= # &* $"& &* " # # 8 & / " / /, C % <{ [1], " = " & > " # >? " ? % > 8$ " , @=# $" & / % .

'# A ?>& $" & ? >/ " , $% & @=#/ $# * #""& # # 8# " # #" # IGBT-8 & / E# A & "- " # $#/. ' $# ? "$" ? " # " ?> #"$> > 8 PM1200HCE330, "" # > 2400 # $ - # 3300 '. ' #"$> #/ ?> $& > " " > C A #- " # $% 8 88 ## &@ /, $% & @=# * -" # " # , # # 8# " # $* [3].

"$&*% # A " $% & $? * IGBT-8 " "- " @=#8# $8 8# $ , $#@, & =#8# #% &- # >8# " /" 8#, $" # >/ $& / " & >? - # .

0 +

1.. . < # # C& > $? % & / & A - 8> C&$# . .: % &*" , 2008.

2.'. . D#& > $&$# > &@ #. 2- #% . .: C-XXI,

2005.

3.+ ! & }. . < > $"">. .: A# , 1974.

275

8. . 1 , ". (#71$ . +. . ); . 8. . / & , . . ., ., 2 . " . (8 8 «7 " 2 3 », 2. #.# 2 )

$#& , " #, #8 @=# C&$# , $& @ " $ $A 88 8, % ? >8 # # # &* & A #% # [1, 2]. -$? $" # "#" 8 $A 88 A $& # % ? "$# >" / " # ? # $# >" / $#% # &*- " # " .

% ? "#" 8 $& # $# 8# " , / ? "$ - # " # % #8 " % $& # % " ## $A 88$& # A $# $"" ? > $ % &* 8 #%8 # $8 = # # E#? ? # $A 88 A #% # # # &* > C&$# .

' % &* E#? A #% $# ! 8# " " 88 - & # "$#% # , # " " & @=# E#? # "

" " @=# "#" 8> $& # $# " ## % @= / $A 88>. ' # > ? > " % / $# # !- 8# #@ % #8 " % / "#" 8> " " $# , " =- " "& % $"" , $#" =# /. < # C 8 " ? > / "#" 8> %> @ # # ## $8 A #% C&$# , "$" ?> ! 8# # "#A & ## $A 88.

< > " > # $#8#%# > " > "#" 8 - 8 # " A A # , % ? #8# # 8 &* "#" 8> $A 88 A $& # % #8 " % >8# C&$# 8# " & 8$*@ A 8 # .

% &* > 8 # "#" 8 " MatLab Simulink $%>- @ , #"$&*% # % ? / "#" 8> $& # $% & $ - >"# * " * " " &* $ $# " ## >" / " " # ? ? #.

0 +

1. % $& # C&$# 8# " " {< /

. . # 8# , '.'. ' "#&* , U. . # , '. . – & . — .: E# "- # , 1990. — 200 ".

2.R . ., +-"$ .'., * . . &$# > $ "

"{< . — .: A# , 1986. — 271 ".

276

. . $: , ".; . .+. / 2 , . . ., " . ( 7%$, )

!! C2000 ! TEXAS INSTRUMENTS

" 8 8 C$ % # # # # # # "#" 8> C&$#-$ % # @= $& # " # $# > " /" , $# C 8 " $# A #A & #? &*E "$" # # "# >/ #A &* ( ).

' " $& @= A " /" & ?> $#8 " % >/ $? % &* " > (<{). & 8 = > ( 1 ' ) ?> #8 @ 8 & * #/ C!!# # 8 = " # ( ) (cos ?> ? & 0.7). A # # "# $& 8>/ >$8#- &*, >/ &* " # , # E A 8 # " #/ "- " $?& 8 A #% " # .

#8 #% " 8> $" > , > # C!! # > E #/ & " $#8 # C!!# # 8 = " # ( ) " " <{. D#" 8 $& # & ? "$# * $& # &@ >8 C& 8 8 " " ## " >8 % 8 $& # . < # C 8, $" &* # # " * 8 & , $& # &@ >8 C& 8 8 "- = " & " " >" # " — 150 # >E . D- > 8 • #! > "#A &* > && " 8 /" C2000 ?> $" > ? % 16-?# > /8-" # # - # " 8 A " ? "$# * &* " * # & &@ # , $" " #@ $&*" #/ ! 8"" & .

8 *E# * $&*" ## 8 % " ? & / " # - &* " # # & . $& A " " & * " $8 =*@ 8 & >"- A • (hrPWM), >/ $#" " 8 A# $" # & 8# && " 8 /" C2000. < # #$ ? > 8 & hrPWM " $#8 ## MEP (micro edge positioner) & A##, $% & %?# * # "#" 8 / " > 8# && 8# E A#, ?& A 8 " ? & " * &*- " * $# &@ # • . MEP-& A# $% & ?# *" 8# E A $ 150 $" 20F28335 ( " "#" 8 / E# > 100 , MEP step size 180 ps).

277

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& ""# " # 8 > $# #A & / $ A 8 @ " &A# A >, # " #& # . # $" > ? % $#8# # / 8 "" / $& / 8 #A & [1]. ' E# # C 8 &* 8 $#8 *" , "" # #%8 " E # $* " # . < C 8 ?>& $& 8 "" $&-8 &* "# A #A & ( #". 1), $#A & #"& A 8 # $& > $"" $# " 8 $& ##. 8 &* # > $"" % &* A A # " , $%- & " # * % =# &* " > , # > $/.

. 1. A +F$ ! $!" A

< & A " #"$&*% * " 8 > %8 " # 8$*@ / # # & "#8 & ## C& # " # # $& > $"" C&- $# " $8 =*@ $$ ? ?= / C& # " / 8 E# > # - 8 "" / $& / 8 . / $ $% & ? % A # #/ "- "8 # * $& > #8> C& #A & % #"#8 "$" ? A # , #$ A % # # 8 # # & 8 #%8 . ' # 8 C # & > # , $& >/ "$" ? ? "$##"$&*% # #A & $#% " > # & &@? / $ - " #, $# " #8#, 8A >8# % # 8#.

0 +

1.!" & .1. " > C&$# . — .: % &*" , 2007.

—224 ".

278

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'" = 8 #? &*E & A % # & " / /, # >" #/ * A 8 # #% &* > "$ &* > " " # " $8 8 " * % A ? "$/" . < "& # " # # ?& " # "#& / C& # # $% & @ E * C $?& 8 8 8# # A $& # # / 8 = " *@ " $8 =*@ # > !#&*-

C& C A## ( M ). D = " @=# M #8 @ >" @ " #- 8 " * # " / % ## # "& @ "#" 8 $& # . &*- / & " % ? >" C!! # > # > "#" 8 $&- # M [1], @=# " $" / % ## # #% / " #8 " *@. < % ? > $&& &* A M (< M ) & $& 8 A ! % A 8 " A >$8# & ( '), ? @= A #- # # @ A % : " 88 A 8 # " #" # (THD) "- " & 37,66 %.

& " # A 8 # " # #" #/ $& A " #"$&*% * < M " >8 8 8 $& # « & 8 A » # ! 8# # 8$& @=# #8$&*" & < M " & / A A # .

< # #$ ? > $& / "#" 8> $& # < M % &@- " 8$" ## # >8 !#&* 8 % # > 8 8A >8# % # 8# «# &* A » # &* A A % #. ' % &* > & / A A & ! 8# @ " "#A &> $& # - 8 >8 # 8 $# ( ), > ! 8# @ A > 8A > % # < M , 8$"# @=# "# " #- &* " * A % #.

% % &* #""& # A 8 # " A % , $?&- 8 A "#" 8 / ' — < M , "& , * " 88 > A 8 #- " # #" #/ " " & 0,97 %, " " ? # 8 D 13109-97.

% ? $# "#" 8> $& # < M $% & - ?# *" " / 8$" ## A 8 # " # " " & @=# # # / 8 = " # A % #, $# # " = " 8 & E- #@ C& 8 A # / " 8 " #8 " # / A $?# & " $# @- = / " *@.

0 +

1. | . ., !" . . # > !#&*-8$"# @=# " /" & "#" 8 A 8 A C&$# $" A . #$: % &*" , 2008.

279

. . 6 , ".; . 8. . 8 " , . . ., " . (# $ « % »)

U %$" " * ? > 8 > ? "& ? #8 " * $#8 # C&$# &* > " " > A A (x ) "$& 8>8 >? A 8 $# #/ > "# # .

< & A " C&$# x " " "# A %- 8 A #A & # &* A #"$& # , $? % & " > & A $# # , " A& " @= A "! 8 , C& 8 # " A$# & C A## & $# # #A & / # ? "$# # $& 8- A >? A $# &@ # #" # " A $# # .

D#" 8 ? "$# >? A &@ " ? :

-C& 8 # " #/ $# &* C A## 8 # A #$, >/ $# # >$& # &* #" # $# # , ? "$# @= A ?- #8 @ C A#@ #8 8 A >? A ;

-"#" 8 $& # "# >8 "-A 8>8 $# 8 %A # " ?#% ## " > = # 8 # ;

-"$# &* >/ A " $& 8>8 %? # 8 " $# # 8$8>E& / " #, # #" # ? "$? / A $# # , $%- & @=#/ "# #%# * > $# $ 8$ , ! % # " " $# @= / " *@.

< # 8 &* / ? x A #"$&*% " #" # - # / 8 = " #, #/ 8 #8 — #" # $# # .

& " # "#" 8> $# x $#8 " 88 #$$ " % # # 8 $# # "#& > C& 8 # "#" 8>$& # C&$# 8. < "8 > # > #/ A$& 8 A $ 8 # >? A " #"$&*% # 8 $? % & " >, # ? % A .

8# & $> # $" & > "& @=# % ? #:

-? " # C& 8 "#& / " # C&$# ;

-" 8> C& # " # " # #/ "#" 8> $& # " / - = # x " 8 % # # $# % A $? %- & " > # "#" 8> ? "$# >? A ;

-&A # 8> 8 # # # % =# > 8$& " ? # "#" 8> " A $& # x .

280