Electrical Drive Simulation with MATLAB Simulink – Selected Technologies

Electrical Drive Simulation with MATLAB Simulink – Selected Technologies
اسم المؤلف
Viktor Perelmuter
التاريخ
10 يوليو 2024
المشاهدات
74
التقييم
(لا توجد تقييمات)
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Electrical Drive Simulation with MATLAB Simulink – Selected Technologies
Viktor Perelmuter
Contents
Preface viii
Author .xi
Chapter 1 Simulation of the Electrical Drives of Rolling Mills .1
1.1 Electric Drives of Reversing Hot Rolling Mills 1
1.1.1 Blooming Electric Drives .1
1.1.2 Plate Rolling Mill Electric Drives 17
1.2 Electrical Drives of the Continuous Hot Strip Mills .28
1.2.1 Roughing Mill Group Drives .28
1.2.2 Finishing Mill Group Drives 37
1.2.3 Electric Drive of Flying Shears 59
1.3 Electrical Drives of the Cold Rolling Mills 69
1.3.1 Electrical Drives of the Reels .69
1.3.2 Simulation of Reversing Cold Rolling Mills 77
1.3.3 Simulation of the Continuous Cold Rolling Mill .88
References 104
Chapter 2 Simulation of the Paper‑Making Machines 107
2.1 General Issues 107
2.2 Modeling Sectional Electric Drives 116
2.2.1 Forming Section . 116
2.2.2 Press Section 124
2.2.3 Dryer Section 135
2.2.4 Calender . 141
2.2.5 Reel . 145
2.3 Modeling Finishing Machines . 153
2.3.1 Supercalender . 153
2.3.2 Slitter 164
References 177
Chapter 3 Simulation of the Material Handling Equipment . 179
3.1 Pick‑and‑Place Machines 179
3.1.1 Traveling Cranes . 179
3.1.2 Cable Cranes 192
3.2 Mine Hoist .203
3.3 Belt Conveyors .223
References 247
List of the Appended Models and Programs .249
Index 255viii
Index
Note: Bold page numbers refer to tables and italic page numbers refer to figures.
AC3 model 200
AC4 model 118, 120, 126, 182, 230, 236, 239, 240
acceleration feedback 109, 110
active rectifier 13, 14, 16, 25–27, 34, 35, 37, 56,
57, 62, 74, 82, 86, 103, 160, 162, 176,
182, 184, 200, 219
AC voltage source 124
angle α 60, 63, 64, 116, 117, 206
angle β 62
angle δ 71
angle θ 186, 188, 226
antiresonant frequency 108
backlash 25, 108, 137–139
blocks
bistable 62, 67
manual switch 92, 96, 98, 162
mean 109
PWM 12, 13, 24, 25, 120
rate limiter 5, 10, 24, 73, 114, 122, 123, 126,
150, 152, 207, 217, 230, 233, 236, 241
sample and hold 32
saturation 131
star generator 73
step 73, 89
switch 23, 44, 45, 92, 97, 98, 131, 217
table 16, 137
uniform random number 110
from workspace 104
blooming
Blm1.m program 3, 19
Blum1 model 4, 5
Blum2 model 7, 10, 10
Blum2a model 11, 11
Blum 2b model 12
Blum 3 model 14, 14
Blum 3a model 14, 15
Blum4 model 17
canting 5
DC motor, with 4, 7, 12, 14, 155
draughting schedule 3
joint operation with pressure screw 16
Plate_Movement subsystem 5
rolling force, calculation 2, 20, 29, 30, 77
Rolling_Parameters subsystem 5, 23
rolling stand design 8
Rolling subsystem 3, 44
rolling torque 1, 2
rotational speed 4, 13–17
synchronous motor, with 12, 13
brake (mechanical) 182, 194, 197, 202, 212,
214, 223
cable‑crane
Crane3 model 199, 200
Crane31 model 200
Crane32 model 202
Crane33a model 202
Crane4 model 198, 233
indirect vector control, utilization 120, 200
lifting mechanism 194
parameters 192, 194
rope elasticity 198, 200, 210–213, 221
tractive force 196
winch. 194, 195, 197, 199–203
chopper 131, 132
circumferential speed 30, 42, 112, 122, 133–135,
143, 145, 158, 161, 171, 182, 202, 233,
236, 240
coiler see reel
cold rolling mill
arrangement 88
backup roll eccentricity 92
coil diameter (radius) estimation 71–73
design 77
equivalent mill drive simulation 103, 104
gear 88, 90
motor 88, 90–92, 96, 97, 100, 101, 103, 104
parameters 69, 70
parameters 77, 80
process gains 91, 97
reel operation conditions 80
Rev_Cold1 model 81, 89
Rev_Cold1a model 81, 83
Rev_Cold2 model 82, 85
Rev_Cold21 model 83, 85
Rev_Cold22 model 85
Rev_Cold2a model 82, 86
Rev_Cold2a1 model 86
roll flattening 78, 79
rolling force, calculation 78, 79
rolling schedule 80
rolling schedule 88–91, 103
rolling torque, calculation, program 79
speed effect 92, 93, 98, 100
strain hardening 69, 70, 77, 81, 97256 Index
cold rolling mill (cont.)
strip break 75, 76
strip tension 69, 72–78, 80–83, 85, 86, 88–103
Tand1 model 89, 90, 102
Tand2ab model 90, 91, 96, 98, 103
cold rolling mill (Cont)
Tand2ab1 model 92, 98
Tand2ab2 model 97
Tand2ab4 model 98
Tand2ab5 model 100
Tand3 model 101
Tand4 model 103
Tand41 model 103
Tand4b model 103, 104
tension control 93, 96–98, 100, 102
thickness control 81, 82, 83
thickness control 89, 92, 97–101
torque reference 71, 75
uncoil, operation 75–76, 77, 82, 83, 85, 86,
88, 91
control principle 12, 70
control system
calender electric drive 142
couch roll 122
direct tension 53, 73, 74, 82, 113, 162, 164, 166
direct vector 120, 157, 160, 216
drive with the synchronous motor 12, 13
first‑order element, as 100, 101
front active rectifier 13
indirect tension 40, 73, 82, 162–164, 166
indirect vector 120, 200
interstand tension 32, 56, 95
looper torque 42
mill 91, 93
rectifier 13, 86
speed ratio of the motors, for 14, 145
stand drive 32
stand motor rotation speed 54, 101
thickness 24, 105
torque 42, 187
turning roll 122
unwinder 155
validity, to illustrate 174
vector 25, 70, 71, 120, 121, 157, 160, 199,
200, 216
converter
three‑level 12. 13, 24, 27, 36, 37, 56, 61, 62,
86, 103, 216
two‑level 12, 157
conveyor
belt tension, calculation 228, 229
booster, with 225, 228, 238–247
Conv1 model 230, 236
Conv1b model 233
Conv1c model 233, 238
Conv2 model 236, 240
Conv2a model 238
Conv2b model 238
Conv3 model 239, 241
deflecting pulley 225, 226
energy saving 225, 230
finite element method 231
layout 225
load torque distribution 238, 240
two‑drive pulley 225, 226, 236–239
wrap factor 226, 241–243, 245, 247
current reference 27, 150
Curr_Reg subsystem 121
damping coefficient (factor) 73, 109, 137, 142,
198, 200, 210, 231
DC buses 27, 28
DC link 12, 16, 24–26, 34, 36, 62, 74, 81, 82, 86,
87, 89, 118, 129, 157, 192, 219
DC voltage 25–27, 56, 86, 129, 131, 132, 148, 162,
176, 202
direct current (DC) motor 4, 7, 12, 14, 155
flux weakening 6, 11
direct tension control 73, 74, 82, 113, 162–164,
166, 167
direct torque control (DTC) 15, 16, 61, 62, 67,
118, 120, 121, 137, 142, 157, 182, 230,
239, 240
double‑drum reel 164, 169, 173
Drive_12000_6Ph model 36
Drive subsystem 90, 120, 150
DTC_pos model 15, 16
DTC_shear1 model 61. 62, 67, 157, 182
DTC_shear2 model 67
eccentricity 44–46, 92
elastic torque 138
estimation
coil diameter (radius) 71
flux linkage 129
friction torque 161
position 129, 130, 200
speed of rotation 129, 130
stand stiffness 101
strip thickness 56, 81
excitation
current 8, 8
flux 8
voltage 13, 71, 85
winding resistance 8
field orientation control principle 12
first‑order element 4, 90, 100, 108, 163, 167, 207,
217, 233, 236, 241
5‑mass hoisting system 220–223
five stand mill 88, 90, 94
fluctuations 25, 26, 52, 81, 92, 114, 161, 192, 198,
199, 211, 222, 223
flux 8, 8, 11, 16, 30, 79, 81, 121, 159, 167, 169Index 257
Flux_Est subsystem 129, 132
flux linkage 12, 14, 36, 56, 71, 120, 128, 129, 132,
160, 182, 199
flying shear
angle α 60, 61, 62–64
angle β 61–63
cutting torque 60
front‑end cutting 59, 63–65, 67
given length section cutting 63
relative notch 60, 63
Shear_Control subsystem 62, 67
forward slip 30–32, 41, 48, 72, 73, 81, 91
four‑high mill stand 8, 37
friction coefficient 2, 29, 88, 93, 116, 147, 170,
206, 228
gear (gearbox) 8, 30, 37, 39, 70, 88, 107, 108, 119,
122, 128, 135, 136, 142, 167, 180, 181,
194, 197, 206, 216, 219, 225, 229, 230
ratio 15, 21, 61, 64, 80, 90, 113, 118, 126, 136,
158, 159, 161, 180, 181, 194, 197, 216,
229, 236
grid (network) current 14, 26, 35, 36, 38, 58,
65, 86, 89, 104, 157, 176, 203, 219,
223, 224
grid (network) power 90, 204, 219, 220
hot strip mill
direct tension measurement 52, 53
Finish_Mill_Drive_10MW_300 model 58,
58, 81
Finish_Mill_Drive_12MW_150 model 58
Finish_Mill_Drive_12MW_250 model 58
Finish_Mill_Drive_12MW_60 model 57, 57
Finish_Mill_Drive_8MW_400 model 58, 58
interstand tension, control 30, 32, 34
interstand tension, equation 31
looper 39, 40, 40, 41–45, 47–49, 50, 52–54, 55
Mill_finish2_3 model 54, 59
Mill_finish4_5 model 59, 59
Mill_finish6_7 model 59, 60
Mill_rough1 model 32
Mill_rough2 model 34, 35
Mill_rough2a model 34, 37
Mill_rough3 model 34, 36
Mill_rough3a model 35
Mill1_7 model 47, 56
Mill1_7b model 52, 54
Mill1_7c model 52, 54
Mill1_7d model 54
Nips subsystem 48
roll eccentricity 44, 48
rolling force, calculation 29, 30
rolling schedule 32 mm–2 mm 39
rolling schedule 40 mm–4 mm 39
rolling schedule 29
Sims1 program 29, 30
six‑phase synchronous motor, with 36, 37, 38
stand motors 40
Stand subsystem 90, 92
Tension_Control subsystem 32
thickness control 43–45, 51, 54
Torque_Stand1 subsystem 32
Torque_Stand2 subsystem 32
Torque_Stand3 subsystem 34
hydraulic drive 39
ID_PARM1 118
IM_Drive subsystem 120
IM_drive, 400 V, 50 Hz subsystem 160
indirect vector control 120, 200
inductance 8, 25, 118, 128, 176, 200
induction motor (IM) 15, 142, 118, 120, 126, 136,
137, 142, 155, 156, 159, 160, 161, 167,
180–182, 194, 197, 199, 200, 216, 220,
225, 229, 230, 236, 239
inverter
control system 12, 16, 24, 86, 103, 182, 236
DC source 25, 28, 56, 74, 81, 118, 129, 148,
162, 165, 182, 184
three‑level 12, 24, 36, 56, 58, 61, 62, 216
voltage source (VSI) 12, 200, 225
lag element 128, 129, 187, 217, 230, 236, 238, 241
Laplace operator symbol 73, 200
library model 152, 182, 200, 236, 239
load distribution 121–124, 172, 172, 173, 174, 183,
227, 237, 240, 240
Load subsystem 32, 34, 42, 148
logical switching unit 9
looper (loop holder) 39–55
lever 40, 41
Looper2 model 41
Looper2a model 43, 43
Looper2b model 45, 47, 48
Looper2c model 47, 48
motion equation 41, 42, 43, 45, 49, 50, 55
shaft 40, 41
torque 41, 42
Mean block 109
mechanical brake 182
mechanical link 85
mechanical system 92, 108, 135, 203
mine hoist
5‑mass hoisting system 220–223
jerk limitation 207, 208
jerk limitation 216, 217
Mine1a model 207, 208, 209
Mine2a model 211, 211, 212
Mine2b model 211, 214
Mine2b1 model 211, 212
Mine2b2 model 212
Mine3a model 216, 220
Mine3b model 220258 Index
mine hoist (Cont)
Mine4a model 222
Mine4b model 223
parameters 205
parameters 214
rope elasticity 209
rope elasticity 220
rope slipping 206
rope tension 222
rope tensions 211, 214
safety brake 211
safety brake 223
three‑mass model (system) 209–210
Model Properties/Callbacks/InitFcn 81, 89, 91,
109, 120, 233
modulus of elasticity (Young’s modulus) 31, 95,
113–115, 117, 145, 151, 209, 210
Nips subsystem 48
notch depth 60, 63
notch filter 110–112, 119–121, 137, 138, 143, 144,
148, 157, 187, 190
overload 4, 9, 11, 19, 80, 160, 167, 181, 195, 196
paper making machine
AC4 model 118, 119, 124
acceleration feedback 109, 110
arrangement 116
arrangement 155
breast roll 116, 116, 118, 122
calender design 141, 142
coiler see reel
condensate 136, 140
couch roll 116, 116, 117, 118, 121, 121, 122,
123, 124
double‑drum reel 164, 169, 173, 173
drive model 108, 108, 114, 124
dryer can (cylinder) 135–137
dryer section 135–140
forming section 116–124
layout 146
layout 167
load distribution in the double‑drum reel
173, 174
load distribution 121, 123
load distribution 131
motor power 156
motor torque 168, 169, 172, 172
motor torque, calculation 147, 148
non‑driven roll 133, 134
normal load (NRL) 107, 125, 126, 135, 137, 147
notch filter 110, 111, 111, 112, 119–121, 137,
138, 143, 144, 148, 157
paper break 150, 151, 152
paper thickness 149, 160, 161, 163, 167, 169,
173, 176, 177
Paper1 model 109, 109, 110
Paper1b model 110
Paper1b1 model 111, 113
Paper1c model 111, 113, 121
Paper1d model 113, 140
Paper2 model 118, 121, 124, 142
Paper2a model 120, 157, 216
Paper2b model 121, 124
Paper2c model 121
Paper2d model 121, 122, 131
Paper2d1 model 123, 123, 124, 124
Paper2e model 123, 125, 236
Paper3 model 125, 127, 134
Paper3a model 127, 129, 132, 133
Paper3a2 model 123, 127, 132, 133, 134
Paper3b model 128, 130
Paper3c model 132–134, 134
Paper3c2 model 134
Paper4 model 137, 138, 140
Paper4_1 model 137
Paper4a model 140, 141, 143
Paper5 model 142
Paper5a model 143, 144, 146, 149
Paper6 model 151
Paper6a model 148, 149
Paper6b model 149–151
Paper6b1 model 151, 152
Paper7 model 157
Paper7a model 160, 167
Paper7b model 161
Paper7c1 model 162, 163
Paper7c3 model 163
Paper8a model 167, 174, 182
Paper8a1 model 169
Paper8b model 172, 174
Paper8c1 model 174
Paper8c2 model 176
parameters 146, 147
parameters 156
PMSM, with 128, 130
press section 124–134
Recommended Drive Capacity (RDC) 107,
117, 126, 135
reel, peripheral 145–152
Shipping_roll subsystem 172
slitter 164–177
speed measurement 109, 114
supercalender 153–164
tension control 149–151
tension control 161, 162
three‑roll press 125
two‑roll press 125
ultimate tensile strength 111
unwinder 153, 155, 155, 156, 157, 159, 159,
160, 160, 161, 163
vector control, with 120, 120, 121
wire turning roll 116, 116, 117, 119, 123
wrap angle 116, 117
P_calc model 44Index 259
P_calc1 model 45
phase current(s) 200
phase shift 25
PI Controller 24, 54, 73, 97, 172, 199
plate rolling mill 17–27
characteristics 18
elastic torque 25
hydraulic drive, with 24
Plt1.m program 20
Plate1 model 20, 32, 44
Plate2 model 20, 21
Plate1a model 44
Plate3 model 24, 34, 207
Plate3a model 25
Plate32 model 25, 27
Plate 33 model 26, 28
Plate34 model 27
power circuits 24, 26, 27
rolling force 17, 20, 21, 23
rolling program 22
synchronous motor, with 19, 24
thickness control 23, 24, 24
PMSG see synchronous generators with
permanent magnets (PMSG)
position controller 16, 62
position sensor 16, 149
pressure screw (screw down) 1, 15–17, 17, 21,
23, 90
controller characteristic 16
helix angle 15
joint operation with the main drive 16
screw diameter 15
pulse encoder 108
PWM block 25
Rate Limiter block 114, 152
Rate Limiter subsystem 5
reactive power 13–15, 36, 57, 58, 63, 86, 89, 104,
157, 162, 176, 176, 184, 192, 203, 208,
219, 223
controller (regulator) 13
rectifier 12–14, 16, 25–27, 27, 34, 35, 37, 56–58, 62,
74, 83, 86, 103, 118, 130, 131, 131, 160,
162, 176, 182, 184, 200, 202, 219, 230
reel (coiler, winder) 39, 45, 59, 69, 72–74, 74, 75,
77, 77, 80, 80–82, 85, 86, 87, 88, 91,
103, 107, 142, 145–153, 155, 156, 159,
156, 159, 161–164, 169, 171, 172, 173,
173, 174, 176, 177
Reel1 model 73, 74, 74, 75, 77
Reel1a model 74
Reel2 model 73, 74, 75
Reel2a model 74
Reel3 model 75
reel drum 69, 80, 85, 145, 146, 146, 147, 149, 150,
161, 164, 169, 172, 173, 173
relative notch 60, 63
resonant frequency 108, 148
response to a step change (step response) 54, 108,
109, 110, 127, 137, 138, 144, 148, 149,
150, 150, 157, 157
roll clearances 91, 97, 98, 99
roll flattening 78, 79, 81
rolling force calculation 2–5, 19, 20, 29, 30, 44,
47, 78, 79
rolling schedule 80, 88, 89, 90, 91, 103
root mean square value 6
salient–pole synchronous motor 12
Sample and Hold, block 32
sawtooth waveform 129
Simscape/Electrical/Specialized Power
Systems 159
six‑phase synchronous motor 36, 36
Sharing subsystem 131
Shear_Control subsystem 62, 67
Shipping_roll subsystem 172
speed controller 2, 13, 34, 43, 47, 62, 71, 73–76, 90,
107, 114, 117, 120–122, 128, 131, 137,
149, 172, 187, 189, 199, 236, 239, 240
speed effect 92, 93, 98, 100, 100
speed reference 5, 10, 11, 13, 14, 32, 73, 114, 119,
121, 127, 129, 132, 137, 140, 143, 144,
148, 151, 153, 157, 157, 187, 189, 207,
212, 217, 236
squirrel cage rotor 225
Stand subsystem 43, 47, 81, 83, 90, 92, 97
stator flux linkage 12, 14, 71, 120, 128, 160, 182
stator voltage 13
step change 81, 119, 121, 127, 137, 143, 207
stepwise increase 143, 148
stiffness coefficient C 7, 118, 126, 137, 142, 137,
142, 156, 170
stiffness of the rope. 209, 210, 220
stiffness of the stand 17, 44, 49, 77
Stone1 program 79, 81, 88, 90
strain hardening 69, 77, 81, 97
subsystems
Curr_Reg 121
Drive 90, 120, 150
Flux_Est 129, 132
IM_Drive 120, 160
Load 34, 128
Nips 48
Observer 121
RL 126
sharing 131
Shear_Control 62, 67
Speed_Est 129
stand 43, 47, 81, 90, 92, 97
tension 32, 34, 133, 154, 151
Tension_ Control 32
Teta_Est 129
Torque estimator 182
synchronous motor 12–15, 24–28, 34, 54, 56–58,
70, 80, 82, 87, 88, 206260 Index
synchronous motor (cont.)
control system 12, 13, 13, 14, 24, 25, 34, 37,
71, 207
field orientation control principle 12
stator flux linkage 12, 14, 71
synchronous motors with permanent magnets
(PMSM) 128–147
speed and position estimation 128, 129, 130
start 129
torque 128
tangential velocity 113
tensile strength 111, 147
Tension_Control subsystem 32
tension equation 41
Tension subsystem 32, 34, 42, 113, 150, 152, 230
Teta_Est subsystem 129
THD see total harmonic distortion
thickness controller 44, 45, 54, 81, 89, 92, 97,
100, 101
Thickness model 51
three‑level inverter 12, 24, 36, 62, 216
three‑mass system 221
three‑phase half‑controlled thyristor rectifier
130, 131
thyristor 9, 130, 155
Torque estimator subsystem 182
total harmonic distortion (THD) 25–27, 36, 58,
86, 89, 104, 129, 162, 176, 203
transformer 13, 25, 26, 26, 27, 58, 62, 103, 124,
176, 202, 219, 236
traveling crane 179–192
Crane1a model 182
Crane1b model 182
Crane1c model 192
Crane1d model 187, 192
Crane1d1 model 187, 189, 192
Crane1d2 model 188, 198, 200
Crane1d4 model 187
Crane2b model 182
Crane2d model 192, 192
Crane2d1 model 192, 193
Crane2d2 model 192, 193
deviation angle (angle of deviation) θ 179,
184, 186, 188, 190, 192
general view 179
hoist motor, selection 180
load vibrations 187, 188, 192
second‑order (double) notch filter, utilization
187, 190
trolley motor, selection 181
trolley movement, simulation 182, 183, 186
vibration elimination, methods 186, 187
two‑level inverter 12
two‑mass system 85, 119
ultimate strength 60, 61, 63
ultimate tensile strength 111
uncoiler 75, 76, 77, 82, 83, 85, 86, 87, 88, 91,
153, 155, 156, 157, 159, 159, 160,
160, 161–165, 167, 167, 168, 169, 169,
174, 176
unwinder see uncoiler
vector control 25, 70, 71, 120, 120, 121, 157, 160,
199, 200, 216
vibrations 9, 108, 184, 187, 188, 192, 198–200,
211, 214, 238
voltage controller (regulator) 13, 27, 130, 131
voltage source 124, 129, 225
VSI (voltage source inverter) 12, 24, 87, 103,
225, 230
wrap angle 116, 117, 132, 206, 226, 229, 230, 236
winder see reel
yield strength 2, 19, 31, 69, 70, 77, 90, 91

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