E-mail:mohammadi_505@yahoo.

com
sedighi@yazduni.ac.ir
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Rs , Lls
Rr , Llr

Lm
Ls , Lr
:1 [3]d-q

:
)(1

d
qs + ds
dt

V qs = R s i qs +

)(2

d
ds qs
dt

V ds = R s i ds +

)(3

d
+ ( r ) dr

qr
dt

= R r i qr
+
V qr

)(4

d
( r ) qr

dr
dt

= R r i dr
+
V dr

)(5

Te = 1.5P ds i qs qs i ds

)(6

qs = L s i qs + Lm i qr

)(7

ds = L s i ds + Lm i dr

)(8

= Lr i qr
+ Lm i qs
qr

)(9

= Lr i dr
+ Lm i ds
dr
)(10
)(11

Lr = Llr + Lm

:
)(12

1
d
= m
) (Te B m Tm
dt
2H
)(13

Vqr , iqr

Vds , ids

Vdr , idr

d
d

qs , ds

dq

, dr

qr

dq

m
P
r
r
Te

:
V n (rms ) = 460V ,50 HP.60 Hz, R s = 0.087, Lls = 0.8mH
R r = 0.228, Llr = 0.8mH , L m = 34.7mH .J = 1.662kg .m
B = 0.1, P = 2

-2-2



:
)(14

d
m = m
dt

)(1

Vqs , iqs

Tm
J
H

L s = Lls + L m

ia

Te = K

K f , i a
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est

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L m i ds
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AC

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Te = s i r

*T
2 2 Lr
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3 P L m r est

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=
i qs

Lr

Rr

= r est

= r .

* ids ) (18
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r
Lm

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i ds
=

e m
sl ) (19 :
)(19

( m + sl )dt

= e

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)(20 [2].
)(20

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Lr

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est

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r

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-3
1965

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[6] .

:: 3 ][6

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. 1975
. 1985
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) (3 ) (21
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)(21

K
) U (S
= KP + I
) E (S
S

K P K I
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t = 0.4 sec
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t = 1.62 sec .
.

NB=Negative Big, PB=Positive Big,

NM=NegativeMedium, PM=Positive Medium ,
NS=Negative Small, PS=Positive Small,
ZE=Zero
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rad
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AC

[1]Peter Vas,((vector control of

machines)),oxford university press,1992.

])) [2 ((

.
,.1376
):7(

) (

][3
]))[4 ,- ((
., . ., ,
, .1382
[5]Leonhard,w.,((Control
of
Electrical
Drives)),Springer-Verlag,Belin,1996.

:8

PI

.
) (7
) (9 .

[6]Murphy,J.M.D.,and
Turnbull,F.G.,((Power Electronic Control of
AC
Motors)),Pergemon Press,Oxford,1985.
[7] Bose,B.K.,((Power Electronics and
AC Drives)),Prentice-Hall,Englewood
Cliffs,N.J.,1986.
])) [8 ((

. . .
.

:9

PI

-6

, .


. , PI
,
"

.

.

.1380
[9]Hu B,Mann GKI,Gosine RG,((New
methodology for analytical and optimal
design of fuzzy PID controllers)).IEEE Trans
Fuzzy Syst 1999;7(5):521-39.
[10]ErhanAkln,Mehmet
kaya,Mehmet
Karakose,((A robust integrator algorithm
with genetic based fuzzy controller feedback
for direct vector control)).Computers and
Electrical Engineering 29(2003) 379-394.