Prospects for Use of AC Drives in Industrial Robots. Identification of Quality of Asynchronous Electric Drives From Spectra of Rotor Currents

摘要

The article substantiates the efficiency of analyzing the rotor currents of asynchronous electric drives with frequency control. It is proposed to use the spectral analysis of these currents and the fundamental harmonic, as the most accurate “mapping” of slip in an asynchronous motor - as a method for estimating the quality of torque generation in the engine. Simulation and experiments confirm the proposed theoretical propositions. These experiments, showing the drive operation at low loads with a corresponding slip 3% under a load close to the nominal corresponding slip 8-10%, convincingly demonstrated that, being implemented in the standard frequency converters (e.g., ATV, Schneider Electric company), the algorithm of torque formation is not the best, at the same time, a structural solution has been proposed that improves the drive dynamics almost twice, making it commensurate with the dynamics of permanent magnet engines. This solution will make it possible to use asynchronous electric drives in precise technologies, including in the drives of industrial robots.