C s Truyen ong ien

2.11 HE IEU KHIEN VAN TOC ONG C DC KCH T OC LAP VONG KN 2.11.1 He ieu khien van toc ong c dc bang bo chnh lu n S o he truyen ong c ve minh hoa tren H2.68: Mach cong suat gom bo chnh lu ieu khien mac vao li nguon ac. ien ap ngo ra cua bo chnh lu mac vao phan ng cua ong c. Gia thiet mach kch t c nuoi bi mot nguon dc oc lap khac va c thiet lap gia tr khong thay oi bang nh mc. Tuy theo yeu cau thc te, mach cong suat co the cha cuon khang phu nan dong ien Ld mac noi tiep vi mach phan ng. Do tac dung han che o nhap nho dong phan ng, nen no tao ieu kien m rong vung lam viec vi che o dong ien phan ng lien tuc en gia tr cc tieu Imin. Vi cau truc mach cong suat nh tren, he truyen ong co kha nang lam viec trong pham vi goc phan t th nhat va th t, cho phep thc hien che o keo tai thu ong (hoac nang taigoc phan t th nhat) hoac ham tai tch cc vi van toc am (ha tai-goc phan t th t). Trng hp tai thu ong: e he truyen ong hoat ong, mach ieu khien nhan cac tn hieu gom tn hieu ieu khien chnh la van toc yeu cau (wyc), cac tn hieu o lng hoi tiep nh dong ien hoi tiep, van toc hoi tiep. Cac tn hieu hoi tiep at c nh cac thiet b cam bien dong ien va cam bien toc o va sau khi qua mach loc chung. Mach ieu khien gom ba khoi chc nang chnh, trong o cha hai khoi hieu chnh gom hieu chnh van toc va hieu chnh dong ien mac theo cau truc dang noi tang (cascade). Khoi hieu chnh van toc loai P hoac PI x ly da vao trang thai tn hieu van toc yeu cau wyc va tn hieu van toc hoi tiep va cho ap ng ngo ra la moment yeu cau. Chc nang cua hieu chnh van toc nham ieu chnh moment ong c sao cho ap ng cua van toc ong c w bam sat gia tr tn hieu van toc yeu cau wyc c thiet lap ngo vao. Tnh chat ong hoc cua van toc va sai so toc o xuat hien trong qua trnh ieu chnh phu thuoc vao cac gia tr tham so thiet lap cua khoi hieu chnh van toc. Mac khac, vi cac phan t gii han (co ac tnh bao hoa) tac dung len

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cac tn hieu ngo ra, khoi hieu chnh van toc con thiet lap cac gia tr gii han cho phep cua dong ien tai Iycmax, Iycmin. Do moment co quan he t le vi dong ien mach phan ng nen tn hieu moment yeu cau cung chnh la tn hieu dong ien phan ng yeu cau Iyc. Khoi hieu chnh dong ien thng gap co dang PI , ngo vao cua no nhan cac tn hieu dong ien phan ng yeu cau iyc va dong ien hoi tiep iht, khoi co chc nang chnh la ieu chnh thay oi ien ap nguon cap cho phan ng sao cho dong ien phan ng (va moment) thay oi chnh xac theo gia tr iyc c thiet lap ngo ra cua hieu chnh van toc. Tn hieu uk ngo ra cua hieu chnh dong ien mang thong tin ve o ln ien ap nguon cap cho phan ng ong c. Ket hp cac gia tr khong che Iycmax, Iycmin thiet lap ngo ra cua hieu chnh van toc, hieu chnh dong ien co chc nang quan trong th hai la bao ve qua dong ien cho mach cong suat. Khoi th ba la mach tao xung kch. No tiep nhan tn hieu uk t khoi hieu chnh dong ien va se thc hien chc nang chuyen oi tn hieu uk thanh xung kch ong cac thi iem thch hp (goc kch ) cho cac thyristor e at c ien ap chnh lu trung bnh t le vi uk. Do la tang cuoi cung cua mach ieu khien va co chc nang giao tiep vi mach cong suat nen mach kch thng phai thc hien chc nang cach ly. Xet qua trnh qua o khi ong c khi ong en van toc ny c(H2.69). Tai thi iem ban au, do van toc ong c bang 0. Sai biet van toc u ln lam cho hieu chnh van toc sm at gia tr bao hoa. Dong ien yeu cau ngo ra cua no c thiet lap en gia tr cc ai iyc=iycmax. Mac khac, do dong cha qua mach phan ng nen sai biet gia dong iyc va dong tai tac ong len khau hieu chnh dong ien sm lam no at trang thai bao hoa vi tn hieu uk xac lap gia tr cc ai. ien ap chnh lu cc ai tao thanh tac dung len mach phan ng theo phng trnh:
u d = R .i + L . di + k kt . dt

(2.60)

Do van toc thay oi cham nen thanh phan sc ien ong k kt . luc nay co gia tr khong ang ke. ien ap chnh lu ud tac dung tang nhanh dong ien phan ng en gia tr cc ai. Tai thi iem t=t2, i=imax va mach hieu chnh dong ien thoat ra vung bao hoa. No bat au tac dung len qua trnh hieu chnh dong ien. Do dong ien phan ng qua o tiep tuc tang len vt qua gia tr iyc nen khoi hieu chnh dong tac dung lam giam ien ap uk va t o giam ien ap chnh lu. Qua trnh neu tren ket thuc tai thi iem t2. Khi o, ien ap nguon cung cap mach phan ng phai va am bao duy tr dong qua phan ng bang cc ai va bu cho thanh phan sc ien ong t le vi van toc tang len cua ong c. Do van toc ong c trong giai oan nay thay oi gan nh tuyen tnh nen ien ap trung bnh cua nguon gan nh thay oi theo ham: U d R .I max + k kt . = const + K . (2.61) Do o tr trung bnh tn hieu ien ap ieu khien trong giai oan (t2<t<t3) gan nh thay oi t le thuan vi van toc. Tai thi iem t=t3, van toc ong c w at gia tr van toc at wyc va tiep tuc vt qua wyc khi t>t3. Do o, khoi hieu chnh van toc bat au ra khoi vung bao hoa cua no. Sai biet van toc (wyc-wht)<0 tac dung lam giam tn hieu dong yeu cau iyc ngo ra.

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H2.69

Nh vay, khi t>t3, ca hai khoi hieu chnh eu hoat ong trong pham vi ieu khien tuyen tnh. Do qua trnh khi ong ang xet khong mang tai, dong ien duy tr qua phan ng va moment ong c tiep tuc tac ong tang van toc. Sai biet van toc tiep tuc lam giam tn hieu dong iyc en triet tieu. Sai biet ngo vao khoi hieu chnh dong ien tac ong giam tn hieu ien ap ieu khien, tc giam ien ap chnh lu trung bnh. en thi iem t=t4, dong ien qua phan ng triet tieu va tn hieu uk co gia tr thap khong cho phep thc hien c qua trnh chuyen mach. Do o, ong c sau thi iem t=t4 chay khong tai vi ien ap phan ng duy tr sc ien ong at c thi iem t=t4. Mot trng hp khac mo ta tren H2.69b la khi ong ong c mang tai. Qua trnh khi ong co giai oan au dien ra tng t nh trng hp a c khao sat. Trong giai oan (t<t1), hai khoi hieu chnh trang thai bao hoa. Trong giai oan (t1<t<t2), mach hieu chnh van toc van duy tr trang thai bao hoa trong khi hieu chnh dong ien hoat ong trong vung tuyen tnh. Khi t>t2, hai khoi hieu chnh cung hoat

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ong trong pham vi tuyen tnh. Do phai tao nen moment can bang vi moment tai, dong ien xac lap mach phan ng at gia tr khac zero.

H2.70

Ham ong c: ham ong c cho tai thu ong, tc ao chieu moment co the thc hien bang cach ao chieu dong ien phan ng hoac ao chieu dong ien kch t. Phng phap ao chieu dong ien phan ng co the thc hien v du dung cong tac ao c kh e ao chieu dong ien. Phng phap nay hien nay rat t c s dung. Phng phap ao chieu dong ien kch t c mo ta trong phan truyen ong co ao chieu (xem 2.11.2b) Trng hp tai tch cc: Ham ong c vi tai tch cc co the thc hien e chuyen trang thai lam viec t goc phan t th nhat (che o ong c) sang goc phan t th hai (che o ham tai sinh) e giam van toc ong c (en dng lai) bang cach ao chieu dong ien kch t (xem 2.11.2b) hoac mot cach n gian hn la s dung moment can cua tai e dng ong c. Trng hp ong c ao chieu quay (trang thai ha tai cua cau truc), qua trnh ham dien ra trong goc phan t th t. oi vi cac trng hp va mo ta, che o ham oi hoi s dung bo chnh lu ieu khien hoan toan. oi vi trng hp tai tch cc, he truyen ong ong c dc kch t oc lap thng trang b bo phan ham dng khan cap khi co s co mat nguon bang cach au phan ng vao ien tr (ham ong nang). Cung co the s dung cach ham ong nang tren cho hoat ong cua ong c goc phan t th t oi vi tai tch cc. Khi s dung

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phng phap ham nay, co the s dung bo chnh lu ieu khien ban phan lam nguon cho mach phan ng. Truyen ong co ao chieu dong phan ng bang cong tac ao c kh ch phu hp cho cong suat nho, vi cong suat ln nen s dung phng phap ao chieu dong kch t. He truyen ong dung bo chnh lu n cap nguon cho mach phan ng ch ap dung cho cac ng dung khong co oi hoi tnh chat ong hoc cao. Ngc lai, e thoa man cac nhu cau ieu khien vi chat lng qua trnh ong hoc cao, mach chnh lu kep c s dung. 2.11.2 He ieu khien van toc ong c dc co ao chieu Cau truc he truyen ong ao chieu vong kn c mo ta tng t nh trng hp tren. iem khac biet cua cau truc ao chieu the hien cac iem sau ay. mach cong suat cho phep ao chieu: v du bo chnh lu kep (hoac bo chnh lu n va cong tac ao) mac vao mach phan ng (hoac mach kch t). Phng phap ao chieu dong ien qua mach phan ng (hoac kch t) a c mo ta chng 1. Mach o va x ly tn hieu phai xac nh c cac tn hieu ve dau cung nh o ln (o van toc, dong ien). Cac khoi hieu chnh c thiet lap sao cho am bao cac mc gii han dong ien, van toc phu hp. a. He truyen ong ao chieu bang cach ao chieu dong ien phan ng: Tren H2.71 mo ta s o ieu khien cua he truyen ong ao chieu s dung bo chnh lu kep thay oi chieu dong ien phan ng theo phng phap ieu khien ong thi. Cau truc c mo ta s dung hai khau hieu chnh dong ien. Moi hieu chnh dong co gia tr dong yeu cau ngo vao bang tong dong yeu cau phan ng cong them dong ien can bang i0yc Dong ien yeu cau phan ng lay t ngo ra cua hieu chnh van toc. Dong ien can bang co the thiet lap t nguon khong oi.

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H2.71

T o suy ra dong ien yeu cau cua moi khoi hieu chnh thanh phan:
i dyc1 = i dyc + i 0 yc khi i dyc > 0 ; i dyc 2 = i dyc + i 0 yc khi i dyc < 0 ;

(2.62)

Dong ien kch t co gia tr khong oi c tao thanh bi nguon chnh lu Hoat ong cua he truyen ong trong qua trnh khi ong mang tai va ieu khien giam van toc yeu cau co the giai thch qua ket qua mo phong tren H2.72. ong c c khi ong mang tai va sau o ieu khien giam van toc. Qua trnh t luc bat au khi ong en khi at van toc xac lap (khoang thi gian t<t3) dien ra tng t nh trng hp truyen ong khong ao chieu mo ta phan 1. Bo chnh lu 1 tham gia qua trnh khi ong. Do hieu chnh van toc co ap ng ngo ra idyc co gia tr dng nen dong ien tai yeu cau cong vi dong can bang c thiet lap cho khoi hieu chnh dong cua bo chnh lu 1 va dong ien can bang i0yc c thiet lap ngo vao cua khoi hieu chnh dong ien bo chnh lu th hai. Bo chnh lu th hai hoat ong vi goc kch m toi a ( 2 = max ) (giong nh trang thai b khoa kch). Tai thi iem t=t4, van toc yeu cau c ieu khien giam xuong. Khi o, khoi hieu chnh van toc nhanh chong at trang thai bao hoa can di vi gia tr dong ien thiet lap ngo ra cua hieu chnh van toc co gia tr am. T o, dong ien tai yeu cau c ap at cho hieu chnh dong cua bo chnh lu 2 (cong vi dong can bang i0yc) va no ieu chnh dong tai trong thi gian giam van toc en khi at gia tr xac lap mi (thi iem t=t4). Trong khi o, hieu chnh dong bo chnh lu 1 ch lam viec vi dong ien can bang i0yc vi goc ieu khien thiet lap gan cc ai. rieng.

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He truyen ong ao chieu co phan ng c nuoi bi bo chnh lu kep ieu khien ong thi co qua trnh dong ien phan ng (va moment) lien tuc, thuan li cho hoat ong ong c nhat la khi hoat ong nhe tai. Mot qua trnh ieu khien va ao chieu van toc trong ieu kien mang tai cua ong c c mo ta tren H2.73. Qua trnh mo ta chi tiet giai oan ao chieu c minh hoa tren H2.74. He truyen ong ao chieu dong phan ng ieu khien rieng: co s o cau truc mo ta tren H2.75. Qua trnh cac ai lng c mo ta minh hoa tren H2.76, H2.77. Tren H2.76 la qua trnh ieu khien khi ong ong c en mot gia tr cho trc. Tren H2.77 la qua trnh ieu khien van toc ong c va giam van toc trong ieu kien mang tai. De dang nhan thay s xuat hien cac iem gian oan dong ien tai va moment tng ng. Chat lng qua trnh qua o ro rang cham hn va khong thuan li khi so sanh vi trng hp ieu khien ong thi.

H2.72

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H2.73

H2.74

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H2.75

H2.76

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H2.77

b. He truyen ong ao chieu bang cach ao chieu dong ien kch t:

H2.78

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Tren s o H2.78 mo ta he truyen ong ao chieu bang cach ao chieu dong ien kch t. o th mo phong kem theo c trnh bay tren H2.79. Nguyen ly hoat ong cua s o mach ien nh sau: theo yeu cau thay oi chieu moment, ien ap kch t b oi dau va dong ien kch t thay oi theo ham mu en khi at chieu ngc lai. Trong thi gian dong ien kch t cha kp oi dau, moment ong c co the dng hoac bang zero. e at thi gian qua o nho th trang thai moment bang zero thch hp hn. V the trong thi gian bat au t luc co yeu cau thay oi chieu moment en thi iem dong kch t bat au oi dau, dong ien phan ng c ieu khien triet tieu. Ngay sau khi dong ien kch t oi dau, phan ng ong c c mac vao nguon ap e sm at gia tr yeu cau. Gia s ong c ang lam viec che o ong c. Phan t phi tuyen 1 co ac tnh A. Sau khi van toc thay oi giam xuong, dau cua moment yeu cau oi dau va tac dung len khoi 2 lam thay oi chieu dong ien kch t yeu cau. Qua trnh ao chieu dong ien kch t bat au dien ra di tac dung cua khau hieu chnh dong kch t. Mac khac, s oi dau cua moment yeu cau tac dung a bo chnh lu mach phan ng lam viec che o nghch lu vi goc ieu khien cc ai va a dong phan ng giam ve gia tr khong. Tai thi iem dong ien kch t triet tieu va oi dau. Hien tng nay tac dung len khoi 3 va tac dung thay oi ac tnh cua khoi 1 tr thanh B. Bo ieu chnh dong ien phan ng nhanh chong at bao hoa va mach chnh lu tng ng tac dung lam tang dong ien phan ng. Khi dong ien phan ng at gia tr yeu cau, khoi hieu chnh dong phan ng thoat ra khoi vung bao hoa va sm thiet lap gia tr dong tng ng vi moment mang tai. So sanh vi cau truc truyen ong ao chieu bang cach thay oi chieu dong ien phan ng, phng phap ao chieu dong kch t cho ap ng cham hn. Mac khac ap ng qua o khong c thuan li so vi phng phap ao chieu dong phan ng, ac biet khi ong c chay mang tai nho. Nhng nhc iem cua he nay lam cho no uit c s dung trong thc te.

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H2.79. Qua trnh ieu khien khi ong va giam van toc ong c mang tai

2.11.3 He truyen ong ieu khien tren van toc nh mc bang phng phap thay oi t thong: S o nguyen ly he thong truyen ong c ve tren H2.80a. S o ket hp phng phap ieu khien van toc en gii han nh mc bang phng phap ieu khien ien ap phan ng va giam t thong khi can tang toc o vt qua gia tr van toc nh mc. Qua trnh qua o khi ieu khien van toc ong c tren van toc nh mc c minh hoa tren H2.80b. Trong giai oan t<t1, ong c khi ong vi t thong nh mc. Dong ien mach phan ng c ieu chnh bi khoi hieu chnh dong ien phan ng en gia tr dong cc ai. Tai thi iem t=t1, van toc ong c bat au vt gia tr van toc nh mc .

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H2.80a

H2.80b

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Trong giai oan van toc ong c vt nh mc ( t>t1), ien ap phan ng c ieu chnh duy tr khong oi. Dong ien kch t c ieu chnh giam xuong . Sau mot thi gian, van toc ong c at gia tr van toc yeu cau va t thong at gia tr xac lap tng ng tai thi iem t=t2, van toc yeu cau cua ong c giam xuong mc van toc nh mc. Luc nay, mach hieu chnh dong ien phan ng tac ong giam dong ien phan ng (va moment). Mac khac, mach hieu chnh sc ien ong cua ong c cung hoat ong va tac dung tang dong kch t en gia tr nh mc. en thi iem t=t4, van toc ong c at gia tr yeu cau va ap ng dong ien trong he thong dan dan at xac lap en gia tr tng ng vi moment tai. 2.11.4 He truyen ong ong c DC kch t oc lap bo giam ap

H2.81

He truyen ong ong c dc bang bo bien oi ien ap mot chieu co cau tao mach cong suat n gian, gon. Do s dung phng phap ieu khien o rong xung tan so cao (vai kHz) nen cac yeu cau mach loc, o nhap nho dong ien va che o dong ien gian oan c cai thien hn nhieu so vi he truyen ong dung bo chnh lu thyristor. ap ng cua he truyen ong cung nhanh hn so vi mach dung bo chnh lu. Cau truc mach cha phan t hieu chnh van toc vong ngoai, hieu chnh dong ien phan ng ben trong va phan t thc hien kch ong linh kien. Tren s o he truyen ong s dung bo giam ap nen ch cho phep ieu khien ong c lam viec che o ong c. ong c phai s dung moment can cua tai e lam no dng lai. S o H2.81 va cac o th ket qua mo phong (ien ap, dong ien, moment, van toc) thc hien tren phan mem PSIM. Khoa ban dan ieu khien c s dung trong mo hnh la GTO. Moi khoa co trang b diode mac oi song. 2.11.5 He truyen ong bo bien oi dc kep ao dong- ong c dc kch t oc lap He truyen ong phep

cho

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H2.82

thc hien ieu khien ong c hoat ong theo mot chieu cua van toc va thc hien che o ham ong c cung theo chieu van toc o. Cau truc ieu khien vong kn c ban cung bao gom khoi hieu chnh van toc vong ngoai, khoi hieu chnh dong ien vong trong. Hai khoa ban dan c kch ong theo qui tac kch oi nghch. S o H2.82 va cac o th ket qua mo phong (ien ap, dong ien, moment, van toc) khi cho ieu khien khi ong ong c va ieu khien giam van toc c thc hien tren phan mem PSIM. 2.11.6 He truyen ong ong c dc kch t oc lap bo bien oi ien ap dc tong quat

Cau truc ieu khien he truyen ong tng t nh cac he a mo ta H2.81,H2.82. iem khac biet oi vi cac bo bien oi dc a khao sat la ay ong c co the ieu khien chay theo hai chieu va ham cung theo ca hai chieu quay cua no.

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S o nguyen ly mach ieu khien va o th ket qua mo phong thc hien tren phan mem PSIM H2.83.

H2.83

2.11.7 ieu chnh v tr

H2.83b

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ieu chnh v tr:

H2.83c

Trong thc te, nhieu trng hp ieu khien truyen ong theo yeu cau at moat v tr xac nh cua c cau chap hanh. ieu khien van toc ch co y ngha phu va khong co y ngha quyet nh. Thong thng, mot yeu cau quan trong la qua trnh chuyen t v tr nay sang v tr khac c thc hien nhanh nhat. Luc o, qua trnh ieu khien mang tnh toi u. Qua trnh van toc, moment va v tr khi thc hien ieu khien v tr c mo ta tren H2.83c T hnh ve, ta thay qua trnh ieu khien toi u oi hoi moment thay oi dang nhay cap. Trong s o H2.83b, khoi phi tuyen N bieu dien quy ao pha (v tr) theo ham van toc. Van toc yeu cau cua ong c se di chuyen theo quy ao pha trong qua trnh ham dng ong c. o chnh xac cua qua trnh ieu khien v tr bang ky thuat analog at en o chnh xac khoang 1%. Cac v du cua qua trnh ieu khien v tr chang han nh ieu khien thang may trong qua trnh ham en dng lai, qua trnh dng t ong cua may can, cac truyen ong cua cac may cong cu, cac c cau truyen ong cua robot, tay may.

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