DieuCheVectorKhongGian v1 2 1 Demo

NGUYN L V M PHNG IU CH
VECTOR KHNG GIAN
Nguyn l v m phng iu ch vector khng gian
NGUYN L V M PHNG IU CH
VECTOR KHNG GIAN
Nhm tc gi: Phng th nghim 310, trung tm Hitech, i hc Bch Khoa H Ni

Ngi vit: H Anh Tun
Ngi hng dn: TS. V Hong Phng
Nhm th nghim: Nguyn Duy Thc
C Anh Tun
H Anh Tun
DCVTKG v1.2
Mc ch ca ti liu
Ti liu c vit nhm phc v cc bn sinh vin ngnh in t ng, nhng ngi mong
mun tm hiu thut ton iu ch vector khng gian nhng cha c nhiu kinh nghim trong
vic s dng Matlab Simulink nh mt cng c hiu qu trong hc tp v nghin cu.
Mc ch chnh
Cung cp nhng hng dn c th v qu trnh xy dng thut ton iu ch vector khng
gian cng cc hiu ng trc quan trn phn mm m phng Matlab Simulink. T y em
ti 2 li ch quan trng sau:
Gip cc bn sinh vin hiu c thut ton iu ch vector khng gian mt cch sinh
ng t tng hng th vi mn hc.
Nh s c th v chi tit ca cc v d minh ha, cc bn sinh vin c th t lm li,
ci t tham s, xy dng m hnh v chy m phng. Do , khi kt thc ti liu cc
bn c th c c k nng tt khi s dng phn mm Matlab Simulink trong lnh
vc in t cng sut.
Mc ch b xung
Ti liu trnh by nhng ni dung ht sc c bn ca thut ton iu ch vector khng gian
v cc k thut trin khai thut ton ny. y l nhng kin thc mnh vit li t hiu v
kinh nghim ca bn thn mnh nn cc bn c th s dng nh mt ti liu tham kho, khi
khng hiu nhng vn no ca gio trnh mn hc trn lp.
DCVTKG v1.2
Hng dn s dng
i tng s dng:
Cc bn sinh vin mi tip cn vi lnh vc iu khin nghch lu cu 6 van IGBT, nhng
ngi cha c nhiu kinh nghim s dng Matlab Simulink.
Cch s dng:
Ti liu khng mang tnh hc thut, khng phn tch thut ton SVPWM vi nhng u nhc
im ca n. Ti liu mang tnh cht k thut nhiu hn, i su minh ha nhng ni dung c
bn v hng dn chi tit vo vic xy dng v trin khai thut ton SVPWM bng Matlab
Simulink.
hiu y v cn k hn v l thuyt, cc bn c th c:
iu khin t ng truyn ng in xoay chiu ba pha ca tc gi Nguyn

Phng Quang. Hin nay c ti bn l Truyn ng in thng minh
Cac Phuong Phap Dieu Che Co Ban.pdf , Ci ny khng tc gi, cc bn c th

search trn internet.
Control Power Electronic Selected Problem, tc gi M.P. Kazmierkowski
V m phng Matlab v Simulink, mnh coi nh cc bn c kin thc c bn ri. Nu cc

bn cha nm r lm, th cc bn c th c quyn MATLAB & SIMULINK cho k s
iu khin t ng ca tc gi Nguyn Phng Quang. c kin thc tm hiu thut
ton SVPWM, cc bn khng phi c ht ton b sch, m ch cn tp trung vo mt vi
chng, cc chng ny cng tng i c lp v mt ni dung nn cc bn khng lo l
khng hiu khi khng c lin mch. Cc chng ny l:
Chng 1: C s v Matlab
Chng 2: Xut nhp d liu trn mn hnh
Chng 6: C s v Simulink
Chng 7: Cc h thng tuyn tnh v phi tuyn
Chng 8: Cc h thng trch mu (h gin on)
DCVTKG v1.2

V phng php c quyn sch ny, cng nh ti liu ca mnh. Cc bn nht nh phi t
code li, xy dng li m hnh v t chy m phng. Nu cc bn ch xem qua v t cho l
mnh hiu th ti liu ny s khng cn gi tr g na. Cc bn phi tht ch vn ny,
v y l kinh nghim tht s mnh tri qua. Trong sch m phng ca thy Quang, cc
bn cn ch vo chng 6, v y l chng cha kin thc m ta s s dng. Chng 7, 8
cng l chng quan trng, s gip cc bn trnh c mt s li gp phi trong qu trnh
chy m phng. Tuy nhin chng ny cng hi kh c, ngay c hin nay mnh vn cn
nhiu ch cha hiu ht.
Ngoi s dng Simulink, cc bn cng cn c kh nng c bn trong s dng toolbox
SimPowerSystems m phng cc h thng in t cng sut. Nu cc bn cha quyen vi
SimpowerSystems, cc bn c th c Ti liu hng dn matlab simulink thc hnh m
phng in t cng sut ca tc gi Trnh Quang Vinh. Trong ti liu ny cc bn c th c
c nhng khi nim ban u v m hnh cc van cng sut, cc khi chc nng nh khi
o dng, p, trong SimPowerSystems. Sau khi xy dng cc chng trnh n gin nh
m hnh chnh lu 1 pha, 3 pha, khng iu khin, c iu khin, chc ngoy mt s file
demo trong Matlab, cc bn s c mt s k nng c bn trong m phng h thng in t
cng sut. y l kinh nghim t thi cn sinh vin ca mnh. Trong ti liu mnh cng vit
phn ph lc 4.3 Phng php iu khin gii tr, y l v d m phng iu khin nghch
lu n gin, cc bn c th chy v d ny trc lm quyen vi vic s dng
SimpowerSystems m phng mch nghch lu.
V cch s dng ti liu iu ch vector khng gian ny, vi cc bn cha c nhiu kinh
nghim trong s dng Simulink, nn c ph lc 5.1 Mt s vn trong m phng Matlab
Simulink trc khi xy dng m hnh m phng, mnh tng kt mt s ni dung cn
lu trong mc ny. V phng php khai thc ti liu, mnh xin nhc li ch trn: . Cc
bn nht nh phi t code li, xy dng li m hnh v t chy m phng. Nu cc bn ch
xem qua v t cho l mnh hiu th ti liu ny s khng cn gi tr g na.
Phin bn Matlab m mnh s dng l bn Matlab 7.8.0 R2009a, cc file m phng mnh
cng up ln trang thanhphonglab.wordpress.com. Hi vng cc bn c th hon thnh vic
s dng ti liu m khng cn ti nhng file ny. Nu thy b qu th cc bn c li n ra
chy th, chnh sa ty cng c. Nhng nh, sau khi ng li, cc bn hy t xy dng
li m hnh cho mnh nh. y l ti liu k thut, nn th cc bn cn thu c l k nng
ch cha phi l kin thc.
DCVTKG v1.2

Chc cc bn c mt hnh trnh vui v v th v. Mnh rt vui nu ti liu em li li ch cho
cc bn.
Link down ti liu:
https://thanhphonglab.wordpress.com/2016/08/25/nguyen-ly-va-mo-phong-phep-dieu-che-vector-khonggian-svpwm/comment-page-1/#comment-16
DCVTKG v1.2
Li ni u
DCVTKG v1.2
Mc lc
NGUYN L V M PHNG IU CH VECTOR KHNG GIAN .................................... 1
Mc ch ca ti liu ............................................................................................................................... 3
Hng dn s dng ................................................................................................................................. 4
Li ni u .............................................................................................................................................. 7
Mc lc ................................................................................................................................................... 8
1
CC PHNG PHP IU CH .............................................................................................. 10
2 BIU DIN H THNG IN BA PHA, VECTOR KHNG GIAN V CC PHP

CHUYN TRC TA .................................................................................................................. 12
2.1
Biu din h thng in 3 pha ............................................................................................... 13
2.1.1
H thng in ba pha l tng h thng ba pha th t thun .................................... 13
2.1.2
H thng 3 pha th t nghch ........................................................................................ 16
2.2
Vector khng gian v php chuyn i Clarke ..................................................................... 18
2.2.1
Biu din vector quay ................................................................................................... 19
2.2.2
Xy dng cng thc php chuyn i Clarke ............................................................... 23
2.3
M phng cc php chuyn h trc ...................................................................................... 27
2.3.1
3
NGUYN L PHNG PHP IU CH VECTOR KHNG GIAN (SVM) ....................... 30

3.1
Khi qut v phng php iu ch vector khng gian ........................................................ 31
3.1.1
tng ca thut ton iu ch vector khng gian ...................................................... 31
3.1.2
Cc vn c bn trong trin khai thut ton iu ch vector khng gian ................... 34
3.1.3
Nguyn l phn cng trong thc thi thut ton iu ch vector khng gian................. 38
3.2
Tnh ton v thc hin thut ton iu ch vector khng gian ............................................ 45
3.2.1
Xc nh sector cha vector cn iu ch ..................................................................... 46
3.2.2
Xc nh khong thi gian iu ch cc vector bin t1 , t2 , t0 ....................................... 48
3.2.3
Xc nh thi gian chuyn mch trn mi van bn dn ................................................ 51
3.3
M phng trn phn mm Matlab Simulink ......................................................................... 54
3.3.1
M phng khi la chn sector..................................................................................... 54
3.3.2
M phng khi xc nh thi gian chuyn mch .......................................................... 59
3.3.3
M phng cu trc iu khin nghch lu vng h ...................................................... 67
3.4
M phng php chuyn h trc Alpha-Beta v vector khng gian .............................. 27
Mt s hiu chnh trong trin khai thut ton SVPWM........................................................ 87
3.4.1
X l bo ha in p iu ch ..................................................................................... 87
3.4.2
M phng b SVPWM sau khi hiu chnh x l bo ha............................................. 88
Ph lc .......................................................................................................................................... 96
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4.1
Mt s vn trong m phng Matlab Simulink .............................................................. 96
4.2
S khc nhau ca cng thc chuyn trc ta Alpha Beta gia cc ti liu...................... 98
4.3
M phng phng php iu khin gii tr .......................................................................... 99
4.3.1
S m phng .......................................................................................................... 101
4.3.2
M hnh m phng ...................................................................................................... 102
4.3.3
Kt qu m phng ....................................................................................................... 107
4.4
Mt s chng trnh m phng thm .................................................................................. 111
4.4.1
Mt s hiu chnh trong trin khai thut ton SVPWM.............................................. 111
DCVTKG v1.2
1 CC PHNG PHP IU CH
Cc khi iu ch c v tr cui cng trong mt cu trc iu khin ca mt thit b in t
cng sut. Khi ny thng c gi l khi chp hnh, c vai tr bin nhng gi tr yu cu
ca b iu khin thnh cc i lng vt l trn thit b (dng in, in p). V phng
din ny, cc khi iu ch c nhim v nh mt b DAC. i vi cc thit b in t cng
sut, khi iu ch v mch van c vai tr chnh trong vic iu tit dng nng lng chy
trong thit b, sao cho p ng c mong mun ca b iu khin c v hng v ln.
V phng din ny, cc khi iu ch c vai tr nh bnh li trong mt con tu.
Udc
- Udc
Udc_ref
+
Ud
PI
Id_ref
Id
PI
Id
Ud -
+ Ud_ref
U_ref
PWM
Iq
SVM
L
U_ref
-
Iq_ref=0
+
PI
Iq
Uq -
dq
- Uq_ref
Ud
dq
i
i
PLL
abc
abc
ua,ub,uc
Grid
ia,ib,ic
Hnh 1: Khi iu ch SVM trong cu trc iu khin chnh lu tch cc

C th hiu v tr v vai tr ca khi iu ch i vi cc thnh phn khc trong cu trc iu
khin thit b in t cng sut thng qua v d v ngi i xe my. v d ny, i mt ca
ngi li c vai tr nh mch o trong vic bin cc i lng vt l (qung ng, vn tc)
thnh cc i lng m b iu khin c th hiu c. Ci u ca ngi li xe c vai tr
nh b iu khin trong vic so snh qung ng i c vi qung ng cn i, thi gian
i c v thi gian mong mun a ra yu cu vn tc cho xe. Tay li ngi li xe c vai
tr nh cc b iu ch trong vic a vn tc trong u ngi li thnh vn tc thc ca xe
thng qua iu kin tay li v m tay ga.
Vi cc h thng cng sut s dng van ng ct in t, kt ni nng lng gia ngun vi
ti. Phng php ng ct van theo 1 thi gian xc nh tha mn gi tr trung bnh ca in
p (dng in) c hnh dng ging vi in p (dng in) yu cu c gi l phng
php iu ch. Gi tr trung bnh ca i lng iu ch c tnh bng trung bnh cc gi tr
tc thi ca i lng trong cc thi gian ng ct tng ng.
Hin nay c 3 phng php iu ch c bn:
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- Phng php iu ch nh b so snh c ngng (Hysteresis)
- Phng php iu ch rng xung tuyn tnh (Sine PWM)
- Phng php iu ch vector khng gian (Space Vetor PWM)
Trong gii hn ca ti liu, mnh ch trnh by v php iu ch vector khng gian SVPWM.
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2 BIU DIN H THNG IN BA PHA, VECTOR

KHNG GIAN V CC PHP CHUYN TRC TA
Biu din i lng in ba pha nh mt vector quay duy nht thay v l t hp ca ba thnh
phn mt pha ring l l ni dung c bn cho thut ton iu ch vector khng gian. y
cng l nn tng cho cc thut ton iu khin i tng ba pha hin nay nh iu khin
ng c ta t thng roto FOC, iu khin nghch lu ta in p li VOC ... Php biu
din vector quay a ra cch nhn nhn h thng ba pha nh mt i tng c th v nht
qun, gip ta hiu h thng mt cch sinh ng, l gii cc hin tng mt cch d dng,
cng nh thun li trong trong thit k h thng iu khin can thip vo i tng.
Vn ny cng tng t nh mt nm c 4 ma xun, h, thu, ng ln lt lun chuyn.
nhng 4 ma ny khng phi l 4 khong thi gian ring l m c s lin h qua li ln nhau.
Cc ma hnh thnh do hin tng quay quanh mt tri ca tri t v gc nghing ca tri
t so vi trc thng ng. Nh hiu bit ny chng ta l gii c s khc nhau ca 4 ma
ti cc v khc nhau trn tri t v s khc nhau ca ngy v m gia cc ma.
Trong mc ny mnh s gii thiu v php biu din h thng ba pha bng vector quay. Nhn
tin mnh cng gii thiu v vic s dng vector quay l gii v cc hin tng xy ra trn
li in ba pha, y l phn mnh c trong qun L thuyt cng sut tc thi Instantaneous Power Theory and Applications to Power Conditioning ca tc gi Akagi.
V ni dung ca mc 2, cc bn mun xem thm c th c sch iu khin t ng truyn
ng in xoay chiu ba pha ca thy N.P Quang, chng 2 Vector khng gian ca cc i
lng ba pha. Chng ny thy vit vector khng gian trong ng dng iu khin ng c
xoay chiu ba pha, cch vit ngn gn, r rng. Ngoi ra cc bn cng c th c
Instantaneous Power Theory and Applications to Power Conditioning mc 2.5.1
Classifications of Three-Phase Systems mc ny h thng ba pha c xem st gc
nhn rng hn v mi hin tng xy ra trn li in ba pha u c th biu din qua ba
thnh phn vector thun, nghch, khng. y lm mc rt hay, mi lin h gia cc hin
tng xy ra trn li in vi s tham gia ca cc thnh phn vector quay c trnh by ht
sc sng sa v d hiu. Tuy phn ny c i hi xa so vi yu cu xy dng thut ton iu
ch vector khng gian. Nhng d sao, y cng l mc th v c, ng thi bn cng c
ci nhn tng qut hn v h thng in ba pha v c th khng nh rng php iu ch
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vector khng gian c th iu ch ra mi dng in p ba pha thng qua php tng hp vector
quay.
2.1 Biu din h thng in 3 pha

Trong gii hn ca ch iu ch vector khng gian mnh ch cp ti h thng in 3
pha 3 dy vi 2 h tiu biu l h thng 3 pha th t thun v h thng 3 pha th t nghch.
Trong mc ny mnh cng cp n cc php biu din h thng in 3 pha m chng ta
bit. Tuy y l nhng kin thc ht sc c bn, nhng i vi cc bn sinh vin, mi tun
phi nhi nht vo u mt ng nhng kin thc cao siu ca t nht 7,8 mn hc khc nhau
mt lc th nhiu lc li rt m h vi nhng kin thc ny. i khi li cm thy rc ri, kh
hiu i vi php biu din theo trc thi gian, theo ta cc, cc i lng vector, i
lng v hng, khng r khi no i tng l i lng vector, lc no l i lng v
hng V vy, mnh s trnh by li mt cch tht r rng v cc i tng ba pha v
nhng cch biu din, phn tch c tnh ca chng.
2.1.1 H thng in ba pha l tng h thng ba pha th t thun

Trong h thng in p 3 pha 3 dy, trc y cc gi tr in p (dng in) c biu din
nh 1 h bao gm 3 i lng ring r u (ua , ub , uc ) . Vi h 3 pha l tng, h s gm 3
in p hnh sin ua , ub , uc cng bin v tn s, ln lt chm pha mt gc 2/3. H thng
ny cn c gi l h thng 3 pha th t thun c biu din theo cng thc:
ua U m cos(t )
ub U m cos(t )
3
uc U m cos(t 3 )
Thng thng chng ta hay thy h thng in 3 pha c biu din qua biu thi gian.
y, cc thnh phn in p s c biu din bng cc gi tr tc thi thay i theo thi
gian. Nh hnh 2, h thng in 3 pha l tng s bao gm 3 th hnh sin. Trong ,
th ca pha b, pha c c dng ging nh pha a nhng ln lt li li mt khong bng 1/3 chu
k tng ng lch pha 2/3.
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Dien ap 3 pha thu tu thuan - ly tuong
1
pha a
pha b
pha c
ua + ub+ uc
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
Hnh 2: H thng in 3 pha l tng

Vi cc bn cn cha tho phn mm Matlab, chng ta hy g mt on code trn m file
v th in p coi nh lm nng bn phm nh!
close all;
clear all;
% Plot 3 phase Voltge
f = 50; %50 Hz
% Time Vector
t = 0:0.0001:0.04;
% Dien ap ba pha thu tu thuan - ly tuong
ua = cos(2*pi*f*t);
ub = cos(2*pi*f*t - 2*pi/3);
uc = cos(2*pi*f*t + 2*pi/3);
us = ua + ub + uc;
figure (1)
plot(t,ua,'r','LineWidth',3);
hold on;
plot(t,ub,'g--','LineWidth',3);
plot(t,uc,'b:','LineWidth',3);
plot(t,us,'k');
grid on;
legend('pha a','pha b', 'pha c', 'ua + ub+ uc',1);
title('Dien ap 3 pha thu tu thuan - ly tuong','Fontsize', 15);
Ngoi cch biu din theo trc thi gian, h thng in ba pha cng c th biu din theo h
ton cc. ta cc, thng thng cc thng tin c quan tm chnh l bin v gc
pha. Cc i tng dao ng iu ha c biu din thnh cc vector quay vi chiu dng
l chiu ngc chiu kim ng h. Trong h ta ny, cc thnh phn in p c biu
din thnh cc vector quay quanh gc ta vi bin bng bin in p trong phng
trnh biu din min thi gian. Tc quay bng vi vn tc gc ca phng trnh biu
din in p. Chng ta thy rng h ta ny, cc thnh phn in p ua , ub , uc l cc
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vector quay cng vn tc v cch nhau mt gc 2/3. Theo chiu dng, pha a gp trc x
trc ri n pha b, pha c nh vy pha b pha c ln lt chm pha hn pha a mt gc 2/3. V
3 vector quay cng mt vn tc nn ta thy tuy v tr tc thi ca cc vector c thay i
nhng khong cch gia chng l gi nguyn. Ta cng c th hnh dung, 3 vector in p
nh 3 ci a trn mt ci a ang quay vi vn tc gc bng t. Vi ci bn, 3 chic a
ang quay, nhng vi ci a 3 chic a l ng yn v khong cch gia chng l khng
i. y l u im ca php biu din ta cc, s tng quan v pha ca cc thnh phn
dao ng s c nhn thy mt cch r rng.
Y
uc
2 / 3
ua
2
/3
ub
Hnh 3: Biu din h thng in ba pha trong ta cc

Trong h ta cc, gi tr tc thi ca cc thnh phn in p c xc nh bng cch
chiu vector in p ln trc x (hm cos). Trong h ba pha, ba dy tng gi tr tc thi ca
3 thnh phn in p lun bng 0 nh mnh ha trong hnh 2 v chng trnh m phng va
ri. Trong h ta cc, ta cng c th thy kt qu ny thng qua vic chiu tng thnh
phn in p ln trc x v cng tng li vi nhau.
Dien ap 3 pha thu tu thuan - ly tuong
1
pha a
pha b
pha c
ua + ub+ uc
0.8
0.6
uc
0.4
ua
0.2
0
-0.2
-0.4
ub
-0.6
-0.8
-1
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
Hnh 4: Tng cc gi tr tc thi ca ba thnh phn in p

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Ngoi ra, trong h ta cc, vn tng gi
tr tc thi ca 3 pha in p cng c th

quan st thng qua php cng vector. Nh
uc
minh ha hnh 5, tng vector ca pha b v
60
pha c l vector cng phng, cng ln
60
120
ub
nhng ngc chiu vi pha a. iu c
u cb
ngha tng vector ca 3 thnh phn in p
ua
uc ub
ub
lun bng 0.
Hnh 5: Tnh tng vector cc thnh phn in

p
2.1.2 H thng 3 pha th t nghch

H thng ba pha th t nghch tng t nh h thng ba pha th t thun nhng th t cc
pha ngc li. C th th t cc pha ln lc l pha a, c, b c biu din theo cng thc:
ua U m cos(t )
ub U m cos(t )
3
uc U m cos(t 3 )
Trong min thi gian, chng ta thy rng th ca pha c, pha b c dng ging nh pha a
nhng ln lt li li mt khong bng 1/3 chu k tng ng lch pha 2/3.
Dien ap 3 pha thu tu nghich
1
pha a
pha b
pha c
ua + ub+ uc
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
Hnh 6: H thng 3 pha th t nghch

Chng trnh v th:
DCVTKG v1.2
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close all;
clear all;
% Plot 3 phase Voltge
f = 50; %50 Hz
% Time Vector
t = 0:0.0001:0.04;
% Dien ap ba pha thu tu nghich
ua = cos(2*pi*f*t);
ub = cos(2*pi*f*t + 2*pi/3);
uc = cos(2*pi*f*t - 2*pi/3);
us = ua + ub + uc;
figure (1)
hold on;
plot(t,us,'k');
grid on;
title('Dien ap 3 pha thu tu nghich','Fontsize', 15);
Trong h ta cc, h thng ba pha th t nghch cng tng t nh h thng 3 pha thc t
thun nhng th t cc vector quay theo chiu dng s l vector a, c, b.
ub
2 / 3
ua
2
/3
uc
Hnh 7: H thng ba pha th t nghch trong ta cc
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2.2 Vector khng gian v php chuyn i Clarke
Vic biu din h thng 3 pha nh tp hp ca ba i tng mt pha ring l c nhiu ch
cha tha ng. V cc pha trong h thng 3 pha c tc ng qua li tng h ln nhau, nh
v d v ng ct nghch lu cu 6 van IGBT ta s xem st k phn sau. i vi mi trng
hp ng ct van s hnh thnh ng thi 3 dng in p ra nghch lu tng ng c trng
ch khng phi l mt i lng ty vi mi pha.
Cng nh v d mnh dn ra t u, nu ta coi 4 ma trong nm l 4 khong thi gian
ring l, khng lin quan ti nhau th chng ta s khng th no l gii v sao ma h ngy li
di v m li ngn m ma ng th ngc li. Ti sao li c li c s khc bit gia cc
ma cc v tuyn khc nhau trn tri t. Nu thy rng s hnh thnh cc ma, ngy v
m l do s chuyn ng quang trc v chuyn ng xung quanh mt tri ca tri t, cng
nh gc nghing ca tri t vi trc thng ng ta c th l gii cc hin tng trn.
Hnh 8: S hnh thnh cc ma do gc nghing v chuyn ng quanh mt tri ca tri t

Cng nh vy, nu biu din h ba pha nh 3 h mt pha, ta s khng thy ht c nhng
tnh cht m ch h 3 pha mi c. Ta quay li tm hiu s hnh thnh in p 3 pha, v thy
rng in p 3 pha c to ra bi s thay i t thng qua ba cun dy t cch nhau 1/3
chu k quay ca vector t thng. Nh vy c th ni rng, h thng in ba pha c hnh
thnh do s quay quanh trc ca mt vector t thng v s cm ng ca n ln 3 cun dy
cch u trong my pht. iu khin ta ngh ti vic biu din h ba pha nh mt i
tng duy nht vector quay.
DCVTKG v1.2
18
Hnh 9: My pht in xoay chiu ba pha

Khi ta biu din h ba pha nh mt i tng nht qun, ta c th l gii c nhiu hin
tng xy ra trn li in, nh hin tng li in mt cn bng hay b nhiu. Vi php
biu h ba pha bng vector quay, khng nhng chng ta c th hiu bit su sc hn i vi
nhng i tng ba pha, m nh ngi ta cng c th can thip su vo chng, c bit
trong lnh vc iu khin nghch lu cng nh ng c ba pha.
2.2.1 Biu din vector quay

Trong ti liu ny mnh mc nh coi vector khng gian tng ng l vector ca thnh phn
th t thun (mnh s trnh by k di). y l thnh phn c bn ca li in.
2.2.1.1 Vector khng gian

Nh trnh by, tng gi tr tc thi cc pha trong h ba pha ba dy lun c gi tr bng
khng. V vy, ng nhin khng th s dng i lng ny i din cho h ba pha. Php
biu din h ba pha c thc hin bng php bin i khc gi l php bin i Clarke. Kt
qu ca php bin i Clarke l mt vector quay tng t nh vector t thng trong my
pht, y l vector i din cho h thng in 3 pha. Sau y, ta s phn tch php bin i
Clarke v vector khng gian gii thch xem v sao vector ny c th i din cho h 3 pha.
Php chuyn i Clarke: l php tng hp vector ca ba gi tr tc thi ua , ub , uc vi cc gc
quay 2/3 to ra mt vector tng i din cho h ba pha. Cng thc tng hp vector nh
sau:
2
2
us (ua ub 2uc ) vi 1
3
3
DCVTKG v1.2
19

j
uc
ua
120
ua
uc ub
ua
120
240
uc ub
u 's (ua ub 2uc )

uc 240
ub 120
ub
(2)
(1)
j
us
2
us (ua ub 2uc )
3
us
u'
(3)
Hnh 10: Cc bc tng hp vector khng gian bng php chuyn i Clarke
Cc tnh cht ca vector in p ba pha (t phn ny v sau mnh s dng t vector in p
ch vector in p 3 pha c tng hp bng cng thc Clarke)
1. i vi h 3 pha l tng (h 3 pha th t thun): vector in p l mt vector quay
theo hng ngc chiu kim ng h vi bin v vn tc gc bng vi bin v
vn tc gc ca tng pha. T hnh 11, c th thy vector in p trng vi v tr ca
pha a, qu o ca vector l ng trn. Cc hnh 10 v 11 cng cho thy h s 2/3
c s dng hiu chnh li bin cho cng thc t hp vector.
2. i vi h ba pha th t nghch: nh trn hnh 11, chng ta thy vector in p c
bin bng vi bin vector in p th t thun, gc pha th ngc du vi gc
pha ca vector in p th t thun. Hay vector in p 3 pha th t nghch i xng
vi vector in p ba pha th t thun qua trc Alpha. Nh vy, qu o ca vector
in p th t nghch l mt ng trn theo hng ngc chiu kim ng h. Bng
php biu din vector quay, ta thy c s thay i chiu quay ca vector in p ba
pha khi thay i th t pha. y l hin tng c th quan st khi o chiu quay
ng c.
DCVTKG v1.2
20

j
uc
ub
uc ub
ua
uc 240
ua
ub 120
uc 240
120
240
120
us
240
ua us
ub 120
uc
ub
(1)
(2)
Hnh 11: Vector in p ba pha: (1) th t thun, (2) th t nghch

Nh vy vi phng php biu din vector quay, chng ta c th m t h ba pha nh mt
i tng duy nht. Vi cch biu din ny, s tng quan gia cc pha vi h thng c
quan st rt r rng thng qua hin tng o chiu quay ca vector i vi h 3 pha th t
nghch.
Tng qut hn, php bin i Clarke c coi nh php phn tch thnh phn th t thun
trong h 3 pha bt k. Vi php bin i ngc, ta s thu c 3 pha tng ng vi thnh
phn ny trong li in theo cng thc:
ua 1
2
ub us

uc
Vic khi phc 3 thnh phn mt pha trong cng thc bin i ngc Clarke, n thun l
cc php dch pha ca vector khng gian i cc gc 2/3. Vi v tr vector khng gian trng
vi v tr pha a. Vn ny c th quan st thng qua hnh 10.
Trong h thng in p 3 pha c dng sin v cn bng (ch tn ti 1 thnh phn th t thun
hoc nghch), qu o ca vector khng gian u l mt ng trn, c bn knh bng vi bin
in p pha. Cn nu in p ca h sin nhng mt cn bng (tn ti c hai thnh phn th
t thun v nghch), th qu o vector u v nn s c dng elip, ng bn knh di c
ln bng bin thnh phn th t thun u p , ng bn knh ngn c ln bng hiu bin
thnh phn th t thun v nghch u p - un .
DCVTKG v1.2
21

in p ba pha sin
v cn bng
in p ba pha sin
v mt cn bng
u
un
Hnh 12: Qu o vector khng gian trn mt phng

nm c khi nim vector khng gian trong trin khai thut ton iu ch vector khng
gian th c l ch cn trnh by n y l . Tuy nhin, cc bn c c ci nhn rng
hn v khi nim vector in p ba pha, mnh s gii thiu nt cc thnh phn vector cn li,
cc bn quan tm c th c thm ti liu [2].
2.2.1.2 Cc thnh phn vector quay trong li in ba pha

Vi quan im coi h ba pha nh mt i tng c th, mt h ba pha bt k (3 pha 3 dy
hoc 3 pha 4 dy) c th phn tch ra ba h 3 pha c trng: thun, nghch v khng (k hiu:
u , u , u0 ). Cc thnh phn thun v nghch th mnh phn tch k trn, trong thnh
phn thun c coi l thnh phn c bn ca li in, tc thnh phn c to ra bi my
pht in ba pha. Thnh phn nghch l thnh phn c th t pha ngc li so vi thnh phn
thun. Thnh phn th t khng l thnh phn c 3 pha ng pha vi nhau. Thnh phn
nghch v thnh phn khng l cc thnh phn b xung t pha ti v h, l nguyn nhn dn
ti s mt cn bng cho h. i vi h 3 pha 3 dy, li ch c th tn ti ti a 2 thnh phn
thun v nghch. Vi h 3 pha 4 dy, c th xut hin thm thnh phn khng. Thnh phn
th t khng c coi nh thnh phn lm xut hin dng in trn dy trung tnh ca li
in 3 pha 4 dy.
DCVTKG v1.2
22

uc
u
u
u0
u
u0
u0
3
2
/
/3
/3
2 / 3
a u
a
cb
u
u0
u
c
2 u
2 u
2 u
Hnh 13: Tng hp 3 thnh phn thun, nghch, khng ca mt h ba pha bt k

Hnh 13, minh ha mt h thng 3 pha bt k c th phn tch (c tng hp) t ba thnh
phn c bn thun, nghch, khng. Cng thc y phn tch 3 thnh phn vector quay
ny nh sau:
u0
1 ua
1 1
1

2
u 1 ub
3 1 2
uc
u
Cng thc bin i ngc

ua 1 1
1 u0

2
u
ub 1
1 2
u
uc
2.2.2 Xy dng cng thc php chuyn i Clarke

H ta cc s dng biu din vector khng gian c gi l h ta . Cc thnh
phn vector khng gian trn trc i din cho vector ny trong tnh ton. H ta cn
c gi l h ta tnh phn phn bit vi h ta quay d-q. Trong mc ny, chng ta
s xy dng cng thc tnh ton cc thnh phn ny t gi tr tc thi ua ubuc .
Phng trnh tng hp Clarke:
2
2
1
3
us (ua ub 2uc ) vi 1
j
3
3
2
2
Tng ng vi:
2
1
2
1
3
3
u (ua ( j
)ub
j uc )
3
2
2
2 2
DCVTKG v1.2
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2
1
1
3
3
u (ua ub uc j ( ub
uc ))
3
2
2
2
2
Vi u u ju ta tnh c cc thnh phn u , u nh sau:
1
1 u
a
1
u 2
2
2
ub
u
3
3
3 0
u
2
2 c
y l cng thc tnh ton thnh phn ca vector khng gian t cc gi tr tc thi uaubuc .
Sau khi xy dng cng thc ny, ta hy th kim tra mt vi tnh cht ca vector khng gian
trn phn mm Matlab.
Chng trnh sau minh ha li in 3 pha c hai thnh phn th t thun v nghch vi bin
l 1 v 0.15. Ta hy quan st dng th li in v kt qu php biu din vector quay.
Chng trnh v th
close all;
clear all;
% Clarke transform matric
Clarke = 2/3 * [1,
-1/2,
-1/2
0, sqrt(3)/2, -sqrt(3)/2];
% Frequency of Voltage
f = 50; %50 Hz
% Time Vector
t = 0:0.0001:0.04;
% Positive sequence
uap = cos(2*pi*f*t);
ubp = cos(2*pi*f*t - 2*pi/3);
ucp = cos(2*pi*f*t + 2*pi/3);
% Negative sequence
uan = 0.15*cos(2*pi*f*t);
ubn = 0.15*cos(2*pi*f*t + 2*pi/3);
ucn = 0.15*cos(2*pi*f*t - 2*pi/3);
% Total of Voltage sequences
ua = uap + uan;
ub = ubp + ubn;
uc = ucp + ucn;
us = ua + ub + uc;
% Space vector Calculate
up = [uap; ubp; ucp];
un = [uan; ubn; ucn];
u = [ua; ub; uc];
DCVTKG v1.2
24

uvp = Clarke * up;
uvn = Clarke * un;
uv = Clarke * u;
figure (1)
hold on;
plot(t,us,'k');
grid on;
title('Dien ap 3 pha','Fontsize', 15);
figure (2)
plot(uvp(1,:), uvp(2,:), 'r-.', 'LineWidth',3);
hold on;
plot(uvn(1,:), uvn(2,:), 'b:', 'LineWidth',3);
plot(uv(1,:), uv(2,:), 'k', 'LineWidth',3);
grid on;
set (gca,'Xlim',[-1.5 1.5], 'Ylim',[-1.5 1.5]);
legend('Positive sequence','Negative sequence', 'Total', 1);
title('Space Vector','Fontsize', 15);
Kt qu:
Dien ap 3 pha
1.5
pha a
pha b
pha c
ua + ub+ uc
0.5
-0.5
-1
-1.5
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
Hnh 14: Li in vi 2 thnh phn in p

Li in mt cn bng khi c s tham gia ca thnh phn th t nghch.
DCVTKG v1.2
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Space Vector
1.5
Positive sequence
Negative sequence
Total
0.5
X: -1
Y: 3.331e-016
X: 0.15
Y: 3.469e-017
X: 1.15
Y: 0
-0.5
X: 8.882e-016
Y: -0.85
-1
-1.5
-1.5
-1
-0.5
0.5
1.5
Hnh 15: Qu o cc vector in p trn h trc

Cc thnh phn th t thun v thnh phn th t nghch c qu o l ng trn vi bn
knh bng bin ca tng pha in p.
Qu o ca vector tng l hnh elip vi ng knh ngn c chiu di bng hiu di
vector in p thun v in p nghch.
DCVTKG v1.2
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2.3 M phng cc php chuyn h trc
lm quyen vi vic s dng simulink m phng, ta xy dng mt s nh m
phng li php biu din vector khng gian trn h trc
2.3.1 M phng php chuyn h trc Alpha-Beta v vector khng gian

2.3.1.1 S m phng
2.3.1.2 M hnh m phng
Scope1
A
Source
XY Graph
Anpha
Beta
Clarke_Uab
Scope2
Hnh 16: M hnh m phng php chuyn i Alpha-Beta

Cc tham s m phng:
Fix step size Discrete Fix step size 10e-6
Thi gian m phng: 0.08s
a) M hnh khi chuyn i AlphaBeta
1
1 u
a
1
u 2
2
2
ub
u
3
3
3 0
u
2
2 c
DCVTKG v1.2
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2/3
Gain
<signal1>
<signal2>
<signal3>
-1/3
1
Gain1
Anpha
Add1
-1/3
Scope1
XY Graph
1
Gain2
Source
Anpha
2
B
Beta
Clarke_Uab
Scope2
3
C
Gain3
<signal1>
<signal2>
<signal3>
1/(sqrt(3))
Gain4
2
Beta
Add
-1/(sqrt(3))
Gain5
Hnh 17: M hnh khi chuyn i Alpha-Beta

b) M hnh khi in p 3 pha
Phng trnh in p ngun
ua 1sin(100 t )
ub 1sin(100 t )
3
uc 1sin(100 t 3 )
Scope1
u_a
A
Source
Anpha
u_b
Beta
Clarke_Uab
u_c
1
XY AGraph
2
B
Scope2
3
Hnh 18: M hnh ngun 3 pha

Hnh 19: in p 3 pha
2.3.1.3 Kt qu m phng
DCVTKG v1.2
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Nhn xt:
u vung pha vi u v sm pha hn

u mt gc pi/2 do vector quay theo
hng ngc chiu kim ng h.
in p u trng pha vi in p ua
Hnh 20: in p u (trn) v u (di)
Hnh 21: in p pha a ua trng vi in p u
Hnh 22: Qu o ca vector in p 3

pha cn bng
Nhn xt:
Qu o ca vector in p 3 pha sin v cn bng trong h trc ta l mt

ng trn
Ti liu tham kho:

[1] Nguyn Phng Quang, iu khin t ng truyn ng in xoay chiu ba pha, NXB
Gio Dc
[2] Hirofumi Akagi, Instantaneous Power Theory and Applications to Power
Conditioning,
[3] Khng r tc gi, Cc phng php iu ch.pdf
[4] Nguyn Phng Quang, Matlab v Simulink dnh cho k s iu khin t ng, NXB
Khoa hc v K thut H Ni, 2005
DCVTKG v1.2
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3 NGUYN L PHNG PHP IU CH VECTOR

KHNG GIAN (SVM)
V nguyn l ca phng php iu ch vector khng gian cc bn c th c 2 ti liu sau:
Cc phng php iu ch.pdf mnh khng r tc gi
iu khin t ng truyn ng in xoay chiu ba pha, ca tc gi Nguyn Phng

Quang
Phn ln kin thc mnh c c u t 2 ti liu ny. Trong sch iu khin t ng

truyn ng in xoay chiu ba pha ni dung thut ton iu ch vector khng gian c
trnh by ht sc c th, ngn gn v sng sa. Cc vn t nguyn l hnh thnh thut ton
ti k thut thc hin u c ch dn chi tit v hnh v minh ha. Cc bn c th c theo ti
liu ny nm c nhng kin thc c bn ca thut ton. Mnh ch tng hp li nhng
ni dung chnh, lm r thm mt s khi nim c bn v trnh by c th v mt k thut
trin khai cng nh m phng thut ton trn phn mm Matlab Simulink.
Cu trc ca chng bao gm 3 phn, theo trnh t t l thuyt ti thc hnh, bao gm:
Khi qut v phng php iu ch vector khng gian
Tnh ton v thc hin thut ton iu ch vector khng gian
M phng trn phn mm Matlab Simulink
C th: mc 1, mnh gii thiu s lc tng ca phng php cng mt s lu trong k

thut trin khai. Mc 2 i su vo k thut trin khai. T nhng tng trong mc 1, mc 2
s xy dng cc cng thc ton hc, v ti u chng c th p dng c hiu qu trn vi x
l. Mc 3 s trnh by qu trnh xy dng m hnh m phng theo cng thc ton hc t mc
2. Bng kt qu m phng, ta s chng minh tnh ng n ca l thuyt v nhn nh mt s
tnh cht ca phng php.
DCVTKG v1.2
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3.1 Khi qut v phng php iu ch vector khng gian
Mc 3.1, nu cc tng c bn hnh thnh thut ton iu ch vector khng gian cng
mt s lu chnh trong trin khai nng cao cht lng thut ton. C 3 vn mang tnh
k thut c cp l:
Gii hn iu ch ca thut ton
Ti u s van chuyn mch
Gim thiu sng hi pht ra
3.1.1 tng ca thut ton iu ch vector khng gian

K tha nguyn l ca php iu ch rng xung v ng dng l thuyt vector khng gian,
phng php iu ch vector (SVM) ra i nhm t chc cc trng thi ng ngt van bn
dn, sao cho gi tr vector in p iu ch c tnh ton l xp x vi vector in p mong
mun.
G1
G5
G3
is
uN
Va
Cdc
Vb
Vdc
Vc
a
b
G4
G6
c
G2
Hnh 23: Cu trc b nghch lu ngun p

Hnh 23 th hin s ca 1 b nghch lu ngun p 3 pha vi 3 cp van bn dn IGBT.
ng vi 3 cp van ny ta c
8 trng thi ng ngt cc van. Tng ng vi mi trng
thi ng ngt van ta li thu c 1 vector in p c nh (c v hng v ln). Do ta

s thu c tng cng 8 vector in p c nh c gi l 8 vector bin chun, nh lit k
di bng sau:
DCVTKG v1.2
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Bng 1: Bng gi tr in p cc trng thi ng ct van.
NO
Van dn
ua
ub
uc
uab
ubc
u0
V2 ,V4 ,V6
u
0
u1
V6 ,V1 ,V2
2/3 Vdc
-1/3 Vdc
-1/3 Vdc
Vdc
2 / 3Vdc 0
u2
V1 ,V2 ,V3
1/3 Vdc
1/3 Vdc
-2/3 Vdc
Vdc
2 / 3Vdc ( / 3)
u3
V2 ,V3 ,V4
-1/3 Vdc
2/3 Vdc
-1/3 Vdc
- Vdc
Vdc
2 / 3Vdc (2 / 3)
u4
V3 ,V4 ,V5
-2/3 Vdc
1/3 Vdc
1/3 Vdc
- Vdc
2 / 3Vdc ( )
u5
V4 ,V5 ,V6
-1/3 Vdc
-1/3 Vdc
2/3 Vdc
- Vdc
2 / 3Vdc (2 / 3)
u6
V5 ,V6 ,V1
1/3 Vdc
-2/3 Vdc
1/3 Vdc
Vdc
- Vdc
2 / 3Vdc ( / 3)
u7
V1 ,V3 ,V5
Ta thy cc vector in p ( u1 , u2 , u3 , u4 , u5 , u6 ) u c ln l 2/3 Vdc v cc gc pha lch

nhau mt gc / 3 ( 60 ), 2 vector cn li ( u0 , u7 ) c ln bng khng. T cc cp vector
bin chun ny, khng gian vector chia lm 6 sector u nhau, c m l /3.
Mt vector in p bt k thuc khng gian
u3
vector, th nht nh phi thuc sector no
u2
trong 6 sector k trn, v ta hon ton c th
II
III
u4
u0 u7
biu din vector in p ny bng tng ca 2
I
u1
VI
IV
V
u5
u6
Hnh 24: Khng gian vector v cc vector
bin chun
vector thnh phn, nm trn vi 2 vector

bin chun ca sector . T hnh 25, ta thy
vector u nm trong sector I, gii hn bi 2
vector bin chun u1 v u2 v c xc nh
bi
cng
thc
tng
hp
vector:
u k.u2 l.u1 .
Tuy nhin, y ch l cng thc mang ngha ton hc, do khng th no iu ch 2 vector
cng ti 1 thi im. tng ca phng php iu ch vector khng gian, l a phng
trnh tng hp vector in p trong khng gian v dng phng trnh tng quan thi gian.
Cc h s t l di vector k,l s tr thnh h s t l thi gian ng ct van trong phm vi
DCVTKG v1.2
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mt chu k bm xung no . C th, vector u1 c to ra bng cch ng cc van V6 ,V1 ,V2 ;
vector u2 c to ra bng cch ng cc van V1 ,V2 ,V3 .
T y ta a ra phng php iu ch vector u
u3
u2
bng cch ng cc van V6 ,V1 ,V2 (to u1 ) trong
k.u
u0 u7
u4
khong thi gian T1 (s), ng cc van V1 ,V2 ,V3
u k.u2 l.u1
u1
l.u1
(to u2 ) trong khong thi gian T2 (s) vi chu k

bm xung Ts (s) tha mn k T2 / TS , l T1 / TS .
Do T1 , T2 Ts nn cc gi tr k,l s nm trong
u5
khong (0, 1). Thi gian cn li T0 Ts (T1 T2 )
u6
Hnh 25: Tng hp vector khng gian
l thi gian iu ch vector khng.
u3
G1
G3
u2
G5
u0
u4
G4
G6
l.u1
u7
G2
u1
T1 l.Ts
Ts
u5
u6
u3
G3
G5
k .u
u0
u4
G4
G6
u7
G2
G6
u k .u2 l.u1
k .u
u0
u7
G4
u2
G5
u4
l.u1
u1
T2 k .Ts
T1 l.Ts
T0 Ts T1 T2
Ts
G2
u5
Ts
u6
u3
G3
u1
l.u1
u5
G1
T2 k .Ts
T1 l.Ts
G1
u2
u6
Hnh 26: Tng hp vector khng gian t cc vector bin
DCVTKG v1.2
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Trn hnh 26 m t php iu ch vector u t cp vector bin( u1 , u2 ) v vector khng ( u0
hoc u7 ) theo phng php tng quan thi gian, vi chu k trch mu l Ts. Ti y ta
nm c v mt nguyn l ca thut ton iu ch vector khng gian. trin khai c hiu
qu thut ton ny, ta cn gii quyt thm cc vn sau:
Gii hn iu ch ca thut ton
Th t iu ch vector bin ti u
Vn gim thiu sng hi ca php iu ch
3.1.2 Cc vn c bn trong trin khai thut ton iu ch vector khng

gian
Nh vy n y chng ta nm c s lc tng ca thut ton iu ch vector khng
gian. Nhng con ng t n l thuyt hon chnh vn cn kh di vi nhiu k thut v
l thuyt b xung. Trong gii hn ca ti liu, mnh ch cp ti 3 vn chnh nh dn
trn. y l nhng vn c ni dung kh c bn v c quan h trc tip ti qu trnh trin
khai thut ton v sau. c s hiu bit y hn, cc bn tham kho ti liu [1] v [2].
Trong cc vn k trn, vn th nht cho chng ta bit gii hn ca thut ton t c
nhng iu chnh hp l trong qu trnh s dng. Hai vn cn li l nhng k thut b
xung tng cng hiu qu ca phng php. y l hai vn s quy nh trt t ng ct
van v mu xung iu ch ca phng php.
3.1.2.1 Gii hn iu ch ca thut ton

Khi ni rng bng phng php t hp vector, thut ton iu ch vector khng gian c th
to ra mt vector in p bt k t cc vector bin, iu khng c ngha vector in p t
c ln bao nhiu cng c. Vy gii hn ca thut ton SVPWM l bao nhiu, ph thuc
vo tham s no?
Thot nhn qua, ta s cho rng gii hn ca thut ton SVPWM l ng trn ngoi tip hnh
lc gic u vi bn knh bng di vector bin chun 2U DC / 3 . Tuy nhin, thc t th
phng php SVPWM khng c kh nng iu ch nh vy. Tham s gii hn chnh l chu
k bm xung Ts . Chng ta thy rng cc h s k,l trong cng thc t hp vector
u k.u2 l.u1 , lun phi m bo k l 1 vi l do k T2 / TS , l T1 / TS ( T1 T2 TS ).
DCVTKG v1.2
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iu d c ngha k cng tng th l li cng gim lm cho vector in p nm trong gii hn
no .
u3
u4
2U DC / 3
u2
u0
u7
U DC
u1
Vng gii hn iu ch ca
phng php SVPWM
Vng gii hn iu ch in p
sin ca phng php SVPWM
u5
u6
Hnh 27: Gii hn iu ch ca thut ton SVPWM

V vic tnh ton chi tit gii hn ca php iu ch, cc bn c th xem ti liu [1] trang 86.
y mnh ch trch li kt lun nh sau: module ti a ca in p iu ch khng phi
ng trn ngoi tip m ch l hnh lc gic u. T y chng ta c th a ra kt lun tip
theo: in p iu ch c dng sin th qu o ca vector in p phi nm trong
ng trn ni tip hnh lc gic u vi bn knh bng U DC / 3 .
minh ha kt lun ny, mnh chy chng trnh m phng vi cc trng hp in p
t nh hn, bng, v ln hn gi tr U DC / 3 trong mc 3.3.3 M phng cu trc nghch
lu vng h. Cc bn c th quan st p ng dng in ng vi trng hp hiu mt
cch c th v trc quan hn. (c thi gian mnh s vit phn chng minh vo phn ph lc)
3.1.2.2 Th t iu ch vector bin ti u

V th t vector iu ch vector bin ti u, ta c th phn tch thng qua v d sau. Nh ta
thy trn hnh 25, vector u c iu ch t cp vector bin( u1 , u2 ) v vector khng ( u0
hoc u7 ). C nhiu cch sp sp th t iu ch t 4 vector ny, tuy nhin mt th t diu
ch ti u l th t m cc van s phi chuyn mch t nht trong mt chu k iu ch
gim thiu tn tht trn van. Nu quy nh trng thi ng van l 1 v ngt l 0, ta s c bng
ng ngt van ng vi tng vector in p chun trong sector 1 nh sau:
DCVTKG v1.2
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Bng 2: Trng thi ng ngt cc van ng

vi cc vector chun trong sector 1
u0
u1
u2
u7
G1
G3
G5
Nh bng 2, th t iu ch ti u l:
u0
u1
u2
u7
u7
u2
u1
u0
y l trt t m mi ln iu ch vector mi, ch c mt cp van phi chuyn mch. Cc trt

t khc u i hi t 2 n 3 cp van.
3.1.2.3 Gim thiu sng hi cho php iu ch

V vn th 3 l gim thiu sng hi ca php iu ch, ta tip tc phn tch v d trn.
iu ch ra ra mt vector in p, ta ch cn 2 thnh phn vector bin v mt vector khng.
Nh trong v d trn, ta thc hin iu ch cc vector u0
u7
u2
u1 , u2
u1
u2 (hoc u1
u2
u7 ,
u0 ) l . Tuy nhin trnh t ng ngt van nh th ny s to
u1
ra sng hi c tn s bng nguyn ln tn s bm xung f h k. f s (vi f s 1/ Ts ). Nhm ti

thiu lng hi pht t b iu ch, ta thc hin phng php iu ch i xng. y l
phng php iu ch m trng thi ng ct van c lp li sau mi na chu k ng ct
tcon
php iu ch ny s cho php ta gim cc thnh phn hi bc cao do

Ts / 2 . Bng phngtbon
chuyn mch gia cc van c lp li trong 1 chu k trch mu, cc thnh phn hi sau php
taon
iu ch s c tn s l
f h k.2 f s ).
G1 dn
G3 dn
G5 dn
t1
t2
t3
t4
t5
t6
t7
u0
u1
u2
u7
u2
u1
u0
Hnh 28: Phng php iu ch i xng vi sector 3

DCVTKG v1.2
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Hnh 28 minh ha php iu ch i xng vi mu xung iu ch tng ng vi sector 1. Ta
c trnh t iu ch cc vector chun nh sau:
u0
u1
u2
u7
u2
u1
u0
T 2 mc va ri, tng t nh v d trn, trt t iu ch trong cc sector cn li l:

Bng 3: Trnh t iu ch cc vector bin
Sector 1: u0
u1
u2
u7
u2
u1
u0
Sector 2: u0
u3
u2
u7
u2
u3
u0
Sector 3: u0
u3
u4
u7
u4
u3
u0
u3
II
III
u0 u7
u4
Sector 4: u0
u5
u4
u7
u4
u5
u0
Sector 5: u0
u5
u6
u7
u6
u5
u0
Sector 6: u0
u1
u6
u7
u6
u1
u0 u1
u2
u7
u7
u5
Sector 2
u2
u1
u0
u0 u3
u7
u2
u3 u0
S1
S1
S3
S3
S3
S5
S5
S5
S4
S4
S4
S6
S6
S6
S2
S2
S2
Ts/2
Sector 5
Ts/2
Ts/2
u0 u5 u4 u7 u7 u4 u5 u0
Sector 3
Ts/2
u0 u3 u4 u7 u7 u4 u3 u0
S1
Sector 4
u6
Ts/2
Ts/2
u 2 u7
u1
Ts/2
Ts/2
I
VI
IV
u0
Sector 1
Ts/2
u2
Sector 6
Ts/2
Ts/2
u0 u5 u6 u7 u7 u6 u5 u0
u0 u1
S1
S1
S1
S3
S3
S3
S5
S5
S5
S4
S4
S4
S6
S6
S6
S2
S2
S2
Ts/2
u6 u7 u7 u6 u1 u0
Hnh 29: Cc mu xung iu ch theo cc sector

Hnh cc mu xung iu ch cho ta thy 2 thng tin quan trng: th nht l trnh t cc vector
bin c iu ch theo tng sector. Th hai l trt t ng ngt cc van tng ng trong
tng sector y c gi l cc mu xung iu ch ca phng php.
DCVTKG v1.2
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T hnh 29 v bng 3, ta thy trt t iu ch cc vector bin tri v phi ca vector in p
t li o v tr sau mi sector. Ta s gp li kt lun ny trong mc 3.2.
3.1.3 Nguyn l phn cng trong thc thi thut ton iu ch vector khng
gian
Kt thc mc 3.1.2 chng ta nm c trnh t iu ch cc vector bin theo tng sector
cng nh trt t ng ngt cc van tng ng. Bng mu xung iu ch cho php ta hnh
dung c kt qu ca phng php. Tuy nhin vn cn mt vn m chng ta cn thc
mc l cc vi x l s hot ng ra sao to ra c cc mu xung nh th? Mi lin h
gia kt qu tnh ton ca thut ton SVM v xung iu ch u ra ca vi x l? Mc 3.1.3 s
tr li nhng cu hi ny. Nguyn l hot ng ca phn cng s c trnh by khi qut
da trn cu trc ca vi x l TMS320F2812 ca hng Texas Instrument. Khi pht xung ca
vi x l ny l khi pht xung tiu biu v c bn nht ca dng DSP C2000 dng DSP ng
dng trong iu khin cng sut ca TI.
3.1.3.1 C ch pht xung iu ch trn nn phn cng vi x l TMS320F2812

Trong mc ny mnh s gii thiu bc cui cng ca thut ton SVPWM: phng php ci
t, pht xung iu khin van t vi x l. C ch hot ng ca b pht xung, mnh khi qut
t khi qun l s kin EV (C28x Event Manager) trong vi x l TMS320F2812 ca hng
Texas Instrument..
Khi qun l s kin EV (Hnh 30) c cu thnh t 4 b phn chnh:
B nh thi dng chung ( General Purpose Timer - GP Timer)
Khi so snh (Compare Unit)
Khi lu tr (Capture Unit)
Khi x l Encoder (Quadrature Encoder Pulse Unit - QEP)
Trong bi ton pht xung iu ch ta ch cn quan tm ti b nh thi dng chung v khi

so snh. Ni dung ca 2 khi ny mnh s trnh by sau. Trc tin mnh s trnh by tng
qut phng php pht xung ca h phn cng trn.
DCVTKG v1.2
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Hnh 31: Tn hiu iu khin v

xung iu ch
Hnh 30: Khi qun l s kin EVA
Quay tr li thut ton SVM, nh phn tch mc 3.1.2.2, cc xung iu ch cn c pht

i xng qua na chu k trch mu Ts / 2 nhm gim thiu sng hi cho php iu ch.
to ra cc xung ny, khi pht xung thng thng bao gm 3 b phn chnh nh sau:
B n i xng
Cc thanh ghi lu thi im pht xung
Khi so snh
Trong :
B m i xng: b m c kh nng t ng m ln v xung. Khi ny c

nhim v cung cp thi gian c s cho php iu ch. Gi tr nh ca b m tng
ng vi thi gian na chu k trch mu. Hot ng ca b m to ra chui gi tr
hnh tam gic cn i xng qua trc thi gian t Ts / 2 nh trn hnh 32.
Cc thanh ghi lu thi im pht xung : bao gm ba thanh ghi lu thi im ng,
m van tng ng vi ba cp van ca khi nghch lu cu 6 van.
Khi logic so snh: c nhim v lin tc so snh gi tr m hin thi ca b m i

xng vi gi tr lu trong cc thanh ghi thi im pht xung. Pht hin thi im gp
nhau gia 2 gi tr trn v pht ra cc tn hiu ng, m van tng ng.
DCVTKG v1.2
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Gi tr m
T
Tc
Tb
B m i
xng
Khi logic so
snh
Ta
Mu xung
PWM
(Ta, Tb, Tc)
Thanh ghi thi

im pht xung
Mch x l
xung pwm
Thi gian
Xung PWM
X l deadtime, ..
G1 dn
G3 dn
G5 dn
TS / 2
TS
Hnh 32: Nguyn l hot ng khi pht xung i xng

Mt cch khi qut hot ng ca khi iu ch din ra nh sau: gi tr ci t cho b m l
bin T tng ng vi thi gian mt na chu k trch mu. B m s t ng m t khng
tng ln cho ti khi t gi tr T th bt u m xung cho n khi bng khng. Thi gian
cho mt chu k m ln xung bng mt chu k trch mu. Khi b m ang m ln v gp
gi tr Ta, Tb,Tc (lu trong thanh ghi thi im pht xung), khi logic so snh s pht cc tn
hiu m van tng ng. Khi b m m xung, v gp li gi tr ny th cc xung m van s
c ngt. Ton b qu trnh ny din ra mt cch t ng nh cc khi phn cng, nh c
ch ny m cc xung iu khin van i xng qua mt na chu k trch mu. T y, ta thy
cc thng s m ta quan tm l tn s trch mu v 3 gi tr thi im pht xung np cho
cc thanh ghi.
Hnh 33: C ch pht xung i xng ca TMS320F2812
DCVTKG v1.2
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phc v cho bi ton pht xung SVPWM, b qun l s kin EV cng bao gm cc khi
c bn trn. Nh Hnh 33, ta thy b nh thi dng chung General Purpose Timer c
mt b counter ng vai tr nh mt b m i xng. Thanh ghi Period trong b nh thi
dng chung c vai tr ci t chu k m tc chu k trch mu cho b counter. Cn thanh
ghi thi im pht xung v khi logic so snh th nm trong b so snh Full Compare
Units trong Hnh 33. Ta c th thy, b so snh ny gm 3 khi chc nng c lp, nhn
thng tin thi gian c s t b nh thi dng chung v to ra ba cp tn hiu iu ch cho ba
cp van. hiu k hn v tng khi chc nng ny, ta c th quan st hnh 35. y cc b
phn ca khi chc nng trn c th hin chi tit, b logic so snh (Compare Logic) nhn
thng tin t b counter ca khi nh thi dng chung 1 v thng tin t thanh ghi thi im
pht xung (Compare Register) to tn hiu ng m van. Tn hiu ny qua khi x l dead
band v logic u ra s tr thnh cc xung PWM iu khin cc van cng sut tng ng.
Hnh 34: Khi so snh trong TMS320F2812

Nh vy, vi chu k trch mu xc nh trc (thng thng t 5kHz ti 10kHz), kt qu tnh
ton cui cng ca thut ton cn a ra c thi im pht xung Ta, Tb, Tc np cho
thanh ghi so snh (Compare Register). V cn c t , khi logic so snh c th xut cc
xung ng m 3 cp van tng ng vi 3 pha a , b, c.
3.1.3.2 S lin h gia kt qu tnh ton ca thut ton SVPWM v gi tr ci t

cho thanh ghi ca vi x l
n y gn nh ton b ni dung c bn nht ca thut ton iu ch vector khng gian
c trnh by y . cc bn c c mt ci nhn bao qut i vi thut ton cng nh
thy c mi lin h su chui, mnh s khi qut li ton b ni dung nh sau:
Mc 3.1.1 gii thiu s hnh thnh khng gian vector vi 6 vector bin chun v 2 vector
khng t cc trng thi ng - ct xc nh ca b nghch lu cu 6 van. ng thi, mc ny
trnh by phng php t hp ra vector in p t t cc vector bin chun. Minh ha bi
DCVTKG v1.2
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trng hp vector in p t nm trong sector 3, phng php SVPWM chuyn t phng
trnh t hp vector trong khng gian u k.u2 l.u1 thnh phng trnh t l thi gian iu
ch k
T2
T
, l 1 vi T1 , T2 ln lt l thi gian iu ch cc vector bin u1 , u2 trong mt
Ts
Ts
chu k iu ch Ts . Thi gian cn li l thi gian iu ch vector khng ( u0 , u7 ):
T0 Ts (T1 T2 ) . Vi vector in p t xc nh trc v bin v gc pha, ta hon ton

c th tnh c h s k,l bng cc php bin i lng gic. T ta c th tnh c cc
gi tr T0 , T1 , T2 tng ng. V mt cng thc tnh ton mnh s trnh by c th mc 3.2,
nhng c th hiu ln ca T1 , T2 trong mt chu k iu ch i din cho bin thnh
phn vector u1 , u2 trong vai tr tng hp ra vector in p t u . Ni cch khc, bin
thnh phn vector bin cng ln th thi gian iu ch vector cng lu trong chu k iu
ch. Mt cch tng qut cho cc sector cn li, T1 , T2 i din cho thi gian iu ch cc
vector bin bn tri v bn phi ca vector in p t trong sector cha n.
Sau khi nm c nguyn l iu ch t php t hp vector, mc 3.1.2 ta thnh lp trnh t
iu ch cc vector bin cng nh trt t ng ct van ti u nht ng vi tng sector c th.
n mc 3.1.3.1 ta hiu c c ch hot ng ca khi phn cng to ra cc mu xung
iu ch v kt lun kt qu cui cng ca thut ton l phi tnh ra c thi im pht xung
Ta, Tb,Tc cho 3 cp van vi 3 pha tng ng. Mc 3.1.3.2 ny, mnh s trnh by nt mi
lin h gia Ta, Tb, Tc v thi gian iu ch vector bin T0 , T1 , T2 .
DCVTKG v1.2
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Gi tr m
T
Tc
Tb
Ta
Thi gian
G1 dn
G3 dn
G5 dn
t1
T0
4
u0
T1
2
t2
u1
t3
T
T2
t4 0
2
4
u2
t5
T0
T
t 2
4 6 2
u7
u2
t7
T1
2
u1
t8
T0
4
u0
TS / 2
TS
Hnh 35: C ch pht xung iu ch ng vi vector trong sector 1

Quay tr li v d iu ch vector in p t nm trong sector 1, trnh t iu ch cc vector
bin
u0
u1
u2
u7
u2
u1
u0 .
Chu
bm
xung
Ts t1 t2 t3 t4 t5 t6 t7 t8 . Do cc xung i xng qua trc t Ts / 2 , thi gian iu
ch cc vector bin chun c tnh nh sau:

u0 : T00 t1 t8 2.t1
u1 : T1 t2 t7 2.t2
u2 : T2 t3 t6 2.t3
u7 : T07 t4 t5 2.t4 2.t1
Thi gian iu ch vector khng: T0 T00 T07 4t1 .

Nh vy thi gian iu ch mi vector trong mt na chu k trch mu:
DCVTKG v1.2
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u0 : T0 h T0 / 4
u1 : T1h T1 / 2
u2 : T2 h T2 / 2
u7 : T7 h T0 / 4
Qu trnh iu ch vector in p trong sector 3 nh sau s din ra nh sau: ban u iu ch

vector u0 , cc van G1G3G5 kha (G4G6G2 dn), thi gian iu ch vector khng l
T0 h T0 / 4 . Sau khong thi gian , vector u1 c iu ch, tng ng van G1 dn (G4

kha) nh vy thi gian cn np cho thanh ghi CPRM1 m van G1 (kha G4) l
Ta T0 / 4 . Thi gian iu ch vector u1 trong na chu k iu ch l T1h T1 / 2 . Kt thc

iu ch u1 , vector u2 c iu ch tng ng van G3 dn (G6 kha). Nh vy thi gian
np cho thanh ghi CPRM2 m van G3 (kha G6) l Tb T0 / 4 T1 / 2 . Thi gian iu ch
vector u2 trong na chu k iu ch l T2 h T2 / 2 . Kt thc iu ch u2 , vector u7 c iu
ch, tng ng van G5 dn (G2 kha). Nh vy thi gian np cho thanh ghi CPRM3 m
van G5 (kha G2) l Tc T0 / 4 T1 / 2 T2 / 2 . n y th ton b cc van G1G3G5 kha
(G4G6G2 dn). Khi b m t ti gi tr T Ts / 2 v t ng m li, cc van G5G3G1 s
ln lt b kha (G2G6G4 dn) m bo thi gian iu ch cc vector bin u0 , u1 , u2 , u7
bng cc gi tr T0 / 2, T1 , T2 , T0 / 2 .
Ti y ta xc nh c gi tr np cho cc thanh ghi thi im pht xung nh sau:
CPRM1: Ta T0 / 4
CPRM2 : Tb T0 / 4 T1 / 2
CPRM3 : T T / 4 T / 2 T / 2
c
0
1
2
DCVTKG v1.2
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3.2 Tnh ton v thc hin thut ton iu ch vector khng gian
Mc ch cui cng ca cc php iu ch l a ra c mt trt t ng ct cc van bn
dn sao cho in p u ra khi nghch lu sp s vi in p t. V vy, thng tin m ta
quan tm l thi im v thi gian cc van thc hin dn hay kha. Nh trnh by trong
mc nguyn l, phng php iu ch vector khng gian l phng php to ra vector in
p mong nun t cc vector bin chun. Trong mc ny mnh s trnh by chi tit vic tnh
ton thi im v thi gian iu ch cc vector bin to ra vector in p u ra mong
mun.
Tng t nh trong mc 3.1, mc ny s phn tch, xy dng cng thc chi tit cho trng
hp vector in p t nm trong sector 1. Vi trng hp vector nm trong cc sector
cn li, ti liu s ch dn kt qu m khng trnh by li na.
Trong vic tnh ton c th thi gian iu ch, vic bit c vector in p t hin ang
trong sector no (ang nm gia 2 vector bin chun no) l thng tin ht sc quan trng. V
n quyt nh cp vector bin chun no s c iu ch, hn na cc cng thc tnh thi
gian iu ch cho tng sector cng khc nhau. V vy, trc tin ta phi xc nh c sector
cha vector cn iu ch, da vo thng tin vector in p t.
Sau khi bit c vector in p t nm gia 2 vector bin chun no, ta i n tnh ton cc
vector thnh phn trn vector bin chun tng hp ra vector in p t da theo
phng php cng vector hnh hc. Kt thc bc ny, ta thu c t di vector thnh
phn so vi vector bin chun. y chnh l t l thi gian iu ch vector bin trong mt chu
k iu ch.
T thng tin thi gian iu ch vector bin, ta i ti bc cui cng, xc nh thi im v
thi gian ng ngt cc van tng ng. Tm li, trnh t trin khai thut ton iu ch vector
khng gian, ta s phi thc hin ln lt 3 bc sau:
1- Xc nh sector cha vector cn iu ch.
2- Xc nh khong thi gian iu ch cc vector bin T1 , T2 , T0
3- Xc nh thi gian chuyn mch trn mi van bn dn.
Mc 3.2 ny s ln lt gii quyt 3 bc trn. V cch thc trin khai, mnh trnh by da
theo chng trnh mu ca hng Texas Instrument trong ti liu [6] SPRU485A Digital
Motor Control Software Library mc SVGEN_DQ. V vy s c ch hi khc so vi ti liu
DCVTKG v1.2
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[1] ca thy Quang. y cng l nhng cng vic mnh tng lm trong thi gian thc tp ti
phng th nghim trong trng, mnh s gii thiu sau y cc bn tham kho thm.
3.2.1 Xc nh sector cha vector cn iu ch

xc nh sector cha u ta c th s dng phng php loi tr bng vic st du
ln lt u , u , v biu thc b ( b | u |
| u |
3
) . Phng php ny c trnh by rt k
trong ti liu [1]. Trong mc ny mnh trnh by thm v mt phng php khc da trn
php chuyn h trc ta c s dng trong chng trnh ca Texas Instrument, cc bn
c th xem thm trong ti liu [6] mc SVGEN_DQ. y l phng php c th tnh ton
trc tip ra v tr sector cn tm. Cm t chuyn h trc ta , do mnh t t ra cc bn
d hnh dung v phng php.
Trc khi trnh by c th, mnh mun nh s li tng sector trong khng gian. Vic ny
gip thun tin trong vic p dng phng php trong vi x l, mnh s trnh by c th pha
di:
u3
u3
u2
II
u4
III
IV
u5
u0 u7
u2
I
u1
VI
V
V
u4
u0 u7
IV
III
u1
II
VI
u6
Hnh 36: Cch nh s sector c
u5
u6
Hnh 37: Cch nh s sector mi
T phn ny tr v sau, mnh s dng cch nh s mi gi tn tng sector. Phng php

xc nh sector c th nh sau :
Nh ta bit php chuyn i ngc Clarke t h trc s cho ta h ta in p 3 pha
(abc) ban u. Vi h ta ny, khng gian vector c th chia ra lm 6 khong du ca
U a ,U b ,U c cch u nhau 1 gc /3 nh hnh 38. Tuy nhin, 6 khong ny li khng trng vi
v tr ca 6 sector in p iu ch. V nu quan st k hn ta s thy rng, khi xoay h trc

abc i mt c /2 th v tr ca 6 khong du va trng kht vi v tr ca 6 sector. iu
khin ta ny ra tng: ta c th xy dng php chuyn h trc khc tng t nh php
chuyn ngc Clarke, sao cho t h trc s cho ra h ta in p 3 pha (xyz), tha mn
DCVTKG v1.2
46

6 khong du ca cp gi tr (xyz) trng vi v tr cu 6 sector in p iu ch. Ni cch
khc ta s xy dng php chuyn h ta xyz tng t nh h trc abc nhng xoay i mt
gc /2. T suy ngh nh vy, ta xy dng php chuyn trc xyz nh sau.
0
x
y 3
2
z
3
2
1 u

2 u
1

2
u3
u2
0
z<
0
y>
0
x>
0
z> 0
y< >0
x
a>
b< 0
c> 0
0
z<0
y<0
x>0
0
a<
0
b<
0
c>
u3
u2
I
a<0
b>0
c>0
u0 u7
u1
u4
u5
u4
0
z>
0
y<
0
x<
u6
Hnh 38: Du in p pha U a ,U b ,U c trong

khng gian vector
IV
u0 u7
VI
III
u1
II
Z
u5
u6
z>
0
y<
0
x<
0
z>0
y>0
x<0
0
a>
0
b>
0
c<
b
a<
b> 0
c< 0
0
a>0
b<0
c<0
Hnh 39: Du in p XYZ trong khng gian

vector
T hnh 39 ta thy rng c th xc nh sector cha vector in p cn iu ch nh vo du

ca cp gi tr (xyz) c dn xut t gi tr u , u ca vector . V tr sector c xc nh
trc tip bng php m ha bit X,Y,Z nh sau:
x 0
X 1
X 0
x 0
y 0
Y 1
Y 0
y 0
z 0
Z 1
z 0
Z 0
Gi tr sector c tnh bng mt s nh phn 3 bit ZYX(2) .
ZYX(2) = (Z << 2) + (Y<<1) + X
DCVTKG v1.2
47

3.2.2 Xc nh khong thi gian iu ch cc vector bin t1 , t2 , t0
Mc 3.1.1 trnh by s lc v php iu ch vector in p t t cc vector bin. Mi
lin h gia phng trnh tng hp vector trong khng gian v t l iu ch cc vector trong
min thi gian. n y mnh s trnh by c th v mt cng thc tnh ton thi gian iu
ch cc vector bin t vector in p t thng qua cc tham s u , u . Cng nh mc 3.1.1,
mc 3.2.2 s ly trng hp vector in p t nm trong sector 3, gia 2 vector (u1 , u2 )
lm v d minh ha cho phng php. Cc sector cn li cng thc s c xy dng tng
t. Nh th, vector u1 trong v d s i din cho vector bin bn phi ca vector in p t.
Vector u2 s i din cho vector bin bn tri. Tng t nh vy, (T1 , T2 ) ln lt i din
cho thi gian iu ch vector bin bn phi v bn tri.
Trn hnh 40 t1 , t2 l cc i lng
tng
u2
i,
vi
t1 T1 / Ts
t2 T2 / Ts . T hnh v bn, ta thy

vector u nm trong sector th 3
u t2 .u2 t1.u1
v u2 . Do ta c h phng trnh
t2 .u
u0
u7
gii hn bi 2 sector bin chun u1
t1.u1
u1
sau:
Hnh 40: Vector in p iu ch c tng hp trong

sector 3
Ts T1 T2 T0
T1
T2
u T .u1 T .u2
s
s
Trong T1 , T2 , T0 ln lt l khong thi gian tng ng iu ch vector u1 , u2 v vector

khng( u0 , u7 ) trong 1 chu k bm xung Ts .
Thc hin chiu ln cc trc , ta thu c h phng trnh.
T2
T2 2
* T1
* T1 2
u T . u1 T . u2 cos( 3 )
u T . 3 .udc T . 3 udc .cos( 3 )
s
s
s
s
u* T2 . u sin( )
u* T2 . 2 .u sin( )
Ts 3 dc
Ts
3
3
( u , u mang du * biu th l gi tr thc, phn bit vi gi tr tng i s c trnh
by sau.)
DCVTKG v1.2
48

in p 3 pha iu ch ra c dng sin, th in p t cho thut ton SVPWM phi nm
trong ng trn ni tip hnh lc gic u c ln
udc
. Vn ny c trnh by
3
trong mc 3.1.2.1 Gii hn iu ch ca thut ton.

Nhm m bo kh nng biu din ca vi x l, ta chun ha i lng vector in p iu
ch us , us theo gi tr
udc
. Lc ny ta c cc gi tr tng i ca vector in p iu ch
3
nh sau:
u*
u

udc / 3
*
u u
u / 3
dc
Lc ny cc gi tr u , u khng phi l gi tr thc na v khng mang th nguyn in p.

u , u th hin gi tr tng i gia gi tr ca in p t so vi nng lc iu ch thut
ton SVPWM ( uDC / 3 ). V vy mt sng sin c th iu ch khi cc thnh phn u , u ny

nm trong phm vi 0 -> 1. T y, t s iu ch cc vector bin c tnh li v chun ha
nh sau:
T1 1
t1 T 2 ( 3u u )
t T2 u
2 Ts
3
t1
t 2
2 0
1
u
2
u
1
Cng thc trn th hin mi quan h gia t l thi gian iu ch (chia tn s trch mu) v t
s in p dt (chia uDC / 3 ). Trong , thi gian iu ch vector u2 ( t2 ) t l thun vi
thnh phn u , thi gian iu ch vector u1 ( t1 ) t l thun vi thnh phn u .
Tng t nh vy ta xy dng cc ma trn tnh ton cc gi tr t1 , t2 t u , u cho cc sector
cn li. thng nht v mt k hiu ta c th coi t1 , t2 tng ng thi gian iu ch cc
vector bin bn phi v bn tri vector cn iu ch trong sector cha n. Khi thi gian
iu ch cc vector bin theo tng sector c quy nh nh sau:
DCVTKG v1.2
49

Bng 4: Quy nh t1 , t2 tng ng l thi gian iu ch vector bin bn phi v bn tri
Sector
III
IV
VI
II
Vector bin
u1
u2
u2
u3
u3
u4
u4
u5
u5
u6
u6
u1
Thi gian iu ch
t1
t2
t1
t2
t1
t2
t1
t2
t1
t2
t1
t2
Tuy nhin, nh ch ra mc 3.1.2.2 Hnh 29 cc mu xung iu ch ng vi tng sector, ta

thy trnh t iu ch cc vector bin li o sau mi sector. V vy, thun tin hn trong
tnh ton thi im pht xung (s trnh by mc 3.2.3) mnh quy nh li k hiu t1 , t2 ng
vi tng sector nh sau:
Bng 5: Quy nh thi gian iu ch t1 , t2 theo tng sector
Sector
III
IV
VI
II
Vector bin
u1
u2
u2
u3
u3
u4
u4
u5
u5
u6
u6
u1
Thi gian iu ch
t1
t2
t2
t1
t1
t2
t2
t1
t1
t2
t2
t1
T y, ta xy dng cng thc tnh thi gian iu ch cc vector bin t gi tr u , u cho cc

sector cn li nh sau:
Bng 6: Ma trn tnh ton cc gi tr t1 , t2 t u , u cho cc sector
Sector
III
2
0
1

2
1
2
3
2
1
3
2
IV
3
2
VI
1
2
2
3
II
1

2
1

2
2
0
2
1
T bng trn ta thy cc h s tnh ton thi gian iu ch u xoay quanh ba cng thc sau:
DCVTKG v1.2
50
a u
b ( 3u u )
2
c 2 ( 3u u )
T 3 bin a,b,c bng tnh ton thi gian iu ch c n gin nh sau:
Bng 7: Ma trn tnh ton cc gi tr t1 , t2
Sector
IV
III
c
a

c
b

a
b

a
c

VI
II
b
c

b
a

3.2.3 Xc nh thi gian chuyn mch trn mi van bn dn

Sau khi tnh ton xong khong thi gian iu ch cc vector bin, ta cn a cc gi tr ny
v dng thi im m cc van bn dn np vo thanh ghi so snh, nhm phc v bi ton
pht xung i xng ca vi x l. Nh trnh by mc 3.1.3.2 gi tr ti cc thanh ghi thi
im pht xung cho sector 3 c tnh bng:
CPRM1: Ta T0 / 4
CPRM2 : Tb T0 / 4 T1 / 2
CPRM3 : T T / 4 T / 2 T / 2
c
0
1
2
Do t1 , t2 l gi tr tng i th hin thi gian iu ch cc vector bin trn mt chu k trch

mu v vy thi gian iu ch vector khng : t0 1 t1 t2 . T thi im pht xung c
tnh li bng:
(1 (t1 t 2 )) * Ts
Ta
4
(1 (t1 t 2 )) * Ts t1 * Ts
Tb
4
2
(1 (t1 t 2 )) * Ts t1 * Ts t2 * Ts
Tc
4
2
2
Cc gi tr thi im pht xung thng thng c chun ha theo gi tr ln nht ca b

m tng ng mt na chu k trch mu Ts / 2 .
DCVTKG v1.2
51

1 t1 t2
N
Ta
Ta
Ts / 2
2
N
1 t1 t2
Tb
t1
Tb
Ts / 2
2
1 t1 t2
T
TcN c
t1 t2
Ts / 2
2
Nh vy, i vi trng hp vector in p t nm trong sector 3, t gi tr t1 , t2 ta xc

nh c thi im pht xung np cho cc thanh ghi so snh. i vi cc sector cn li ta
tip tc xy dng cng thc nh trn. C mt im cn ch l vi mi sector th trt t
ng ngt van s khc nhau do cc vector bin s dng l khc nhau. Ta xy dng li mu
xung chuyn mch t Hnh 29 mc 3.1.2.3 v thm thng tin thi gian iu ch cc vector
T0 , T1 , T2 vi T1 , T2 c quy nh nh trn bng 7.
Sector 3
Ts/2
u0 u1
u2
Sector 1
Ts/2
Ts/2
u7
u7
u2
u1 u0
u0 u3
u 2 u7
Sector 5
Ts/2
Ts/2
u7
u2
u0 u3
u3 u0
T0/4 T1/2 T2/2T0/4 T0/4 T2/2 T1/2T0/4
T0/4 T1/2 T2/2T0/4 T0/4 T2/2 T1/2T0/4
T0/4 T1/2 T2/2T0/4 T0/4 T2/2 T1/2T0/4

S1
S1
S3
S3
S5
S5
S4
S4
S6
S6
S2
S2
Sector 2
Sector 6
Sector 4
Ts/2
Ts/2
u4 u7 u7 u4 u3 u0
Ts/2
Ts/2
Ts/2
u0 u5 u4 u7 u7 u4 u5 u0
u0 u5 u6 u7 u7 u6 u5 u0
T0/4 T1/2 T2/2T0/4 T0/4 T2/2 T1/2T0/4
T0/4 T1/2 T2/2T0/4 T0/4 T2/2 T1/2T0/4
Ts/2
u0 u1
u6 u7 u7
Ts/2
u6 u1 u0
T0/4 T1/2 T2/2T0/4 T0/4 T2/2 T1/2T0/4
S1
S1
S3
S3
S5
S5
S4
S4
S6
S6
S2
S2
Hnh 41: Mu xung chuyn mch

Quan st Hnh 41 mu xung chuyn mch ta thy rng tuy trt t ng ngt cc van c khc
nhau nhng thi im pht xung u xoay quanh 3 gi tr X1, X2, X3 nh sau:
DCVTKG v1.2
52

1 t1 t2
X1
2
X 2 X 1 t1
X X t
2
2
3
T mu chuyn mch hnh 25, ta c th xy dng cng thc tnh thi im pht xung Ta, Tb,
Tc cho tng sector theo cc gi tr X1 , X 2 , X 3 nh sau:
Bng 8: Thi im pht xung TaTbTc
Sector III
Ta
X1
Tb
X2
Tc
X3
DCVTKG v1.2
IV
VI
II
X2
X3
X3
X2
X1
X1
X1
X2
X3
X3
X3
X2
X1
X1
X2
53

3.3 M phng trn phn mm Matlab Simulink
Kt thc mc 3.2, chng ta hon thnh cng cic k thut ha thut ton iu ch vector
khng gian. a thut ton ny t tng l thuyt thnh cng thc ton hc c th thc
thi trn vi x l. Sang mc 3.3, chng ta s s dng phn mm m phng Matlab Simulink
kim chng li l thuyt cng nh nhng cng thc xy dng trn.
Chng c vit theo trnh t xy dng thut ton, cc khi chc nng c m phng theo
th t:
Khi la chn sector: Tnh ton v tr sector cha vector cn iu ch
Khi xc nh thi gian chuyn mch: bao gm cc khi tnh thi gian iu ch vector
bin v khi tnh thi gian pht xung TaTbTc
M phng cu trc nghch lu vng h: M phng hot ng ca ton b khi

SVPWM, kt hp vi khi m phng phn cng ca vi x l, mch van v ti RL
Tng b phn c trnh by theo cu trc gm 3 phn:
S m phng: gii thiu v mc ch xy dng m hnh v tng qut cu trc ca

m hnh
M hnh m phng: din di chi tit tng khi trong m hnh, cc tham s ci t
Kt qu m phng: Trnh by cc kt qu sau qu trnh chy m phng v mt s

nhn xt trn cc kt qu y.
3.3.1 M phng khi la chn sector

3.3.1.1 S m phng
Chng trnh m phng nhm kim tra hot ng ca thut ton xc nh sector cha vector
in p t trong khng gian vector. S m phng bao gm mt khi pht tn hiu in p
3 pha, mt khi chuyn h ta Alpha Beta v mt khi xc nh sector. Bng cch ci t
chiu quay ca vector in p , ta quan st th t cc sector c tnh ton bi khi xc nh
sector v nh gi chnh xc ca thut ton.
DCVTKG v1.2
54

XY Graph
>= 0
Scope2
A
Scaling1
X
Anpha
Anpha
>= 0
Y
Beta
Beta
Clarke_Uab
ZYX
2
Gain
Scope
Add
xyz Calcuator
>= 0
4
Gain1
>= 0
u_a
Scope5
Hnh 42: M hnh m phng khi la chn sector
3.3.1.2.1 M hnh khi tnh ton in p xyz

Cng thc ton hc:
0
X
Y 3
2
Z
3
2
1 U s

2 U s
1

2
-1*sqrt(3)/2
XY Graph
Product
Anpha
>= 0
Scope2
A
Scaling1
Add
sqrt(3)/2
X
Anpha
Anpha
Y
Beta
Beta
Clarke_Uab
>= 0
Gain
XYZ
>= 0
u_a
Scope5
Add
-1/2
2
Add1
Scope
4
Gain1
>= 0
Product1
ZYX
Product2
Beta
Hnh 43: M hnh khi tnh ton in p xyz

3.3.1.2.2 Xc nh v tr sector
V tr ca sector cha vector in p c xc nh theo khong du ca in p xyz nh
trnh by trong mc 3.2.1 Xc nh sector cha vector cn iu ch
DCVTKG v1.2
55

z<0
y<0
x>0
0
z<
0
y>
0
x>
0
z> 0
y< 0
x>
u3
u2
I
V
u4
0
z>
0
y<
0
x<
IV
u0 u7
VI
III
u1
II
Z
u5
z>
0
y<
0
x<
0
u6
z>0
y>0
x<0
Hnh 44: Cc khong du ca in p xyz v cc sector tng ng

Gi tr sector ny c tnh ton bng mt s nh phn ZYX(2) theo khong du ca h in
p xyz nh sau:
x 0
X 1
X 0
x 0
y 0
Y 1
Y 0
y 0
z 0
Z 1
z 0
Z 0
Hnh 45: Tnh ton v tr sector
ZYX(2) = (Z << 2) + (Y<<1) + X
Ch tn hiu sau khi so snh c t dng unsigned int8, gi tr u ra bng 1 khi tn

hiu u vo > 0 v bng khng trong trng hp cn li. Gi tr sector trong m phng c
tnh bng:
ZYX(2) = Z*4 + Y*2 +X (Z << 2) + (Y<<1) + X
3.3.1.3 Kt qu m phng vi vector in p thun

Phng trnh vector in p thun
ua 1sin(100 t )
ub 1sin(100 t )
3
uc 1sin(100 t 3 )
DCVTKG v1.2
56
Hnh 46: in p 3 pha ng vi thnh phn th t

thun
Hnh 47: in p u (trn) v u (di)
Nhn xt:
H in p 3 pha th t thun: ua , ub , uc ln lt chm pha mt gc 2/3
Vector u sm pha hn u mt gc /2 do vector th t thun quay ngc chiu kim

ng h. V vy vector s gp trc alpha trc khi gp trc beta.
u3
u2
I
V
u0 u7
u4
IV
III
u1
II
VI
u5
u6
Hnh 48: Cc sector trong khng

gian vector
Hnh 49: Th t sector i vi vector in p quay theo

thnh phn th t thun
Nhn xt:
Cc sector thay i theo qu o quay ca vector in p, th t cc sector: 6-2-3-15-4-6. Khi la chn sector xc nh ng qu o ca vector th t thun.
Chu k quay ht mt vng ca vector in p l 0.02s tng ng tn s 50Hz, thi

gian cho mi sector l 3.33ms
Sector u tin c xc nh l xector 6 ch khng phi sector 3 l do in p c

biu din theo hm sin ch khng phi hm cos.
DCVTKG v1.2
57

3.3.1.4 Kt qu m phng vi vector in p ch bao gm thnh phn th t
nghch
Phng trnh vector in p thun
ua 1sin(100 t )
ub 1sin(100 t )
3
uc 1sin(100 t 3 )
Hnh 50: in p 3 pha ng vi thnh phn th t

nghch
Hnh 51: in p u (trn) v u

(di)
Nhn xt:
H in p 3 pha th t ngc: ua , ub , uc ln lt nhanh pha mt gc 2/3
Vector u chm pha hn u mt gc /2, do vector th t nghch quay cng chiu

kim ng h v vy vector s gp trc beta trc khi gp trc alpha.
u3
u2
I
V
u0 u7
u4
IV
III
u1
II
VI
u5
u6
Hnh 52: Cc sector trong khng

gian vector
Hnh 53: Th t sector i vi vector in p quay theo

thnh phn th t ngch
Nhn xt:
DCVTKG v1.2
58
Cc sector thay i theo th t nghch quay ngc li so vi vector th t thun, th

t cc sector l: 1-3-2-6-4-5-1
3.3.2 M phng khi xc nh thi gian chuyn mch

Bi m phng nhm quan st p ng ca b tnh ton thi im pht xung TaTbTc, vi tn
hiu t l in p 3 pha sin v cn bng, vector in p nm trong kh nng iu ch ca b
nghch lu.
3.3.2.1 S m phng
Thnh phn chnh ca s m phng l khi tnh ton thi im pht xung TaTbTc. B ny
gm 2 thnh phn: khi xc nh sector cha vector in p t ( xy dng nh trn) v
khi tnh ton TaTbTc theo tng sector.
u u
Clarke
u u
sector
ua ubuc
u u
M hnh
tng t
Sector
Selector
TaTbTc Calculator
TaTbTc
M hnh gin on
Hnh 54: S m phng khi tnh ton thi im pht xung

Khi tnh ton thi im pht xung, nh trnh by mc 3.2.2 v 3.2.3 c nhim v tnh
ton t tham s u u ca in p t cc gi tr:
Thi gian iu ch cc vector bin t1t2
Thi im pht xung cho cc cp van m bo ng gi tr t1t2 cho cc sector
Tt nhin, cc cng thc tnh ton l khc nhau mi sector. V vy, vic p dng cng thc
no ph thuc vo thng tin sector cha vector cn iu ch. S tng qu ca khi tnh
ton TaTbTc c trnh by nh Hnh 55.
DCVTKG v1.2
59

Sector
Tnh ton TaTbTc trong sector I
u u
Sector1
Sector2
Sector3
Tnh ton
cc bin
a,b,c
a u
b ( 3u u )
2
c 2 ( 3u u )
Sector4
Xc nh t1t2 t
cc bin abc
theo sector
t1t2
Tnh ton
TaTbTc t t1t2
theo sector
TaTbTc
Sector5
Sector6
III
c
a

I
c
b

Sector
V
IV
a a
b c

VI
b
c

Ma trn tnh ton cc gi tr t1t2
II
b
a

1 t1 t2
X1
2
X 2 X 1 t1
X X t
2
2
3
Sector III I
V
IV VI
Ta
X1 X 2 X 3 X 3 X 2
Tb
X 2 X1 X1 X 2 X 3
Tc
X 3 X 3 X 2 X1 X1
Thi im pht xung TaTbTc
II
X1
X3
X2
Hnh 55: S khi TaTbTc Calculator

Trong s m phng ny, nhm nng cao tnh chn thc ca php m phng, mnh s
khi pht tn hiu t l m hnh lin tc v khi tnh ton thi im pht xung l m hnh
gin on (nh Hnh 54). Nh vy, qu trnh tnh ton thi im pht xung s c thc hin
sau mi khong thi gian cch u. Khong thi gian ny tng ng vi gi tr chu k trch
mu ca cc b iu ch trong thc t l Ts = 0.1 ms (fs = 10 kHz). Nh trnh by trong
ph lc 4.1, vic ci t chu k trch mu cho m hnh tnh ton TaTbTc, ta ch cn khai bo
ti v tr u vo ca m hnh tc l ti khi Clarke. M hnh tn hiu t ni vi m hnh tnh
ton TaTbTc qua mt khu Zero-Order Hold chuyn tham s Sample Time.
DCVTKG v1.2
60

Anpha
Sector
Sector
[Ta]
Beta
Scope2
Sector Selector
[Tb]
[Ta]
Chu ky trich mau
Anpha
B
C
[Tc]
Beta
Clarke_Uab1
XY Graph
[Tb]
[A]
[Tc]
CBA
TaTbTc
[Ta]
Sector1
CBA
A
In1
Out1
In2
Out2
In3
Out3
Voltage Source
Zero-Order
Hold
Anpha
TaTbTc
Scope4
[A]
Scope3
[Ta]
Sector2
Beta
CBA
Clarke
Anpha
[A]
TaTbTc
[B]
Sector3
CBA
[B]
<signal1>
<signal2>
<signal3>
Scope5
[Tb]
Beta
ABC Transform
CBA
TaTbTc
[C]
Sector4
[C]
In2
Scope1
[Tc]
TaTbTc
Sector5
In2
TaTbTc
Multiport
Switch
Sector6
Hnh 56: M hnh m phng khi tnh ton thi im pht xung TaTbTc
Tham s m phng:
Ch m phng:
Bc m phng:
Fix-step size
106 s
Tn s trch mu fs:
10 kHz
Tn s tn hiu t fr:
50 Hz
Tham s m phng c nhp thng qua file Duty_Cycle_Calculator_1_1.m

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
File:
Duty_Cycle_Calculator_1_1.m
%
Comment: File generate parameter to Duty_Cycle_Calculator_1_1.mdl
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%______________________Frequency Parameter__________________________
T_i = 1e-6;
% Time for fixstep simulation
fs = 10000;
% sample frequency 10kHz
Ts = 1/fs;
% Sample Period
fr = 50;
% Reference frequence 50Hz
%_______________________Voltage Parameter__________________________
Ur = 0.5;
% Refernce Voltage Amplitude,
% gia tri tuong doi(tinh theo (udc/sqrt(3)))
a) Ci t in p t cho khi xc nh thi gian chuyn mch

Gi tr in p t cho khi Voltage Source l gi tr tng i Ur, tnh theo n v (1/(
U DC / 3 )). Nguyn nhn l do cc cng thc tnh thi im pht xung TaTbTc c xy
dng da trn gi tr tng i ny m bo kh nng biu din ca vi x l. Cc bn c

th xem li mc 3.2.2 Xc nh khong thi gian iu ch vector bin t1t2t0 hiu l do
s dng i lng tng i trong tnh ton.
b) Cu hnh Sample Time cho cc khi m phng
DCVTKG v1.2
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Vic cu hnh tham s thi gian trch mu cho cc khi trong m hnh c trnh by nh
trong mc 3.3.2.1. hin th trc quan tham s cu hnh ny, ta c th vo mc Format ->
Sample Time Display -> All, cc gi tr Sample time s hin th theo mu sc nh hnh di.
T hnh ny ta thy sau khi Zero-oder Hold cc khi pha sau u c mu xanh tc khi
gin on vi chu k trch mu Ts = 0.1 ms ng nh mong mun ca ta khi xy dng m
hnh m phng. Kt qu ny do tnh k tha tham s Sample time c ci t mc nh
trong cc khi thng dng ca Simulink (xem ph lc 4.1).
Anpha
Sector
Sector
D2
[Ta]
Beta
D2
A
Scope2
Sector Selector
[Tb]
[Ta]
[Tc]
D2
D2
Anpha
D2
B
C
Beta
Clarke_Uab1
D2
XY Graph
[Tb]
[A]
D2
[Tc]
CBA
TaTbTc
D2
[Ta]
D2
D2
<signal1>
D2
<signal2>
<signal3>
Sector1
CBA
A
B
C
Cont
Cont
Cont
Voltage Source
In1
Out1
In2
Out2
In3
Out3
Zero-Order
Hold
D2
D2
D2
Anpha
D2
Beta
Clarke
D2
CBA
Anpha
CBA
[A]
[B]
D2
Scope4
[A]
TaTbTc
Beta
ABC Transform
CBA
D2
D2
TaTbTc
[B]
In2
TaTbTc
D2
D2
D2
Scope5
[Tb]
D2
D2
[C]
Sector4
[C]
D2
[Ta]
Sector3
D2
D2
Scope3
Sector2
B
C
TaTbTc
D2
D2
D2
D2
[Tc]
Scope1
D2
Sector5
In2
TaTbTc
D2
Multiport
Switch
Sector6
Hnh 57: Hin th Sample Time ca cc khi trong m hnh m phng
Hnh 58: Bng mu quy nh thng s Sample Time

c) Khi chuyn chu k trch mu Zero-order Hold
Trong khi m hnh tn hiu t vn dng tng t (l do l sau ny ta s thay th n bng
b iu khin dng) th m hnh tnh ton thi im pht xung c xy dng trn min gin
on. Gia hai khi ny, ta s dng mt khi Zero-order Hold chuyn i gi tr chu k
trch mu. Khi ny c vai tr nh mt khi trch mu tn hiu.
DCVTKG v1.2
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1
In1
2
In2
3
In3
Cont
D2
Cont
1
Out1
Zero-Order
Hold
D2
Zero-Order
Hold1
Cont
2
Out2
D2
Zero-Order
Hold2
3
Out3
Hnh 59: Khi Zero-Order Hold
Hnh 60: Ci t tham s cho khi Zero-order Hold

d) Cc khi x dng trong m hnh tnh ton thi im pht xung
Khi xc nh sector
Khi xc nh Sector cha vector cn iu ch: khi ny c trnh by trong mc 3.3.1
>= 0
X
Anpha
Anpha
2
Beta
Y
Beta
>= 0
2
Gain
1
Sector
Add
XYZ
>= 0
4
Gain1
Hnh 61: Khi xc nh sector

Khi tnh ton thi im pht xung
Khi tnh ton thi im pht xung c trnh by trong mc 3.2.2 v 3.2.3, v m t
trong Hnh 55. Qu trnh trin khai tnh ton thi im pht xung c 3 php tnh:
Tnh ton cc hng s in p a,b,c th gi tr u u u vo
Xc nh bin thi gian iu ch vector bin t1t2 t gi tr a, b, c v v tr sector
DCVTKG v1.2
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Anpha
Sector
Sector
T gi tr t1t2 v v tr Beta
sector, tnh ton b tham s X1X2X3 v xc nh thi im
Scope2
Sector Selector
[Ta]
A
[Tb]
B
C
pht xung TaTbTc
[Tc]
[Ta]
Chu ky trich mau
Clark
[Tb]
[A]
[Tc]
CBA
TaTbTc
[Ta]
Sector1
CBA
A
In1
Out1
In2
Out2
In3
Out3
age Source
Zero-Order
Hold
Anpha
CBA
Anpha
[B]
Scope3
[Ta]
TaTbTc
[B]
Sector3
CBA
[A]
TaTbTc
Scop
[A]
Sector2
Beta
Clarke
<signal1>
<signal2>
<signal3>
Scope5
[Tb]
Beta
ABC Transform
CBA
TaTbTc
[C]
Sector4
[C]
In2
[Tc]
TaTbTc
Sector5
In2
TaTbTc
Multiport
Switch
Sector6
Hnh 62: Khi tnh ton thi im pht xung

Do cng thc tnh ton thi gian iu ch vector bin v thi im pht xung s khc nhau
i vi mi sector. V vy, trong m hnh m phng, cc cng thc ny c ng gi vo
cc khi khc nhau c tn Sectorx (x thay i t 1 n 6 tng ng vi cc sector). Cc
khi Sectorx ly thng tin hng s abc t mt khi tnh ton duy nht, v gi tr abc khng
ph thuc vo v tr sector. Nh trn hnh c th thy, khi c thng tin abc, Simulink s thc
hin tnh ton cho ton b 6 sector v ch c gi tr TaTbTc ca sector c ch nh bng
khi Multiport Switch mi l gi tr u ra ca b tnh ton thi im pht xung.
C th thy y l mt m hnh cha ti u do Simulink vn phi tnh ht c 6 sector khi
bit sector no c s dng. Trong khi vi ngn ng C, ta ch cn mt lnh r nhnh
switch case l c th loi b vic tnh ton 5 sector khng cn thit. Tuy nhin mnh vn
gi li m hnh ny v tnh n gin v trc quan ca n trong vic minh ha hot ng ca
thut ton. Nu mun vic tnh ton c ti u hn ta c th vit li bng vic s dng SFunction (m-file hoc C mex file) thay v lm phc tp thm m hnh ca Simulink.
Khi tnh ton hng s abc
Cng thc tnh xem Hnh 55 hoc mc 3.2.2
DCVTKG v1.2
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-1*sqrt(3)/2
Product
Anpha
Add
sqrt(3)/2
Product1
1
CBA
Add1
1/2
Product2
A
2
Beta
Hnh 63: Khi tnh ton hng s abc

Khi tnh ton thi im pht xung t gi tr a,b,c
<signal1>
CBA
<signal2>
t1
X1
X2
t2
1
X3
TaTbTc
Ton_Canculation
Hnh 64: Khi tnh ton thi im pht xung ng vi sector 1

B
1
<signal2>
CBA
<signal3>
t1
X1
1
X2
-1
-A
Gain
t2
TaTbTc
X3
Ton_Canculation
Hnh 65: Khi tnh ton thi im pht xung ng vi sector 2

Nh trnh by, vic tnh ton thi gian iu ch vector bin v thi im pht xung c
ng gi thnh cc khi Sectorx. Thi gian iu ch vector bin t1t2 c chn bng
phng php tra bng (Bng 7 mc 3.2.2) c th m phng bng khi Bus Selector ca
Simulink. V d nh trn hnh 48, hnh 49 tng ng vi gi tr t1t2 sector 1 l [c b] v
sector 2 l [b a].
Khu tnh ton gi tr thi im pht xung TaTbTc t bin t1t2 bao gm 2 bc:
Tnh b tham s X1 X 2 X 3
Tra bng cc nh gi tr TaTbTc t cc bin X1 X 2 X 3
DCVTKG v1.2
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1
1/2
1
X1
t1
<signal2>
<signal3>
X1
Subtract
1
X2
-1
t2
-A
Gain
TaTbTc
X3
1
t1
Ton_Canculation
X2
Add
2
t2
Add1
X3
Hnh 66: Khi tnh ton gi tr X1X2X3

Cng thc tnh X1 X 2 X 3 xem Hnh 55 hoc mc 3.2.3, vic tra bng (bng 8 mc 3.2.3) c
thc hin bng bng khi Bus Selector ca Simulink.
Hnh 67: Thi im pht xung TaTbTc

Hnh 67 biu din kt qu ca cc thi im pht xung c tnh ton bi khi SVPWM vi
tn hiu t l in p 3 pha sin v cn bng. Gi tr TaTbTc l cc gi tr tng i (t l vi
chu k pht xung) v vy s nm trong khong t 0 n 1.
Quan st th ta c mt s nhn xt sau:
ng thi im pht xung thay i t 0.25 n 0.75 c bin bng 0.5 tng ng
vi bin tn hiu t. iu ny cho thy, bin TaTbTc t l thun vi bin
in p u vo. in p t cng ln th bin thi im pht xung cng cao
lch pha ca ba ng Ta Tb Tc l 2/3
DCVTKG v1.2
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Hnh 68: Tng quan gia tn hiu t Ua v thi im pht xung Ta

Pha ca ng thi im pht xung pha a ngc pha so vi pha ca in p t ua . Kt qu
m phng ny ngc so vi th trang 116 ti liu [1]. S khc bit ny l do quy nh v
thi im pht xung ca b m. Trong ti liu ny, thi im pht xung dc quy nh theo
qu trnh m ln ca b m. th Hnh 68 cho thy, khi bin tn hiu cng cao, th thi
im pht xung cng gn 0 tng ng rng xung cng ln. Nh vy rng xung s t l
vi bin in p t.
3.3.3 M phng cu trc iu khin nghch lu vng h

Ti y th ton b khi tnh ton thut ton iu ch vector khng gian c trnh by v
m phng hon chnh. cc bn c ci nhnh trc quan hn v kt qu ca phng php,
mc ny s trnh by v vic p dng thut ton SVPWM vo iu khin cu trc nghch lu
vng h. y chng ta c th khng nh li kt lun iu ch vector khng gian c coi
nh mt khu truyn t 1:1 trung thnh v pha v modul trong ti liu [1] trang 116 ca tc
gi Nguyn Phng Quang.
Hnh 69: Cc cu trc iu khin PWM c bn: (a) iu khin vng h, (b) iu khin dng
vng kn
DCVTKG v1.2
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Cm t iu khin nghch lu vng h c dng phn bit vi ch iu khin dng
vng kn c tn hiu phn hi dng in nh minh ha Hnh 69. cu trc iu khin vng
h, ta n thun p t in p ra cho b nghch lu m khng quan tm ti s thay i dng
in khi ti thay i.
Trong m hnh m phng ny, mnh s dng cc khi trong th vin SimPowerSystems
m phng cc thnh phn trong mch cng sut nh b nghch lu cu 6 van IGBT, ti RL, ..
Nu cc bn cha tip xc vi SimPowerSystems th c th c ti liu [7] trong mc ti liu
tham kho, nh mnh ch dn trong Hng dn s dng. Sau , lm quyen vi m
hnh iu khin chnh lu cu 6 van IGBT, cc bn qua ph lc 5.3 M phng phng php
iu khin gii tr. y l mt ng dng m phng n gin trong iu khin nghch lu
cu. Sau khi chy m phng xong v d ny, cc bn c th t tin tr mc 3.3.3 xy dng
m hnh iu khin nghch lu vng h theo thut ton SVPWM
3.3.3.1 S m phng
Reference
Voltage
u
uref
u
PWM
Hardware
SVPWM
Ta
Tb
Tc
PWM1,4
PWM3,6 PWM5,2
G1
G3
G5
Udc
G4
G6
La
Ra
Lb
Rb
Lc
Rc
G2
Hnh 70: S khi m phng m hnh nghch lu vng h

Trong cc cu trc iu khin s dng khi nghch lu 6 van nh iu khin ng c in 3
pha, iu khin chnh lu tch cc, khi iu ch PWM l khu cui cng trong s iu
khin, c vai tr nh mt khu p t in p u ra mch nghch lu. Hay ni cch khc,
khi iu ch PWM hot ng nh mt b khuch i cng sut, m cc gi tr in p
di dng cc con s thun ty s c bin i thnh i lng vt l mang th nguyn l
vn ti u ra mch van. minh ha vn ny, s m phng cu trc nghch lu vng
h c xy dng nh trn Hnh 70. S gm 1 khi cung cp vector in p t mang
DCVTKG v1.2
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thng tin in p mong mun u ra b nghch lu, 1 khi tnh ton thut ton SVPWM,
mt khi m phng cu trc phn cng ca vi x l, h m phng mch van v cc linh kin
vt l nh t, cun, in tr. Trong , khi m phng cu trc phn cng vi x l hot ng
theo nguyn l ca DSP C2000 nh trnh by mc 3.1.3, cc cun v tr l ti u ra ca
khi nghch lu.
Voltage Source
Hnh 71: S n gin ca cu trc

iu khin nghch lu vng h
uref
1
R sL
is
Hnh 72: M hnh ton hc ca cu trc iu

khin nghch lu vng h
Nh trnh by, khi iu ch vector khng gian c vai tr nh mt khu truyn t in p

u ra. V vy, ngun 1 chiu, mch van cng thut ton PWM - mt cch l tng - c th
gp li v coi nh mt ngun xoay chiu ba pha c th iu khin c c v pha v bin .
Cu trc iu khin nghch lu vng h c th n gin li nh Hnh 71 vi m hnh ton
hc c biu din nh trong Hnh 72. Hnh 72, khi iu ch vector khng gian c
din t nh mt khu khuch i vi h s K, ti cun, tr tng ng vi mt khu qun
tnh bc 1 theo phng trnh:
1
. By gi, bng chng trnh m phng ta s kim
R sL
trng li lun im trn.
DCVTKG v1.2
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22/06/2016
[Ual]
[Uar]
[Ube]
[Ubr]
[Ube]
[Ual]
Ualpha & Ubeta
[Ucr]
[Ia]
TaTbTc
A
In1
Out1
In2
Out2
In3
Out3
Vref
Anpha
Zero-Order
Hold
[Ib]
Ual
TaTbTc
Beta
Puse
[Ic]
Is
Ubt
Clarke_Uab
PWM
Hardware
SVPWM
[Uar]
[Ia]
[Ia]
Scope1
i
+ -
Scope2
g
+
Udc
-
Continuous
[Ib]
[Ic]
[Uar]
+ i
-
+ i
-
i
+ -
L.s+R
A
B
C
Mo hinh
Mo hinh t
khoi SVPWM
A
B
C
[Ia]
Three-Phase
Series RLC Branch
+ v
-
[Ua]
+ v
-
[Ub]
+
- v
[Uc]
Note:
+ khoi SVPWM cung vo
K= Umax = Udc/sqrt(3)
+ Mo hinh tai RL la mot
powe rgui
Thoi gian dan t1,t2: dat tr

t1 =
Hnh 73: M hnh m phng cu trc iu khin chnh lu vng h

Tham s m phng:
Ch m phng:
Fix-step size
in p ngun 1 chiu: 12 V
Bc m phng:
106 s
in tr ti:
0.5
Tn s trch mu fs:
10 kHz
in khng ti:
0.5 mH
Tn s tn hiu t fr: 50 Hz
Tham s m phng c nhp thng qua file OpenLoop_SVPWM_Init.m

T_i = 1e-6;
fs = 10e3;
Ts = 1/fs;
% Sample Period
fr = 50;
% 50Hz system voltage frequency
PeriodMax = Ts;
omega = 2*pi*fr;
% Source
Udc = 12;
% 60; 30;12 V
Umax = Udc/(sqrt(3));
Uc = Udc*2/3;
K = Umax;
Ur = 80/100*Umax;
Uref = Ur/Umax;
% Load RL
Rl = 0.5;
% Do Umax phan cuc con Utri thi khong

% Ur = Umax; 80/100*Umax
% dien tro cua cuon cam
DCVTKG v1.2
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Rr = 0;
% dien tro tai
R = Rl + Rr;
L = 0.5e-3;
Zl = omega*L;
Z = sqrt(R*R + Zl*Zl);
a) Khi tnh ton thut ton SVPWM

Khi tnh ton thut ton SVPWM c xy dng nh mc 3.3.2 v c ng gi li.
Khi nhn thng tin u vo l gi tr in p t trn h trc , kt qu u ra l thi im
pht xung (gi tr chun ha theo chu k pht xung Tpwm). Nh trnh by, khi c m
phng nh mt h gin on vi bc tnh tng ng vi chu k trch mu ca h thng: fs =
10 kHz.
Anpha
Sector
Sector
Beta
Sector Selector1
CBA
TaTbTc
Sector1
CBA
1
Ual
TaTbTc
Signal value
in (0 - 1)
Sector2
2
CBA
TaTbTc
Ubt
Anpha
Sector3
CBA
Saturation
TaTbTc
Beta
ABC Transform1
CBA
TaTbTc
Sector4
In2
TaTbTc
Sector5
In2
TaTbTc
Multiport
Switch1
Sector6
Hnh 74: M hnh khi tnh ton thut ton SVPWM

Do gi tr thi im pht xung TaTbTc c chun ha theo chu k pht xung ( TPWM Ts / 2
), nn gi tr ca n phi nm trong khong (0-1). Nu gi tr u ra ca khi iu ch
SVPWM vt ra ngoi khong 0-1, th b m trong ca vi x l s khng p ng c gi
tr ny. V vy, mnh ci tin khi SVPWM trong mc trc bng cch thm vo mt khu
gii hn Saturation. Nu tn hiu TaTbTc vt ra ngoi khong 0-1, n s b ct i phn
tha v gi li cc mc bin l 0 hoc 1.
DCVTKG v1.2
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Hnh 75: Ci t khu gi hn

b) Khi m phng phn cng ca vi x l
Khi m phng phn cng PWM Hardware hot ng theo nguyn l ca b PWM trong cc
DSP dng C2000 ca TI. C ch hot ng c th c nn trong mc 3.1.3, mt cch
khi qut, cu trc ca cc b PWM ny gm 3 b phn chnh:
B m ln xung i xng
Thanh ghi lu gi tr thi im pht xung
Khi so snh
Trong m hnh ny c 3 vn cn gii quyt nh sau:

1. M phng li nguyn l hot ng ca khi PWM
2. Vn thay i bc tnh gia b iu khin v mch phn cng.
3. Thi im cp nht gi tr TaTbTc ca khi phn cng.
V vn thay i bc tnh, ta bit b iu khin l m hnh gin on vi bc tnh bng
tn s trch mu Ts = 1e-4 s, khi phn cng l m hnh lin tc vi bc tnh Ti = 1e-6 s. V
vy khi PWM Hardware cn c cc khi chuyn i bc tnh trong m hnh m phng.
Sau y chng ta s ln lt gii quyt cc vn trn.
DCVTKG v1.2
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Timer
Time
Repeating
Sequence
q-
<=
In1
q+
Relational
Operator
1
T
Sampling
TaTbTc
In1
q-
<=
<signal1>
<signal2>
<signal3>
Out1
Subsystem
In1
q+
Relational
Operator1
Triggered
Subsystem
Subsystem1
1
Puse
q-
<=
In1
q+
Relational
Operator2
Subsystem2
Hnh 76: Khi m hnh phn cng ca vi x l
boolean
In1
NOT
q+
1
q-
Hnh 77: Khi xut cp xung iu khin mch van IGBT

Nhn s qua m hnh m phng phn cng, ta c th thy nhim v ca cc khi chc nng
chnh nh sau:
Khi Repeating Sequence ng vai tr ca b m ln xung
Khi Unit Delay ng vai tr ca cc thanh ghi lu gi tr thi im pht xung.
Khi Relational Operator ng vai tr nh cc b so snh
Mt im nn ch l cc gi tr m nh: thi im pht xung, chu k m u l cc i

lng tng i theo n v 1/(Ts/2). V vy, m hnh cha mang ht ngha ca khi phn
cng vt l ni cc gi tr m l i lng s hc. V im ny mnh xin gii thch nh sau.
Theo quy trnh x l phn mm iu khin, cc gi tr tnh ton u ra ca b iu khin
TaTbTc s l cc n v tng i. iu ny m bo kh nng biu din v tnh ton ca
vi x l. Cc gi tr TaTbTc sau khi a vo hm np cho thanh ghi so snh, s c nhn
vi chu k m Ts* / 2 (gi tr tuyt i). V vy, chnh xc hn th trong chng trnh m
phng, b m cn s dng i lng tuyt i trong vi x l, cc gi tr TaTbTc cng phi
nhn vi cc gi tr tuyt i ny trc khi a ti khi so snh. Nhng xt thy hnh ng
DCVTKG v1.2
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ny khng mang li s thay i no trong kt qu m phng ngoi vic tng thm khi lng
tnh ton cho my tnh v thi gian m phng nn mnh ch cc bin m l gi tr tng
i m thi. Nh vy, cc gi tr TaTbTc s c gi nguyn khi a ti b so snh. B m
s c ci t gi tr m t 0 n 1 tng ng vi i lng thi gian t 0 Ts/2.
Cu to chi tit ca tng khi c din t nh sau:
Khi Repeating Sequence: Khi m phng b m trong vi x l, thi gian m ci t t 0
n PeriodMax = Ts. Gi tr m l i lng tng i bin i t 0 n 1 (theo n v
1/(Ts/2) nh trnh by).
Hnh 78: Cu hnh khi Reapeating Sequence

Khi Unit Delay: dng kt ni gia 2 khi m phng vi cc bc tnh khc nhau nh
trnh by trn. Khi c tc dng chuyn d liu t cc khi c tn s trch mu thp vo cc
khi c tn s trch mu cao hn. Gi tr ci t cho khi l bc tnh ca khi c tn s trch
mu thp hn.
Hnh 79: Ci t khi Unit Delay
DCVTKG v1.2
Hnh 80: Quy nh mu v k hiu i vi

tng tn s trch mu
74

S thay i ca bc tnh gia cc khi m phng c th quan st khi bt ch Sample
Time Display ca Simulink.
Timer
Time
Cont
Repeating
Sequence
Cont
<=
qIn1
q+
Relational
Operator
D2
Sampling
TaTbTc
D2
In1
Out1
D1
D1
D1
<signal1>
D1
<signal2>
<signal3>
Triggered
Subsystem
qIn1
q+
Relational
Operator1
qIn1
q+
Relational
Operator2
Cont
Cont
Cont
Subsystem1
Cont
<=
Cont
Subsystem
Cont
<=
Cont
1
Puse
Cont
Cont
Subsystem2
Hnh 81: Cc khi vi bc tnh khc nhau trong PWM Hardware

Khi cp nht gi tr TaTbTc Triggered Subsystem:
Ti b so snh ca DSP thng c cc thanh ghi m lu gi tr thi im pht xung. CPU
sau khi tnh ton xong, s ghi gi tr TaTbTc vo . V khi c xung kch hot th gi tr ny
s c cp nht vo thanh ghi so snh quyt nh thi im pht xung. Thng thng
xung kch hot c pht tng ng vi s kin b m bt u m ln. Nh vy mi khi
bt u mt chu trnh m mi, b PWM s cp nhp gi tr thi im pht xung mi v gi
tr ny khng i trong sut qu trnh m.
m phng hot ng ny, chng trnh s dng khi Trigger ca Simulink pht hin
sng ln ca b m Repeating Sequence. Vo mi thi im b m bt u dm ln th
d liu t khi Unit Delay mi c y ra cc khi so snh.
Trigger
In1
Out1
Hnh 82: Khi cp nht gi tr thi im pht xung

Khi so snh:
Nh trnh by trong phn l thuyt mc 3.1.3, khi so snh c vai tr so snh gi tr trong
thanh ghi thi im pht xung v gi tr hin thi ca b m i xng t a ra xung
DCVTKG v1.2
75

ng ngt tng ng. Trong chng trnh m phng, mnh s dng khi Relational
Operator lm vai tr ca khi so snh. Khi so snh gm 3 b Relational Operator tng
ng vi 3 pha nhnh van c iu khin. Trong mc la chn thuc tnh logic, ta chn <=
tng ng gi tr logic u ra = 1 khi gi tr m ca b Timer vt qua gi tr thi im pht
xung lu trong thanh ghi so snh.
Khi x l tn hiu PWM nhn xung iu khin t b so snh to ra cp tn hiu iu
khin van IGBT nh Hnh 83. y n gin mnh khng s dng khi tr ci t
deadtime cho tn hiu PWM.
22/06/2016
[Ual]
[Uar]
[Ube]
[Ubr]
[Ua]
[Ube]
[Ual]
Ualpha & Ubeta
[Ucr]
In1
Out1
In2
Out2
In3
Out3
Vref
Zero-Order
Hold
[Ib]
Ual
Anpha
TaTbTc
Beta
Scope3
[Ia]
TaTbTc
[Uar]
Puse
[Ic]
Is
[Ua]
[Ub]
[Uc]
Anpha
Voltage
Ubt
Clarke_Uab
PWM
Hardware
SVPWM
[Uar]
Beta
To Workspace1
Clarke_Uab1
[Ual]
[Ia]
[Ia]
[Ube]
Scope1
+ -i
Scope2
g
+
Udc
-
Continuous
powe rgui
[Ib]
[Ic]
i
+ -
+ -i
+ i
-
[Uar]
A
B
C
A
B
C
Three-Phase
Series RLC Branch
+
- v
[Ua]
+ v
-
[Ub]
+ v
-
[Uc]
Gain2
Vm
To Workspace
1
K
L.s+R
Mo hinh
Mo hinh tai RL
khoi SVPWM
[Ia]
[Ua]
Scope5
Scope4
Note:
+ khoi SVPWM cung voi bo nghich luu hoat dong nhu mot khau khuyech dai voi he so bang
K= Umax = Udc/sqrt(3)
+ Mo hinh tai RL la mot khau quan tinh bac mot co dang: 1/(Ls + R)
Thoi gian dan t1,t2: dat trong don vi tuong doi voi chu ky trich mau Ts
t1 = T1/Ts
Hnh 83: Ton b m hnh m phng cu trc nghch lu vng h

Trc khi trnh by v kt qu m phng mnh xin gii thiu v cch dng lnh plot trong
Matlab v li th kt qu trn Simulink. Do bn Malab m mnh dng l bn 2009 nn
hin thi, kt qu chy trn Simulink ch c th hin th trn cc khi Scope. Mn hnh hin
th scope th va en x li t ty chnh khin chng ta gp nhiu kh khn trong phn tch kt
qu v vit bo co. V vy, Matlab h tr xut kt qu m phng trn Simulink ra ca s
Workspace, v c th thao tc vi d liu ny thng qua ca s lnh Commad Window
hoc chy cc file .m. lm c vic ny th c 2 cch, mt l s dng khi To
Workspace trong Simulink. Cch thc s dng khi ny cc bn c th xem ti liu [3]
trang 226, 244. Cch th 2 l s dng tnh nng Save data to Workspace ca scope. Cch
thc khai thc tnh nng ny c anh Ng Hi Bc hng dn, cc bn c th tham kho
qua link sau: http://www.ngohaibac.net/get-data-from-scope-and-display-in-plot/
DCVTKG v1.2
76

Trong m hnh m phng ny mnh s dng c hai phng php trn. Kt qu c v li
thng m file nh sau:
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
File:
OPenLoop_SVPWM_plot.m
%
%
%
Comment:
Print file to plot singnal of SIMULINK
%
%
model OPenLoop_SVPWM.mdl
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ----------------------Grid plot--------------------------------figure(1);
Time = Grid.time;
Va = Grid.signals.values(:,1);
Vb = Grid.signals.values(:,2);
Vc = Grid.signals.values(:,3);
plot(Time,Va,'b');
hold on;
plot(Time,Vb,'r');
plot(Time,Vc,'g');
grid on;
set (gca,'Ylim',[-15 15],'Fontsize', 13);
title('Current');
figure(2);
Alpham = Vm(:,1);
Betam = Vm(:,2);
Alpha = Voltage(:,1);
Beta = Voltage(:,2);
%Plot Figure
plot(Alpha,Beta,'b','LineWidth',2);
hold on;
plot(Alpham,Betam,'r');
grid on;
%set (gca,'Ylim',[-1 1],'Xlim',[-1 1],'Fontsize', 13);
title(' Trajectory of Gripd and Module Voltage Vector');
figure(3);
% Init
t = PWM.time;
Ta = PWM.signals.values(:,1);
Tb = PWM.signals.values(:,2);
Tc = PWM.signals.values(:,3);
%Caculating from 0.1s to 0.2s
%Plot
plot(t, Ta,'m-');
hold on;
plot(t, Tb,'r-');
plot(t, Tc,'b-');
grid on;
set (gca,'Ylim',[-0.1 1.1],'Fontsize', 13);
title('Ta,,Tb and Tc(Pu)');
%-------------------------------Phase a-------------------------------figure(4);
% Init
t = Pa.time;
Va = Pa.signals.values(:,1);
DCVTKG v1.2
77

Vam = Pa.signals.values(:,2);
%Caculating from sample 60001 to sample 80001
tnew = t(round(length(t)*60001/80001):end);
Vanew = Va(round(length(Va)*60001/80001):end);
Vamnew = Vam(round(length(Vam)*60001/80001):end);
%Plot
plot(tnew, Vanew,'g-');
hold on;
plot(tnew, Vamnew,'r-','LineWidth',2);
grid on;
set (gca,'Xlim',[tnew(1) tnew(end)],'Fontsize', 13);
title('Reference Voltage and PWM Voltage');
Kt qu m phng mnh s trnh by theo 3 trng hp ng nhng thay i in p t. Qua

cho quan st nhng tnh cht v gii hn iu ch ca phng php. Cc trng hp kho
st bao gm:
in p t nh hn gi tr U DC / 3 : in p t nm trong kh nng iu ch.

Trong trng hp ny ta s quan st y cc tnh cht ca phng php SVPWM
v a ra nhng kt lun quan trng.
in p bng gi tr U DC / 3 : in p t gp gii hn iu ch
in p t ln hn gi tr U DC / 3 : in p t nm ngoi kh nng iu ch ca
phng php.
a) in p t c gi tr nh hn U DC / 3
Trong trng hp ny bin vector in p t c gi tr bng U r
80 U DC
5.5V . Mnh
100 3
cng xin nhc li l gi tr ci t cho khi in p t Voltage Source l i lng tng
i, tnh theo n v (1/( U DC / 3 )), U ref U r / U DC / 3 .
DCVTKG v1.2
78
Hnh 84: Khi hin th kt qu in p t v

in p iu ch
Hnh 85: Biu din in p iu ch trn h

trc
Trong m hnh hin th, khi in p t c nhn li vi h s K U DC / 3 . 2 gi tr

in p c cng n v biu din, th nguyn l Vol.
Reference Voltage and PWM Voltage
Trajectory of Gripd and Module Voltage Vector
X: -4.008
Y: 6.922
X: -1.039
Y: 5.444
4
2
X: 7.999
Y: 0.01004
-2
-2
-4
-4
-6
-6
-8
0.06
-8
-8
-6
-4
-2
Hnh 86: Qu o vector in p
0.065
0.07
0.075
0.08
Hnh 87: Dng in p iu ch v in p

t
Hnh 86 biu din kt qu mt phng in p t v in p ng ct u ra khi nghch lu

trn trc . T th trn, ta c th c th a ra mt s kt lun nh sau:
Qu o vector in p t trn h trc (ng mu ) l mt ng trn vi bin

bng 5.5 V nh gi tr ci dt trong file OpenLoop_SVPWM_Init.m. Qu o
vector in p t nm trong hnh lc gic u ca vector in p iu ch. Qua
cho thy, in p t nm trong kh nng iu ch ca mch lc v thut ton PWM.
in p ng ct u ra mch nghch lu l cc xung in p c rng khc nhau

(mu xanh Hnh 87). Biu din trn h trc l hnh lc gic u vi di cc cnh
l 8V tng ng vi gi tr 2 / 3*U DC (mu xanh Hnh 86) .
DCVTKG v1.2
79

Three phase Load Current
Ta,Tb and Tc(Pu)
15
1
10
0.8
5
0.6
0
0.4
-5
0.2
-10
0
0
0.02
0.04
0.06
0.08
-15
0
0.02
0.04
0.06
0.08
Hnh 89: Dng in nghch lu
Hnh 88 biu din kt qu thi im pht xung TaTbTc theo n v tng i chia mt na
chu k bm xung. Qu o ca cc tn hiu Ta, Tb, Tc ln lt chm pha 120. Bin tn
hiu thay i t 0.1 n 0.9, rng 0.9 - 0.1 = 0.8 tng ng vi bin tn hiu t
U r 80 /100*U max .
Selected signal: 4 cycles. FFT window (in red): 3 cycles

10
-10
0
0.01
0.02
0.03
0.04
Time (s)
0.05
0.06
0.07
0.08
Fundamental (50Hz) = 10.37 , THD= 0.86%
Mag (% of Fundamental)
0.3
0.25
0.2
0.15
0.1
0.05
0
10
Harmonic order
15
20
Hnh 90: Ch s THD ca dng ti

Hnh 90 cho thy dng in ti c dng sin vi ch s THD thp 0.86% (hnh 74) , gc lch
pha 120. Kt qu dng sin ca dng in l do cc thnh phn hi bc cao ca in p iu
ch b lc bi cun cm. T p ng dng ti c th thy khi iu ch vector khng gian
DCVTKG v1.2
80

thnh cng trong vic to ra in p xoay chiu 3 pha t ngun in mt chiu bng vic
t chc ng ct t hp 6 van IGBT.
kim tra tnh chnh xc ca phng php iu ch, mi quan h gia tn hiu in p t
v p ng dng ti thc ta s quan st qua kt qu m phng sau y:
Hnh 91: M hnh kim tra mi lin h gia kt qu thc v m hnh thut ton
Trong nhng phn trc chng ta tng kt lun rng khi iu ch vector khng gian c
vai tr nh mt khu p t in p u ra, hay mt b phn c vai tr nh mt khi DAC
trong vic bin vector in p t di dng con s thun ty thnh cc i lng in p
thc mang th nguyn l Vol. M hnh Hnh 91 nhm kim tra li kt lun trn. M hnh
c xy dng da trn s n gin Hnh 71 v m hnh ton hc Hnh 72. Trong m
hnh ny khi iu ch vector khng gian c m hnh ha nh mt khu khuch i vi
thi gian p t l tc thi v h s khuch i K bng gi tr tham chiu cho in p tng
i K U DC / 3 .
Dien ap va dong tai pha a
15
Dong dien
Dien ap
10
5
0
-5
-10
-15
0.04
0.05
0.06
0.07
0.08
Hnh 92: in p v dng in pha a

Kt qu m phng Hnh 92 m t quan h v pha gia in p t v dng in trn ti (in
p t y c khuch i ln d quan st). Ta thy dng in ti chm pha hn in
p t. Kt qu ny l do tnh cht lm tr pha p ng dng in ti RL.
DCVTKG v1.2
81

Dong dien tai va dong mo hinh
10
-5
Dong dien tai
Dong dien mo hinh
-10
0.04
0.05
0.06
0.07
0.08
Hnh 93: p ng dng in ti v dng m hnh

Kt qu m phng Hnh 93 cho thy mi tng quan gia p ng dng ti mch thc v
p ng dng ti trn m hnh ton hc. Ta c th quan st thy rng hai p ng dng in
ny gn nh trng kht vo nhau. iu cho thy m hnh ton hc m phng ng cc
c tnh ng hc ca thut ton SVPWM v ti RL. S trng khp ca 2 dng ti phn nh
tnh chnh sc v tc p t gn nh tc thi ca thut ton SVPWM. T y ta c th
khng nh li kt lun khi SVPWM cng vi mch nghch lu hot ng nh mt ngun p
c th iu khin c c v pha v ln. Nu ta a h s K U DC / 3 vo trong khi
SVPWM bng cch chia cc gi tr in p t cho K trc khi x l tnh ton. Khi in
p t s l gi tr tuyt i mang thc nguyn l Vol, tn hiu Uar trong Hnh 91 s u
thng vo m hnh ti 1/(R + sL) m khng qua khi khuch i. Khi ta c th khng nh
li tnh ng n ca kt lun iu ch vector khng gian c coi nh mt khu truyn t
1:1 trung thnh v pha v modul trong ti liu [1] trang 116 ca tc gi Nguyn Phng
Quang nh dn ra u mc 3.3.3.
DCVTKG v1.2
82

5
Dong dien tai
Dong dien mo hinh
0
-5
-10
0.07
0.072
0.074
0.076
0.078
0.08
Hnh 94: Tr pha gia dng ti v dng m hnh

Mc d dng ti v dng p ng m hnh Hnh 93 gn nh kht vi nhau, nhng quan st
k ta vn thy c mt khong cch nh gia 2 tn hiu. Khong cch ny c th quan st k
hn hnh 94 v 95. y ta thy, r rng ta thy dng in ti chm pha hn dng p ng
m hnh mt cht, l do c th gii thch l tn hiu dng p ng m hnh ton hc l tn
hiu tng t trong khi dng ti l kt qu ca qu trnh x l trong min gin on. Tn
hiu t c trch mu v x l sau mi chu k trch mu Ts, tn hiu PWM cp nht gi tr
mi cng sau mi chu k bm xung Ts. V vy, dng in ti c th chm pha hn dng in
p ng m hnh ton hc khong 2Ts. Nh biu din trong hnh 95, gi tr tr pha ny bng
0.07255 0.07237 = 1.8e-4 (s) 2Ts.
-3.5
Dong dien tai

Dong dien mo hinh
-4
X: 0.07255
Y: -4.506
-4.5
X: 0.07237
Y: -4.506
-5
-5.5
-6
0.0722
0.0724
0.0726
0.0728
Hnh 95: Tr pha gia dng ti v dng m hnh
DCVTKG v1.2
83

Cng cn lu l m hnh m phng ny mnh xy dng cha tht bm st vi khi
SVPWM thc t trin khai trong vi x l. Thng thng, trong vi x l qu trnh trch mu,
tnh ton b iu khin, v cp nht gi tr thi TaTbTc din ra trong ngt PWM. Nn trong
thc t p ng h thng thng ch chm pha mt khong thi gian bng Ts m thi.
b) in p t c gi tr bng U DC / 3
Trong trng hp ny bin vector in p t c gi tr bng U r U DC / 3 6.9V

8
-2
-2
-4
-4
-6
-6
-8
-8
-6
-4
-2
-8
0.06
0.065
0.07
0.075
0.08
Hnh 97: in p iu ch v in p t
y l trng hp in p t c gi tr bng vi gii hn iu ch ca phng php. y l

gi tr ln nht ca in p iu ch m phng php SVM c th to bng bng phng
php tng hp vector. Qu o vector in p t c dng l ng trn ni tip hnh lc gic
u.
Ta,Tb and Tc(Pu)

15
1
10
0.8
5
0.6
0
0.4
-5
0.2
-10
0
0
0.02
0.04
0.06
0.08
-15
0
0.02
0.04
0.06
0.08
Hnh 99: Dng in nghch lu
Cng vi s tng ln ca in p iu ch, bin ca ng TaTbTc cng tng theo v t

gi tr ti a t 0 1. Nh vy, cc gi tr thi im pht xung lp y gi tr m ca b
m PWM. p ng dng in tng n gi tr 13 A v vn gi c dng sin vi ch s
THD thp 0.79%
DCVTKG v1.2
84
10
0
-10
Nguyn l v m phng
iu ch vector khng gian
0
0.01
0.02
0.03
0.04
Time (s)
0.05
0.06
0.07
0.08
0.4
0.3
0.2
0.1
10
Harmonic order
15
20
Hnh 100: Ch s THD ca dng ti

c) in p iu ch c gi tr ln hn U DC / 3
Trong trng hp ny, ta chn bin vector in p bng U r 2U DC / 3 = 8V.

10
4
4
2
-2
-2
-4
-4
-6
-6
-8
-10
-10
-8
-6
-4
-2
-8
0.06
10
0.065
0.07
0.075
0.08
Hnh 102: in p iu ch v in p t
C th thy vector in p iu ch vt ra ngoi hnh lc gic u, trong trng hp ny

l ng trn ngoi tip vi bn knh bng bin vector bin chun 2U DC / 3 .
Ta,Tb and Tc(Pu)

15
1
10
0.8
5
0.6
0
0.4
-5
0.2
-10
0
0
0.02
0.04
0.06
0.08
-15
0
0.02
0.04
0.06
0.08
Hnh 104: Dng ti nghch lu
C th thy khi vector in p t vt ra ngoi ng trn ni tip hnh lc gic u, thi

im pht xung cng vt ra ngoi kh nng iu ch ca b PWM. Nhn Hnh 103 c th
DCVTKG v1.2
85
Selected signal: 4 cycles. FFT window (in red): 3 cycles

10
Nguyn l v m phng
iu ch vector khng gian
0
thy ng TaTbTc c nhiu

on vt ra ngoi khong 0-1 ct b nhng phn tha. p
-10
ng dng in trn ti khng
dng0.02sin, 0.03
ch s0.04
THD0.05
cng0.06
tng0.07
ln 2.8%
0 cn
0.01
0.08
Time (s)

2.5
2
1.5
1
0.5
0
10
Harmonic order
15
20
Hnh 105: Ch s THD ca dng nghch lu
DCVTKG v1.2
86

3.4 Mt s hiu chnh trong trin khai thut ton SVPWM
Kt thc mc 3.3 th ton b thut ton iu ch vector khng gian c trnh by hon
thin t c s l thuyt, k thut thc hin cho ti m phng hot ng. Trong mc ny,
mnh trnh by thm mt s k thut b xung v chnh xa li m hnh m phng cho hon
thin hn, phc v cho cc mc ch v sau.
3.4.1 X l bo ha in p iu ch
Nh kt lun phn trc ta thy rng in p iu ch c dng sin th qu o ca vector
in p t phi l ng trn v nm trong ng trn ni tip hnh lc gic u ca cc
vector bin chun. Tng ng ln ca vector us 1 (theo n v tng i 1/ (U DC / 3) ).
Tuy nhin, trong chng trnh iu khin i khi b iu khin yu cu in p t cho khi
SVPWM vt ra ngoi kh nng iu ch ca n, nht l ti cc thi im qu , iu
khin p ng dng mang nhiu thnh phn hi gy nhiu ngc li b iu khin. khc
phc vn ny ta s dng 1 thao tc gi l x l bo ha in p iu ch. Thao tc c
nhim v lm co li vector in p t nu n vt ra ngoi ng trn gii hn kh nng
iu ch ca thut ton SVPWM.
u3
u2
us '
us
us
u0
u7
u4
u5
'
s
us' us
u1
u6
Hnh 106: X l bo ha in p iu ch
Khu x l bo ha c minh ha trn hnh 91. Trong :
us : l vector in p t trc khi x l c ln > 1 (pu).
u s' : vector in p t sau khi x l c ln = 1 (pu)
DCVTKG v1.2
87

tng ca khu x l bo ha l s dng phng php ng dng theo cng thc:
us 2 us 2
us us us
us' us'
1
1
Gi tr in p t us , us trc khi a vo khi SVPWM s c kim tra bin . Nu

bin us 1 , cc thnh phn in p trn trc s c hiu chnh li nh sau:
us
'
u
us 2 us 2
us
u '
s
us 2 us 2
y l cng thc hiu chnh li cc thnh phn vector in p t trn trc khi vector vt
qua ng trn gii hn kh nng iu ch ca thut ton SVPWM. Nh vy sau khi x l
bo ha, vector in p t s lun c m bo nm trong gii hn iu ch ca phng
php.
3.4.2 M phng b SVPWM sau khi hiu chnh x l bo ha

3.4.2.1 S m phng
S m phng tng t nh s trong mc 3.3.3 M phng cu trc nghch lu vng
h. im khc chnh ch bin in p t tng dn theo thi gian, t trong gii hn
iu ch ti vt ra ngoi gii hn iu ch. Qua , chng ta quan st p ng ca khu x
l bo ha ti ti thi im bin in p t vt ra ngoi gii hn iu ch ca phng
php.
DCVTKG v1.2
88

22/06/2016
[Ual]
[Uar]
[Tabc]
[Ube]
[Ua]
[Ube]
[Ubr]
[Ual]
Ualpha & Ubeta
[Uar]
Scope3
[Ucr]
[Ia]
TaTbTc
Ramp
In1
Out1
Amp B
In2
Out2
In3
Out3
Vref
[Ib]
Ual
Anpha
TaTbTc
Beta
Is
[Ua]
[Ub]
[Uc]
Ubt
Clarke_Uab
Zero-Order
Hold
[Ic]
Puse
PWM
Hardware
Dutycycle_Gen
[Uar]
Anpha
Voltage
Beta
To Workspace1
Clarke_Uab1
[Amp]
[Ual]
[Ia]
K
[Ube]
Scope1
[Ia]
[Uar]
+ -i
Scope2
[Ib]
g
+
Udc
-
[Ic]
i
+ -
i
+ -
i
+ -
Continuous
A
B
C
[Ua]
Scope4
[Ua]
+ v
-
[Ub]
+
- v
[Uc]
Scope5
[Amp]
Three-Phase
Series RLC Branch
+ v
-
To Workspace
1
K
L.s+R
Mo hinh
Mo hinh tai RL
khoi SVPWM
[Ia]
A
B
C
Vm
Gain2
[Tabc]
1
z
[Ia]
Scope6
[Ib]
powe rgui
[Ic]
Hnh 107: M hnh m phng hot ng b SVPWM sau khi x l bo ha

Tham s m phng:
Ch m phng:
Fix-step size
in p ngun 1 chiu: 12 V
Bc m phng:
106 s
in tr ti:
0.5
Tn s trch mu fs:
10 kHz
in khng ti:
0.5 mH
Tn s tn hiu t fr: 50 Hz
M hnh m phng trong mc ny v c bn vn ging nh trong mc 3.3.3, mnh ch sa li
phn in p t v khi tnh ton thut ton SVPWM. V file cu hnh v v th cc bn
xem thm trong phn ph lc
a) Khi tnh ton thut ton SVPWM
Khi tnh ton thut ton SVPWM, trong mc ny mnh thm vo khu x l bo ha in p
t SV_Saturator. Cc tham s in p t trn 2 trc s c kim tra ti khi ny, nu
n vt ra ngoi kh nng iu ch ca thut ton th in p t s c hiu chnh li trc
khi a ti b tnh ton
Ual_I
Ual_o
Ual
Ubt_I
Ubt_o
Ubt
Ual
2
TaTbTc
1
TaTbTc
Ubt
SV_Saturator
Dutycycle_Calculator
Hnh 108: Khi tnh ton thut ton SVPWM

DCVTKG v1.2
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Khi x l bo ha vector in p t c xy dng theo cng thc hiu chnh trong mc
3.4.1. Trong , khi Switch c nhim v kim tra bin ca vector in p vo. Nu gi
tr ny ln hn 1(pu), cc gi tr us , us s c x l m bo bin vector nm
trong kh nng iu chnh ca khi SVPWM.
Ual_I
Ual_o
Ual
Ubt_I
Ubt_o
Ubt
Ual
2
Divide
Ual_I
1
TaTbTc
2
Ubt
SV_Saturator
hypot
TaTbTc
sqrt(a*a + b*b)
Ubt_I
Ual_o
1
2
Switch
Ubt_o
Dutycycle_Calculator
Hnh 109: Khi x l bo ha in p t
Hnh 110: Ci t khi Switch

Vic tnh ton di ca vector c thc hin bng khi Math Function. Trong khi ny
cc bn chn hm hypot nh hnh 96. y l hm tnh cn bc hai ca tng bnh phng 2
i s u vo theo cng thc: c a 2 b2 . Kt qu ca hm l ln ca vector in p
t.
DCVTKG v1.2
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Hnh 111: Ci t khi Math Function

Khi ln vector in p t ln hn 1 (vector vt ra ngoi ng trn ni tip), khi
Switch s ni u ra vi u vo 1. y, 2 i lng us' , us' c hiu chnh li theo
cng thc:
us
'
us
us 2 us 2
us
u '
s
us 2 us 2
Trong khi tn ton thut ton SVPWM ny, mnh cng chnh sa li khi tnh ton TaTbTc,
bng vic thm cc khi sector 0, v sector 7. y l sector khng c thc t, tuy nhin mnh
thm vo m bo khi tnh ton TaTbTc bao qut ht c cc trng hp ca khi tnh
sector ca vector in p t. Gi tr TaTbTc trong sector ny l 1 gi tr bt k.
DCVTKG v1.2
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Anpha
Sector
Sector
Beta
Sector Selector
TaTbTc
Sector0
CBA
TaTbTc
Sector1
Ual_I
Ual_o
Ual
2
CBA
Ual
TaTbTc
Ubt_I
Ubt_o
Ubt
Ual
TaTbTc
Ubt
TaTbTc
Sector2
2
CBA
Signal value
in (0 - 1)
TaTbTc
Ubt
Anpha
SV_Saturator Dutycycle_Calculator
Sector3
CBA
Saturation
Beta
CBA
ABC Transform
TaTbTc
TaTbTc
Sector4
In2
TaTbTc
Sector5
In2
TaTbTc
Sector6
TaTbTc
Multiport
Switch
Sector7
Hnh 112: Khi tnh ton thi im pht xung TaTbTc

b) Khi to in p t
Khi to in p t c nhim v to vector in p c bin tng dn t trong gii hn ti
vt ra ngoi gii hn ca khi iu ch vector khng gian. Khi ny c to bng cch
nhn tn hiu sin 3 pha vi mt bin tng dn theo thi gian. Bin ny c to ra bi khi
Ramp trong Simulink.
1
u_a
2
u_b
3
u_c
1
Amp
Hnh 113: Khi to in p t
trc quan kt qu m phng mnh s chia lm 2 phn: trc khi s dng b x l bo ha
v sau khi s dng b x l bo ha.
a) Trc khi s dng b s l bo ha
DCVTKG v1.2
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Amplitude of Reference Voltage (Pu)
1.4
1.2
1
0.8
0.6
0.4
0.05
0.1
0.15
0.2
0.15
0.2
0.15
0.2
Ta, Tb & Tc Pu)

1
0.8
0.6
0.4
0.2
0
0.05
0.1
0.05
0.1
Load Current
15
10
5
0
-5
-10
-15
Hnh 114: Kt qu m phng trc khi s dng khi x l bo ha

C th thy trn kt qu m phng, ti thi im 0.15 s, in p t t gi tr gii hn (bin
bng 1 pu). Lc ny thi im pht xung t gi tr cc i (khong 0-1 pu). Sau 0.15s,
bin in p t tip tc tng, gi tr TaTbTc vt ra ngoi khong iu ch v b gii hn
li, p ng dng in mt dng sin r rt v dn c hnh mt xung nhn.
b) Sau khi s dng b x l bo ha
DCVTKG v1.2
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Amplitude of Reference Voltage (Pu)
1.4
1.2
1
0.8
0.6
0.4
0.05
0.1
0.15
0.2
0.15
0.2
0.15
0.2
Ta, Tb & Tc Pu)

1
0.8
0.6
0.4
0.2
0
0.05
0.1
0.05
0.1
Load Current
15
10
5
0
-5
-10
-15
Hnh 115: Kt qu m phng sau khi s dng khi x l bo ha

Sau thi im in p t t gii hn ti 0.15s, mc d in p t tip tc tng nhng thi
im pht xung TaTbTc khng tng v gi nguyn mc cc i t 0-1. Dng in iu ch
ra vn c dng sin.
DCVTKG v1.2
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Ti liu tham kho
[1] Nguyn Phng Quang, iu khin t ng truyn ng in xoay chiu ba pha, NXB
Gio Dc
[4] V Minh Chnh, Phm Quc Hi, Trn Trng Minh, in t cng sut, NXB Khoa
hc v K thut, 2010
[5] Marian .P. Kazmierkowski, Control In Power Electronics Selected Problems
[6] Digital Control Systems (DCS) Group, SPRU485A - Digital Motor Control Software
Library, Texas Instrument
[7] Trnh Quang Vinh, Ti liu hng dn matlab simulink thc hnh m phng in t
cng sut, TH MC
[8] https://www.mathworks.com/help/
[9] Ng Hi Bc, Th thut Matlab - Ly li s liu trn Scope v hin th trn th
http://www.ngohaibac.net/get-data-from-scope-and-display-in-plot/
DCVTKG v1.2
95
4 Ph lc
4.1 Mt s vn trong m phng Matlab Simulink
Phng php tnh ton m phng - Solver
Vic thc hin tnh ton m phng trong Simulink c thc hin bi cc thut ton gi l
Solver. C th nh:
Ode45, ode23: da trn phng php Runge-Kutta, p dng cho cc bc tnh linh
hot (variable-step)
Ode2: phng php Heun, p dng cho bc tnh c nh (fixed-step size)
Ode1: phng php Euler tin, p dng cho bc tnh c nh
Discrete: phng php tnh ton cho cc h thng gin on, c s dng bc tnh c
nh hoc bc tnh linh hot
Bc tnh c nh (Fixed-step) v bc tnh linh hot (variable-step)
Vic thc hin cc php tnh trong qu trnh m phng c Simulink chia lm hai loi
chnh:
Fixed-step solvers: cc solver s dng bc tnh c nh. M hnh s c tnh ton

theo nhng khong thi gian cch u t lc bt u n khi kt thc qu trnh m
phng. Khong cch gia cc bc tnh gi l fixed-step size. ln ca fixed-step
(fixed-step size) t l thun vi thi gian m phng v t l nghch vi chnh xc
ca kt qu m phng ([ 2] trang 3-21).
Variable-step solvers: cc solver s dng bc tnh linh hot. Cc bc tnh trong qu

trnh m phng thay i theo bin thin trng thi ca m hnh. Khi m hnh c s
bin thin ln th bc tnh s t ng gim xung tng chnh xc. V khi m
hnh c s bin thin nh th bc tnh s tng ln gim thi gian m phng ([2]
trang 3-21).
Phng php m phng lin tc v gin on

C phng php m phng lin tc (continuous solvers) v gin on (discrete
solvers) u c th thc hin theo bc tnh c nh hoc linh hot
Vi h bao gm c thnh phn lin tc v gin on th khng th s dng discrete

solver v solver ny khng gii quyt cc trng thi lin tc ([2] trang 3-22, [1] trang
285)
Mt s khuyn co khi ci t sample time cho m hnh

i vi cu hnh Fixed-step size, tham s Sample time cu hnh cn phi ci t bng
nguyn ln gi tr ca Fixed-step size ([1] trang 255)
Ch nn ch nh tham s sample time i vi mt s khi trong th vin sau

Th vin Sources, Sinks
Cc khi Trigger v Enable
Th vin Discrete
DCVTKG v1.2
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Cc khi chuyn i Rate Transition
Cc khi cn li nn nguyn tham s Sample time l -1 ([2] trang 7-19, 7-20)
a s cc khi chc nng trong simulink c cu hnh Sample time l -1, tng ng
khi s k tha sample time t cc khi khc hoc ph thuc vo mi trng xung
quang m c ch nh Sample time. Khi Constant th Sample time mc nh l
Inf, tuy nhin khi ni vi cc khi c th thay i Sample time th Sample time ca
khi Const s ph thuc vo cc khi ni vi n ([2] trang 7-16, 7-17). Thng thng
th ta khng cn thay i cc cu hnh mc nh ny
Trong phn ln cc trng hp, ta ch cn cu hnh Sample time cho m hnh ti cc

v tr bin (u vo, u ra ca mt nhm cng Sample time) m khng phi ci t
li tng khi bn trong (nh trnh by trn).
i vi cc h c nhiu tn s trch mu khc nhau, ta phi x dng khi Zero-Order

Hold ti im chuyn t tn s trch mu cao xung thp, khi Unit Delay ti im
chuyn t tn s trch mu thp ln cao. Trong c hai trng hp, khi Zero-Order
Hold v Unit Delay u lm vic vi tm s trch mu thp hn (khai bo trong
Sample Time) ([1] trang 287-288)
hin th thng tin Sample time ca m hnh m phng ta c th vo Format ->

Sample Time Display -> All. Thng tin sample ca cc khi trong m hnh Simulink
s hin th theo bng mu v k hiu
Ti liu tham kho:

[2] The Math Works Inc, Simulink Users Guide
DCVTKG v1.2
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4.2 S khc nhau ca cng thc chuyn trc ta Alpha Beta
gia cc ti liu
Fgdfgdfg
DCVTKG v1.2
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4.3 M phng phng php iu khin gii tr
Mnh xy dng m hnh m phng ny minh ha php iu ch nghch lu cu 6 van
IGBT theo phng php iu khin di tr. y l phng php c nguyn l kh n gin,
mnh s dng cc bn lm quyen vi m phng iu khin nghch lu cu. V c s l
thuyt, cc bn xem mc ti liu tham kho. y, mnh ch ni s qua v i lun vo xy
dng m hnh m phng.
Phng php iu khin di tr (hysteresis current control) l phng php iu khin c
phn hi, lin tc so snh gi g dng hin ti vi gi tr ngng iu khin dng in nm
trong ngng quy nh trc. Vi mi tn hiu t bin v tn s bt k, phng php s
quy nh 2 ngng cho php: mt ngng trn v mt ngng di. Hai ngng ny s hnh
thnh mt ng bao xung quanh tn hiu t v dng in thc s c iu khin ch
dao ng bn trong ng bao .
Hnh 116: Phng php iu khin gii tr

V phng php iu khin, khi dng in thc nm trong ngng cho php (tn hiu phn
hi nm trong ng bao) b iu khin s khng pht tn hiu chuyn mch, trng thi ca
mch gi nguyn. Khi dng in vt qua ngng trn, b iu khin s a ra yu cu ng
ngt van theo hng lm cho dng in thc suy gim. V ngc li, khi dng in thc
gim xung ngng di th b iu khin s a ra yu cu ng ngt van sao cho dng
in thc tng ln.
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Hnh 117: iu khin dng theo phng php iu khin di tr

C th, vi nghch lu cu 6 van IGBT, phng php iu khin di tr s iu khin dng
ring r theo tng pha. Nh vy, khi iu khin dng s cn 3 b iu khin c lp iu
khin 3 cp van tng ng. Vi pha a, cn mt b iu khin cp van G1G4, tng t pha b,
pha c l cp G3G6 v G5G2. Mi van trong cp van lun c iu khin ngc nhau
trnh dng ngn mch.
G1
G3
G5
Lc
Rc
Lb
Rb
La
Ra
Udc
G4
G1
G6
G2
G4
i fb
i ref
Hnh 118: iu khin dng pha a
Nguyn l iu khin di tr c th minh ha thng qua b iu khin dng pha a. Ta thy,
khi ng van G1 (G4 kha) kt ni dng ngun vi cun La, nng lng t ngun ra ti,
dng ra cun cm c xu hng tng. Khi kha van G1 (m van G4), kt ni cun La vi m
ngun, nng lng c chiu chy t ti v ngun, dng ra cun La c xu hng gim. Nh
vy, khi dng in phn hi pha a gim xung di ngng di, b iu khin s ng G1
DCVTKG v1.2
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tng dng ra ti. V ngc li, khi dng phn hi vt qu ngng trn, b iu khin s
kha van G1, thot bt dng v ngun DC, gim gim trn ti.
4.3.1 S m phng
Hnh 119: S iu khin dng bng khu iu khin di tr

S m phng l mt mch vng iu khin dng hon chnh, vi 3 b iu khin dng l
3 b iu khin di tr tng ng vi 3 pha. Cc m hnh khi cng sut nh mch cu
IGBT, t, cun, tr l cc khi o dng ly t th vin SimpowerSystems. B iu khin di
tr l cc khi Relay trong th vin Nonlinear ca Simulink.
DCVTKG v1.2
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4.3.2 M hnh m phng
A
e_ia
e_ib
e_ic
Refernce Current
[Ib]
[Ua]
[Ib]
[Ub]
[Ic]
Hysteresis Ctrl
[Ia]
[Ia]
Pulse
Is
[Uc]
Is1
[Ic]
[Ia]
+ i
-
Scope2
Scope4
g
+
Udc
-
+
- v
[Ib]
[Ic]
+ i
-
i
+ -
+ -i
A
B
C
A
B
C
Three-Phase
Series RLC Branch
+
- v
[Ua]
Continuous
+ v
-
[Ub]
powe rgui
+
- v
[Uc]
Hnh 120: M hnh iu khin di tr

Tham s m phng:
Ch m phng:
Fix-step size
Bin dng t:
10 A
Bc m phng:
106 s
Tn s dng in t fr:
50 Hz
in tr ti:
0.5
in khng ti:
0.5 mH
in p ngun 1 chiu:
12 V
Gii hn trn v di
0.25 A
Tham s cu hnh c ci t thng qua file Hysteresis:

% Frequency
fs = 1e6;
Ts = 1/fs;
% Load RL
Rl = 0.5;
Rr = 0;
% dien tro tai
R = Rl + Rr;
L = 0.5e-3;
% Source
Udc = 12;
% 60; 30;12 V
% Hysterisys reference
Iref = 10;
fl = 50;
omega = 2*pi*fl;
delta = 0.25;
% 0.1; 0.2; 0.3; 0.5
DCVTKG v1.2
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a) M hnh khi mch van IGBT
Trong m hnh m phng s dng cc khi cng sut trong Toolbox SimpowerSystems,
s dng cc khi ny cc bn nh ko khi powerguide vo m hnh v chn ch m
phng l continuous.
M hnh mch cu IGBT ly t khi Universal Bridge. Cc bn ko khi ny ra, nhy p,
trong mc Power Electronic device cc bn chn IGBT /Diodes
Hnh 121: Cu hnh m hnh mch cu IGBT

Cu trc mch van IGBT ca m hnh nh hnh 122 bn di, vi cc van IGBT c nh
s t Q1 ti Q6.
Hnh 122: Cu trc mch van cu IGBT trong m hnh SimpowerSystem
DCVTKG v1.2
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Tn hiu vo khi mch van l tn hiu iu khin cc gate g, tn hiu ra l in p ng ct
trn cc pha A, B, C. Trong , tn hiu iu khin g l 1 vector gm 6 tn hiu iu khin
cho tng van trong mch cu vi th t cc gi tr t Q1 n Q6.
Topology
Pulse Vector of Input g
one arm
[Q1,Q2]
two arms
[Q1,Q2,Q3,Q4]
three arms [Q1,Q2,Q3,Q4,Q5,Q6]
Cc tn hiu iu khin g (t G1 n G6) c SimpowerSystems quy nh l cc tn hiu

di dng Logic. Cc van ng khi tn hiu logic g mang gi tr true (g > 0), v kha khi tn
hiu logic g mang gi tr fall (g = 0).
Hnh 123: M hnh van IGBT v dc tnh ng ngt

Mt im cc bn cng cn lu l Matlab ch quan tm ti m phng thut ton v hin
tng vt l ch khng ch ti tn hiu in t. V vy tn tn hiu iu khin van IGBT l
tn hiu logic ch khng phi tn hiu in p. Trong thc t, cc van IGBT c iu khin
bng in p. Mc in p kha van thng thng l in p m, v in p m van l in
p dng. Nh IGBT mnh tng s dng c mc in p kha van l -7V v in p m van
l +12V. Gia vi x l v van IGBT th cn phi c mt khi trung gian gi l khi Driver c
nhim khuch i tn hiu (c gi tr v cng sut) tn hiu iu khin t mch x l
(thng thng l mc 0 3.3V hoc 0 5V) c th ng iu khin ng m van. Trong m
phng Matlab Simulink, ta b qua m phng khu ny, coi nh nh hng ca chng ti tn
hiu iu ch l khng ng k.
DCVTKG v1.2
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Hnh 125: Qu trnh kha van IGBT trong

thc t
Hnh 124: Qu trnh m van IGBT trong

thc t
b) Khi iu khin di tr
Khi iu khin di tr gm ba b iu khin c lp theo tng pha. Khi nhn tn hiu u
vo l gi tr sai lch gia dng in t v dng in thc, x l thng tin theo nguyn l
phng php iu khin gii tr. Tn hiu ra l cc tn hiu iu khin mch van IGBT bao
gm 1 vector 6 gi tr logic theo quy nh ca m hnh mch van nh trnh by trn.
q+
In1
e_ia
qq+
In1
e_ib
qq+
In1
1
Pulse
q-
e_ic
Hnh 126: B iu khin di tr

Khi iu khin gm 2 b phn: B phn x l thut ton v b to tn hiu iu khin.
Trong , b phn x l thut ton c m nhim bi khi khi Relay trong th vin
Nonlinear ca Simulink. V c th khi ny, cc bn xem trong Help hoc ti liu [3]. Khi
Relay l khi c kh nng a ra tn hiu iu khin on off, da theo 2 ngng u vo,
tng t nh nguyn l ca b iu khin di tr. Cc ngng ny c quy nh bi tham
s: Switch on point v Switch off point. Mi ngng s quy nh mt trng thi u ra
DCVTKG v1.2
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tng ng. Ta s s dng cc tham s ny ci t thng s gii hn trn v gii hn di
cho b iu khin di tr.
Hnh 127: Cc tham s ci t cho khi Relay

Khi Relay trong m hnh m phng thc hin iu khin theo sai lch gia tn hiu t v
tn hiu phn hi. Gi tr ci t cho khi Relay c minh ha nh hnh di:
(Err <= -Delta )
i ref
+ Delta
i ref
(Err <= -Delta )
i feb
i ref
- Delta
Err = iref ifeb

(Err >= Delta )
ifeb <= iref Delta

: g=1
(Err >= Delta )
iref Delta <ifeb < iref + Delta : g gi nguyn (-Delta < Err < Delta)
ifeb >= iref + Delta
:g=0
(Err <= - Delta)
g
1
(Err >= Delta )
Err
- Delta
+ Delta
Switch off point
Switch on point
Hnh 128: Cu hnh cho khi Relay

DCVTKG v1.2
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Tn hiu ra khi Relay l tn hiu iu khin mt van (vi pha a l van Q1), c mt cp
xung iu khin mt nhnh van cn qua b to tn hiu iu khin. Khi ny c nhiu v to
tn hiu iu khin van cn li v chuyn i kiu d liu sang dng logic tng thch vi
u vo m hnh mch cu IGBT.
boolean
In1
NOT
q+
2
q-
Hnh 129: B to tn hiu iu khin
4.3.3 Kt qu m phng
Kt qu m phng cho thy dng in p ng c dng sin lch pha 120. Bin dng in
bng 10 A nh gi tr t vo b iu khin.
Hnh 130: p ng dng in trn ti

p ng dng in c xung nhiu, mc nhiu ph thuc vo ngng trn v ngng di
t vo b iu khin. Cc bn c th thay i cc ngng ny v quan st thay i trong p
ng dng in trn ti.
quan st r hn nh hng ca ngng dng t ln b iu khin di tr, cc bn c th
thm khi hin th sau vo m hnh:
DCVTKG v1.2
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[Ia]
[Iar]
Is2
delta
Constant
Hnh 131: Khi quan st nh hng ca di tr

[Iar]
A
e_ia
e_ib
e_ic
[Ia]
[Ua]
[Ib]
[Ub]
Pulse
[Ic]
Current Source
Is
Hysteresis Ctrl
[Ia]
[Ib]
[Uc]
Is1
[Ia]
[Ic]
[Iar]
Is2
delta
Constant
[Ia]
+ i
-
Scope2
Scope4
g
+
Udc
-
+
- v
[Ib]
[Ic]
+ -i
+ i
-
+ i
-
A
B
C
A
B
C
Three-Phase
Series RLC Branch
+ v
-
[Ua]
Continuous
+ v
-
[Ub]
powe rgui
+
- v
[Uc]
Hnh 132: M hnh iu khin di tr

Qua kt qu m phng cho thy, dng in p ng dao ng quanh ng bao ca ngng
trn v ngng di ca dng in t.
DCVTKG v1.2
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Hnh 133: Dng in v ngng dt ln pha a
Hnh 134: Dng pha a phng to

Trong v d ny, mnh mi ch m phng phng php iu khin di tr v mt tng
phng php v trong min tng t. trin khai hiu qu trn vi x l, thut ton c th s
phc tp hn, ci ny mnh cng cha tm hiu. Nhng vi mc ch gii thiu cch thc s
dng Matlab Simulink SimpowerSystem trong m phng iu khin nghch lu th mnh
xin dng li ti y thi.
Ti liu tham kho:
[2] Marian .P. Kazmierkowski, Control In Power Electronics Selected Problems
[3] V Minh Chnh, Phm Quc Hi, Trn Trng Minh, in t cng sut, NXB Khoa
hc v K thut, 2010
DCVTKG v1.2
109

[5] Trnh Quang Vinh, Ti liu hng dn matlab simulink thc hnh m phng in t
cng sut, TH MC
[6] https://www.mathworks.com/help/physmod/sps/simscape-components-1.html
[7] https://www.mathworks.com/help/physmod/sps/powersys/ref/universalbridge.html
[8] https://www.mathworks.com/help/physmod/sps/powersys/ref/igbt.html
DCVTKG v1.2
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4.4 Mt s chng trnh m phng thm
4.4.1 Mt s hiu chnh trong trin khai thut ton SVPWM
Mc ny gm cc file cu hnh v v tr trong chng trnh m phng mc 3.4 Mt s
hiu chnh trong trin khai thut ton SVPWM. Chng trnh m phng gm 2 trng hp:
trc v sau khi s dng khi x l bo ha. Hai trng hp ny s dng chung file cu hnh
TestOpenLoop_SVPWM_Init.m.
File cu hnh:
T_i = 1e-6;
fs = 10e3;
Ts = 1/fs;
% Sample Period
fr = 50;
% 50Hz system voltage frequency
PeriodMax = Ts;
omega = 2*pi*fr;
% Source
Udc = 12;
% 60; 30;12 V
Umax = Udc/(sqrt(3));
Uc = Udc*2/3;
K = Umax;
%Ur = Umax;
%Uref = Ur/Umax;
% Do Umax phan cuc con Utri thi khong

% Udc*2/3, Ur = Umax; 80/100*Umax
% Load RL
Rl = 0.5;
Rr = 0;
% dien tro tai
R = Rl + Rr;
L = 0.5e-3;
Zl = omega*L;
Z = sqrt(R*R + Zl*Zl);
File v th
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
File:
TestOpenLoop_SVPWM_before_Plot.m
%
%
Comment:
Print file to plot singnal of SIMULINK
%
%
model TestOpenLoop_SVPWM_before.mdl
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Time = Scope6.time;
Amplitude = Scope6.signals(1).values;
Tabc
= Scope6.signals(2).values;
Iabc
= Scope6.signals(3).values;
figure (2)
subplot (3,1,1);
plot(Time,Amplitude,'b','LineWidth',2);
grid on;
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111

set (gca,'Xlim',[Time(1) Time(end)],'Fontsize', 10);
title('Amplitude of Reference Voltage (Pu)','FontSize',12 ...
, 'FontWeight', 'bold');
subplot (3,1,2);
subplot ('Position',[0.13 0.3743 0.775 0.2422]);
plot(Time,Tabc);
grid on;
set (gca,'Xlim',[Time(1) Time(end)],'Fontsize', 10);
title('Ta, Tb & Tc Pu)','FontSize',12, 'FontWeight', 'bold');
subplot (3,1,3);
subplot ('Position',[0.13 0.05988 0.775 0.2569]);
plot(Time,Iabc);
grid on;
set (gca,'Xlim',[Time(1) Time(end)], 'Ylim',[-18 18], ...
'Fontsize', 10);
title('Load Current','FontSize',12 , 'FontWeight', 'bold');
DCVTKG v1.2
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