Bai Giang Htdks CQ v5 2

I HC QUC GIA TP.
H CH MINH TRNG I HC BCH KHOA

KHOA IN IN T
Bi ging:
H THNG IU KHIN S
(NG C KHNG NG B 3 PHA)
Bin son: ThS. Trn Cng Binh
TP. H CH MINH, THNG 02 NM 2008
Bi ging H Thng iu Khin S (CKB)
TB
GII THIU MN HC 1. 2. 3. 4. 5. 6. 7. 8. 9. Tn mn hc: H THNG IU KHIN S M s: Phn phi gi: 28LT + 14BT+Kim tra S tn ch: 2(2.1.4) Kim tra: 20%, Thi: 80% Mn tin quyt: K thut in 2, C s t ng hc, K thut s Mn song hnh: Gio trnh chnh: Ti liu tham kho: Tm tc ni dung: Phn Ting Vit: Summary: Electrical Engineering
10. i tng hc: Sinh vin ngnh in.
2/11/2009
TB
CHNG TRNH MN HC H THNG IU KHIN S Chng 1: B nghch lu ba pha v Vector khng gian Vector khng gian. B nghch lu ba pha. Chng 2: H qui chiu quay H qui chiu quay. Chuyn i h to abc dq. Chng 3: M hnh CKB 3 pha (), (dq) S tng ng ca ng c v mt s k hiu. M hnh ng c trong HT stator (). M hnh ng c trong HT t thng rotor (r). Chng 4: iu khin nh hng t thng (FOC) CKB iu khin PID iu khin tip dng. iu khin tip p. M phng ca FOC. Chng 5: Mt s phng php c lng t thng rotor T m v ia, ib hi tip. T us v ia, ib hi tip. T v ia, ib hi tip. c lng v tr (gc) vector r. c lng (r) trong HT dq. c lng t thng rotor dng khu quan st (observer) p ng m phng FOC. Chng 6: Cc phng php iu khin dng iu khin dng trong HQC (): vng tr v so snh. iu khin dng trong HQC (dq).
Mt s phng php c lng tc ng c Chng 7: c lng vn tc vng h (2 pp). c lng vn tc vng kn (c hi tip). iu khin khng dng cm bin (sensorless).
(4,5T)
(1,5T)
(9T)
(6T)
(21 tit)
(6T)
(6T)
(3T)
Chng 8: B iu khin ng c khng ng b ba pha Cu trc mt h thng iu khin ng c. Cm bin o lng Mt s u im khi s dng b iu khin tc ng c H thng iu khin s ng c khng ng b ba pha B bin tn
(6T)
(21 tit)
(42 tit) 2/11/2009 3
TB
Chng 1: VECTOR KHNG GIAN V B NGHCH LU BA PHA

I. Vector khng gian I.1. Biu din vector khng gian cho cc i lng ba pha ng c khng ng b (CKB) ba pha c ba (hay bi s ca ba) cun dy stator b tr trong khng gian nh hnh v sau:
usb Pha B
stator
rotor
usa
Pha A
usc
Pha C
Hnh 1.1: S u dy v in p stator ca CKB ba pha. (Ba trc ca ba cun dy lch nhau mt gc 1200 trong khng gian) Ba in p cp cho ba u dy ca ng c t li ba pha hay t b nghch lu, bin tn; ba in p ny tha mn phng trnh: Trong : usa(t) + usb(t) + usc(t) = 0 (1.1) (1.2a) (1.2b) (1.2c)
usa(t) = |us| cos(st) usb(t) = |us| cos(st 1200) usc(t) = |us| cos(st + 1200)
Vi s = 2fs; fs l tn s ca mch stator; |us| l bin ca in p pha, c th thay i. (in p pha l cc s thc) Vector khng gian ca in p stator c nh ngha nh sau: r r r 2 r u s ( t ) = [u sa ( t ) + u sb ( t ) + u sc ( t )] (1.3) 3 0 0 r 2 u s ( t ) = u sa ( t ) + u sb ( t )e j120 + u sc ( t )e j240 (1.4) 3 (tng t nh vector trong mt phng phc hai chiu vi 2 vector n v)
V d 1.1: Chng minh? r u s ( t ) = u s e js t = u s ( s t ) a) b) us = 2 [u as 0,5u bs 0,5u cs ] + 3 3 3 j u bs u cs 2 2
(1.6) (1.5)
Chng 1: Vector khng gian v B nghch lu ba pha
I.1
TB
Im
e j120
B
r us
2r u sc 3
Re
A C
j0 o
2r u sa 3
2r u sb 3
usa
e j240
Hnh 1.2: Vector khng gian in p stator trong h ta . Theo hnh v trn, in p ca tng pha chnh l hnh chiu ca vector in p r stator u s ln trc ca cun dy tng ng. i vi cc i lng khc ca ng c: dng in stator, dng rotor, t thng stator v t thng rotor u c th xy dng cc vector khng gian tng ng nh i vi in p stator trn.
I.2. H ta c nh stator Vector khng gian in p stator l mt vector c modul xc nh (|us|) quay trn mt phng phc vi tc gc s v to vi trc thc (trng vi cun dy pha A) mt gc st. t tn cho trc thc l v trc o l , vector khng gian (in p stator) c th c m t thng qua hai gi tr thc (us) v o (us) l hai thnh phn ca vector. H ta ny l h ta stator c nh, gi tt l h ta .
j Cun dy pha B us usc
r us
Cun dy pha A
usb 0 usa = us
Cun dy pha C
r Hnh 1.3: Vector khng gian in p stator u s v cc in p pha.
I.2
TB
Bng cch tnh hnh chiu cc thnh phn ca vector khng gian in p stator (u s , u s ) ln trc pha A, B (trn hnh 1.3), c th xc nh cc thnh phn theo phng php hnh hc:
usa = us usb =
suy ra
1 3 u s + u s 2 2
(1.7a) (1.7b) (1.8a) (1.8b)
us = usa us = 1 (u sa + 2u sb )
3
Theo phng trnh (1.1), v da trn hnh 1.3 th ch cn xc nh hai trong s ba in p r pha stator l c th tnh c vector u s . Hay t phng trnh (1.5) 2 u s = [u as 0,5u bs 0,5u cs ] + 3
3 3 j u bs u cs 2 2
(1.9)
c th xc nh ma trn chuyn i abc theo phng php i s:

1 1 u as 1 u 2 2 2 u bs s = u s 3 3 3 u 0 2 2 cs V d 1.2: Chng minh ma trn chuyn i h to abc? 1 0 u as s 1 3 u s u bs = 2 u s u 2 s cs 1 3 2 2
s s
(1.10)
(1.11)
Bng cch tng t nh i vi vector khng gian in p stator, cc vector khng gian dng in stator, dng in rotor, t thng stator v t thng rotor u c th c biu din trong h ta stator c nh (h ta ) nh sau:
r u s = us + j us r is = is + j is r ir = ir + j ir r s = s + j s
(1.12a) (1.12b) (1.12c) (1.12d) (1.12e)
r r = r + j r
I.3

II. B nghch lu ba pha II.1. B nghch lu ba pha
TB
S1
S3
S5
Udc
C
S6
motor
S7
S2
S4
Hnh 1.4: S b nghch lu ba pha cn bng gm 6 kho S1S6. V d 1.3: Chng minh cc phng trnh tnh in p pha? 1 U Nn = (U An + U Bn + U Cn ) a) 3 2 1 1 U AN = U An U Bn U Cn b) 3 3 3 Phng php tnh mch in: V d 1.4: Tnh in p cc pha trng thi S1, S3, S6 ON v S2, S4, S5 OFF?
A UAN N B UBN
Udc
UCN n C
Hnh 1.5: Trng thi cc kho S1, S3, S6 ON, v S2, S4, S5 OFF (trng thi 110).
I.4

II.2. Vector khng gian in p
TB
n v (Udc) Va Vb Vc usa usb usc uab ubc uca U Deg us k S1 S3 S5 UAN UBN UCN UAB UBC UCA us us 0 0 0 0 0 0 0 0 0 0 U0 U000 1 1 0 0 2/3 -1/3 -1/3 1 0 -1 U1 0o 2 1 1 0 1/3 1/3 -2/3 0 1 -1 U2 60 o 3 0 1 0 -1/3 2/3 -1/3 -1 1 0 U3 120 o 4 0 1 1 -2/3 1/3 1/3 -1 0 1 U4 180 o 5 0 0 1 -1/3 -1/3 2/3 0 -1 1 U5 240 o 6 1 0 1 1/3 -2/3 1/3 1 -1 0 U6 300 o 7 1 1 1 0 0 0 0 0 0 U7 U111 Bng 1.1: Cc in p thnh phn tng ng vi 8 trng thi ca b nghch lu. V d 1.5: Tnh cc in p thnh phn us v us tng ng vi 8 trng thi trong bng 1.1? iu ch vector khng gian in p s dng b nghch lu ba pha
Xt b nghch lu trng thi 100, khi cc in p pha usa=2/3Udc, usb= 1/3Udc, r r r 2 r usc=-1/3Udc. Theo phng trnh (1.3), u s ( t ) = [u sa ( t ) + u sb ( t ) + u sc ( t )] hay phng trnh 3 0 0 0 r r 2 2 (1.4), u s ( t ) = u sa ( t ) + u sb ( t )e j120 + u sc ( t )e j240 = u s ( t ) = U dc e j0 , c: 3 3
2/3Udc
r u sc r u sa r r r u sa + u sb + u sc
r us
r u sb
U1(100)
r Hnh 1.6: Vector khng gian in p stator u s ng vi trng thi (100). r trng thi (100), vector khng gian in p stator u s c ln bng 2/3Udc v c gc pha trng vi trc pha A. r V d 1.6: Tm ( ln v gc ca) vector khng gian in p stator u s ( t ) ng vi trng thi (110)?
I.5
TB
Xt tng t cho cc trang thi cn li, rt ra c cng thc tng qut j( k 1) 2 3 U k = U dc e vi k = 1, 2, 3, 4, 5, 6. 3

U3 (010) U2 (110) CCW
U4 (011)
U0 (000) U7 (111)
U1 (100)
CW U5 (001) U6 (101)
Hnh 1.7: 8 vector khng gian in p stator tng ng vi 8 trng thi.

j( k 1) 2 3 k = 1, 2, 3, 4, 5, 6. U k = U dc e 3 Cc trng hp xt trn l vector khng gian in p pha stator.
U0 v U7 l vector 0.
Up3 b
Up2
Up4
Up0 Up7 c Up5 Up6
Up1
Trc usa
Hnh 1.8: Cc vector khng gian in p pha stator.

j( k 1) 2 3 U dc e k = 1, 2, 3, 4, 5, 6 3 Bng cch iu khin chuyn i trng thi ng ct cc kha ca b nghch lu d dng iu khin vector khng gian in p quay thun nghch, nhanh chm. Khi dng in p ng ra b nghch lu c dng 6 bc (six step).
U phase _ k =
I.6
TB
Hnh 1.9: Cc in p thnh phn tng ng vi 6 trng thi. Trong mt s trng hp, cn xt vector khng gian in p dy ca stator. r r r 2 r u d ( t ) = [u ab ( t ) + u bc ( t ) + u ca ( t )] 3
Ud2
Ud3 Ud0 Ud7
Ud1
Trc uab
Ud4
Ud6
Ud5
Hnh 1.10: U line _ k =

j( 2 k 1) 2 6 3U dc e 3
Cc vector khng gian in p dy stator. k = 1, 2, 3, 4, 5, 6
iu ch bin v gc vector khng gian in p dng b nghch lu ba pha

U3 (010) T2 U0 (000) U7 (111) T1 U2 (110) CCW
us U1 (100)
U4 (011)
CW U5 (001) U6 (101)
Hnh 1.11:
iu ch bin v gc vector khng gian in p.

I.7

us = T1 U1 +
TB
T T2 U 2 + 0 U 0 (U 7 ) hay u s = a.U 1 + b.U 2 + c.U 0 ( U 7 ) TPWM TPWM TPWM 2U dc 2 u s sin( 3 ) 3 2 u s sin 3 c = (a + b ) 1 b= a= 3u 2 2 2 Udc 2 Udc s sin sin 3 3 2 U dc Trong : a + b + c = (a + b ) 3u 1 s T1 = a.TPWM T2 = b.TPWM T0 = c.TPWM
vi chu k iu rng xung: TPWM (T1 + T2) + T0 Tng qut: us =a.Ux + b.Ux+60 + c.{U0, U7} Trong , l gc gia vector Ux v vector in p us.
hay T0 TPWM (T1 + T2) vi TPWM const
Bng cch iu khin chuyn i trng thi ng ct cc kha ca b nghch lu thng qua T1, T2 v T0, d dng iu khin ln v tc quay ca vector khng gian in p. Khi dng in p ng ra b nghch lu c dng PWM sin.
Hnh 1.12:
iu ch bin v tn s in p.
I.8
TB
Hnh 1.13:
Dng in p v dng in PWM sin.

j 2 2 U dc e 6 = T1 U dc + T2 3 3
V d 1.7: Chng minh u s e
Bi tp 1.1. in p ba pha 380V, 50Hz. Ti thi im t = 6ms. Tnh usa, usb, usc, us v us, |us|? Bit gc pha ban u ca pha A l o = 0. Bi tp 1.2. in p ba pha cp cho b nghch lu l 380V, 50Hz. Tnh in p pha ln nht m b nghch lu c th cung cp cho ng c ni Y. Bi tp 1.3. in p mt pha cp cho b nghch lu l 220V, 50Hz. Tnh in p dy ln nht m b nghch lu c th cung cp cho ng c. Bi tp 1.4. in p ba pha cp cho b nghch lu l 380V, 50Hz. in p pha b nghch lu cp cho ng c l 150V v 50Hz. Ti thi im t = 6ms. Tnh T1, T2 v T0? Bit gc pha ban u o = 0 v tn s iu rng xung l 20KHz. Bi tp 1.5. Lp bng v v gin vector cc in p dy thnh phn tng ng vi 8 trng thi ca b nghch lu. Bi tp 1.6. Nu cc chc nng ca kho S7 v cc diode ngc (mc song song vi
cc kho ng ct S1 S6) trong b nghch lu? Bi tp 1.7. Cho Udc = 309V, trng thi cc kho nh sau: S2, S3, S6: ON; v S1, S4, S5: OFF. Tnh cc in p usa, usb, usc, UAB, UBC? Bi tp 1.8. Khi tng tn s iu rng xung (PWM) ca b nghch lu, nh gi tc ng ca sng hi bc cao ln dng in ng c. Phng php iu khin no c tn s PWM lun thay i?
I.9
TB
Chng 2: H QUI CHIU QUAY

I. H qui chiu quay Trong mt phng ca h ta , xt thm mt h ta th 2 c trc honh d v trc tung q, h ta th 2 ny c chung im gc v nm lch i mt d gc s so vi h ta stator (h ta ). Trong , a = a quay trn quanh gc ta chung, gc a = at + a0. Khi s tn ti hai ta cho mt vector trong khng gian tng ng vi hai h ta ny. Hnh v sau s m t mi lin h ca hai ta ny. jq j us
s
dt
r us
a =
d
d a dt
usd usq a 0 us
r Hnh 2.1: Chuyn h to cho vector khng gian u s t h ta sang h
ta dq v ngc li. T hnh 1.5 d dng rt ra cc cng thc v mi lin h ca hai ta ca mt vector ng vi hai h ta v dq. Hay thc hin bin i i s: (1.10a) us = usdcosa - usqsina (1.10b) us = usdsina + usqcosa Theo pt (1.9a) th: v tng t th: Khi thay h pt (1.10) vo pt (1.11) s c: r u = (u sd cos a u sq sin a ) + j(u sd sin a + u sq cos a ) s Hay
r u s = u s + ju s r dq u s = u sd + ju sq
(1.11) (1.12)
r r dq u = u s e ja s
r dq = (u sd + ju sq )(cos a + j sin a ) = u s e ja
(1.13)
r dq r u s = u e ja s
(1.14)
Thay pt (1.11) vo pt (1.14), thu c phng trnh: usd = uscosa + ussina usq = - ussina + uscosa
Chng 2: H qui chiu quay II.1
(1.15a) (1.15b)
TB
II. Biu din cc vector khng gian trn h ta t thng rotor Mc ny trnh by cch biu din cc vector khng gian ca ng c khng ng b (CKB) ba pha trn h ta t thng rotor. Gi thit mt CKB ba pha ang quay vi tc gc = yn), vi l gc hp bi trc rotor vi trc chun stator (qui nh trc cun dy pha A, chnh l trc trong h ta ).
d (tc quay ca rotor so vi stator ng dt
jq
Cuon day pha B is
r =
r is
d r dt
d r =a
isd
r r
r isq 0 is Cuon day pha A
Truc rotor Cuon day pha C
Truc t thong rotor
r Hnh 2.2: Biu din vector khng gian is trn h to t thng rotor, cn gi l
h to dq.
r
Trong hnh 1.6 biu din c hai vector dng stator is v vector t thng rotor
r r d r . Vector t thng rotor r quay vi tc gc r = r s = 2f s (tc quay dt
ca t thng rotor so vi stator ng yn). Trong , fs l tn s ca mch in stator v r l gc ca trc d so vi trc chun stator (trc ).
Chng 2: H qui chiu quay
II.2
TB
chnh lch gia s v (gi thit s i cc ca ng c l p=1) s to nn dng in rotor vi tn s fsl, dng in ny cng c th c biu din di r dng vector ir quay vi tc gc sl = 2fsl, (sl = s - r - ) so vi vector r t thng rotor r . Trong mc ny ta xy dng mt h trc ta mi c hng trc honh r (trc d) trng vi trc ca vector t thng rotor r v c gc trng vi gc ca h ta , h ta ny c gi l h ta t thng rotor, hay cn gi l h ta dq. H ta dq quay quanh im gc chung vi tc gc r s, v hp vi h ta mt gc r. Vy ty theo quan st trn h ta no, mt vector trong khng gian s c mt ta tng ng. Qui nh ch s trn bn phi ca k hiu vector nhn bit vector ang c quan st t h ta no: s: ta (stator coordinates). f: ta dq (field coordinates). r Nh trong hnh 1.6, vector is s c vit thnh: vector dng stator quan st trn h ta dq. Theo pt (1.8a) v pt (1.11) th:
rs is = is + j is rf is = isd + j isq rs is : rf is :
vector dng stator quan st trn h ta .
(1.16a) (1.16b)
Nu bit c gc r th s xc nh c mi lin h:
r s r f j is = is e r r f r s j is = is e r
(1.17a) (1.17b)
Theo h pt (???) v pt (1.17b) th c th tnh c vector dng stator thng qua cc gi tr dng ia v ib o c (hnh 1.7).
II.3
TB
Udc
iu khin 3~ a
== Nghch lu b c isa isb 3 2= is is

e
j r
r isd isq
C KB
M 3~
pt (2.)
pt (2.)
Hnh 2.3: Thu thp gi tr thc ca vector dng stator trn h ta dq.
Tng t nh i vi vector dng stator, c th biu din cc vector khc ca CKB trn h ta dq:
rf is = isd + j isq
rf u s = usd + j isq rf ir = ird + j irq

rf s = sd + j sq r fr = rd + j rq
(1.18a) (1.18b) (1.18c) (1.18d) (1.18e)
Tuy nhin, tnh c isd v isq th phi xc nh c gc r, gc r c xc nh thng qua r = + sl. Trong thc t ch c l c th o c, trong khi (tc trt) sl = 2fsl vi fsl l tn s ca mch in rotor (lng sc) khng o c. V vy phng php iu khin CKB ba pha da trn cc m t trn h ta d dq bt but phi xy ng phng php tnh r chnh xc. Ch khi xy dng m hnh tnh ton trong h ta dq, do khng th tnh tuyt i chnh xc gc r nn vn gi li rq ( rq =0) m bo tnh khch quan trong khi quan st. III. u im ca vic m t ng c khng ng b ba pha trn h ta t thng rotor r Trong h ta t thng rotor (h ta dq), cc vector dng stator isf v r vector t thng rotor fr , cng vi h ta dq quanh (gn) ng b vi nhau vi r tc r quanh im gc, do cc phn t ca vector isf (isd v isq) l cc i
II.4
TB
lng mt chiu. Trong ch xc lp, cc gi tr ny gn nh khng i; trong qu trnh qu , cc gi tr ny c th bin theo theo mt thut ton iu khin c nh trc. r Hn na, trong h ta dq, rq=0 do vung gc vi vector fr (trng vi r trc d) nn fr =rd. (1.19) i vi CKB 3 pha, trong h ta dq, t thng v mmen quay c biu din theo cc phn t ca vector dng stator: (1.20a) L
rd = Te =
m
1 + Tr s
i sd
(1.20b)
J d 3 Lm p rd i sq = TL P dt 2 Lr
(Hai phng trnh trn s c chng minh trong chng sau). momen quay (momen in) ca ng c vi: Te in cm rotor Lr h cm gia stator v rotor Lm p s i cc ca ng c hng s thi gian ca rotor Tr s ton t Laplace r Phng trnh (1.20a) cho thy c th iu khin t thng rotor rd = r thng qua iu khin dng stator isd. c bit mi quan h gia hai i lng ny l mi quan h tr bc nht vi thi hng Tr. Nu thnh cng trong vic p t nhanh v chnh xc dng isd iu khin n nh t thng rd ti mi im lm vic ca ng c. V thnh cng trong vic p t nhanh v chnh xc dng isq, v theo pt (1.20b) th c th coi isq l i lng iu khin ca momen Te ca ng c. Bng vic m t CKB ba pha trn h ta t thng rotor, khng cn quan tm n tng dng in pha ring rl na, m l ton b vector khng gian dng stator ca ng c. Khi vector is s cung cp hai thnh phn: isd iu r khin t thng rotor r , isq iu khin momen quay Te, t c th iu khin tc ca ng c. r isd r (1.21a) (1.21b) isq Te Khi , phng php m t CKB ba pha tng quan ging nh i vi ng c mt chiu. Cho php xy dng h thng iu chnh truyn ng CKB ba pha tng t nh trng hp s dng ng c in mt chiu. iu khin tc r CKB ba pha thng qua iu khin hai phn t ca dng in is l isd v isq.
II.5
TB
Chng 3: M HNH CKB TRONG H QUI CHIU QUAY

I. Mt s khi nim c bn ca ng c khng ng b ba pha I.1. Mt s qui c k hiu dng cho iu khin CKB ba pha xy dng m hnh m t ng c KB ba pha, ta thng nht mt s qui c cho cc k hiu cho cc i lng v cc thng s ca ng c. Cun dy pha B isb usb
rotor stator
irA
Trc chun
irB isa usc isc Cun dy pha C stator irC usa
Cun dy pha A
Hnh 2.1: M hnh n gin ca ng c KB ba pha

is vs Rs Ls im Lr
ir
Lm
Rr s
Hnh 2.2: Mch tng ng ca ng c KB ba pha Trc chun ca mi quan st c qui c l trc ca cun dy pha A nh hnh 2.1. Mi cng thc c xy dng sau ny u tun theo qui c ny. Sau y l mt s cc qui c cho cc k hiu:
Chng 3: M hnh CKB trong h qui chiu quay
III.1
TB
Hnh thc v v tr cc ch s: Ch s nh gc phi trn: s i lng quan st trn h qui chiu stator (h ta ). f i lng quan st trn h qui chiu t thng rotor (h ta dq). r i lng quan st trn h ta rotor vi trc thc l trc ca rotor (hnh 1.6). * gi tr t e gi tr c lng Ch s nh gc phi di: o Ch ci u tin: s i lng ca mch stator. r i lng ca mch rotor. o Ch ci th hai: d, q phn t thuc h ta dq. , phn t thuc h ta . a, b, c i lng ba pha ca stator. A, B, C i lng ba pha ca rotor, li. Hnh mi tn () trn u: k hiu vector (2 chiu). ln (modul) ca i lng: k hiu gia hai du gch ng (| |). Cc i lng ca CKB ba pha: u in p (V). i dng in (A). t thng (Wb). momen in t (N.m). Te momen ti (momen cn - torque) (hay cn k hiu l MT) (Nm). TL tc gc ca rotor so vi stator (rad/s). a tc gc ca mt h to bt k (arbitrary) (rad/s). s tc gc ca t thng stator so vi stator (s = + sl) (rad/s). r tc gc ca t thng rotor so vi stator (r s) (rad/s). sl tc gc ca t thng rotor so vi rotor (tc trt) (rad/s). gc ca trc rotor (cun dy pha A) trong h to (rad). s gc ca trc d (h to quay bt k) trong h to (rad). r gc ca trc d (h to quay bt k) so vi trc rotor (rad). s gc ca t thng stator trong h to (rad). r gc ca t thng rotor trong h to (rad). e r gc ca t thng rotor c lng (estimated) trong h to (rad). gc pha gia in p so vi dng in. Cc thng s ca CKB ba pha: Rs in tr cun dy pha ca stator (). Rr in tr rotor qui i v stator (). h cm gia stator v rotor (H). Lm Ls in khng tn ca cun dy stator (H). Lr in khng tn ca cun dy rotor qui i v stator (H). p s i cc ca ng c. J momen qun tnh c (Kg.m2).
Chng 3: M hnh CKB trong h qui chiu quay III.2
TB
Cc thng s nh ngha thm: Ls = Lm + Ls in cm stator. Lr = Lm + Lr in cm rotor. Ts =

Ls Rs L Tr = r Rr
hng s thi gian stator. hng s thi gian rotor.

L2m Ls Lr
=1
h s t tn tng.
Tsamp chu k ly mu. Cc i lng vit bng ch thng ch hoa: Ch thng: i lng tc thi, bin thin theo thi gian. i lng l cc thnh phn ca cc vector. Ch hoa: i lng vector, module ca vector, ln. I.2. Cc phng trnh c bn ca CKB ba pha Cc phng trnh ton hc ca ng c cn phi th hin r cc c tnh thi gian ca i tng. Vic xy dng m hnh y khng nhm mc ch m phng chnh xc v mc ton hc i tng ng c. Vic xy dng m hnh y ch nhm mc ch phc v cho vic xy dng cc thut ton iu chnh. iu cho php chp nhn mt s iu kin gi nh trong qu trnh thit lp m hnh, tt nhin s to ra mt s sai lch nht nh gia i tng v m hnh trong phm vi cho php. Cc sai lch ny phi c loi tr bng k thut iu chnh. c tnh ng ca ng c khng ng b c m t vi mt h phng trnh vi phn. xy dng phng trnh cho ng c, gi nh l tng ha kt cu dy qun v mch t vi cc gi thuyt sau: Cc cun dy stator c b tr i xng trong khng gian. B qua cc tn hao st t v s bo ha ca mch t. Dng t ha v t trng phn b hnh sin trong khe h khng kh. Cc gi tr in tr v in khng xem nh khng i.
is vs Rs Ls im Lr ir Rr s
Lm
III.3

Rs vs
is
*
TB
Lr
Ls
Rrr
im
Lm
rr
v rr
j rr
Rr
Phng trnh in p trn 3 cun dy stator:

dsa ( t ) dt dsb ( t ) usb(t) = Rsisb(t) + dt dsc ( t ) usc(t) = Rsisc(t) + dt
usa(t) = Rsisa(t) +
(2.1a) (2.1b) (2.1c)
Biu din in p theo dng vector:

0 0 r 2 u s ( t ) = u sa ( t ) + u sb ( t )e j120 + u sc ( t )e j240 s 3
(2.2)
Thay cc phng trnh in p pha (2.1a),(2.1b),(2.1c) vo (2.2), ta c: CM

r rs d s ( t ) rs u s (t) = Rs. is ( t ) + s dt
(2.3)
Trong , tng t nh i vi in p:
rs 0 0 2 is ( t ) = i sa ( t ) + i sb ( t )e j120 + i sc ( t )e j240 3 0 0 rs 2 s ( t ) = sa ( t ) + sb ( t ).e j120 + sc ( t ).e j240 3
[ [
(2.4)
(2.5)
Tng t, ta c phng trnh in p ca mch stotor. Khi quan st trn h qui chiu rotor (rotor ngn mch):
III.4

r rr r drr (t ) rr u r ( t ) = 0 = R r ir (t ) + dt
TB
(2.6) (2.7a) (2.7b)
Cc vector t thng stator v rotor quan h vi cc dng stator v rotor: r r r CM s = L s is + L m ir CM CM Tnh Lm. CKB l mt h in c, c phng trnh momen:
3 r r 3 r r p( s x is )= - p( r x ir ) 2 2
J d p dt
r r r r = L m is + L r ir
Te =
(2.8) (2.9)
v phng trnh chuyn ng: Te = TL +
Vic xy dng cc m hnh cho CKB ba pha trong cc phn sau u phi da trn cc phng trnh c bn trn y ca ng c. II. M hnh lin tc ca CKB trn h ta stator
Tng t nh (1.13), t h quy chiu rotor quy v h quy chiu stator theo cc phng trnh: r r j irr = irs e (2.10) r r r s j r = r e (2.11) vi
d = (theo hnh 1.6). dt
Thay pt (2.10) v pt (2.11) vo pt (2.6), qui pt (2.6) v h quy chiu stator: r r s d rs r 0 = R r ir + CM j rs

dt
(2.12)
Vy t cc pt (2.3), (2.7), (2.8), (2.9) v(2.12) ta c h phng trnh: CM CM

r r r d s u s = Rs. iss + s s dt rs r r d r 0 = Rr irs + - j sr dt r rs rs s = L s is + L m irs
(2.13a) (2.13b) (2.13c)
III.5

r r r s = L m iss + L r irs r 3 r r 3 r r Te = p( s x is )= - p( r x ir ) 2 2 J d Te = TL + p dt
TB
(2.13d) (2.13e) (2.13f)
xc nh dng in stator v t thng rotor, t pt (2.13d) v pt (2.13c) c:

rs r 1 rs ir = r L m iss Lr s s s s L s = L s. i s + m r L m i s Lr
(2.14)
(2.15)
Thay (2.14) v (2.15) vo (2.13a) v (2.13b), vi cc nh ngha sau: Ts =

Ls Rs L Tr = r Rr
: hng s thi gian stator. : hng s thi gian rotor. : h s t tn tng.

r d s r dt r d s r + dt
= 1
L2m Ls L r
Phng trnh (2.13a) v (2.13b) rtr thnh:

r di s L r u s = R S iss + L s s + m s dt Lr r L r 1 0 = m iss + j s T r Tr r
(2.16) (2.17)
suy ra:
r r d s L m r s 1 r = is j s T r dt Tr r
1 d iss 1 r s 1 = T + T is + L dt r m s rs r d r L m r s 1 = is j s T r dt Tr r 1 r 1 rs j rs + u T L s s r
(2.19)
Thay (2.19) vor (2.16):
(2.20) (2.21)
Chuyn sang dng cc thnh phn ca vector trn hai trc to :

1 di s 1 1 1 1 = T + T i s + T L r + L r + L u s dt r r m m s s di s 1 1 1 1 1 = T + T i s + T L r L r + L u s dt r r m m s s d r L m 1 i s r r = dt Tr Tr d r L m 1 i s r + r = dt Tr Tr
(2.22a) (2.22b) (2.22c) (2.22d)
III.6
TB
Thay pt (2.14) vo pt (2.13e), c:
rs r 1 rs ir = r L m iss Lr
r 1 3 Lm r s rs r 3 r Te = p rs x rs L m iss r x. is = P 2 Lr 2 Lr Te = 3 Lm p r i s r i s 2 Lr d p = [Te TL ] dt J
)
(2.24)
Thay cc thnh phn ca vector t thng rotor v dng stator, c:
III. M hnh ca CKB trn h ta t thng rotor (to dq) Theo h pt (1.17), biu din pt (2.3) v pt (2.6) ln h trc ta t thng rotor (h trc dq):
r rf r f dsf rf u s = Rs is + js s + dt r rf r f drf 0 = Rr ir + jsl r + dt
(2.28a) (2.28b)
Vi C
iss
r rf r f dsf rf u s = Rs is + js s + dt r rf r f drf 0 = Rr ir + jsl r + dt r rf r f dsf rf u s = Rs is + js s + dt r rf r r f drf 0 = R r ir + ( s )r + dt rf rf rf s = L s is + L m ir r r r fr = L m isf + L r irf
(2.29a) (2.29b)
Kt hp vi hai pt trn vi h phng trnh (2.7), c h phng trnh: (2.30a) (2.30b) (2.30c) (2.30d)
Suy ra
i fr =
1 (rf L m i sf ) Lr
L2 f L sf = L s m i s + m rf Lr Lr
III.7
TB
Thc hin tng t i vi vic xy dng m hnh ng c trn h ta , kh cc bin irf v sf , c h sau:
r 1 d isf 1 r f 1 f is j s i s + = + T dt L m s Tr rf r d r L r 1 = m isf + j sl rf T dt Tr r 1 r 1 rf j rf + us T L s r r
r
Chuyn sang dng cc thnh phn ca vector trn hai trc to :

1 di sd 1 1 1 1 = T + T isd + sisq + T L rd + L rq + L u sd dt r m m s r s di sq
(2.31a) (2.31b) (2.31c) (2.31d)
= T + T isqsisd+ T L rq L rd + L u sq dt r r m m s s
drd L m 1 = rd + sl rq i sd dt Tr Tr
drq dt
Lm 1 i sq rq sl rd Tr Tr
r
Trong h ta dq, rq=0 do vung gc vi vector fr nn fr =rd.

1 di sd 1 1 1 = T + T isd + sisq + T L rd + L u sd dt r r m s s
(2.32a) (2.32b) (2.32c) (2.32d)
di sq
= T + T isqsisd L rd + L u sq dt r m s s
drd L m 1 = i sd rd Tr dt Tr
drq dt
=0
Lm isq= sl rd Tr
Phng trnh moment: Thay Vo: c

L2 r L sf = L s m isf + m rf Lr Lr 3 r r Te = p sf x isf 2
(2.33) (2.34) (2.35)
Te =
3 Lm (rd i sq rq i sd ) p 2 Lr
III.8
TB
vi tc trt: sl = r = Te = TL +
L m i sq Tr rd
(2.36) (2.37)
r
J d J d = p dt p dt
Trong h ta t thng rotor (h ta dq), cc vector dng stator isf v r vector t thng rotor fr , cng vi h ta dq quanh (gn) ng b vi nhau vi r tc s quanh im gc, do cc phn t ca vector isf (isd v isq) l cc i lng mt chiu. Trong ch xc lp, cc gi tr ny gn nh khng i; trong qu trnh qu , cc gi tr ny c th bin theo theo mt thut ton iu khin c nh trc. r r Hn na, trong h ta dq, rq=0 do vung gc vi vector fr nn fr =rd. i vi CKB 3 pha, trong h ta dq, t thng v mmen quay c biu din theo cc phn t ca vector dng stator:
rd =
Te = Lm i sd 1 + Tr s
3 Lm J d p rd i sq = TL 2 Lr P dt
(Hai phng trnh trn c trnh by ta theo phng trnh (2.34c) v phng trnh (2.34d) trong chng II). r Phng trnh trn cho thy c th iu khin t thng rotor rd = r thng qua iu khin dng stator isd. c bit mi quan h gia hai i lng ny l mi quan h tr bc nht vi thi hng Tr. Nu thnh cng trong vic p t nhanh v chnh xc dng isd iu khin n nh t thng rd ti mi im lm vic ca ng c. V thnh cng trong vic p t nhanh v chnh xc dng isq, v theo pt (1.20b) th c th coi isq l i lng iu khin ca momen Te ca ng c. Bng vic m t CKB ba pha trn h ta t thng rotor, khng cn quan tm n tng dng in pha ring rl na, m l ton b vector khng gian dng stator ca ng c. Khi vector is s cung cp hai thnh phn: isd iu r khin t thng rotor r , isq iu khin momen quay Te, t c th iu khin tc ca ng c. r isd r () isq Te () Khi , phng php m t CKB ba pha tng quan ging nh i vi ng c mt chiu. Cho php xy dng h thng iu chnh truyn ng CKB ba pha tng t nh trng hp s dng ng c in mt chiu. iu khin tc r CKB ba pha thng qua iu khin hai phn t ca dng in is l isd v isq. u im khi ca m hnh tn ca CKB trong HT dq so vi HT :
III.9
TB
1. 2. 3. 4.
Cc i lng khng bin thin dng sin theo thi gian. H phng trnh n gin hn (rq=0). r Phn ly iu khin t thng rotor r v momen Te (tc ). Gn ging vi iu khin ng c mt chiu.
III.10
TB
Chng 4: IU KHIN NH HNG T THNG CKB

I. Hiu chnh PID (PID CONTROL) r(t)
e(t)
PID
u(t)
i tng iu khin
c(t)
Phng trnh vi phn m t hiu chnh PID: u(t) = KP e(t) + KI e( t )dt + KD KP: h s khu t l. KI: h s khu tch phn. KD:h s khu vi phn. Bin i Laplace:
G (s) = u (s) 1 = K p 1 + T .s + TD .s e(s) I
de( t ) dt
trong : TI =
KP , KI
TD =
KD KP
Vn thit k l cn hiu chnh cc gi tr K p , K i v K D sao cho h tha t c cht lng ti u. Th tc hiu chnh PID Khu hiu chnh khuch i t l (P) c a vo h thng nhm lm gim sai s xc lp, vi u vo thay i theo hm nc s gy ra vt l v trong mt s trng hp l khng chp nhn c i vi mch ng lc. Khu tch phn t l (PI) c mt trong h thng dn n sai lch tnh trit tiu (h v sai). Mun tng chnh xc ca h thng ta phi tng h s khuych i, xong vi mi h thng thc u b hn ch v s c mt ca khu PI l bt buc. S c mt ca khu vi phn t l (PD) lm gim vt l, p ng ra bt nhp nh v h thng s p ng nhanh hn. Khu hiu chnh vi tch phn t l (PID) kt hp nhng u im ca khu PD v khu PI, c kh nng tng d tr pha tn s ct, kh chm pha. S c mt ca khu PID c th dn n s dao ng ca h do p ng qu b vt l bi hm dirac (t). Cc b hiu chnh PID c ng dng nhiu trong lnh vc cng nghip di dng thit b iu khin hay thut ton phn mm.
Chng 4: iu khin nh hng t thng CKB
IV.1
T B
Tm tt Vai tr ca mi khu hiu chnh (adjustment) trong b iu khin PID: Khu khuch i t l Kp (Proportional gain): Khi Kp tng Sai s xc lp gim Vt l tng Thi gian ln nhanh Khu tch phn t l Ki (Integral gain): Khi Ki tng Sai lch tnh gim (trit tiu - v sai vi hm nc) p ng chm Khu vi phn t l Kd (Derivative gain): Khi Kd tng Vt l gim p ng nhanh Bt nhp nh (dao ng)
PI ri rc:
r(k)
e(k)
PID S
u(k)
i tng iu khin
c(k)
u(k)=u p (k)+u I (k) u p (k)=K p .e(k) u I (k)= u I (k-1)+K I .T.e(k) Trong :T l tn s ly muu khin ng c DC p ng ca h thng s dng b iu khin PID
p ng bc hm nc 1(t)
IV.2
T B
II. iu khin tip dng
III. iu khin tip p
IV. Phng php iu khin nh hng trng (FOC) IV.1. M hnh ng c KB 3 pha
IV.3
T B
IV.2. iu khin trc tip iu khin trc tip t gi tr hi tip o v: iu khin tip dng:
IV.4
T B
IV.5
T B
IV.6
T B
iu khin tip p:
IV.7
T B
IV.3. iu khin gin tip iu khin trc tip t gi tr hi tip - tip dng:
iu khin gin tip t gi tr t - tip dng:
IV.8
T B
IV.9
T B
iu khin trc tip t gi tr hi tip - tip p:
iu khin gin tip t gi tr t - tip p:
IV.10
T B
IV.4. iu khin trc tip - tip p
Cu trc ca h thng iu khin nh hng trng nh hng trng (Field Oriented Control -FOC) trong iu khin ng c khng ng b ba pha c trnh by trong hnh v sau:
r
*
i* sd
* r
MTi
i sd
Cid Ciq
yd yq
MTu
u sd u sq
BB
i* + sq
i sq
ua ub u c
TL ng c
i sd i sq
ia i b
CTi
* +
* + r
+
Hnh 4.1: Cu trc ca h thng iu khin CKB ba pha dng FOC Bng vic m t CKB ba pha trn h ta t thng rotor, vector is s r chia thnh hai thnh phn: isd iu khin t thng rotor r , isq iu khin momen quay Te, t c th iu khin tc ca ng c. r (4.1a) isd r (4.1b) isq Te
r
IV.11
TB
IV.2. Xy dng thut ton iu khin Gii thut ca tng khi trong h thng iu khin nh hng trng (hnh 4.1) c trnh by nh sau: Mng tnh dng (MTi)
i * = (1 + sTr ) sd i* = sq r* Lm
(4.2a) (4.2b)
Tr r* * r Lm
Mng tnh p (MTu)

L s yq 1 + sTs L s L * u sq = R s y q + y d + m r d 1 + sTs Lr L L Lm Trong , Ts = s = s Rs Rs u sd = R s y d
(4.3a) (4.3b)
Tnh gc r r = r
s
(4.4)
Chuyn i h ta dng in (CTi) is = isa is = 1 (i sa + 2i sb )

3
(4.5a) (4.5b) (4.6a) (4.6b)
isd = iscosr + issinr isq = - issinr + iscosr B bin i (BB) o Chuyn i h ta dng in (CTi) us = usdcosr usqsinr us = usdsinr + usqcosr o B bin i in p (b iu ch vector khng gian) usa = us
1 3 u sb = u s + u s 2 2
(4.7a) (4.7b) (4.8a) (4.8b) (4.8c)
usc = usa usb
Khu iu ch tc quay (C) L khu hiu chnh PI:

K * = K P + I (* ) r s
(4.9)
IV.12
TB
Cc khu iu ch dng (DCid v DCiq) o Khu iu ch dng isd (DCid)

K y d = K Pd + Id i sd s
(4.10)
o Khu iu ch dng isq (DCiq)

K Iq i sq y q = K Pq + s
(4.11) (4.12)
Ch : Xt trong h ta t thng rotor nn rq = 0 , r = rd
Cc thng s KP v KI trong cc b iu khin PI c hiu chnh sao cho h thng t ti p ng tt nht. IV.3. nh gi p ng ca thut ton iu khin FOC H thng n nh. Sai s xc lp ca tc nh, sai s xc lp ca t thng rotor ln. Thi gian p ng ca h thng tng i nhanh. Momen ti khng tc ng nhiu n p ng ca tc , v p ng ca t thng rotor. Cht lng p ng suy gim khi b nhiu tc ng ln tn hiu hi tip. H thng d mt n nh khi c sai s m hnh hay b tc ng ca nhiu. Dng in khi ng ln so vi dng in lm vic; dng khi ng tng ln khi c sai s m hnh.
IV.13
TB
Chng 5: MT S PHNG PHP C LNG T THNG ROTOR CKB

I. c lng t thng rotor t dng hi tip v t thng khe h khng kh
r = ([i a , i b ], m )
is Rs Ls Lr
ir
vs
im
Lm
Rr s
Rr
Rs is vs
Rs im Lm
ir
Rr
j r
is = is + is m s r r = L r i r + L m i s
rs = L r i s + L m i s = L r i s i s + L m i s r s m s s
rs = L r i s (L r L m )i s = m s Lr L m i s L r i s m s Lm
rs =
Lr s m L r i s = r + jr s Lm
r = r = r2 + r2 cos r = cos r =
Te =
r r
sin r = sin r =
r r
II. c lng t thng rotor t in p v dng hi tip

r = ([u a , u b ], [i a , i b ]) L L di s drs L d ss = r s r s dt L m dt L m dt
Chng 5: Mt s phng php c lng t thng rotor CKB
V.1

s drs L r s = (u s R s i ss ) LLs L r di s dt Lm dt m
TB
di s drs L = r u s R s i s L s s s s dt Lm dt
T thng stator c c lng t dng v p nh sau:

u s = R sis + s s d ss dt
d ss = u s R sis s s dt
T thng rotor c c lng t t thng stator v dng stator:

r r r s = L s is + L m ir r r r r = L m is + L r ir rs r 1 rs ir = s L s iss Lm r r r L r L r L2 r = L m iss + r ss L s iss = r ss 1 m LL Lm Lm s r LL L rs = r ss s r i s s Lm Lm
Ls L r r s L is m
cos r = cos r =
Te =
r r
sin r = sin r =
r r
III. c lng t thng rotor t tc v dng hi tip

r = ( , [i a , i b ])
r r d s L m r s 1 r is j s = r T dt Tr r
d r L m 1 i s r r = dt Tr Tr
V.2
Bi ging H Thng iu Khin S (CKB) d r dt = Lm 1 i s r + r Tr Tr r' 2 2 r = (r' ) + (r' ) r r

sin r = sin r = r r
TB
vi
cos r = cos r =
Te =
IV. c lng v tr t thng rotor gin tip t t thng t v Te t Cc phng trnh c lng v tr vector t thng rotor t cc gi tr lnh ca t
thng rotor v moment in t nh sau:
V.3
TB
V. c lng t thng rotor t tc v dng hi tip trong HT (dq)

dr L m 1 = i sd r dt Tr Tr
vi tc trt: r = + sl = + c Te =
3 Lm p rd i sq 2 Lr
L m i sq Tr rd
Cc phng trnh sau c dng c lng t thng rotor:
Hay cc phng trnh ny c th c vit li nh sau:
V tr tc thi ca vector t thng rotor c xc nh nh sau:
V.4
TB
VI. c lng t thng rotor dng khu quan st (observer)

rs is rs is
pt (5.1a) pt (5.1b) pt (5.1c)
r s s
r
rs is
Kp +
Ki s
ucomp
r us s
r us s
pt (5.1d)
r s s
ucomp
r s s rs is
pt (5.1f)
r s r
pt (5.1g)
r s r
r s r
Hnh 5.1: S b c lng t thng rotor dng khu quan st. Thut ton c lng t thng rotor cho CKB ba pha dng khu quan st isd = iscosr + issinr (5.1a)
drd L m 1 = i sd rd dt Tr Tr
(5.1b) (5.1c) (5.1d) (5.1e) (5.1f) (5.1g) (5.1h) (5.1i)
r = rdcoss r = rdsins
r L L L2m r s L m r s is + s = s r r s Lr Lr r r d s r s s = u s Rs. iss + ucomp dt r K r u comp = K p + i s s s s s r L L L2m r s L r rs = m s s r is s Lr Lm r 2 2 r = (r ) + (r )
VII. p ng iu khin dng c bng FOC p ng ca b c lng t thng rotor khi cc thng s CKB ba pha c sai s:
V.5

1.4
TB
1.2
r es t
(W b)
0.8
tu thong dat tu thong dap ung tu thong uoc luong
0.6
Fi 0.4 0.2 0 0 0.5 1 1.5 tim e (s ) 2 2.5 3
Hnh 5.2: p ng ca b c lng t thng rotor t tc v dng hi tip trn ta .

1.4 1.2
1 tu thong dat tu thong dap ung tu thong uoc luong
r es t
(W b) Fi
0.8
0.6
0.4
0.2
0 0 0.5 1 1.5 tim e (s ) 2 2.5 3
Hnh 5.3: p ng ca b c lng t thng rotor t tc v dng hi tip trn ta dq.

1.2 1
0.8 (W b)
tu thong dat tu thong dap ung tu thong uoc luong
0.6
Fi
r es t
0.4
0.2
0 0 0.5 1 1.5 time (s) 2 2.5 3
Hnh 5.4: p ng ca b c lng t thng rotor dng khu quan st.
V.6
TB
KT QU M PHNG NG C C TIP DNG
T thng c a n gi tr nh mc khi moment vn c gi gi tr zero. Sau khi t thng t gi tr n nh, ng c c lnh tng tc n mt gi tr vn tc dng. Moment c a n gi tr dng mc ti a. Moment c a tr v gi tr m v sau zero khi vn tc thc bng vn tc lnh, v moment c gi zero vn tc thc bng vn tc lnh.
H truyn ng ban u ang hot ng vi t thng rotor khng i v gi tr lnh, moment ti bng zero. Moment ti sau c tng n gi tr nh mc dng theo kiu stepwise. Sau mt khong thi gian th moment ti c a v zero cng theo kiu step-wise.
V.7
TB
T thng c gi khng i gi tr nh mc. Vn tc c o ngc t -40% ca vn tc sang 40% vn tc nh mc. Moment ti bng zero trong sut qu trnh m phng trn. B nghch lu c gi s l ngun dng l tng.
V.8
TB
KT QU O C CA NG C C TIP DNG
Dng stator trong trng thi n nh c phn tch. Tr sng harmonic bc nht, cc sng hi bc cao thng tp trung quanh cc di tn s 10 kHz, 20 kHz, 30 kHz, 40 kHz
T thng bng 70% t thng nh mc, ban u ng c ang chy khng ti 600 rpm, moment ti bng moment nh mc dng c c tng theo kiu stepwise.
V.9
TB
Bin i ca dng stator khi my tng tc t 200 rpm n 1500 rpm. ng c hon ton c t ho trc, moment ti bng zero.
Bin i ca dng stator khi my tng tc t 200 rpm n 1500 rpm. ng c hon ton c t ho trc, moment ti bng zero.
V.10
TB
Chng 6: CC PHNG PHP IU KHIN DNG

I. iu khin dng trong h qui chiu stator I.1. iu khin vng tr dng in iu khin dng, tip dng
Chng 6: Cc phng php iu khin dng
VI.1
TB
I.1. iu khin so snh dng in iu khin dng, tip p
VI.2
TB
II. iu khin dng trong h qui chiu t thng rotor iu khin dng (dq), tip p
III. iu khin p iu khin in p vng h Phn bit:iu khin tip p iu khin tip dng B nghch lu p B nghch lu dng iu khin dng trong h to stator (abc) iu khin dng trong h to t thng rotor (dq) IV. Tnh ton thit k h thng iu khin gin tip CKB theo phng php nh hng t thng rotor
Lm = Xm 2f L s =
L r =
X s 2f
X r 2f
L s = L m + L s
L r = L m + L r
Ts =
Tr =
Ls Rr
Lr Rr
rd =
i sq
L m i sd T thng khng i, 1 + Tr s 3 L m Te 3 L m Te = = 2p L r r 2p L r L m i ds
r = L m i ds
i sq i ds = 3 L m Te 2p L r L m
M Khi bit momen in Te v dng in Is,
2 2 i s = i sq + i ds = 2I s
T 2 phng trnh trn tnh c isd v isq v r. V tnh c sl =
L m i qs Tr r
VI.3
TB
T tnh c tc gc trt c: sl _ co =
rd + rd Tr s
Lm 3 L m Te 2p L r r
sl
p
v tnh c tc ng c.
Lm i qs Lr sl = Lr Tr r
i sd =
i sq =
T thng khng i:
i
* qs
r* = L m i * ds
K1 = Te* i
* qs
= K 1T
* e
2 Lr 1 3p L2m i * ds
=K i
* sl
* 2 qs
K2 =
* sl
* qs
Lm L = m * Tr r Tr i * ds
* v L m i * = Tr r* sl qs
VI.4
TB
Ch :
VI.5
TB
Vi
Vi Tdom = J/P v = Tdelay = tng thi gian tr.

VI.6
TB
Thm khu smooth:
VI.7
TB
V d:
iu khin trc tip t gi tr hi tip:
iu khin gin tip t gi tr t:
VI.8
TB
Tnh tt c cc gi tr cn thit iu khin gin tip t thng rotor, c minh ha trong v d ny. ng c KB 3 pha 4 cc, ni Y, rotor lng sc, cc thng s 50Hz l: Dng in nh mc l 2.1A 380V. iu khin gin tip nh hng t thng rotor (FOC) ng c KB trn.
B iu khin dng cn tnh ton t gi tr dng in o v v gi tr dng in t. Tc ng c c iu khin t 0 n tc nh mc. T thng khng i v bng gi tr t thng nh mc. Moment nh mc l 5.07Nm v moment qun tnh l 0.1 kgm2. V vy cn tnh dng in nh mc isdn, isqn t moment nh mc Ten, t thng nh mc r n v vn tc gc nh mc sln?
VI.9
TB
Bi tp: Mt ng c khng ng b c cc thng s (tt c quy v stator) nh sau: ng c 3 pha, 4 cc, cun dy stator ni Y, 50Hz, 380V, 0.75kW, 1400rpm. Tnh dng in nh mc isdn, isqn, v t thng nh mc r n?
VI.10
TCB
Chng 7: MT S PHNG PHP C LNG TC NG C CKB

I. Cc phng php c lng vn tc vng h I.1. Phng php 1
= r sl =
r dr dr dt dt L m 1 i i r s r s 2 2 Tr r2 r + r r
Trong :
Lr u s R s i s dt L s i s Lm L r = r (u s R s i s )dt L s i s Lm r =
[(
r =
2 r
+ r2
Chng minh (cch 1): Chng minh: r =

r dr dt r2 + r2 r dr dt
d d d r = r = s = arctg r dt dt dt r
dr dr dt
r =
dr dr r dt dt 2 r
1 r 1+ r
2
r =
dt r2 + r2
Chng minh: sl = C m nn
Lm 1 r i s r i s Tr r2
)
Te = 3 Lm p rd i sq 2 Lr
L m i sq = Tr r sl
sl =
L r 2 Te Tr 3p r2
r = L mis + L ri r
ir =
Lm 1 is + r Lr Lr
L 3 3 1 Te = p r xi r = p r x m i s + r L 2 Lr 2 r
L 3 L 3 Te = p r x m i s = p m r xi s L 2 r 2 L r
Chng 7: Mt s phng php c lng tc CKB
VII.1

sl =
L r 2 Te L xi L 1 = m r 2 s = m 2 r i s r i s 2 Tr 3p r Tr r Tr r
TCB
Chng minh (cch 2): C:

d r L m 1 = i s r r Tr dt Tr d r L m 1 = i s r + r dt Tr Tr d r L m 1 i s r r r r2 r = dt Tr Tr d r L m 1 r = i s r r r + r2 dt Tr Tr d r d r L m (i s r i s r ) + r2 + r2 r r = dt dt Tr
d r d r L m (i s r i s r ) r2 = r r dt dt Tr d r d r L m (i i ) r r s r s r dt dt Tr = r2 r2
Chng minh:
d ss u =R i + dt s d s = u s R sis s s dt r r r s = L s is + L m ir r r r r = L m is + L r ir rs r 1 rs ir = s L s iss Lm r r r L r L r L2 r = L m iss + r ss L s iss = r ss 1 m LL Lm Lm s r LL L rs = r ss s r i s s Lm Lm
s s s s s
Ls L r r s L is m
L L di s drs L d ss = r s r s dt L m dt L m dt
di s drs L = r u s R s i s L s s s s dt Lm dt dr di L = r u s R s i s L s s dt Lm dt
dr dt
Lr Lm
u s R s i s
di s L s dt
VII.2
Bi ging H Thng iu Khin S (CKB) Hay

rs = Lr Lm
TCB
[ (u
s s
R s i s dt L s i s s s
]
d r d r dt
I.2. Phng php 2

i r i r
=
Trong , i s = r
dt i r r + i r r
1 ss L s i s s Lm
)
s
L s i s
s
) d dt L i )
s s
s L s i s
s
( +(
L s i s
) d dt )
r
Vi
rs =
r r
LL Lr s s s r is s Lm Lm LL L = r s s r i s Lm Lm LL L = r s s r i s Lm Lm
vi
d ss = u s R sis s s dt s = (u s R s i s )dt
s = (u s R s i s )dt
VII.3
TCB
Chng minh:
r r s d rs r 0 = R r ir + j rs dt d r 0 = R r i r + + r dt d r 0 = R r i r + r dt d r 0.i r = R r i r i r + i r + i r r dt d r 0.i r = R r i r i r + i r i r r dt d r d r i r r + i r r 0 = i r i r dt dt d r d r i r i r dt dt = i r r + i r r
II. c lng vn tc vng kn Dng iu khin thch nghi m hnh (Model Reference Adaptive Control MRAC) M hnh thch nghi:
dr L 1 = m i s r r dt Tr Tr
dr dt = Lm 1 i s r + r Tr Tr
(7.1a) (7.1b)
M hnh tham kho:

di s drs L = r u s R s i s L s s s s dt Lm dt
r = ([u a , u b ], [i a , i b ])
Sai s m hnh: r r = (rs ) (rs ) = r r r r Hiu chnh sai s:

K = K p + i s
(7.2) (7.3)
t ph thuc vo thng s m hnh v cc i lng hi tip. Chng 7: Mt s phng php c lng tc CKB VII.4
TCB
Khi , tc c c lng theo s sau:
rs is
rs is
M hnh tham kho
M hnh thch nghi h pt (7.1)
r s r
r r ( ) ( )
s r s r
r us s
r s t thng c lng r
Kp +
pt (7.2)
Ki s
Hnh 7.1: S nguyn l b c lng tc CKB ba pha.

d rs L m s 1 T chng 3, c: = i s j rs T dt Tr r dr L m 1 i s r r = dt Tr Tr
dr dt
Lm 1 i s r + r Tr Tr
ch s gc trn phi ch t thng c tnh trc tip t tc c lng . Nhn xt: Theo h phng trnh (7.1) th t thng rotor (xt trong h ta stator) ph thuc vo tc . Mc khc, b c lng t thng cho kt qu tng i chnh xc v gi tr ca vector t thng rotor. Nh vy, nu tc c lng trong phng trnh (7.1) khc vi tc thc ca ng c th vector t thng ( r , r ) tnh c phng trnh (7.1) s sai lch vi vector t thng ( r , r ) c lng. Sai lch ny c nh ngha bng: r r = (rs ) (rs ) = r r r r (7.2) nu sai lch cng nh th tc c lng ca ng c s cng gn bng vi tc thc ca ng c. B c lng tc cho ng c KB ba pha s dng khu hiu chnh tch phn t l PI gim thiu sai lch gia hai vector t thng trn:
K = K p + i s
(7.3)
VII.5
Bi ging H Thng iu Khin S (CKB) III. iu khin khng dng cm bin (Sensorless Vector Control - SVC)
TCB
S cu trc h iu khin nh hng t thng rotor khng dng cm ng vn tc:
VII.6
TCB
p ng m phng:
120 100 toc do dat toc do dap ung toc do uoc luong
80 (rad/s) W 40 20
es t
60
0 0 0.5 1 1.5 tim e (s) 2 2.5 3
Hnh 7..: p ng ca b c lng tc vi m hnh l tng.

120 100
80 (rad/s )
toc do dat toc do dap ung toc do uoc luong
60
W 40 20
es t
0 0 0.5 1 1.5 tim e (s ) 2 2.5 3
Hnh 7..: p ng ca b c lng tc vi m hnh c sai lch.
VII.7
Chng 7: Mt s phng php c lng tc
TB
p ng trn h thc:
VII.8
TB
Chng 8: H THNG IU KHIN S

I. Cu trc mt h thng iu khin ng c I.1. S khi mt h thng iu khin ng c KB 3 pha
i* sd
PI
* sl
+ +
i sd
PI PI
' u sd
' u sq
u sd
MTu
TL
MTi
i* sq
i sq
u sq
BB
r
i sd i sq
ia
CT
ua ub uc
Motor ~3
ib
* sl
+ +
L1 L L2 N L3
B x l
SCI
ADC
B iu khin PWM I/O QEP ADC
Chng 8: B iu khin ng c khng ng b ba pha
VIII.1
TB
I.2. Cc khi chc nng B chnh lu
B nghch lu 3 pha v mch kch (FPGA, DSP)
Hm B x l
VIII.2
Bi ging H Thng iu Khin S (CKB) dsPIC
TB
DSP
Cm bin o lng Mch giao tip, ni mng Chng 8: B iu khin ng c khng ng b ba pha VIII.3
Bi ging H Thng iu Khin S (CKB) II. Cm bin o lng II.1. o in p DC S dng b chuyn i ADC ca b iu khin thng qua mch chia p... II.2. Cm bin o dng in o in p trn in tr Shunt Bin dng
r
*
TB
i* sd
PI
* sl
+ +
i sd
i sq
PI PI
' u sd ' u sq
u sd
MTu
TL
MTi
i* sq
u sq
BB
r
i sd i sq
ia
CT
ua ub uc
ng c
ib
* sl
+ +
Vdc
ieu khien 3~ a
== Bien tan b c isa isb 3 2= is is

e j r
r isd isq
.c KB
M 3~
VIII.4
Bi ging H Thng iu Khin S (CKB) Cm bin Hall
TB
II.3. Cm bin o tc Tachometter
Incremental Encoder
VIII.5
TB
VIII.6
Bi ging H Thng iu Khin S (CKB) Absolute Encoder (o gc)
TB
III. Mt s u im khi s dng b iu khin tc ng c B bin tn
VIII.7
Bi ging H Thng iu Khin S (CKB) u im ca b bin tn: Gim h thng c kh (rulo, xch, hp s tng gim tc,) Gim ting n Tit kim nng lng (tn hao c v tn hao nhit) Thay i tc d dng Khi ng mm v dng mm n nh tc
TB
Ni mng iu khin t xa
ng b tc d dng
VIII.8
TB
IV. H thng iu khin s ng c khng ng b ba pha

Phn cng Chnh lu Nghch lu Cm bin (Hall, Incremental - Absolute Encoder, Tachocometter, ) B iu khin Giao tip, I/O, Keypad, LED B X l Phn mm Thut ton p ng: in p sin xung, dng sin xung.
V. B bin tn
u im: iu chnh c tc n nh tc Gim h thng c, gim n Tit kim nng lng (tn hao c v tn hao nhit) Chn bin tn Sixstep Mt pha, Ba pha Cng sut (>=) in p (>=) Chc nng, Nhn hiu EMC Ci t Thng s ng c Thng s iu khin, Tn s PWM Chn ch Ch vng h (V/f, FFC) Ch hi tip (PID) Ch iu khin khng cm bin Cch iu chnh Chnh trn keypad Chnh nhiu cp tc (gim phn c: rulo, hp s, curoa) Chnh bng bin tr Chnh t PLC, ng b bin tn Ni mng ng b S dng Dy dn ni trc v sau bin tn Ngun ng lc Cng sut ng c Qu ti, ngn mch Ci t sai Ch hin th Bo v nhit cho ng c
VIII.9

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I HC QUC GIA TP.

H CH MINH TRNG I HC BCH KHOA

Bin son: ThS. Trn Cng Binh

TP. H CH MINH, THNG 02 NM 2008

Bi ging H Thng iu Khin S (CKB)

10. i tng hc: Sinh vin ngnh in.

Bi ging H Thng iu Khin S (CKB)

(42 tit) 2/11/2009 3

Bi ging H Thng iu Khin S (CKB)

Chng 1: VECTOR KHNG GIAN V B NGHCH LU BA PHA

V d 1.1: Chng minh? r u s ( t ) = u s e js t = u s ( s t ) a) b) us = 2 [u as 0,5u bs 0,5u cs ] + 3 3 3 j u bs u cs 2 2

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

r Hnh 1.3: Vector khng gian in p stator u s v cc in p pha.

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

(1.7a) (1.7b) (1.8a) (1.8b)

c th xc nh ma trn chuyn i abc theo phng php i s:

(1.12a) (1.12b) (1.12c) (1.12d) (1.12e)

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

Xt tng t cho cc trang thi cn li, rt ra c cng thc tng qut j( k 1) 2 3 U k = U dc e vi k = 1, 2, 3, 4, 5, 6. 3

Hnh 1.7: 8 vector khng gian in p stator tng ng vi 8 trng thi.

Up0 Up7 c Up5 Up6

Hnh 1.8: Cc vector khng gian in p pha stator.

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

Ud3 Ud0 Ud7

Hnh 1.10: U line _ k =

Cc vector khng gian in p dy stator. k = 1, 2, 3, 4, 5, 6

iu ch bin v gc vector khng gian in p dng b nghch lu ba pha

iu ch bin v gc vector khng gian in p.

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

hay T0 TPWM (T1 + T2) vi TPWM const

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

Dng in p v dng in PWM sin.

V d 1.7: Chng minh u s e

Chng 1: Vector khng gian v B nghch lu ba pha

Bi ging H Thng iu Khin S (CKB)

Chng 2: H QUI CHIU QUAY

r Hnh 2.1: Chuyn h to cho vector khng gian u s t h ta sang h

Bi ging H Thng iu Khin S (CKB)

Cuon day pha B is

r isq 0 is Cuon day pha A

Truc rotor Cuon day pha C

Truc t thong rotor

Bi ging H Thng iu Khin S (CKB)

vector dng stator quan st trn h ta .

Chng 2: H qui chiu quay

Bi ging H Thng iu Khin S (CKB)

== Nghch lu b c isa isb 3 2= is is

rf u s = usd + j isq rf ir = ird + j irq

(1.18a) (1.18b) (1.18c) (1.18d) (1.18e)

Bi ging H Thng iu Khin S (CKB)

Chng 2: H qui chiu quay

Bi ging H Thng iu Khin S (CKB)

Chng 3: M HNH CKB TRONG H QUI CHIU QUAY