Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

iu khin phn b mmen ng c t tr thay i c c tnh in cm phi tuyn mnh Torque Distribution Control of Switched Reluctance Motors With High Non-Linear Inductance Characteristics
Nguyn Bo Huy v T Cao Minh Trung tm Nghin cu ng dng v Sng to Cng ngh, Trng H Bch Khoa HN e-Mail: minhtc-auto@mail.hut.edu.vn Tm tt
ng c t tr thay i (SRM) c mt nhc im quan trng l nhp nh mmen ln, c bit l trong qu trnh chuyn pha dn. khc phc nhc im ny, nhiu phng php iu khin mmen c nghin cu, trong cc phng php iu khin theo cc hm phn b mmen (TDF) c bit n nhiu nht. Tuy vy, i vi nhng ng c c tnh cht phi tuyn mnh, phng php TDF vn bc l mt s nhc im. Trong bi bo ny, cc tc gi phn tch nhng hn ch ca cc phng php TDF khi s dng iu khin ng c SRM c c tnh in cm phi tuyn mnh. T nhng phn tch , cc tc gi xut phng php ci tin. Cc kt qu m phng trn Matlab/Simulink chng minh c tnh ng n ca phng php xut.

H. 1 ng c t tr thay i loi 8-6.

Abstract
Switched Reluctance Motors (SRMs) have an important drawback: very big torque ripple, especially in commutation intervals. To overcome this problem, several torque control methods have been investigated, of which the Torque Distribution Function (TDF) based techniques have been far the most well-known ones. However, for the motors with strong non-linear characteristics, TDF methods still have some problems. This paper provides an analysis of drawbacks of TDF methods while controlling a motor with strong non-linear inductance. An improvement solution is next proposed. The simulation results confirm the validity of the proposed technique. .

Ch vit tt
SRM TDF Switched Reluctance Motor Torque Distribution Function

1. Gii thiu
ng c t tr thay i c cu trc n gin, chc chn, bn vng v mt c kh, cho php thit k di tc cao, kh nng sinh mmen ln. Mch t ng c lm vic trong c vng tuyn tnh v vng bo ha ca ng c tnh t ha B-H, do s dng c ti a kh nng ca vt liu st t, t l cng sut trn khi lng ln. Nhng u im ny m ra kh nng ng dng ln cho SRM.

Tuy nhin, bn cnh nhng u im, SRM c rt nhiu nhc im cn khc phc. ng c c cu trc cc t li, mch t hot ng trong c vng tuyn tnh v vng bo ha nn tnh phi tuyn rt cao, c tnh phi tuyn ny li kh biu din chnh xc di dng cc phng trnh gii tch m thng di dng cc bng s liu c c qua phn tch phn t hu hn hoc t thc nghim. Nhng c im trn khin SRM tr thnh i tng kh iu khin, c bit vi yu cu cht lng cao. Mt trong nhng vn c quan tm chnh trong vic iu khin SRM l nhp nh mmen sinh ra ch yu trong qu trnh chuyn pha dn. Trong nhng phng php iu khin gim thiu nhp nh mmen cho n nay, lp cc phng php dng hm phn b mmen (TDF) t ra c hiu qu cao, c ng dng rng ri. Trong ti liu [1], tc gi Krishnan tng hp nghin cu ca mnh cng cc tc gi khc a ra mt vi dng ca phng php TDF: phng php TDF-I a ra bi Husain, TDF-II a ra bi Ilic-Spong v TDF-III a ra bi Krishnan. Cc phng php TDF-I, II a ra cc hm phn b n gin da trn dng hm cosin v m c s t nhin. Sau nhng phn tch u v nhc im ca TDF-I, II, Krishnan a ra phng php TDF-III vi dng hm phn b c tnh theo c tnh bin thin in cm ng c theo v tr rotor, b qua c tnh bo ha v h cm gia cc pha. Phng php ny c nh gi l tin tin hn hai phng php trc bi n mang thng tin v c tnh ca ng c. Sau , bng vic thm vo nhng thng s b sung c tnh n h cm, Krishnan pht trin TDF-III thnh TDFIV.

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ng gp vo lp cc phng php TDF, tc gi V.L. Do [4] ci tin cc hm phn b trong TDF-III nhm b li lng st gim mmen sinh ra khi chuyn pha dn m khng cn kho st c tnh h cm lm phc tp thm vn nh phng php TDF-IV. Mc d c nhng u im ni bt, cc phng php trn u c pht trin da trn gi thit v c tnh in cm ng c c l tng ha, bin thin tuyn tnh theo v tr rotor, b qua bo ha, b qua h cm; do vy, chng ch ng dng tt cho nhng i tng tha mn gn chnh xc nhng gi thit trn. Qua kho st, chng ti nhn thy rng khi s dng iu khin cc ng c c c tnh in cm phi tuyn mnh, cc phng php TDF nu trn bc l nhc im, khng p ng tt yu cu cht lng. Phng php TDF-III xy dng cc hm phn b va n gin, va hiu qu v cn i; vic thm bt cc i lng nhm bin i n cho ph hp vi c tnh ca ng c lm mt i s cn i vn c, v hn na, cng khng p ng tt khi gp cc i tng phi tuyn mnh. Da trn phn tch v c tnh bin thin phi tuyn ca in cm ng c c c t m phng phn t hu hn, bi bo ny xut phng n x l vn t nguyn nhn gc r: hiu chnh li chnh bn thn c tnh bin thin in cm nhm kh tc dng gy nhp nh mmen. Vic tnh ton i lng hiu chnh thc hin qua khu suy lun logic m vi u vo l sai lch mmen vi lng t c c t vic c lng mmen cc pha. Thm vo , vi thng tin phn hi t mmen c c lng, khu iu khin mmen t vng h ban u (phng php TDF truyn thng) c chuyn thnh vng kn, m bo tnh n nh ca h thng. BNG I. Thng s ng c
Thng s S cc stator/rotor Cng sut nh mc Tc nh mc Gc cc stator/rotor Khe h khng kh Dng in ln nht in p ngun mt chiu Vt liu st t Gi tr 8/6 1.1kW 1000 (vng/pht) 12/8 () 0.3mm 12A 300VDC Thp silic M19

2.2 M hnh ha ng c vi Matlab/Simulink M hnh SRM c dn t phng trnh cn bng in p mt pha cho nh sau: d ( , i) v Rs i (1) dt Trong : v in p ngun [V] Rs in tr dy qun [ ] i Dng in kch thch [A] T thng mc vng [Wb] V tr rotor [rad] T phng trnh cn bng in p (3), vi cc d liu c c t phn tch FEM, m hnh in mt pha ca SRM c xy dng trong Matlab/Simulink nh Hnh 2 vi c tnh mmen tnh v c tnh t ha c cho trong Hnh 3.

2. M hnh ha ng c SRM
2.1 Thng s ng c Trong bi bo ny, mt ng c 4 pha loi 8-6, cng sut nh mc 1.1 kW c chn lm i tng iu khin. Mt vi thng s ng c c cho trong Bng I.
Static Torque profile
60
i = 12A

H. 2 M hnh mt pha SRM trong Matlab/Simulink.

Magnetizing characteristic
1 0.9 0.8 0.7 0.6
Aligned (30deg)

40

20
Torque [Nm]
Flux [Wb]

0
i = 0A

0.5 0.4

-20

0.3 0.2 0.1

-60 0 10 20 30 Theta [deg] 40 50 60

-40

0 0

Unaligned (0deg)

6 Current [A]

10

12

(a) c tnh mmen tnh (b) c tnh t ha H. 3 c tnh mmen tnh (a) v c tnh t ha (b) ca ng c.

3. iu khin phn b mmen ng c SRM vi phng php TDF

3.1 Phng php hm phn b mmen TDF

i vi cc h truyn ng in thng thng, vng iu chnh mmen ng nht vi vng iu chnh dng in do gia mmen v dng in c quan h t

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l tuyn tnh vi hng s mmen K m . Tuy nhin, vi SRM, quan h ny tr thnh quan h 3 chiu T i phi tuyn, phc tp, do vy cn thit phi c khu iu khin mmen c lp. Phng php iu khin theo cc hm phn b mmen do Krishnan a ra [1] gi l TDF-III c kho st trong bi bo ny. T tng chung ca phng php TDF l phn chia lng t mmen Te* theo cc hm phn b cho cc pha dn thnh Tx* v Ty* nhm cn bng mmen tng ti mi thi im, c bit l thi im chuyn mch gia hai pha theo quan h: Te* Tx* Ty* Te* . f x ( ) Te* . f y ( ) (2) Vi f x ( ) , f y ( ) l cc hm ca v tr rotor lun phi tha mn iu kin: fx f y 1 (3) Krishnan a ra phng php TDF-III vi dng hm phn b nh sau: g2 fx 2 x 2 gx g y (4) 2 gy fy 2 2 gx g y Trong gx v gy l bin thin in cm theo v tr rotor, c tnh t d liu c c sau phn tch phn t hu hn.

gx gy

Lx , ix Ly , i y
(5)

Dng in t mi pha c tnh nh sau:

* ix

2Tx* gx 2Ty* gy

2 g xTe* 2 2 gx g y 2 g yTe*
2 2 gx g y

(6)

i
* y

Biu thc (6) c dn ra t quan h c bn gia mmen dng in bin thin in cm ca SRM: 1 L , i (7) T i2 2 H truyn ng SRM vi thng s ng c cho trong Bng I. d liu phn tch FEM biu din trong Hnh 3 c m phng trn nn Matlab/Simulink, tc t nh mc 1000 v/ph, khi ng vi ti 5Nm, ng ti nh mc 10Nm sau 0.02s. Mmen, t thng, dng in cc pha, mmen tng v tc ng c c biu din trong Hnh 4 v Hnh 5.

Phase Torque
Torque [N.m]

20 10 0 0 0.005 0.01 0.015

Time [s]

Ta

Tb

Tc

Td

0.02 Phase Flux

0.025

0.03

0.035

Flux [Wb]

0.8 0.6 0.4 0.2 0 0 0.005 0.01 0.015

Time [s]

Psia

Psib

Psic

Psid

0.02 Phase Current

0.025

0.03

0.035

Current [A]

8 6 4 2 0 0 0.005 0.01 0.015 0.02 0.025

ia

ib

ic

id

0.03

0.035

Time [s] H. 4 Mmen, t thng v dng in cc pha ca ng c.

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Torque respond
25 20
Torque [N.m]

Torque ref Torque respond

15 10 5 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

Speed respond
1500 Speed
Speed [rpm]

1000 500 0 -500

0.005

0.01

0.015 Time [s]

0.02

0.025

0.03

0.035

H. 5 Mmen v tc ca ng c.

3.2 Phng php TDF vi ng c c c tnh in cm phi tuyn mnh Mc trn trnh by phng php TDF-III vi cc p ng mmen, tc , dng in, t thng, kt qu m phng cho thy h truyn ng t cht lng yu cu. Tuy nhin, i tng c s dng trong m phng trn l ng c c c tnh bin thin in cm gn tuyn tnh theo v tr rotor (c tnh phi tuyn yu). Khi p dng TDF-III cho ng c c c tnh in cm phi tuyn mnh, nhp nh mmen tr nn rt ln, khng p ng c yu cu cht lng. Kt qu m phng trong Hnh 6 cho bi h truyn ng vi vng tc h, mmen t nh mc 10Nm, mmen ti khi ng v nh mc nh trn.
15 Torque command Torque respond

Nguyn nhn sinh ra nhng nhp nh mmen ln trong trng hp ny c gii thch t biu thc tnh dng in t (6) c dn ra t biu thc tnh mmen (7). Quan h T i g th hin trong (7) c a ra vi gi thit c tnh bin thin in cm l tuyn tnh, mch t khng bo ha, khng c h cm gia cc pha. Vi trng hp tng qut, mmen cn c tnh bng o hm ca nng lng in t We theo v tr rotor: We T (8) Vi ng c c ng c tnh bin thin in cm phi tuyn mnh, quan h (7) khng cn ng na, dng in t c tnh t (6) s khng to ra mmen Torque respond p ng theo yu cu. Hnh 7 biu din ng c tnh bin thin in cm theo v tr rotor c c t phn tch FEM, c tnh ny c dc kh ln t v tr lch trc ti v tr ng trc. nh hng ca c tnh phi tuyn ti nhp nh mmen c th thy c qua Hnh 9. Hm phn b mmen TDF vn m bo cn bng tng mmen t Speed respond cho cc pha, nhng do ng c tnh i lng g c chiu dc xung, dng in t tnh t (6) s c chiu dc ln do quan h t l nghch, t dn ti mmen t cho mi pha c hng dc ln tng ng. Khi mmen cc pha khng p ng ng dng yu cu nh hm phn b TDF, mmen tng c dng xung H. 6 Nhp nh mmen ln vi phng php TDF-III ng dng nhp nh ln nh Hnh 6.
Torque [N.m]

10

0.005

0.01

0.015

0.02

0.025

0.03

0.035

Time [s]

1200 1000

Speed

Speed [rpm]

800 600 400 200

0.005

0.01

0.015

0.02

0.025

0.03

0.035

Time [s]

cho ng c c c tnh in cm phi tuyn mnh.

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dL/dTheta 1.5

0.5

dL/dTheta

-0.5

-1

-1.5

10

20

30 Theta [deg]

40

50

60

(a) Biu din dng 2D. (b) Biu din dng 3D. H. 7 c tnh bin thin phi tuyn ca in cm theo v tr rotor v dng in. Phng php TDF-III ni ring v cc phng php TDF ni chung u tnh ton dng in t theo cng thc (6), v do u b chi phi bi quan h (7). Khi i tng tr ln phi tuyn mnh, quan h (7) mt dn chnh xc, p ng mmen tng dn nhp nh, cht lng gim st. Phng n gii quyt vn a ra trong bi bo ny c trnh by trong mc IV.

TORQUE
Torque command

* ia * ib * ic * id

T*

DISTRIBUTION CONTROLLER WITH FUZZY BASED ADJUSTMENT MECHANISM

Current Controller Current Controller Current Controller Current Controller

* va * vb * vc * vd

SRM AND INTEGRATED CONVERTER

Position sensors

PWM

Load

ia ib ic id

ia

ib

ic

id

Rotor position

H. 8 Cu trc h truyn ng SRM.

Torque Distribution Function
fa fb fc fd

1
TDF

0.5 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

dL/dTheta
2
dL/dTheta
ga gb gc gd

1 0 -1 -2 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

Phase Current
8
Current [A]
ia ib ic id

6 4 2 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

(a)

Vi c tnh g c dc xung, dng in t l nghch vi g b dc ln

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Phase Torque
20
Ta Tb Tc Td

Torque [N.m]

15 10 5 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

Phase Flux
0.8
Flux [Wb]
Psia Psib Psic Psid

0.6 0.4 0.2 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

Phase Current
8
Current [A]
ia ib ic id

6 4 2 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

(b) Mmen sinh ra c dc tng ng nh dng in H. 9 nh hng ca dc ng c tnh g khin mmen cc pha khng p ng ng dng hm phn b TDF.

4. Hiu chnh c tnh bin thin in cm bng khu logic m

T nhn nh nhp nh mmen sinh ra do dc ca ng c tnh bin thin in cm, chng ti xut phng n iu chnh trc tip ng c tnh ny bng cch b sung vo i lng g mt lng hiu chnh Delta g. Do c tnh ca g c tnh phi tuyn cao, ta khng th tnh chnh xc Delta g, trong trng hp ny, mt khu hiu chnh trn c s tnh ton theo logic m l s la chn ph hp.
Theta_a ia G function Calculation Equ. (8) Ga

u ra, khu hiu chnh m c thit k ht sc n gin nhng em li hiu qu ci thin cht lng. Khu hiu chnh c cho trn Hnh 10 v lut m c biu din nh Hnh 11.
Takagi-Sugeno Fuzzy Adjustment Mechanism Rule Surface
800 Rule surface 600

400

200

DeltaG

-200

-400

+ +
Delta Ga

Ga

-600

-800

-0.3

-0.2

-0.1

0 DeltaT

0.1

0.2

0.3

H. 11 Lut ca khu hiu chnh m

Torque respond with TDF
15
Torque command Torque respond

Fuzzy based Adjustment Mechanism

Integrator
Torque [N.m]

10

Fuzzy Inference System Delta T

0.005

0.01

0.015 Time [s]

0.02

0.025

0.03

0.035

Torque respond with TDF and Fuzzy adjust mechanism

Torque Estimation fa
Torque [N.m]

15

Torque command Torque respond

10

+
Te

0.005

0.01

0.015 Time [s]

0.02

0.025

0.03

0.035

H. 10 Khu hiu chnh.

Khu hiu chnh m c thit k theo m hnh Takagi-Sugeno vi u vo l sai lch gia mmen t theo hm phn b TDF v mmen p ng c c lng ca tng pha; u ra qua khu tch phn l lng hiu chnh Delta g. Ch vi mt u vo v mt

H. 12 Mmen p ng trc v sau khi hiu chnh m

Sau khi c hiu chnh, ng c tnh bin thin in cm tr nn bng phng hn, nhp nh mmen c gim thiu, so snh mmen trc v sau hiu chnh Hnh 12. Hnh 13 biu din p ng mmen v tc vng kn.

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Torque Distribution Function
fa fb fc fd

1
TDF

0.5 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

dL/dTheta
2
ga gb gc gd

dL/dTheta

1 0 -1 -2 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

Phase Current
8
Current [A]
ia ib ic id

6 4 2 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

(a)

Hm phn b mmen, bin thin in cm g v dng in cc pha

Phase Torque

Torque [N.m]

20 10 0 0 0.005 0.01 0.015 Time [s] 0.02

Phase A

Phase B

Phase C

Phase D

0.025

0.03

0.035

Phase Flux
0.8
Flux [Wb]
Phase A Phase B Phase C Phase D

0.6 0.4 0.2 0 0 0.005 0.01 0.015 Time [s] 0.02 0.025 0.03 0.035

Phase Current
8
Current [A]

6 4 2 0 0 0.005 0.01 0.015 Time [s] 0.02

Phase A

Phase B

Phase C

Phase D

0.025

0.03

0.035

(b)
25

Dng in, t thng v mmen cc pha

Torque respond
Torque command Torque respond

20

Torque [N.m]

15

10

0.005

0.01

0.015

0.02

0.025

0.03

0.035

Time [s]

Speed respond
1000 Speed

Speed [rpm]

800 600 400 200 0 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035

Time [s]

(c) p ng mmen v tc ng c H. 13 Kt qu m phng h truyn ng SRM vi phng php TDF c hiu chnh c tnh bin thin in cm g.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 5. Kt lun

Bi bo trnh by phn tch phn t hu hn, m hnh ha SRM, kho st v a ra nhn nh v s hn ch gy nhp nh mmen ln ca phng php TDF truyn thng khi ng dng iu khin cc ng c c c tnh in cm phi tuyn cao. Cc tc gi xut phng n gim thiu nhp nh mmen bng vic hiu chnh trc tip online ng c tnh bin thin in cm. c kho st vi phng php TDFIII, tuy vy, phng n trn c th c p dng ci tin tt c cc phng php TDF. Cc kt qu m phng vi ch vng tc h, vng tc kn, i tng l ng c c c tnh bin thin in cm tuyn tnh, phi tuyn chng minh tnh ng n v hiu qu ca phng n xut. [2] T.J.E. Miller, Switched Reluctance Motors and Their Control, Magna Physics, Oxford, 1992. [3] Joo Pedro A. Bastos, Nelson Sadowski, Electromagnetic Modeling by Finite Element Methods, Marcel Dekker, 2003. [4] V.L.Do, Minh Cao Ta, Modeling, Simulation and Control of Reluctance Motor Drives for High Speed Operation, 2009 IEEE Conversion Congress Exposition ECCE 2009, San Jose, California, USA, Sept. 2009. [5] Bao-Huy Nguyen, Cao-Minh Ta, Finite Element Analysis, Modeling and Torque Distribution Control for Switched Reluctance Motors with High Non-linear Inductance Characteristics, IEEE International Electric Machines and Drives Conference (IEMDC 2011), Niagara Falls, Canada, May 2011, pp. 703-708.

Ti liu tham kho

[1] R. Krishnan, Switched Reluctance Motor Drives, CRC Press LLC, 2001. Nguyn Bo Huy tt nghip trng i hc Bch Khoa H Ni nm 2010, chuyn ngnh iu khin T ng ha. T thng 07/2010 n nay, anh l k s nghin cu ti Trung tm Nghin cu ng dng v Sng to Cng ngh (CTI). Lnh vc nghin cu ca anh bao gm thit k, m hnh ha, m phng v iu khin cc b bin i in t cng sut v truyn ng in; phn tch trng in t trong thit b in, in t bng phng php phn t hu hn; h thng nng lng v truyn ng cho t in v nng lng ti to. Anh l ng tc gi ca mt bi bo ti hi ngh quc t IEEE-IEMDC2011, hai bi bo ti hi ngh ton quc VCCA2011 cng mt s bi ng trn tp ch T ng ha Ngy nay.

T Cao Minh tt nghip i hc ti Tip Khc nm 1986, bo v lun n Tin s ti Canada nm 1997, v c 6 nm lm vic trong mi trng i hc v cng nghip Nht Bn (1998 - 2004); l tc gi ca 12 sng ch ti Nht Bn, M v 30 bi bo trn cc tp ch, tp san hi ngh quc t. Hin nay PGS. Minh cng tc ti B mn T ng ha, H Bch khoa HN v gi vai tr Gim c Trung tm Nghin cu ng dng v Sng to Cng ngh ca trng. Hng nghin cu ca PGS. Minh tp trung vo iu khin cc h truyn ng in, in t cng sut, cc ng dng cho t in v nng lng mi. PGS. Minh hin l Ch tch Chi hi IEEE Vit Nam, v c trng NTUST i Loan mi thnh ging nm 2010.

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