Nghiên cứu hệ điều khiển tốc độ động cơ không đồng bộ ba pha roto lồng sóc bằng phương pháp điều khiển vecto tựa từ thông roto

GVHD:ThS.
NGUYN NG KHANG
N MN TNG HP H THNG IN-C
TRNG I HC CNG NGHIP HN

B MN T NG HA
Cng ha x hi ch ngha Vit Nam

c lp-T do-Hnh phc
N MN HC
TNG HP H THNG IN - C
Ging vin hng dn
: ThS.NGUYN NG KHANG
Nhm Sinh vin thc hin
: TN QUANG TON V VN TRIN
Lp
:IN 1
Kha
:3
Khoa
: CNG NGH K THUT IN
Tn ti
NSVTH: TN QUANG TON V VN TRIN- LP 1K3
Page 1
GVHD:ThS.NGUYN NG KHANG
NGHIN CU H IU KHIN TC NG C KHNG NG B BA PHA

ROTO LNG SC BNG PHNG PHP IU KHIN VECT TA T THNG
ROTO (FOC)
Li ni u
Ngy nay,ng c in c s dng rng ri trong mi lnh vc ca i

sng x hi,c bit l trong cc ngnh cng nghip sn xut hin i,v trong
nhiu lnh vc i sng khng th thiu cc ng c in,v vy cc loi ng
c in c ch to ngy cng hon thin hn,trong ng c in khng
ng b 3 pha chim t l ln trong cc ngnh cng nghip do ng c khng
ng b 3 pha c nhiu u im nh vic khi ng d dng,gi thnh r,vn
hnh m,kch thc nh gn,lm vic chc chn,c tnh lm vic t,bo qun
n gin,chi ph vn hnh v bo tr thp.tuy vy n c nhc im c tnh c
phi tuyn mnh nn trc y, vi cc phng php iu khin cn n gin,
loi ng c ny phi nhng ch cho ng c in mt chiu v khng c
ng dng nhiu.tuy nhin vi s pht trin mnh ca ngnh khoa hc k thut
ngy nay nh ngnh k thut vi x l,in t cng sut cng cc l thuyt iu
khin, truyn ng th vic ng dng ng c khng ng b 3 pha l c ng
dng rng ri trong h thng truyn ng iu chnh tc ca cc my sn
xut, thay th dn ng c mt chiu.
Trc y thng iu khin ng c bng cch iu chnh in p. y l mt
phng php n gin nhng cht lng iu chnh k c tnh ln ng u khng
cao. iu khin c chnh xc v hiu qu phi ni n phng php thay i
tn s in p ngun cung cp. Do tc ng c khng ng b xp x tc
ng b nn ng c lm vic vi trt nh v tn hao cng sut trt trong
mch rto nh. Tuy nhin phng php ny cn phc tp v t tin. thit b dng
Page 2
bin i tn s l cc b nghch lu, c th l nghch lu trc tip hoc gin

tip. Ta c th s dng b bin tn l mt thit b tch hp c chnh lu, nghch lu
ln iu khin. Lut iu khin trong mi bin tn tu thuc vo nh sn xut.
Hin nay iu khin ng c c nhiu bin tn bn sn trn th trng, t
khi cn phi thit k theo phng php kinh in na. Cc nh sn xut la chn
bin tn nhiu hn bng iu khin sao - tam gic hoc in tr ph hoc cc thit
b iu khin khc v n gn nh, iu khin chnh xc, tin cy, p ng c nhu
cu t ng ho v tng bc hin i ho x nghip ca h. Bin tn n gin
thng iu khin tc theo lut U/f m bo ng c sinh mmen tt nhng
cho cc h truyn ng yu cu cao hn th c bin tn iu khin theo vect ta t
thng roto (foc).
Mc ch ca n
Tuy hin nay cc loi bin tn c by bn v s dng rng ri trn th trng
ca cc hng Toshiba, Omron, Siemens ... vi nhiu phng php iu khin khc
nhau nh : theo lut U/f khng i, iu khin vect ta t thng roto.. nhng vic
tm hiu chn ra mt phng php thch hp hoc nghin cu tm ra mt
phng php iu khin mi sao cho ti u v gi thnh, chnh xc, tin cy
th vn cn nhng tranh lun v mi loi u c u nhc khc nhau.Bn n ny
ca chng em xin c trnh by r hn v phng php bin tn s dng lut
FOC (iu khin vecto ta t thng roto) bao gm cc phn chnh sau:
- Xy dng c s l thuyt thut ton FOC
- M phng bng Matlab nh gi p ng h thng bin tn dng thut
ton iu khin FOC chng minh vic ng n ca cng vic mnh ang
lm
- i nh gi u nhc im bin tn s dng lut FOC v cng nh v tr
ng dng ca n.
Page 3
LI CM N
u tin em xin chn thnh gi li cm n su sc ti cc thy c gio trong
khoa in c bit l thy gio NGUYN NG KHANG,gio vin khoa in
trng I HC CNG NGHIP H NI ngi trc tip ging dy v
cho chng em kin thc hon thnh n mn hc ny.
L mt k s in tng lai chng em hiu r tm quan trng ca ng c khng
ng b 3 pha roto lng sc trong cng nghip,qu trnh sn xut v cng nh
tm quan trng ca vic iu khin tc n,trong c phng php iu
khin theo vect ta t thng roto (foc).
Do kin thc c hn cng nh cha c kinh nghim thc t nn bn n ny
ca chng em khng trnh khi nhng thiu st,em knh mong thy gio xem
xt v gp chng em hon thnh n ny c tt hn sau ny.
Em xin chn thnh cm n thy gio!
H ni,ngy 23/12/2011.
Nhm sinh vin thc hin
TN QUANG TON
V VN TRIN
Page 4
LI NHN XT CA GIO VIN

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MC LC
I.
XY DNG C S L THUYT THUT TON FOC
I.1.
VI NT S LC V NG C KHNG NG B ROTO LNG SC
I.2.
CC PHNG PHP IU KHIN TC NG C KHNG NG B
I.3.
I.3.1.
GII THIU CHUNG V FOC
I.3.2.
C S L THUYT THUT TON FOC
I.3.2.1.
M T TON HC NG C KHNG NG B 3 PHA
I.3.2.2.
PHP BIN I KHNG GIAN VECTO
I.3.2.3.
H PHNG TRNH C BN CA NG C TRONG KHNG GIAN VECTO
I.3.2.4.
CU TRC H THNG IU KHIN VECTO NG C KHNG NG B
I.3.2.5.
TNG HP CC B IU CHNH
I.3.2.6.
QUAN ST T THNG
1.3.3.
CU HNH IU KHIN FOC
Page 6
II.
M PHNG BNG MATLAB NH GI H THNG BIN TN DNG

THUT TON IU KHIN FOC
2.1.
M PHNG BNG MATLAB
2.2.
NH GI H THNG BIN TN DNG THUT TON IU KHIN FOC
III.
NH GI U NHC IM BIN TN S DNG LUT FOC V V TR
NG DNG
3.1.
U IM CA FOC
3.2.
NHC IM CA FOC
3.3.
V TR NG DNG CA FOC
NHM 35
I.
1.1. VI NT S LC V NG C KHNG NG B ROTO LNG SC
Ta i tng quan v ng c khng ng b l loi my in xoay chiu hai

dy qun trong ch c dy qun stato (dy qun s cp) nhn in t li
vi tn s fs, dy qun rto (dy qun th cp) c ni ngn mch (hoc c
khp kn qua in tr). Dng in trong dy qun rto c ly cm ng t
pha dy qun stato, c tn s fr v l hm ca tc gc rto r. So vi ng
c mt chiu, ng c khng ng b c u im v mt cu to v gi
thnh,lm vic tin cy v chc chn. Khuyt im chnh cu ng c KB l
c tnh m my xu v khng ch cc qu trnh qu kh khn hn so vi
ng c mt chiu. Trong thi gian gn y, vi s h tr ca mt s nghnh
khoa hc khc nh: in t cng sut, k thut vi x l ... lm tng kh
nng s dng i vi ng c khng ng b ngay c trong nhng trng hp
c yu cu iu chnh t ng tc trong di rng vi chnh xc cao m
trong cc h truyn ng trc y vn thng phi s dng ng c mt
chiu.
ng c khng ng b 3 pha l my in xoay chiu,lm vic theo nguyn l
cm ng in t,c tc ca roto khc vi tc t trng quay trong my.
Page 7
ng c khng ng b 3 pha c dng nhiu trong sn xut v sinh hot v

ch to n gin,gi r, tin cy cao,vn hnh n gin,hiu sut cao,v gn
nh khng bo tr.di cng sut rt rng.
ng c khng ng b 3 pha chia thnh:

ng c khng ng b 3 pha roto lng sc
Page 8
ng c khng ng b 3 pha roto dy qun

y ta tp trung vo nghin cu v ng c 3 pha roto lng sc
Hnh nh v rotor lng sc:
L thp ca rotor v stator:
Cc thanh nhm c gn trn rotor (thnh dng "ci lng nht con sc" nn
gi l "lng sc"):
1.2. CC PHNG PHP IU KHIN TC NG C KHNG NG B
Page 9
Ta c t phng trnh momen ca ng c : M
3U 1
w1[( R1
R' 2
S
R'2 2
) X 2 nm ]
S
ta c
th da vo iu khin moomen bng cch thay i cc thng s nh in

tr ph,tc trt,v tn s ngun cp.
iu khin in p stator
Do momen ng c khng ng b t l bnh phng in p stato,do
c th iu chnh c momen v tc khng ng b bng cch iu
chnh in p stato trong khi gi nguyn tn s.y l phng php n
gin nht.ch s dng mt b bin i in nng (bin p,triristor) iu
chnh in p t vo cc cun stator.phng php ny kinh t nhng c
tnh c thu c khng tt,thch hp vi ph ti my bm,qut gi.
iu khin in tr roto
S dng trong c cu dch chuyn cu trc,qut gi,bm nc;bng vic
iu khin tip im hoc trisistor lm ngn mch/h mch in tr ph
ca roto ta iu khin c tc ng c,phng php ny c u im
mch in an ton,gi thnh r.nhc im:c tnh iu chnh khng
tt,hiu sut thp,vng iu chnh khng rng.
iu chnh cng sut trt
Trong cc trng hp iu chnh tc ng c khng ng b bng
cch lm mm c tnh v nguyn tc khng ti l tng th cng
sut trt ps= pt c tiu tn trn in tr mch roto. cc h
thng truyn ng in cng sut ln,tn hao ny l ng k.v th
va iu chnh c tc truyn ng in,va tn dng c cng
sut trt ngi ta s dng cc s cng sut trt (s ni tng / ni
cp)
P1 = Pc + Ps = P1(1 s) +sP1 = const.
Nu ly Ps tr li li th tit kim c nng lng
-khi iu chnh vi < 1 :c gi l iu chnh ni cp di ng b
(ly nng lng Ps ra pht ln li).
- khi iu chnh vi > 1 (s<0):iu chnh cng sut trt trn ng b
(nhn nng lng ps vo ) hay cn gi l iu chnh ni cp trn ng b
hai ngun cung cp.
Page 10
- nu ti s dng nng lng Ps to Pc : c gi l truyn ng ni

cp c.phng php ny khng c ngha nhiu v khi gim cn 1/3
1 th Ps = 2/3.P1 tc l cng sut ng c 1 chiu dng Ps phn gn
ng bng ng c chnh xoay chiu.nu khng nn iu chnh
xung.trong thc t ta khng dng phng php ny.
iu chnh tn s ngun cp stator
Khi iu chnh tn s ng c ng b thng phi iu chnh c in
p,dng in,hoc t thng trong mch stator do tr khng,t thng,dng
in ca ng c b thay i.
-lut iu chnh tn s - in p
h thng iu khin in p/tn s,sc in ng stator ng c c
iu chnh t l vi tn s m bo duy tr t thng khe h khng
i.ng c c kh nng sinh momen nh nhau mi tn s nh mc.c
th iu chnh tc 2 vng:
vng di tc c bn : gi t thng khng i qua iu khin t s
sc in ng khe h/tn s l hng s
vng trn tc c bn :gi cng sut ng c khng i,in p c
duy tr khng i,t thng ng c gim theo tc .
+theo kh nng qu ti :
mbo mt s ch tiu iu chnh m khng lm ng c b qu ti
dng th cn phi iu chnh c in p.i vi bin tn ngun p thng
c yu cu gi cho kh nng qu ti v momen l khng i trong sut
di iu chnh tc .lut iu chnh l Us = fs(1+x/2) vi x ph thuc ti.khi
x = 0 (Mc = const,v d c cu nng h )th lut iu chnh us/fs khng
i.
+iu chnh t thng:
Trong ch nh mc,t thng l nh mc v mch t l ti a.lut
iu chnh tn s - in p l gi gn ng t thng khng i trn ton
di iu chnh.tuy t thng ng c trn mi c tnh c cn ph thuc
rt nhiu vo trt s,tc l ph thuc vo momen ti trn trc ng
c.v vy trong cc h iu chnh yu cu cht lng cao cn tm cch b
t thng. Phng php ny c nhc im l mi ng c phi ci t
mt sensor do t thng khng thch hp cho sn xut i tr v c cu
gn lin trong b nh hng bi nhit v nhiu.
Page 11
Nu iu chnh c bin v pha ca dng in th c th iu chnh

c t thng roto m khng cn cm bin tc .
+ iu chnh tn s ngun dng in:
Phng php iu chnh ny s dng bin tn ngun dng. Bin tn ngun
dng c u im l tng c cng sut n v my, mch lc n gin m
vn thc hin hm ti sinh ng c . Ngun in mt chiu cp cho nghch
lu phi l ngun dng in, tc l dng in khng ph thuc vo ti m
ch ph thuc vo tn hiu iu khin . to ngun in mt chiu thng
dng chnh lu iu khin hoc bm xung p mt chiu c b iu chnh
dng in c cu trc t l - tch phn (PI), mch lc l in khng tuyn
tnh c tr s in cm ln.
+ iu chnh tn s - dng in:
Vic iu chnh t thng trong h thng bin tn ngun dng c thc
hin tng t nh h thng bin tn ngun p.
+ iu chnh vect dng in:
Tng t nh h thng bin tn ngun p h thng bin tn ngun dng
cng c th thc hin iu chnh t thng bng cch iu chnh v tr vect
dng in khng gian. iu khc bit l trong h thng bin tn ngun
dng th dng in l lin tc v vic chuyn mch ca cc van ph thuc
ln nhau.
iu khin trc tip mmen

Ra i nm 1997, thc hin c p ng nhanh. V r c qun tnh c nn
khng bin i nhanh c, do ta ch trng thay i s khng thay i
r. Phng php ny khng iu khin theo qu trnh m theo im lm
vic. N khc phc nhc im ca iu khin nh hng trng vect
rto r cu trc phc tp, t tin, tin cy thp (hin nay c vi mch
tch hp cao, chnh xc cao), vic o dng in qua cm bin gy chm
tr, p ng momen ca h iu khin vect chm (c 10 ms) v nh hng
ca bo ho mch t ti Rs ln.
Page 12
Kt lun :trong h thng truyn ng iu khin tn s,phng php

iu khin theo t thng roto c th cho ta c tnh tnh v ng ca ng
c tt.
1.3.XY DNG C S THUT TON FOC
1.3.1 Tng quan v FOC

Moment sinh ra trong ng c l kt qu tng tc gia dng trong cun ng v
t thng sinh ra trong h thng kch t ng c .T thng phi c gi mc
ti u nhm m bo sinh ra moment ti a v gim ti thiu mc bo ha
ca mch t .Vi t thng c gi tr khng i ,moment s t l vi dng phn
ng
ng c in tng t nh 1 ngun moment iu khin c . Yu cu iu
khin chnh xc gi tr moment tc thi ca ng c t ra trong cc h truyn
ng c c tnh truyn ng cao v s dng phng php iu khin v tr trc
roto
Vic iu khin moment xc lp c th m rng cho qu c thc hin
trong cc h thng iu khin vecto da theo nguyn l nh hng t trng .
Vic iu khin ng c theo nguyn l nh hng t trng c nhiu phng
php khc nhau nh : nh hng t thng roto , nh hng t thng stator ,
nh hng t thng khe h khng kh . Trong vic iu khin t thng
roto ( FOC ) n gin v c s dng rng ri .
Nguyn l iu khin nh hng theo vecto t thng da trn phng php
phn tch phi tuyn c s dng trong iu khin cc h thng phi tuyn . Bn
cht ca phng php ny l iu khin cc bin chn sao cho chng lun
bng 0 . Nh vy m hnh ton hc s tr nn n gin hn v c th loi b 1
s nhnh trong m hnh tng qut
1.3.2. XY DNG C S THUT TON FOC
1.3.2.1.M T TON HC NG C KHNG NG B 3 PHA
i vi cc h truyn ng in c s ho hon ton, iu khin bin

tn ngi ta s dng phng php iu ch vect khng gian. Khu iu khin
bin tn l khu nghp ni quan trng gia thit b iu khin/ iu chnh bng s
vi khu chp hnh. Nh vy cn m t ng c thnh cc phng trnh ton hc.
Page 13
Quy c : A,B,C ch th t pha cc cun dy rotor v a,b,c ch th t pha cc

cun dy stator.
Gi thit : - Cun dy stato, roto i xng 3 pha, rto vt gc .
-
Tham s khng i.
Mch t cha bo ho.
Khe h khng kh ng u.
Ngun ba pha cp hnh sin v i xng (lch nhau gc 2/3)

Phng trnh cn bng in p ca mi cun dy k nh sau:
U k I k Rk d
k
dt
Trong :k l th t cun dy A,B,C rotor v a,b,c stator.

:k l t thng cun dy th k. k=Lkjij. Nu i=k: t cm, jk: h cm.
V d:a =L a ai a+L abi b+L aci c+L aAi A+L aBi B+L aCi C
V ba pha i xng nn :
Ra =Rb =Rc = Rs , RA =RB =RC =Rr
L aa =L bb =L cc =L s1 , L AA =L BB =L CC =L r1
L ab =L ba =L bc ...=-M s , L AC =L BC =L AB ...=-M r
L aA =L bB =L cC =L Aa = L Bb =L Cc =Mcos
L aB =L bC =L cA =L Ba = L Cb =L Ac =Mcos(+2/3)
L aC =L bA =L cB =L Ca = L Ab =L Bc =Mcos( -2/3)
__
__
s =
r =
a
b c
__ A B
= C
A
B C
_
is =
ia ib
ic
_
i ,
ir =
iA
iB
iC
_
,
us =
ua ub
uc
uA
_ uB
ur = uC
Page 14
RS 0 0
0 RS 0
0 0 RS
[Rs] =
Rr 0 0
0 Rr 0
[Rr] =
0 0 Rr
LS1 -MS -MS

-MS LS1 -MS
[Ls] =
-MS -MS LS1
[Lm()]=M.
sr
us
ur
M i st
Lr1 -Mr -Mr

[Lr] = -Mr Lr1 -Mr
-Mr -Mr Lr1
cos
cos(+2/3)
cos(-2/3) cos
cos(+2/3) cos(-2/3)
[LS]
[Lm()]
t
= [Lm()] [Lr]
R S LS
d
dt
d t
Lm ( )
dt
d
Lm ( )
dt
d
Rr Lr
dt
cos(-2/3)
cos(+2/3)
cos
is
x
ir
is
ir
d
{Lm ( )ir }
d
Cc h phng trnh trn l cc h phng trnh vi phn phi tuyn c h s bin

thin theo thi gian v gc quay ph thuc thi gian:
= 0+(t)dt
Kt lun : nu m t ton hc nh trn th rt phc tp nn cn phi n gin bt

i. Ti nm 1959 Kvacs(Lin X) xut php bin i tuyn tnh khng gian
vect v Park (M) a ra php bin i d, q.
Page 15
1.3.2.2 PHP BIN I TUYN TNH KHNG GIAN VECTO
Trong my in ba pha thng dng cch chuyn cc gi tr tc thi ca in p

thnh cc vc t khng gian. Ly mt mt phng ct mt theo hng vung gc
vi trc v biu din t khng gian thnh mt phng. Chn trc thc ca mt phng
phc trng vi trc pha a.
Hnh2-1: Tng quan gia h to v to ba pha a,b,c
I
+1()
is is
is
+j()
is
a2 .ic
a.ib
Ba vc t dng in stator i a, ib, ic tng hp li v i din bi mt vc t quay

trn is . Vc t khng gian ca dng in stator:
is
2
(ia aib a 2 ic )
3
Mun bit is cn bit a e
2
3
cc hnh chiu ca n ln cc trc to :
is,is.
i s i s ji s
1
i s Re{is } (2ia ib ic )
3
i s Im{is }
3
(ib ic )
3
Hnh 2-2: Cun dy 3 pha nhn trn

Page 16
Theo cch thc trn c th chuyn v t 6 phng trnh (3 rto, 3 stato) thnh
nghin cu 4 phng trnh .
Php bin i t 3 pha (a,b,c) thnh 2 pha (, ) c gi l php bin i thun.
Cn php bin i t 2 pha thnh 3 pha c gi l php bin i ngc.
n gin hn, khi chiu is ln mt h
x
trc xy bt k quay vi tc k:
k =0 + kt
Ia
Nu k=0, 0=0 : l php bin i vi
h trc , (bin i tnh)
Nu k=1, 0 t chn bt k ( n
gin mt phng trnh cho x trng r
a2 .ic
a.ib
ry=0): php bin i d,q.

Nu k= 1 - =r : h to c nh
y
, i vi rto (t dng).
Hh 2-3: Chuyn sang h to quay bt k

Cc h to c m t nh sau:
pha B
i
s
i
i
hng trc rto
i
s
pha A
q
s

pha C
Page 17
Hnh 2-4: Cc i lng is , r ca ng c trn cc h to

Cc phng trnh chuyn i h to :
a,b,c
:
i s i a
i s
1
3
(i a i b )
d,q
isd = iscos + issin
isq = iscos - issin
a,b,c:
i a i s
1
( is 3.is )
2
1
ic (is 3.is )
2
ib
d,q
is = isdcos - isqsin
is = isdsin + isqcos
1.3.2.3.H PHNG TRNH C BN CA NG C TRONG KHNG GIAN VECTO
d theo di ta k hiu :
Ch s trn s: xt trong h to stato (to ,)
f: trong to trng (field) t thng rto (to dq)
r: to gn vi trc rto.
Ch s di s: i lng mch stato
r: i lng mch rto
Page 18
Phng trnh mmen :

3
3
m M . p.( r i s ) . p.( r i r )
2
2
(2-1)
Phng trnh chuyn ng :

m M mc
J d
p dt
(2-2)
Phng trnh in p cho ba cun dy stato :
sa (t )
dt
(t )
u sb (t ) Rs .isb (t ) d sb
dt
(t )
u sc (t ) Rs .isc (t ) d sc
dt
u sa (t ) Rs .isa (t ) d
(2-3)
Tng t nh vect dng in ta c vect in p:

us(t)= 2/3.[usa(t) + usb(t).ej120 + usc(t).ej240]
S dng khi nim vect tng ta nhn c phng trnh vect:
ss
u R .i d
dt
s
s
s
s s
(2-4)
Trong uss, iss, ss l cc vect in p, dng in, t thng stato.

Khi quan st h to ,:
i vi mch rto ta cng c c phng trnh nh trn, ch khc l do cu to
cc lng sc l ngn mch nn ur=0 (quan st trn to gn vi trc rto)
T thng stato v rto c tnh nh sau:
rr
0 R .i d
dt
r
r r
s = isLs+irLm
(2-5)
r = isLm+irLr
Trong Ls : in cm stato Ls = Ls+ Lm (Ls : in cm tiu tn pha stato)
Lr : in cm rto Lr = Lr+ Lm (Lr : in cm tiu tn pha rto)
Ls : h cm gia rto v stato
Page 19
(Phng trnh t thng khng cn n ch s h to v cc cun dy stato v rto

c cu to i xng nn in cm khng i trong mi h to ).
a) Phng trnh trng thi tnh trn h to c nh

Phng trnh in p stato gi nguyn, cn phng trnh in p rto c thay i
do rto quay vi tc so vi stato nn c th ni h to quay tng i
vi rto tc -
____
s
u R .i d s
dt
__
s
s
__
s
s s
____
s
r
____
0 R .i d
j rs
dt
__
s
r r
____
s
s
__
s
s
__
s
r
____
__
__
(2-6)
i Ls i Lm
rs iss Lm irs Lr
Tm cch loi b s v ir: ta rt t phng trnh th 3 v 4 trong h (2-6) c:
s
r
1 s s
i ( r is Lm )
Lr
Lm s s
i Ls
( r is Lm )
Lr
s
s
s
s
(2-7)
t =1-Lm2/(LsLr)(h s tn t), Ts=Ls/Rs , Tr=Lr/Rr v thay li phng trnh 1

v 2 trong h (2-6) :
d iss Lm d rs
u Rs .i Ls
dt Lr dt
s
s
s
s
d rs
s Lm
s 1
0 is
r ( j )
Tr
Tr
dt
(2-8)
Bin i (2-8) sang dng tng phn t ca vect :
Page 20
di s
1 1
1
1
1
(
)i s
r
r
u s
dt
Ts Tr
Tr Lm
Lm
L s
di s
dt
1 1
1
1
1
)i s
r
r
u s
Ts Tr
Lm
Tr Lm
L s
(2-9)
d r Lm
1
i s r r
dt
Tr
Tr
d r
dt
Lm
1
is r r
Tr
Tr
Thay irs t phng trnh th 2 ca (2-5) vo phng trnh mmen (2-1):

3
3
1
3 L
mM .p.( sr i sr ) .p.( sr ( sr i ssL m ) ) .p. m ( sr i ss ) (2-10)
2
2
Lr
2 Lr
Thay cc vect trong (2-10) bng cc phn t tng ng ta c :

3 L
mM .p. m ( r i s r i s )
2 Lr
(2-11)
T h phng trnh (2-9) v phng trnh (2-11) ta c cng thc m t ng c

1
khng ng b trn h to , trong thay T theo cng thc: T T T
s
r
(p
1
1
1
1
)is
r
r
u s
T
Tr Lm
Lm
Ls
(p
1
1
1
1
)is
r
r
u s
T
Lm
LmTr
Ls
(2-12)
(1 Tr p ) r Lm is Tr r
(1 Tr p ) r Lm is Tr r
T (2-13) ta lp c m hnh in c ca ng c khng ng bmtrn

h to
C
us
1 nh sau: T
is
Lm
Ls
1+pT
1-
1 r
1+p
Tr
3pcLm
2Lr
-
Pc
mM
pJ
Tr
LmTr
1-
Lm
1-
us

- LmTr
1
L
Lm
i
1
1+pT
Page 21
Hnh 2-5: M hnh ng c trn h to c nh

u vo ca m hnh l i lng in p. Do vy m hnh ch ng vi bin tn
ngun p. Cn khi s dng bin tn ngun dng (cho cng sut truyn ng rt
ln) th phi bin i m hnh thnh u vo l dng stato i s, is
H phng trnh (2-9) khi vit li di dng ma trn:
dx s
A s x s B s u ss
dt
(2-13)
Trong :
xs: ma trn trng thi, xsT =[is, is, r, r]
uss: ma trn u vo, ussT =[us, us]
As: ma trn h thng
Bs: ma trn u vo
A11s A12s
A =
s
, vi cc phn t nh sau:
s
s
A21 A22
Page 22
1
T
1
0
1
1
T 0 1
0
T
1
1-
Tr L m
Lm
1
1-
1
Lm
Lm
Tr L m
s
A 11
s
A 12
Lm
T
r
A s21
1
T
r
A s22
B
s
1
1
.I
T
1
Tr
-
1 1

( .I . J )
1
L m Tr
Tr
L m .I
Lm
Tr
Tr
1 .I .J
1
Tr

Tr
1
L
s
s
; trongkhi B1
s
B2
0
Bs
0 0
1 .I ; B2s
1 L s
0 0
Ls
dx s
Lp m hnh ca ng c theo cc ma trn : t (12) :
A s x s B s u ss ta c
dt
Page 23
s
s
U (t)
B
dxs(t)dt
Uss(t)
xs(t)
As
Hnh 2-6: M hnh ng c dng ma trn
dI
Bs
s
s
As11
Iss(t)
dt
As21
Khi m t chi tit bng cc phn t ma trn:
s
r
s
12
dt
rs(t)
A
s
22
b, Phng trnh trng thi trn h to ta theo t thng rto dq:

Tng t nh trn, khi chiu trn h to ny th cc phng trnh t thng vn
khng i, ch c cc phng trnh in p thay i nh sau:
- To t thng rto quay tc s so vi stato.
- H to chuyn ng vt trc so vi rto mt tc gc r = s -.
T ta thu c h phng trnh :
Page 24
___
____
d rf
u R i
j s rf
dt
__
f
s
__
f
s s
____
f
r
____
d
0R i
j r rf
dt
__
f
r r
____
f
r
__
f
s
__
f
r
____
__
__
(2-14)
i Ls i Lm
rf isf Lm irf Lr
Tm cch loi b ifr v fs : t (2-14) c
__
irf
____
f
s
1 ____f __f
( r is Lm )
Lr
__
f
s
Lm ____f __f
i Ls
( r is Lm )
Lr
(2-15)
Th tr li phng trnh th 3 v 4 ca (2-14) ta c phng trnh :

disd
1 1
1
1
1
(
)isd s isq
rd
rq
u sd
dt
Ts Tr
LmTr
Lm
Ls
disq
dt
s isd (
1 1
1
1
1
)isq
rd
rq
u sq
Ts Tr
Lm
LmTr
Ls
d rd Lm
1
isd rd r rq
dt
Tr
Tr
d rq
dt
(2-16)
Lm
1
isq r rd rq
Tr
Tr
Bin i tip h (2-16) vi iu kin chn trc d trng vi vect r , tc l rq = 0:
Page 25
1
1
1
1
p)isd s isq
rd
rq
u sd
T
LmTr
Lm
Ls
1
1
1
p)isq s isd
rd
u sq
T
Lm
Ls
(1 Tr p ) rd Lm isd
(2-17)
Lm
isq
Tr
r
rd
1
Thay T theo cng thc: T T T
s
r
Tng t nh trn to ta cng c phng trnh mmen cho to dq:
L
3
mM . pc . m ( rf isf )
2
Lr
Thay i lng vect bng cc phn t ca n : i sf = isd+jisq v sf = sd+jrq ta c:
L
3
mM . pc . m rd isq
2
Lr
(2-18)
T (2-17) v (2-18) ta v c s ton hc ca ng c trn h to t thng

rto dq:
Page 26
mC
ue-j s
u1
s
L
s
isd
1+pT
Lm
Lm
3pcLm
1+pTr
2Lr
Tr
Tr
Pc
m pJ
M
1-
Lm
Lm
u
s
- -
1
s
Ls
T
1+pT
1
p
isq
Hnh 2-7: M hnh ng c trn h to quay dq

Sau ny, khi i su vo bi ton iu khin ta s s dng m hnh quay dq.
M hnh ng c biu din di dng ma trn: h phng trnh (2-16) sau khi tch r
= s - c th vit li di dng m hnh trng thi phi tuyn nh sau:
dxf
A f x f B f u sf N x f s
dt
(2-19)
Trong : xf = [isd, isq, rd, rq] T

ufs = [usd, usq] T
1
T
Af
Lm
Tr
1
T
0
Lm
Tr
1
LmTr
1
L m
1
Tr
Lm
1
LmTr
1
L
s
;B 0

0
1
0
Tr
0
1
L s
0
0
1
;N
0
1 0
0 0
0 0
0 1
0
0
1
Page 27
Hnh minh ho cho m hnh (2-19) cho thy u vo stato ng c gm thnh

phn vect in p us v tn s ngun s. Nh vy so vi m hnh trn h to tnh
th m hnh trn h to quay cn thm tc quay ca h ta . iu c th
hiu c v vect us trn dq ch gm hai thnh phn mt chiu u sd, usq , cn trn to
tnh th tn s s cha trong hai thnh phn xoay chiu us us.
s
Bf
dx f (t)
dt
xf(t)
f
s
u (t)
Af
Hnh 2-8: M hnh CKB trn to dq theo dng vect

1.3.2.4.CU TRC H THNG IU KHIN VECTO NG C KHNG NG B
Trc y ta cp n vn iu khin ng c khng ng b theo cng

thc (2-18) : mM K m rd isq c th iu khin c chnh xc tng t nh ng
c mt chiu (iu khin c lp thnh phn kch t r v thnh phn dng phn ng
is).
Nh vy h iu khin cng tng t nh h iu khin ng c mt chiu.
Page 28
Rikt
t
*
Ri
Hnh 2-9: M hnh iu khn ng c mt chiu.

Ta s xy dng mt h iu khin tng t cho ng c khng ng b nhng trn
to dq. Nh vy ng c cng phi biu din trn dq (mc 2-3-2), lng t l
v isd :
I
Nhnh kch t
Risd
d
*
Risq
Nhnh mmen
s
q
*
Hnh 2-10: T tng iu khin CKB.

Nhng trong h thng thc, ngun cung cp cho ng c l ba pha abc v cc i
lng dng phn hi o v c cng l trn to abc, vy gia hai h to
phi c cc b chuyn i to , c th l t b iu chnh lng t thnh tn
hiu a vo bin tn nui ng c phi c mt b chuyn i dq/abc t cc i lng
dng o c em phn hi c mt b chuyn i ngc t abc/dq.
Vn ny sinh l khi chuyn i gia hai to cn phi c gc lch gia chng
(s). T y c hai gii php:
Page 29
Ly s bng cch tch phn tc quay s ca dng, p stato hoc ca t thng
rto.
V h to quay dq c trc thc gn vi r nn gc s c th xc nh bng
cch tnh gc ca r trn h to

T phn tch trn ta c h thng iu khin nh hnh v:
Ngun
mt chiu
R
Risq
isq*
ua
a,b,c
i
us
*
sd
isd
Isq
Risd
d,q
a,b,c
d,q
*
s
Nghch lu
c lp
PWM
ubs*
ucs*
ias
ibs
ics
Hnh 2-11: S h thng iu chnh dng in v tc ca ng c trn dq.

Gc s dng chuyn to t tnh sang quay theo chiu thun hoc ngc
(dq hoc dq) . s c th c tnh trc tip s = arctg(r) hoc gin tip : s
= s.t + 0
Tu theo cch xc nh gc quay t trng s m ta c hai phng php iu khin
vect: phng php iu khin trc tip v phng php iu khin gin tip:
Page 30
iu khin vect gin tip

a
+1
(
+j
(
)
s.t
Hnh 2-12: th gc pha ca phng php iu khin vect gin tip

phng php ny , gc s c tnh ton da vo cc i lng u cc ca
ng c. t tnh ra cc phn t quay cos, sin .
Theo th trn, gc pha c tnh nh sau:
s =sdt + o
s: tc quay ca vect dng in stato, t thng rto v l tc quay ca h
trc to dq.
d rsf
0Ri
j r rf
dt
T phng trnh cn bng in p rto (2-14) :
f
r r
Xt trn hai trc d v q tng ng ta c:

d rd
r rq
dt
d rq
0 Rr i rq
r rd
dt
0 Rr i rd
(2-20)
T cng thc r = Lrir + Lmis ta suy ra :
Page 31
i rd
i rq
rd Lm i sd
Lm
rq Lm i sq
Lm
(2-21)
Thay (2-21) vo (2-20) c

d rd Rr
L
rd m Rr I sd r rq 0
dt
Lr
Lr
d rq
dt
Rr
L
rq m Rr I sq r dq 0
Lr
Lr
(2-22)
V h to dq gn vo vect t thng rto v cc iu kin sau gi s c

m bo:
rq
rd
d rq
0
dt
r const
Thay cc iu kin vo (2-22) v bin i c:

r
Tr
Lm i sq
Tr r
d r
r Lm i sd
dt
(2-23)
Khi tnh c r ta c cng thc tnh gc quay s da vo isd, isq v tc :

i
Lm
Trp
+1
Lm
Tr
+
+
1
p
Hnh 2-13: S tnh ton gc quay t trng theo phng php gin tip.
Page 32
iu khin vect trc tip theo t thng rto

Phng php ny xc nh trc tip gc quay t trng s t t thng rto r
hoc t thng khe h 0 trn hai trc ca h to vung gc:
r c th c xc nh bng cm bin t thng Hall hoc bng tnh ton.
Vic dng cm bin thng tn hiu thu c d b nhiu trong qu trnh ng
c lm vic nn ta c th xc nh r bng tnh ton:
Tnh ton t thng theo m hnh quan st
M hnh quan st t thng bc trong tnh ton c dng stato v t thng rto
c xy dng theo phng trnh chng 2-7:
^
.
X A X B.u s G (i s i s )
A
d i
^s 11
dt
A21
r
^
A12
A22
^ B
G ^
i
. ^s 1 u s 1 (i s i s )
0
G2
r
Hay vit cch khc:

.
^
i s A11 i s A12 r B1u s G1 (i s i s )

.
^
r A21 i s A22 r G2 (i s i s )
us
is
ng c
G1
B1
1
p
is
G2
A11
A12
M hnh dng in
is
1
p
A21
M hnh t thng
A22
Page 33
Hnh 2-18: Tnh ton r theo m hnh quan st.
Sau khi c r , r ta tnh gc quay t trng bng cc cng thc:

cos s
r
r
; sin s
r
r
T ta c c m hnh ton b h thng iu khin trc tip nh sau:

S di dng vect gm hai nhnh song song : mt l ng c thc t v
mt l m hnh quan st ng c ly thng s l dng in, in p stato, sau khi
tnh ton c vect dng in stato mu is em so vi dng stato thc t t
tnh ra vect t thng r .
*
r
B /c
R
B /c
uqs*
Ri
dq
ua*
ub*
B /c
uds*
Ri
s
*
s
*
I
I
Nghch lu
PWM
*
c
ab
c
dq
i
s
s
d
s
ab
c
Tnh
ton t
thng
rto
us
Hnh 2-19: M hnh iu khin vect kiu trc tip ly s t b quan st
Page 34
1.3.2.5. Tng hp cc b iu chnh

a. Tng hp h theo hm chun:
Cu trc h gm cc mch vng iu chnh l thuc ln nhau (cu trc mch
vng ph hp vi cc h iu chnh cng nghip)
R1
R2
Fs1
R3
Fs2
Fs3
Hnh 2-20: Cu trc tng qut mt h iu chnh

*c tnh ng ca h: l p ng ca h khi lng vo l hm nhy cp 1(t).
- Tc iu chnh: (gia tc ca
h thng) =w/Tv
- qu iu chnh: (mong
mun nh): %=100(ym=w)/w
2%
s%
- S ln dao ng.
- Thi gian iu chnh: Tc , cn
nh
Tv
Tc
Hnh 2-21: c tnh qu ca h thng
Vic iu chnh cc thng s trn ph thuc ln nhau. V d nu gim Tc s

lm tng %. Vy phi a ra mt s dung ho gia cc tiu chun c c h
thng ti u.
* Tiu chun mun ti u:
Page 35
c tnh moun ca hm truyn kn ca h l mt hm khng tng, khng cng

hng v = 1 trong di tn s sao cho rng nht.
- Hm khng tng:
H ( 2 )
0
2
H()
hng
H ( )
0
( 2 ) 2
2
- Khng cng hng:
c cng
- Bng 1: limH(2) =1
c=1/T
H
kn ti u
T tiu chun mun mun h kn l mt khu bc hai th hm chun bc
hai c dng: Fch
1
2
1 2Tc p 2Tc p 2
(tiu chun mun ti u)
Nu mun mun h kn l mt khu bc ba th hm chun bc ba c dng:

Fch
1 4Tc p
2
1 4Tc p 8Tc p 2 8Tc p 3
(tiu chun mun ti u i xng)
Trong Tc c chn sao cho nh nht c =1/Tc l ln nht.

Hm truyn kn ca mi mun dng:
Fs .Rs
. Nu bit hm truyn h
1 Fs .Rs
thng Fs ta c th da vo cc tiu chun ti u xc nh hm truyn b iu

chnh Rs .
b. Tuyn tnh ho m hnh ng c

H phng trnh (2-17) m t ng c h phng trnh phc tp, c phi
tuyn cao dn n mt s rt phc tp v kh c th tng hp mch theo cc
phng php thng thng c. Do vy ta phi dng phng php tuyn tnh ho
quanh im lm vic:
Page 36
Gi im lm vic n nh ca ng c l im c tc 0 ng mmen ti m0
(v gi tt c cc thng s ti im u c ch s di l 0). H thng x dch
quanh im lm vic n nh mt lng rt nh ko theo tt c cc i lng cng
u b thay i mt lng rt nh no , v d = o +
Thay tt c cc i lng bin i c vo (2-17): i sq=isq0+isq , = o + ,
m=m0+m ... ta c:
1 T p
1
1
.isd s 0 .isq isq 0 . s
. rd
.u sd
T
LmTr
Ls
1 T p
1
1
1
.isq s 0 .isd isd 0 . s
0 . rd
rd 0 .
.u sq
T
Lm
Lm
Ls
(1 Tr p). rd Lm .isd
r
1 Lm
.isq r 0 . rd
rd 0 Tr
3 L
mM . p. m ( rd 0 .isq isq 0 . rd )
2 Lr
(2-28)
Page 37
T ta c s cu trc ng c tuyn tnh ho:

usd
1 .Ls
1+T
mc
rd
isd
Lm
3L.pc
isq0
s0
is
usq
1.
Ls
LTrrd
- T
pJ
isd0
-
rd0
rd0
s0
Pc
2Lr
1+Trp
1
LmTr
isq
1+Tp
rd0
Hnh 2-23: S m t ng c trn h to dq

tuyn tnh ho quanh im lm vic
c. Tng hp Risq v R
q
0
S trn cn nhiu phc tp mc d b bt khu nhn v chia. Ta cn phi

tip tc lm n gin bt bng cc gi thit sau:
Gi thit iu chnh tc ng c mc di tc nh mc. Khi ging
nh iu chnh tc ng c mt chiu, ta s theo lut t thng khng i
nhnh t ho rd c rd = 0. Theo phng trnh 2 ca (2-17) ta suy ra isd = 0.
Vy (2-28) c dng:
Page 38
1 T p
1
.isq Lm isd 0 . s
rd 0 .
.u sq
T
Ls
Lm
1
.isq
r
T
r rd 0
3 L
mM . p. m ( rd 0 .isq )
2 Lr
mc
usq
1 .Ls
-
T1+T
-p
sq
Lm
3Lmpc
rd0
2Lr
Pc
pJ
Trrd0
isd0
rd0
s0
Hnh 2-24: S cu trc khi r = const
Bin i s :
usq
1 .Ls
-
sq
- T p
Lmisd0
rd0
rd0+isd0
mc
i
rd0
3L
p
m c
Pc
pJ
2Lr
A
1
C
.
p+D
Tr
B
Page 39
Hnh 2-25: M hnh sau khi bin i.
t A
L m i sd0
rd 0Tr
B = L rd0 + isd0
m
C
3 rd 0 Lm p c2
2 Lr J
T
1 T p
T
1
T
pD
(1 AT ) T p
1 A.
1 T p
D
1
A
T
Tng hp mch: mch iu khin gm khu iu chnh tc v khu iu

chnh dng in. Coi khu nghch lu c qun tnh rt nh, c 1ms (T nl = 0.001)
i
s
Risq
usq* K
nl
1+Tnlp
1 .Ls
1
p+D
.
isq
C
p
q
*
Hnh 2-26: Tng hp cc mch vng dng in v tc .

Nhn thy tng t nh khi tng hp m hnh ng c mt chiu, khu phn
hi B ging khu phn hi sc in ng. M ta bit qun tnh ca khu ny th rt
nh so vi qun tnh c nn mt cch gn ng c th b qua tng hp c.
Page 40
K nl
K nl
1
Fsi = Ls (1 Tnl p)( D p)
Ls (1 Tnl p)(1 p)
D
Theo tiu chun ti u mun ta c:

Ri sq
1
p 1
pD
D
K
2 nl Tnl p 2 nl Tnl p
Ls D
Ls
Nh vy theo lut iu khin mun ti u hm truyn kn ca mch vng dng

in l:
Fki
1 2.Tnl . p 2. Tnl . p 2
2
n gin bt cho phn tng hp sau ta b bt thnh phn bc 2 ca F ki:

Fki
1
.
1 2.Tnl . p
1
Hm truyn i tng ca mch vng tc Rs : Fs 1 2T . p . p

nl
i vi mch iu chnh tc , do qun tnh ca h thng ln nn khi tng hp
theo chun ti u ta khng th t hng s Tc c miligiy nh khi p dng cho
mch vng dng in c.Nu t Tc qu nh s gy hai bt li: th nht tc
n nh t 0 ti nh mc trong khong thi gian miligiy th dng sinh mmen
lc phi c gi tr rt ln, c vi nghn ampe, iu ny khng th chp nhn
c. Th hai l tn hiu t ca mch vng dng in l tn hiu u ra ca mch
vng tc . Nu tn s dao ng ca mch vng ngoi a vo cng xp x tn s
dao ng ca mch vng trong th h thng d mt n nh. Ta phi lm sao cho
chu k dao ng ca mch vng trong rt nh so vi mch vng ngoi th h kn
mi m bo n nh c.
p dng tiu chun mun ti u i xng (2-68) cho mch vng tc ta
c:
Page 41
Fs R
Fch
1 Fs R
Fs R
Fch
1 Fch
1 4Tc p
1
C
. .R
2 2
3
1 2Tnl . p p
8Tc p 8Tc p 3
R
(1 2Tnl . p).(1 4Tc p )

2
C. 8Tc p(1 Tc p )
1 1 2Tnl . p 1 4Tc p
.
.
C 8Tc 2 p 1 Tc p
Nu n gin ch ly R l khu PI: R
1 2(Tnl 2Tc ) p
2
C. 8Tc p
d. Tng hp Risd:
gim bt phc tp trong vic tng hp ta da vo l lun sau: Khi khi ng
ta lm theo quy trnh nh my in mt chiu: sau khi n nh vic cp ngun pha
kch t isd xong mi cp mmen quay isq nn c th coi khi a i sd vo th mch
pha phn ng cha c hot ng. Nh vy ta c th b qua nh hng ca pha
phn ng trong qu trnh khi ng .
Lc mch (2-23) c dng:
mc
isd
usd
Risd
Knl
1+Tnl
p
1
L
. s
T
1+Tp
Lm
3Lm.pc
isq0
2Lr m
1+T p
1 r
LmTr
Pc
pJ
r0r
d0
isq0
Hnh 2-27: Nhnh kch t ca m hnh ng c trn h to dq.

Page 42
i
usd
Risd
Knl
1+Tnlp
1.
Ls
1+Tp
isq0 3Lmpc2
sd
Lm
2Lr J.p
1 r0 .
isq 0
p
LmTr 1+T
rd 0 r
isq0
Hnh 2-28: Bin i nhnh kch t.
n gin bt v ly Fsi
Suy ra
K nl .
T
K T
1
1
.
.
nl .
1 Tnl p Ls 1 T p
Ls (1 Tnl p )(1 T p )
T p 1
Ri sd
2 K nl
T
Tnl p
L s
theo hm chun bc hai.
1.3.2.6 B quan st t thng

Trong phn ny ta s xy dng b quan st t thng thch nghi mi ca ng
c khng ng b cho iu khin trong di tc rng.
Mt C KB c m t bng phng trnh trng thi nh sau:
__
d is A11
dt ___ A21
r
A12
A22
__ B __
i
. ___s 1 u s
0
r
(2-29)
vit gn:
X AX Bu
i s CX
trong :
Page 43
__
___
__
is
r
u s
is , r
,
u
s
is
r
u s
1 1
ar11 I
A11
Ts Tr
1 1
A12
I r J ar12 I a112 J
Lm Tr
Lm
I a r 21 I
Tr
A21
A22
1
I r J ar 22 I a122 J
Tr
1
I b1 I
Ls
B1
I
C
0
A11
A21
a r11
0
A12
a r 21
A22
0
a r11
0
a r 21
a r12
a122
a r 22
a122
a112
a r12
a122
a r 22
1 0
I
0 1
0 1
J
1 0
M hnh quan st bc trong tnh ton c dng stato v t thng rto c

xy dng theo phng trnh sau:
^
___
.
___
^
__
__
^
__
X A X B. u s G (is is )
__
^
A11
d is
___
dt ^
A21
__
A12 is B1 __ G1 ^ __
. u s
(i s i s )
A22 ___
^
0
G2
r
__
^
(2-30)
Trong ^ ngha l gi tr tnh ton c.

Cht lng tnh ton t thng rto bao gm chnh xc tnh v thi gian hi
tt thng tnh ton v gi tr thc (ch ng). Cht lng ny s gp phn quan
Page 44
trng nng cao cht lng iu chnh ca h thng truyn ng in bin tn ng c khng ng b khng dng cm bin tc . M hnh quan t c thit
k tho mn hai ch tiu: chnh xc tnh cao v thi gian hi t b. Ch tiu
th hai c ngha l cc thng s shi t v gi tr thc ca ng c trong thi gian
nh m khng lm nh hng n cht lng ng ca ton h thng.
Trong phng trnh (2-30), c G l mt ma trn trng s dng b sai lch
gia cc thng s thc ca ng c v cc thng s trong m hnh quan st sao cho
m hnh quan st m t cc thng s ng c ging thc t nht.
Phng php la chn G: v ng c l i tng n nh, nghim cc ca
phng trnh m t ng c lun nm pha tri mt phng phc nn m hnh
quan st hot ng n nh ta phi la chn G nh sau: chn G sao cho nghim
cc ca phng trnh quan st t l vi nghim cc ca phng trnh trng thi m
t ng c theo mt h s dng. Nu m hnh quan st c nghim cc t l nh
vy vi nghim cc ca ng c th c ngha l m hnh quan st c nghim cc
cng nm pha bn tri trc o ca mt phng phc (phn thc ca nghim c
gi tr m). Nh vy m hnh quan st lm vic n nh.
Cc bc tnh ton xc nh cc phn t ca ma trn G:
-
Tm cc nghim cc ca phng trnh trng thi biu din ng c.
Gii phng trnh trng thi ca khu quan st tm nghim cc ca m hnh,

trong c cha cc phn t ca ma trn G nh l cc n s.
Cho nghim cc ca m hnh quan st t l vi nghim cc ca ng c theo

mt h s t l k dng bt k. T tnh ra tng phn t ma trn G theo k.
Sau khi tm c G ta s tin hnh hiu chnh h s k sao cho cc i lng
quan st c m hnh quan st l i s , is , r , r c gi tr gn ng vi cc i

lng ca ng c, sai lch gia chng c ch tnh v ch ng l nh
nht. Vic tm h s t l k sao cho ph hp nht s c thc hin chng 4 khi
s dng phn mm m phng Simulink MATLAB.
M hnh quan st nu trn c cu trc nh hnh v, trong G ng vai tr
ma trn hiu chnh:
Page 45
i
C KB
(
)
is
Hnh 2-29: M hnh tng qut b quan

st t thng rto.
Nu tch ring m hnh quan st thnh hai khu: khu quan st dng in v
khu quan st t thng th b quan st s c cu trc nh hnh 2-30:
us
is
ng c
G1
is
B1
G2
A11 p
A12
M hnh dng in
is
A21
M hnh t thng
1
A22
Hnh 2-30: M hnh dng in stato v t thng rto trong b quan st.
Page 46
Theo (3-20), G l mt ma trn rng 4 x 2 trong ta gi thit cc phn t ca

n nh sau:
g1
g
G 2
g3
g4
g5
g 6
g7
g8
Ti y ta phi gii tm G : theo phn tch ni trn ta ln lt gii tm

nghim cc ca ng c v m hnh.
Phng trnh trng thi m t ng c nh sau:
pX=AX+Bu
(pI-A)X=Bu
T rt ra phng trnh c tnh: pI -A= 0
p
0
0 a11
p a 21
p a11
a 21
(2-31)
a12
0
a 22
a12
0
p a 22
( p a11 )( p a 22 ) a12 a 21 0
p 2 (a11 a 22 ) p a11 a 22 a12 a 21 0
Phng trnh c tnh ny c 2 ma trn nghim p1 v p2 tho mn iu kin sau:

p1+p2=a11+a22 v p1.p2=a11.a22+a12.a21
(2-32)
Tm nghim cc ca m hnh quan st :

Ly (2-2) -(2-30) c:
__
__
^
__
__
^
__
^ __
p.(X- X) A.(X- X) G.(i s - i s )

__
__
__
^ __
__
__
__
__
__
__
__
__
__
p. E A. E G.(i s - i s )
__
^
p. E A. E G.(i s i s )
__
^
p. E A. E G.C(X- X)
p. E A. E G.C. E
__
[ pI ( A GC )] E 0
Page 47
Phng trnh c tnh ca n c dng: pI - (A+GC) =0 trong :

a'11
a '21
A GC
a r11 g1
a'12
g2
a' 22 a r 21 g 3
g4
g5
ar11 g 6
g7
ar 21 g 8
a112
a r12
a122
a r 22
ar12
a112
ar 22
a122
Khi em gii nh gii phng trnh (2-31) c

p2 -[a11+a22].p + a11. a22 - a12. a21 =0
Gi s phng trnh ny cng c 2 nghim cc p 1, p2 t l dng vi nghim
cc ca phng trnh trng thi m t ng c p 1 , p2 nh sau:
p1=k.p1 v p2=k.p2
(k > 0)
Tng v tch hai nghim p1, p2 c rt ra t phng trnh trn:

p1+p2= a11+ a22 v p1.p2= a11. a22 - a12. a21
C th suy ra c
(2-33)
p1+p2=k(p1+p2) v p1+p2=k2(p1.p2)
T (2-32) v (2-33) suy ra:
a11+ a22 =k.(a11+a22)

a11.a22 =k2.(a11.a22)
(2-34)
Phng trnh th nht ca (2-34) tng ng:

a r11 g1 a r 22
a122 g 2
a122 g 5
a a r 22
k . r11
a r11 g 6 a r 22
a122
a122
a r11 a r 22
ng nht tng phn t ca hai ma trn hai v ta c:

ar11 +g1+ ar22 = k(ar11 + ar22)
-a122 +g5 = k(-a122)
a122 +g2 = k(a122)
ar11 +g6+ ar22 = k(ar11 + ar22)
T 4 phng trnh rt ra kt qu:
g1= g6 = (k-1)(ar11+ar22)
(2-35)
g2 = -g5 = (k-1)(-a122)
Phng trnh 2 ca (2-34) tng ng:
Page 48
(a r11 g1 )a r 22 g 5 a122 a r12 (a r 21 g 3 ) a112 g 4
a g ( a g )a a ( a g ) a g
r11
6
122
112
r 21
3
r12 4
r 22 2
a a a r12 a r 21
k 2 . r11 r 22
a r11 a122 a112 a r 21
(a r11 g1 )a122 a r 22 g 5 a r12 g 7 a112 (a r 21 g 8 )
a122 g 2 (a r11 g 6 )a r 22 a112 g 7 a r12 (a r 21 g 8 )
a r11 a122 a112 a r 21
a r11 a r 22 a r12 a r 21
n y li s dng phng php ng nht ma trn nh lm trn

ta c:
g1 g 6
g2 g5
g3 g8
(2-36)
g4 g7
(a r11 g1 )a r 22 g 5 a122 a r12 ( a r 21 g 3 ) a112 g 4 k 2 (a r11 a r 22 a r12 a r 21 )
a r 22 g 2 (a r11 g 6 )a122 a112 (a r 21 g 3 ) a r12 g 4 k 2 (a r11 a122 a112 a r 21 )
Kt hp (2-35) trong khi gii h gm phng trnh 3 v 4 ca (2-36):

2
[ar11 (k 1)(ar11 ar 22 )]ar 22 (k 1)a122
ar12 (ar 21 g 3 ) a112 g 4 k 2 (ar11ar 22 ar12 ar 21 )
(k 1)a122 ar 22 [ar11 (k 1)(ar11 ar 22 )]a122 a112 (ar 21 g 3 ) ar12 g 4 k 2 (ar11a122 a112 ar 21 )
H trn tng ng:

2
ka r11 a r 22 (k 1)a r222 (k 1)a122
a r12 a r 21 a r12 g 3 a112 g 4 k 2 (a r11 a r 22 a r12 a r 21 )
(k 1)a122 a r 22 ka r11 a122 (k 1)a r 22 a122 a112 a r 21 a112 g 3 a r12 g 4 k 2 (a r11 a122 a112 a r 21 )
Rt gn:
2
a r12 g 3 a112 g 4 (k 2 k )a r11 a r 22 (k 2 1)a r12 a r 21 (k 1)(a r222 a122
)
a112 g 3 a r12 g 4 (k 2 k )a r11 a122 (k 2 1)a112 a r 21 2(k 1)a r 22 a122
(2-37)
T (2-37) ly (pt 1)*ar12 +(pt 2)*a112 c phng trnh :

2
2
(a r212 a112
) g 3 (k 2 k )a r11 (a r 22 a r12 a112 a122 ) (k 1)(a r222 a r12 a122
a r12 2a r 22 a122 a112 )
2
(k 2 1)a r 21 (a r212 a112
)
Xt cc nh ngha:
A12
1
Lm
A22
I r J a r12 I a112 J
Tr
1
I r J a r 22 I a122 J
Tr
Nhn thy nu t c = Lm/(1-) th ar22 = - c.ar12, a122 = - c.a112

Page 49
Thay vo phng trnh trn c:

2
2
(a r212 a112
) g 3 (k 2 k )a r11 ((ca r12 )a r12 a112 (ca112 )) (k 1)a r12 (a r222 a122
2ca122 a112 )
2
(k 2 1)a r 21 (a r212 a112
)
2
2
2
2
(a r212 a112
) g 3 c (k 2 k ) a r11 (a r212 a112
) ( k 1)a r12 (a r222 a122
2a122
)
2
(k 2 1)a r 21 (a r212 a112
)
g 3 ( k 2 k )ca r11 (k 1)c 2 a r12 (k 2 1)a r 21
g 3 (k 2 1)(ca r11 a r 21 ) c (k 1)(a r11 a r 22 )
Thay tr li g3 vo phng trnh th 2 ca (2-37) c:

a112 [(k 2 k )ca r11 (k 1)c 2 a r12 (k 2 1)a r 21 ] a r12 g 4 (k 2 k )a r11 a122 (k 2 1) a112 a r 21
g 4 (k 1)ca122
Vy ta tm c ma trn G
g1
G
g2
g2
g1
g3
g4
g4
g 3
Trong :
g1 = (k-1)(ar11+ar22)
g2 = (k-1).a122
g3 = (k2-1)(c.ar11+ ar21) -(k-1)c(ar11+ ar22)
g4= - c(k-1)a122
Page 50
XY DNG CU HNH IU KHIN FOC

u tin, ta c mt ci ng c khng ng b, mt b bin i in t cng
sut (nghch lu s dng IGBT hoc MOSFET) v khu iu ch xung PWM.
Ta tin hnh o dng in isa, isb, isc, cho qua khu bin i (ma trn Clack
transform) abc/- to thnh 2 dng is v is.
Sau cho qua khu quay trc ta (ma trn Park transform) - /d-q to
ra 2 dng isd v isq.
Page 51
By gi, ta tm vng dng in m i ra vng ngoi cng: vng iu

khin tc v vng iu khin t thng. . Ta s c cm bin tc a v tn
hiu phn hi tc ng c, c lng t tc *, c khu gim t thng
vi nhim v gi nguyn t thng nh mc di tc c bn v gim t
thng di tc cao, u ra l lng t t thng r*.
Lng t tc * v lng t t thng r* so snh vi tc phn hi v
t thng r, qua b iu khin tc v iu khin t thng (thng l cc b
PI) to thnh lng t dng in isd* v isq*. ( phn hi t cm bin tc ,
cn r c ly t khu c lng t thng s ni sau).
Page 52
Lng t dng isd* v isq* c so snh vi dng phn hi isd v isq m ta c

c, cho qua b iu khin dng in (thng l PI) to ra tn hiu in p t
usd* v usq*.
Page 53
Tn hiu in p t usd* v usq* ny c cho qua h thng chuyn ta

ngc d-q/- ri - /abc to ra tn hiu t usa*, usb*, usc* a vo khu
iu khin in t cng sut PWM (iu ch sng mang tam gic hoc iu
bin khng gian vector) pht xung cho mch lc nghch lu, cp in cho ng
c quay.
Nu b iu khin dng in ta khng dng PI m dng iu khin di tr

(Hysteresis Current Control - HCC) th tn hiu sau b iu khin c a
thng vo nghch lu ng ct van. Thc t th HCC cng l mt phng
php PWM ch khng ch c iu ch sng tam gic v iu bin khng gian
vector.
c t thng rotor ta khng o c m cn phi c lng n s dng mt
b c lng t thng. Cng thc c th cc anh xem trong ti liu.
c c gc theta (sin cos ca n) s c 2 phng php, t chia FOC
Page 54
thnh 2 loi: iu khin FOC trc tip (Direct Vector Control) v gin tip
(Indirect Vector Control).
iu khin FOC trc tip
Page 55
iu khin FOC gin tip

II.
M PHNG BNG MATLAB NH GI H THNG BIN TN DNG
THUT TON IU KHIN FOC
II.1.
M PHNG BNG MATLAB
Ta s dng m SimpowerSyrtem vi cc sn phn MathWorks khc cng vi

hng dn c sn trong phn mm m
Ta vo matlap ri m simulink chn simpowersystem ly cc khi vo ni chng
atlap m phng p ng ca h thng bin tn thut ton iu khin FOC. li
nh hnh :
Cc u vo thut ton c m phng s dng khi ngun Simulink. thay th

cho cc tn hiu u vo trong thut ton ny, chng ta s dng cc bin s im c
Page 56
nh ly trong th vin c28xdmlib ca simulink vi cc thng s bnh thng, nh

khi DMC ch i tn hiu thay i t 0-1 l gc m ca in thay i t 0 n 2
*pi. V vy , tn hiu v tr l mt chuyn i bnh thng m chng ta c th
chng t bng cch s dng Q17 nh dng c nh im. Cc u vo Ia v Ib i
din cho cc dng giai on A v B.
Khi pass Thought Control l mt subsysterm c xy dng vi m hnh.
Page 57
Vi cc thng s ci t u vo nh sau:
Khi ngun Ia:
Page 58
Khi ngun Ib:
Page 59
Kt qu m phng ta thu c cc dng song vi cc thng s trn nh sau.

Dng sng u ra.
Page 60
Dng theo trc Q,D
Page 61
Dng sng u vo:
Page 62
By gi ta c th quan st s thay i ca dng sng khi thay i cc yu t u

vo m phng trn h thng PMSM kim sot. Tng bin ca Ia v Ib ln. C
th tng gi tr Number of offset samples ca Ia ln 12500,tng gi tr Number
of offset samples ca Ib ln 12500-20000/3.
Page 63
Cc dng sng thu c ln lt l.

Dng sng u vo
Page 64
Dng u ra.
Page 65
Dng sng theo truc Q,D.
nh gi p ng ca thut ton iu khin FOC.

H thng n nh.
Sai s xc lp tc nh, sai s xc lp ca t thng rto ln.
Thi gian p ng ca h thng tng i nhanh.
Mmenet ti khng tc ng nhiu n p ng ca tc , v p ng ca
t thng roto.
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.
Page 66
Dng in khi ng ln so vi dng lm vic, dng khi ng tng ln khi

c sai s m hnh.
3. Kt lun.
V c bn n ca ta hon thnh: gii quyt c khu then cht ca
n, khu then cht thit k thut ton iu chnh dng trong h TXCBP theo
nguyn l iu chnh ta t theo t thng rotor T4R. V c bn khu iu chnh
dng c chia lm 2 h chnh.
+ Mt h hot ng trn c s x l vector sai lch iu chnh (mc 7.1) v
(mc 7.2) .
+ Mt h hot ng trn c s hi tip vector trng thi.
Kinh nghim thc t cho thy: Khu iu chnh dng hot ng trn cs iu
chnh vector sai lch iu chnh hot ng vi tin cy rt cao, ngay c khi cc
thng s iu chnh km chnh xc (v d nh: tham s ch c tnh t nhn my
ch khng c xc nh thng qua o lng).
u im c th cho khu tr thnh gii php chun cho loi bin tn van nng
phi hot ng tt iu kin ng c t quen bit . Ngc li khu iu chnh
trng thi (khng phn tch trong n) kh nhy vi sai lch tham s iu chnh.
Nu c cung tham s mt cch chnh xc khu cho php t c mt vi ch
tiu cht lng cao hn khu trn v v th c th s dng c li trong h thng
cht lng cao ni m ph tn ph khng ng k.
Trong h TXCBP c cc khu iu chnh vng trong v vng ngoi khu
iu chnh vng trong ta s dng song. Sau y ta xy dng cc b iu chnh
vng ngoi cng cc gii php i theo da trn c s iu chnh vng trong - iu
chnh dng (CD).
Page 67
Page 68

Nghiên cứu hệ điều khiển tốc độ động cơ không đồng bộ ba pha roto lồng sóc bằng phương pháp điều khiển vecto tựa từ thông roto

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GVHD:ThS.

N MN TNG HP H THNG IN-C

TRNG I HC CNG NGHIP HN

Cng ha x hi ch ngha Vit Nam

Nhm Sinh vin thc hin

: TN QUANG TON V VN TRIN

: CNG NGH K THUT IN

N MN TNG HP H THNG IN-C

NGHIN CU H IU KHIN TC NG C KHNG NG B BA PHA

Ngy nay,ng c in c s dng rng ri trong mi lnh vc ca i

N MN TNG HP H THNG IN-C

bin i tn s l cc b nghch lu, c th l nghch lu trc tip hoc gin

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

LI NHN XT CA GIO VIN

N MN TNG HP H THNG IN-C

XY DNG C S L THUYT THUT TON FOC

VI NT S LC V NG C KHNG NG B ROTO LNG SC

CC PHNG PHP IU KHIN TC NG C KHNG NG B

XY DNG C S L THUYT THUT TON FOC

GII THIU CHUNG V FOC

C S L THUYT THUT TON FOC

M T TON HC NG C KHNG NG B 3 PHA

PHP BIN I KHNG GIAN VECTO

H PHNG TRNH C BN CA NG C TRONG KHNG GIAN VECTO

CU TRC H THNG IU KHIN VECTO NG C KHNG NG B

CU HNH IU KHIN FOC

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

M PHNG BNG MATLAB NH GI H THNG BIN TN DNG

M PHNG BNG MATLAB

NH GI H THNG BIN TN DNG THUT TON IU KHIN FOC

NH GI U NHC IM BIN TN S DNG LUT FOC V V TR

XY DNG C S L THUYT THUT TON FOC

1.1. VI NT S LC V NG C KHNG NG B ROTO LNG SC

Ta i tng quan v ng c khng ng b l loi my in xoay chiu hai

N MN TNG HP H THNG IN-C

ng c khng ng b 3 pha c dng nhiu trong sn xut v sinh hot v

ng c khng ng b 3 pha chia thnh:

N MN TNG HP H THNG IN-C

ng c khng ng b 3 pha roto dy qun

L thp ca rotor v stator:

1.2. CC PHNG PHP IU KHIN TC NG C KHNG NG B

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

Ta c t phng trnh momen ca ng c : M

th da vo iu khin moomen bng cch thay i cc thng s nh in

N MN TNG HP H THNG IN-C

- nu ti s dng nng lng Ps to Pc : c gi l truyn ng ni

N MN TNG HP H THNG IN-C

Nu iu chnh c bin v pha ca dng in th c th iu chnh

iu khin trc tip mmen

NSVTH: TN QUANG TON V VN TRIN- LP 1K3

N MN TNG HP H THNG IN-C

Kt lun :trong h thng truyn ng iu khin tn s,phng php

1.3.XY DNG C S THUT TON FOC