CNG TRNH KHOA HC Chuyn san iu khin v T ng ha, s 13, 08/2015

Thit k iu khin ng c ng b t thng dc trc kch t nam chm

vnh cu lm vic vi tc trn nh mc
Control design for axial flux permanent magnet synchronous motor which
operates above the nominal speed
Dng Quc Tun1, Nguyn Nh Hin1, Trn Xun Minh1
1
H K thut Cng nghip i hc Thi Nguyn
Email: duongquoctuan-tdh@tnut.edu.vn, nhuhiendhktcn@gmail.com, tranxuanminh@tnut.edu.vn

Tm tt ko (F) da trn nguyn l ca nam chm in. Nh

ng c ng b t thng dc trc, kch t nam chm c cu to c bit v nguyn l lm vic nh trn m
vnh cu (ng c AFPM) khi s dng t thay rotor ca ng c s khng c dch chuyn dc trc
th vng bi hai u trc, c th cho php tc mc d hai u trc ng c l hai t. iu ,
quay ca trc ln hn nh mc rt nhiu. Mt trong cho php khng cn dng thm thit b chn chuyn
cc bin php tng tc ng c ln trn nh ng dc trc ca rotor v v vy cu trc ng c tr
mc l gim t thng cc ca rotor (p). Bi bo ny nn nh gn hn. Do cch cun dy m t trng
xut mt gii php tng tc ng c AFPM ln quay sinh ra mmen quay M1 v M2 trn trc rotor
trn tc nh mc bng cch bm mt dng isd cng chiu v to ra lc y ko F1 v F2 gia rotor
ngc chiu p. v stator ngc chiu. M men quay tng (M = M1 +
T kha: ng c ng b t thng dc trc kch t M2) l tng ca cc m men quay v lc y ko dc
nam chm vnh cu (ng c AFPM), iu khin ti trc (F = F1 F2) l hiu s ca hai lc ht.
u trn tc c bn.
Abstract
When two mechanic bearings of the axial flux
permanent magnet (AFPM) synchronous motor are
replaced by magnetic bearings, the motor can operate
at much higher speed above base speed. One of the
way to speed up the motor to the speed above its rated
speed is flux weakening of the rotor flux (p). This
paper proposes a solution to increase the motor speed
to above base speed by applying a current isd opposite H. 1 Mt ct ng c AFPM c tch hp t hai u
in direction with the flux p. trc (1: Trc; 2, 3: Stator v dy qun ca C pha
Keywords: axial flux permanent magnet synchronous phi v pha tri; 4: Rotor nam chm vnh cu; 5,6:
motor, optimal control above nominal speed Rotor t bn tri v bn phi; 7,8: Stator v
dy qun ca t bn tri v bn phi; z0, g0:
Ch vit tt Khe h danh nh gia rotor v stator ca C v
AFPM axial flux permanent magnet t).
NCVC Nam chm vnh cu T cu to v nguyn l lm vic c th coi y l hai
C ng c ng c AFPM chung rotor hay hai ng c ni cng
trc vi nhau.
1. Cu trc ng c 2. M hnh ton hc ca ng c AFPM
1.1 Cu to Da vo cc ti liu [1, 2, 3], m hnh ton ca ng
V mt cu to, ng c AFPM c nhng nt c bit c AFPM c xy dng trong h ta dq c th
ring, c th modul stator c th bao gm cc loi: hin nh (1), (2), (3), (4), (5). Trong , ch s 1
Modul n ch c mt b dy qun v modul kp c tng ng vi ng c bn tri v ch s hai tng
hai b dy qun chung mt li v quay lng vo nhau. ng vi ng c bn phi.
Rotor cng tng t, modul rotor n ch mt mt c
disd 1

nam chm vnh cu v modul kp th c hai mt u
usd 1 Rs isd 1 Lsd 1 s Lsq1isq1

c nam chm vnh cu ta lng vo nhau. dt

disq1
s Lsd 1isd 1 s p
y chn i tng nghin cu l loi c hai modul
stator n bn ngoi v mt modul rotor kp bn usq1 Rs isq1 Lsq1

dt

trong nh trn H.1. disd 2 (1)
1.2 Nguyn l lm vic usd 2 Rs isd 2 Lsd 2 s Lsq 2 isq 2

Khi in p ba pha c cp cho cc cun dy stator, dt

disq 2
sinh ra cc dng in (trong c thnh phn iq) chy usq 2 Rs isq 2 Lsq 2 s Lsd 2 isd 2 s p


trong n, s tng tc vi t trng ca rotor to ra dt

cc m men quay (M) v dng in trong cc dy
qun pha (thnh phn id) ca stator sinh ra cc lc y

1
CNG TRNH KHOA HC
3 Khi iu tc cao hn tn s c bn, tn s c th tng
mM 1 z p p isq1 isd 1isq1 ( Lsd 1 Lsq1 )
2
3
mM 2 z p p isq 2 isd 2isq 2 ( Lsd 2 Lsq 2 )
2 th thy, iu s lm cho t thng s gim xung
J d
m mM 1 mM 2 mm
z p dt
F k1 (i2 d i1d )k1 (i2d i1d ) zk2 z
02 N 2 0
k1 2 p ; k2 2
g02 S p g0
Trn H.2 l cu trc ca ng c AFPM theo m hnh
ton hc trn
H. 2 S cu trc ca ng c AFPM
3. Vector khng gian in p, dng in
v t thng ca ng c AFPM trong
hai vng lm vic
th vector khng gian in p, dng in v t
thng ca ng c AFPM trong hai vng lm vic
nh trn H2 [1, 5, 7]. T (2) v (3) thy rng, momen
quay ca ng c AFPM bao gm hai thnh phn:
thnh phn chnh vi tch pisq v thnh phn phn
khng do s chnh lch in cm stator (Lsd - Lsq) 0)
gy ra. Trong mi ch vn hnh, ng c AFPM
phi sn sinh mt thnh phn momen ph b thnh
phn phn khng. Thnh phn phn khng tn ti mt
cch r rng nhng thng b b qua khng tnh n
trong cc phng n iu khin kinh in. Vic b
qua gip lm n gin ha h thng iu chnh v
trn thc t c th chp nhn c trong di tc
quay di nh mc, bi trong di lun c isd = 0
(H.3a). Ngc li, di tc quay trn nh mc,
tng tc ln ta phi gim t thng, lc phi
bm mt dng m vo trc d. ng c AFPM lc ny
c vn hnh ch gim t thng v dng s c
bin ln tng t l thun vi tc quay rotor
(H3b). iu dn n thnh phn momen phn
khng c kh nng t c bin ng k khng
th b qua.
2
Chuyn san iu khin v T ng ha, s 13, 08/2015
(2) ln hn f1m, nhng in p U1 khng th tng qu
in p nh mc Um, ti a l ch gi c U1 =
(3) Um. T cng thc tnh sc in ng ca ng c c
theo t l nghch vi tn s, tng ng vi trng
(4) hp ng c mt chiu iu chnh gim t thng
tng tc.
(5)
p2 .
H. 3 Vector khng gian in p, dng in v t thng
ca ng c AFPM trong hai vng lm vic: a)
Di tc nh mc; b) Trn tc nh mc.
Khc vi C ng b NCVC gn chm bn trong
rotor v C ng b t tr, ng c AFPM vng
tc nh mc tr xung lun duy tr dng isd = 0.
V vy ta ch xt vng trn tc nh mc.
4. Tnh cc gi tr ti hn v in p v
dng in:
Trc khi gii thiu cc chin lc iu khin khc
nhau, chng ta cn xt n cc gii hn ca dng in
v in p [4, 5]. Gii hn ca vc t dng in:
is isd2 isd2 ism
(6)
ng gii hn dng in (6) l vng trn c bn
knh ism trong mt phng (isd, isq).
Gii hn ca vc t in p: T cng thc in p
ch xc lp khi b qua in tr stator:
usd s Lsq isq ; usq s Lsd isd s p
Gi tr in p pha c bn cc i ca stator c xc
nh bi in p mt chiu trung gian:
us u 2sd u sd2 usm
(7)
Trong : usm l gi tr in p mt chiu ln nht t
vo b nghch lu.
us2 usd2 usd2 ( s Lsq isq )2 ( s Lsd isd s p )2
(8)
us2 2 2
( Lsq isq ) ( Lsd isd p )
s2 (9)
Cng thc (9) l qu tch gii hn in p l ng
elip trong mt phng isd - isq. Trn hnh H.3 minh ha
cc c tnh gii hn c xc nh theo (6) v (9).
Nh vy, khi tng tc ng c ln trn tc nh
mc th cng vi s tng tn s, t thng theo trc d
ca ng c s gim, nhng nu duy tr 60o ta s
c gi tr m men l ln nht.
CNG TRNH KHOA HC
H. 4 Minh ha cc i lng gii hn v im lm vic
ti u m men ca ng c AFPM trn tc
nh mc.
T cng thc tnh in p nh (7) v (8), khi xt ch
xc lp v b qua in tr stator ta tnh c isd,
isq, gi l gc lch pha gia vector in p stator us
v trc q, tt c thay vo cng thc tnh m men
(2),(3),(4) ta c:
2 trung im gia hai stator. u ra ca b iu khin
u u
mM k1 s cos k2 s sin2
s s (10)
( Lsd Lsq ) 1
3z p 3z p Lsd Lsq
k1 p k2
2 L
sd Lsq 2 Lsd Lsq
; gi tr nh xung quanh khng.
H. 5 M men ng c AFPM vi in p mt chiu ln
nht U =400V; tn s ng thp nht l 100Hz,
90HZ, 70Hz v 50Hz, cc tr 600.
Thay thng s ca ng c AFPM vo (10), ta c c
tnh m men nh trn hnh H.5. Nh vy, khi tng tc
ng c ln trn tc nh mc th cng vi s l nhm buc dng in trong ng c ba pha bm
tng tn s, t thng theo trc d ca ng c s gim,
nhng nu duy tr 60o ta s c gi tr m men l
ln nht.
5. Thit k iu khin ng c AFPM
5.1 Cu trc iu khin tng qut
V mt cu trc th loi ng c AFPM khc hn vi
cc ng c in thng dng hin nay, trong cu trc
iu khin s bao gm hai vng ring bit l vng
iu khin v tr rotor dc trc (lc y ko) v vng
iu khin tc quay (m men quay) cho ng c
Cu trc iu khin tng qut cho ng c AFPM
c minh ha nh trn hnh H.6 [1,3].
iu khin Vector ca ng c ng b t thng dc
trc NCVC (AFPM) c da trn s khai trin dng
3
Chuyn san iu khin v T ng ha, s 13, 08/2015
in tc thi ca stator thnh hai thnh phn: To lc
y ko dc trc bi dng id (dng in hng trc)
v to mmen quay c bi dng iq. Bng cch ny,
cu trc iu khin ca AFPM tr nn tng t nh
ca ng c DC.
H. 6 Cu trc iu khin vect ca ng c ng b t
thng dc trc NCVC
S dch chuyn ca rotor dc trc t im cn bng
dc theo trc z, z c th c pht hin bi cc cm
bin khong cch. V tr trc pht hin c so snh
vi v tr trc iu khin z* v s chnh lch l u
vo cho b iu khin v tr trc Rz. Cc v tr iu
khin z* lun lun c thit lp m bo rotor l
v tr trc c s dng tnh ton dng in qui
chiu i*d. Dng in qui chiu trc d cho hai cun dy
stator i*d1 v i*d2 c th c to ra bng cch s
dng dng b id0 nh sau: i*d1 = id0 + i*d; i*d2 = id0 -
i*d. Gi tr ca dng b c th l s khng hoc mt
Tc rotor c to ra t b m ha c so snh
vi tc chun v s chnh lch l u vo b iu
khin tc R. u ra ca b iu khin tc c
s dng tnh ton dng in qui chiu trc q l i*q.
Dng in qui chiu trc q cho hai cun dy stator
i*q1 v i*q2 sau c tnh ton ging nh dng id.
Thit k iu khin cho ng c AFPM s tin hnh
theo cc mch vng sau y.
5.2 iu khin dng in
Hu ht cc truyn ng ng c xoay chiu hin i
u c cu trc iu khin c mch vng iu khin
dng in bn trong. Do vy, c tnh ca h thng
truyn ng ph thuc rt nhiu vo cht lng ca
chin lc iu khin dng in [1, 3, 4, 5].
Nhim v chnh ca mch vng iu khin dng in
theo cc tn hiu t. Bng cch so snh cc dng in
thc o c vi cc dng in t, mch vng iu
khin dng in to ra cc trng thi chuyn mch cho
bin tn nhm lm gim sai lch dng in. Do ,
ni chung mch vng iu khin dng in thc hin
hai nhim v: b sai lch (gim sai lch dng in) v
iu ch (quyt nh trng thi chuyn mch).
Mch vng dng in ca ng c AFPM nh trn
H.2, t y ta c cc cng thc:
isd ( usd isq .s .Lsq )Wsd
isq ( usq isd .s .Lsd )Wsq
(11)
CNG TRNH KHOA HC Chuyn san iu khin v T ng ha, s 13, 08/2015

1 D dng thy rng h thng ny khng n nh. n

isd 2
(Wsd usd s LsqWsdWsq usq ) nh ha h thng, mt b iu khin vi thnh phn
1 WsdWsq Lsd Lsq
s
vi phn c s dng. Mch vng iu khin khong
1
isq (-s LsdWsdWsq usd Wsq usq ) cch trc c biu din hnh H.7.
1 WsdWsq s2 Lsd Lsq
(12)
WW Wsd s LsqWsdWsq
W(s) i nl
2 - L W W Wsq
1 WsdWsq s Lsd Lsq s sd sd sq (13)
Trong :
1 / Rs K nl
Wsd Wnl
Tsd s 1 1 / Rs Tnl s 1
; Wsq ; ; H. 7 Mch vng iu khin khong cch trc
Tsq s 1
Mch vng iu khin khong cch trc bao gm hm
Ki truyn kn ca mch vng dng in bn trong v
Wi hm chuyn ng trc. V ti ca trc thng l
Ti s 1
. khng bit nn n c x l bc th nht nh l
Nhn vo (11), (12), (13) th hin s tc ng xen mt nhiu bn ngoi h thng.
knh r rt. t c cht lng mong mun nh trit tiu sai lch tnh, ta s dung b iu khin
hm truyn h kn ca tiu chun ti u modul l: PID. Hm truyn ca b iu khin PID c biu
1 din nh sau:
Wm (s)
1 2Ts 2sd T2 s 2 KI
(14) Gcz ( s ) K P KD s (15)
Trc ht phi tin hnh tch knh. s
Cc b iu chnh tch knh c xc nh nh sau: H thng s n nh khi cc tham s b iu khin
tha mn:
WR(s) Wm( s)[I Wm ( s )] 1W( s) (15)
K2
Khi chn T = Tsi =2Ti = 0,002 s c T2 << 1 c th K P K K
b qua. Khi c th x nh c hm s truyn cc 1 z
khu hiu chnh tch knh cho mch vng dng in K D K1 K P K 2
l: K I (16)
1 s Lsq m
1 Lsd (1 T s) s K I 0
WR (s) sd (12)
4TK
i nl Ki
L 1 K D 0
s sd
Lsq (1 )
s Tsqs
5.4. iu khin tc
R R12 i vi tt c cc loi ng c, sai lch gia m men
= 11 in t M v m men ti ML gy ra gia tc ca rotor
R21 R22
s Lsq theo c tnh c hc ca cc truyn ng ng c.
Lsd 1
R11 (1 ); R12 ; Phng trnh chuyn ng quay c th c vit nh
4TK
i nl Ki Tsd s 4TK
i nl Ki s sau [1,3,4,5]:
sLsq Lsq 1 d
R21 ; R22 (1 ) 1
4TK M ML J hoc (17)
i nl Ki s 4TK
i nl Ki Tsqs
dt M M L Js
Khi nghin cu m phng, cc b b iu chnh tch M men c th iu khin c bng dng in trc q
knh ny s c ghp ni vo mch dng in ca nh biu din phng trnh (1) - (5); v vy, mch
ng c trn H.2. vng iu khin tc c biu din hnh H8.
5.3 iu khin dich chuyn dc trc
n gin, gi thit rng chuyn ng hng tm
ca rotor c khng ch bi hai hng tm l
tng. V vy, chuyn ng dc trc l c lp vi
chuyn ng hng tm v c th biu din nh sau
[1,2,3,4]:
F FL mz (13) H. 8 Mch vng iu khin tc
Trong m l khi lng ca cc phn chuyn ng Tng t nh mch vng iu khin chuyn dch dc
v F l lc dc trc. trc, mch vng iu khin tc cng bao gm
Sau thay (1),(2),(3),(4),(5) vo (13) ta c: mch vng iu khin dng in bn trong v hm
mz FL k1 (i2 d i1d ) k1 (i2 d i1d ) z k2 z (14) truyn ng c c nh. V ti cha xc nh nn
bc th nht n c coi nh l mt nhiu ngoi h
02N 2 thng. nh hng ca o lng tc thng c
Trong k1 2 2
p; k2 2 0 p2
g0 Spg0 kt hp vi hng s thi gian tng ng ca mch

4
CNG TRNH KHOA HC Chuyn san iu khin v T ng ha, s 13, 08/2015

16
vng iu khin dng in. Hm truyn kn ca h
thng nh sau: 14

RW0 KR 12
WK ( s ) ' (18)
1 RW0 s (Ts s 1) KR 10

Mch vng tc l khu tch phn qun tnh nn ta

isdq = f(t)
8

s dng tiu chun ti u i xng vi hm s truyn 6

chun:
4
1 4Ts s isq1
WC ( s ) (19) 2
1 4Ts s 8Ts2 s 2 8Ts3 s 3 isq1
0
Cn bng (18) v (19) ta c:
-2
KR 1 4Ts s 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t(s)

s (Ts s 1) KR 1 4Ts s 8Ts2 s 2 8Ts3 s 3

'
H. 11 Dng in isq v isd
0.6
Chn: 2Ts = Ts, gii phng trnh trn ta c:
1 4Ts s 1 1 0.5

R 2
2
(20)
K 8Ts s K 8Ts s 2KTs 0.4

6. nh gi cht lng bng m phng 0.3

m = f(t)
5.1 S liu ca ng c v thng s m phng
Rs = 2,3 ; Lsq = 9,6.10-6 H; Lsd = 8,2.10-6 H; 0.2

Tsq = 4,2.10-6; Tsd = 3,56.10-6; p = 0,0126 Wb; 0.1

Zp = 1; g0 = 1,7.10-3 m; mrotor = 0,235 kg;
Jr = 0,0000082 kgm2; 0 = 4.10-7 H/m; 0

Knl = 5; Ki = 1; Ti = 0,001; K = 0,00417;

T = 0,1; Ts = T + 2Ti; 2Ts = Ts. -0.1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
5.2 S m phng ng c AFPM t(s)
H. 12 M men ng c
5.3.2 Trng hp tc trn nh mc n = 4000 v/ph;
m = 0,08 Nm; z 0.
4500

4000

3500

3000

2500
n = f(t)

2000

1500

1000
H. 9 S m phng
5.3. Kt qu m phng 500

5.3.1 Trng hp tc t nh mc n = 3000v/ph; 0

m = 0,08 Nm, z = 0.
3500 -500
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t(s)
3000 H. 13 th tc trn nh mc
0.8
2500
0.7

2000 0.6
n = f(t)

1500 0.5

0.4
m = f(t)

1000

0.3
500
0.2
0
0.1

-500 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t(s)
-0.1
H. 10 th tc nh mc 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
t(s)

H. 14 M men ng c

5
CNG TRNH KHOA HC Chuyn san iu khin v T ng ha, s 13, 08/2015

-7

1
x 10 [3]. Quang Dich Nguyen and Satoshi Ueno, Analysis
and Control of Non-Salient Permanent Magnet Axial-
0 Gap Self-Bearing Motor, IEEE Transactions on
Industrial Electronics, Vol. PP, No. 99, pp. 1-8, 2010
-1 (early access).
[4]. Nguyn Vn Lin, Nguyn Mnh Tin, on
-2
Quang Vinh, iu khin ng c xoay chiu cp t
z = f(t)

-3
bin tn bn dn NXB KHKT, 2005.
[5]. Nguyn c Qun,M hnh ha, m phng v
-4 iu khin ng c t tr tc cao Tp ch
KH&CN H Nng S 11(96).2015 Quyn 2.
-5 [6]. Nguyn Don Phc: L thuyt iu khin tuyn
tnh. NXB KH&KT, 2007.
-6
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 [7] Trong Duy Nguyen, Gilbert Foo Hock Beng,
t(s)
King-Jet Tseng, Don Mahinda Vilathgamuwa, and
H. 15 Chuyn dch dc trc z Xinan Zhang: Modeling and Position-Sensorless
20 Control of a Dual-Airgap Axial Flux Permanent
Magnet Machine for Flywheel Energy Storage
10
Systems, Journal of Power Electronics, Vol. 12, No.
isq1
0
5, September 2012.
isdq1 =f(t)

-10

-20

-30

isd1
-40

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

t(s)
H. 16 Dng in isq v isd

7. Kt lun
S dng ng c ng b t thng dc trc kch t
nam chm vnh cu c cu trc c bit v s dng
t hai u trc nh trn hnh H.1, to nn hai
mch vng iu khin tc v chuyn dch dc trc
ca rotor ( y coi cc t hai u trc lun
lun lm ng chc nng danh nh ca n). Bng
phng php iu khin ta theo t thng rotor (T4R),
bc u t c mt s vn sau:
- iu chnh tc ng c vi tc trn nh mc
bng gim t thng nh bm vo mt dng isd ngc
chiu vi t thng cc p trong phm vi m bo m
men lm vic cho ng c;
- Lun lun gi cho rotot v tr trng vi tm ca
ng c nh vo mch vng iu khin chuyn dch
dc trc;
- Cc vn cn tip tc nghin cu l nng cao cht
lng iu khin cho ng c v m bo m men ti
u khi gim t thng.
- Tin hnh th nghim trn ng c AFPM.
Ti liu tham kho
[1]. Nguyen Phung Quang and Jrg-Andreas Dittrich,
Vector Control of Three-Phase AC Machines,
springer
[2]. Akira Chiba, adashi Fukao,Osamu Ichikawa,
Masahide Oshima, asatsugu Takemoto and David G.
Dorrell, Magnetic Bearings and Bearingless Drives,
Newnes, 2005.