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Li ni u

Hin nay, trong s nghip cng nghip ha - hin i ha nc nh,


cng nghip in lc ang gi mt vai tr c bit quan trng. Bi v, in
lc l ngun nng lng c s dng rng ri nht trong cc ngnh kinh t
quc dn.
Do vy, t vic sn xut n vic tiu th in nng phc v cho cng
nghip v i sng u phi i hi s hp l v tit kim. tit kim in
nng, gim tn tht ti mc nh nht trong qu trnh truyn ti cn phi thc
hin vic nng cao h s cng sut cos cho li in. T trc ti nay
c mt s bin php nng cao h s cng sut cos, cn trong lun vn
ny tc gi nghin cu xut 1 phng php khc nhm ci thin h s
cng sut cos , l phng php : b h s cng sut cos da trn iu
khin trt dng in.
Vi phng php ny, cht lng in s c nng cao mt cch
ng k nh p dng cc kin thc v t ng ha, v t ng ha vn l mt
ngnh khoa hc cng ngh mi nhn, hi t cc kin thc t mt s ngnh
: cng ngh thng tin, in - in t, c kh, o lng...
Sau 5 nm hc tp di mi trng i hc Hng Hi ti lp
T40H, ti cui kha hc em c giao ti tt nghip : B h s
cng sut bng phng php iu khin trt .
Lun vn c ni dung nh sau :
Chng 1 : ngha v cc phng php nng cao h s cng
sut cos
Chng 2 : Lc in bng cc b lc
Chng 3 : B cng sut phn khng v kh sng bc cao dng
b IPFC
Chng 4 : M phng h thng
1
tin hnh nghin cu v hon thnh lun vn ny, em c s
ch bo v gip tn tnh ca cc thy c gio trong khoa
in - in t tu bin, c bit l thy gio PGS - TSKH Thn Ngc Hon.
Em xin chn thnh cm n s gip ca cc thy c.
2
Chng 1
ngha v cc phng php nng cao h s cng sut cos
1.1 ngha ca vic nng cao h s cng sut cos :
Trong cc x nghip cng nghip cng nh trong i sng, in nng
vn l ngun nng lng ch yu. Do , vn s dng hp l v tit kim
in nng c ngha rt ln. V mt sn xut in nng, cn phi tn dng
ht cc kh nng ca cc nh my pht in sn xut ra nhiu in nht,
ng thi v mt tiu th, phi tit kim, gim ti mc thp nht tn tht in
nng. M tnh chung trong ton h thng in, th thng c khong : (10
15)% nng lng c pht ra b mt mt trn ng truyn ti v phn phi,
c bit l mng in x nghip (mng c in p U = 0,1 10 KV), chim
ti 64,4% tng s in nng b tn tht, nh bng phn tch di y :
Bng B-1.1 Phn tch tn tht in nng trong h thng in
Mng c in p
Tn tht in nng ca (%)
ng dy My bin p Tng
U >= 110KV 13,3 12,4 25,7
U = 35 KV 6,9 3,0 9,9
U = (0,1 - 10) KV 47,8 16,5 64,4
Tng cng 68,0 32,0 100
nh gi mc s dng in hp l v tit kim, h s cng sut cos
c a ra nh mt ch tiu, nn cc quc gia trn th gii v nc ta hin
nay ban hnh cc chnh sch khuyn khch cc x nghip nng dn h s
cng sut cos t 0,6 0,7 ln ti 0,9.
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Nng cao h s cng sut cos l mt trong nhng bin php quan
trng tit kim in nng. Sau y, ta s phn tch hiu qu do vic nng
cao h s cng sut cos em li :
Phn ln cc thit b dng in u tiu th cng sut tc dng P v
cng sut phn khng Q. Nhng thit b tiu th nhiu cng sut phn khng
l :
- ng c khng ng b tiu th khong (60 65)% tng cng sut
phn khng ca mng
- My bin p tiu th khong (20 25)%
- ng dy trn khng, in khng v cc thit b in khng tiu th
khong 10%
Nh vy, ng c khng ng b v my bin p l 2 loi my in
tiu th nhiu cng sut phn khng nht. Cng sut tc dng P l cng sut
c bin thnh c nng hoc nhit nng trong cc nh my dng in; cn
cng sut phn khng Q l cng sut t ha trong cc my in xoay chiu,
n khng sinh ra cng. Qu trnh trao i cng sut phn khng gia my
pht in v h dng in l mt qu trnh dao ng. Mi chu k ca dng
in, Q i chiu 4 ln, gi tr trung bnh ca Q trong 1/2 chu k ca dng
in bng 0. Cho nn vic to ra cng sut phn khng khng i hi tiu tn
nng lng ca ng c s cp quay my pht in. Mt khc, cng sut phn
khng cung cp cho h dng in khng nht thit phi ly t ngun (tc my
pht in). V vy, trnh phi truyn ti mt lng cng sut phn khng Q
qu ln trn ng dy, ngi ta t gn cc h dng in cc my sinh ra Q
(t in, my b ng b) cung cp trc tip cho ph ti, lm nh vy gi
l b cng sut phn khng. Khi c b cng sut phn khng th gc lch pha
gia dng in v in p mch : s nh i, do h s cng sut cos ca
mng c nng cao.
Vic nng cao h s cng sut cos em li rt nhiu hiu qu cho
li in :
- Gim c tn tht cng sut trong mng in
4
- Gim c tn tht in p trong mng in
- Tng kh nng truyn ti ca ng dy v my bin p
Ngoi ra cn gim c chi ph kim loi mu, gp phn n nh in
p, tng kh nng pht in ca my pht ...
Do = arctg
P
Q
Trong :
Q: L cng sut phn khng
P: L cng sut tc dng
: Gc lch pha gia dng in v in p
Vi lng P khng i, nh b cng sut phn khng Q m lng Q
phi truyn ti trn ng dy c gim i, nn gc gim lm cho cos
c tng ln.
Do vy, ngha ca vic tit kim in nng bng nng cao h s cng
sut cos khng ch lm gim gi thnh sn phm c li cho bn thn x
nghip m cn c thm in sn xut c li chung cho ton nn kinh t
quc dn. Nhng cng cn c bit lu trong lc thc hin cc bin php
tit kim in nng v nng cao h s cng sut cos khng c gy nh
hng xu n cht lng v s lng sn phm hoc lm xu iu kin lm
vic ca cng nhn.
1.2 Cc phng php nng cao h s cng sut cos:
T trc ti nay c mt s bin php nng cao h s cng sut cos
t truyn thng cho ti hin i:
1.2.1 Nng cao h s cng sut cos t nhin:
y l tm cc bin php cc h dng in gim bt i lng cng
sut phn khng Q tiu th nh p dng cc qu trnh cng ngh tin tin, s
dng hp l cc thit b in... C th nh sau:
5
- Thay i v ci tin qui trnh cng ngh cc thit b in lm vic
ch hp l nht: gim bt nhng ng tc, nhng nguyn cng tha v p
dng cc phng php gia cng tin tin.
- Thay th ng c khng ng b lm vic non ti bng ng c c
cng sut nh hn. Nu ng c lm vic non ti (tc k
pt
nh) th cos s
thp, do khi thay ng c lm vic non ti bng ng c c cng sut nh
hn ta s tng c h s ph ti k
pt
nn s nng cao c cos ca ng c.
- Hn ch ng c chy khng ti: c th t b hn ch chy khng ti
trong s khng ch ng c. Thng thng, nu ng c chy khng ti
qu thi gian chnh nh t
0
no th ng c s b ct ra khi mng.
- Dng ng c ng b thay th ng c khng ng b, v ng c
ng b c u im: h s cng sut cao; mmen quay t l bc nht vi in
p ca mng nn nng sut lm vic ca my cao.
- Nng cao cht lng sa cha ng c.
- Thay th nhng my bin p lm vic non ti bng nhng my bin p
c dung lng nh hn.
1.2.2 Nng cao h s cng sut cos bng phng php b:
y l phng php t cc thit b b gn cc h dng in cung
cp cng sut phn khng nn s gim c Q phi truyn ti trn ng dy.
Ngoi ra, phng php ny cn gp phn iu chnh v n nh in p ca
mng cung cp.
- B bng t in: T in l loi thit b in tnh lm vic vi dng
in vt trc in p, do n c th sinh ra cng sut phn khng Q cung
cp cho mng. T in c cc u im: Sut tn tht cng sut tc dng nh,
khng c phn quay nn d lp rp, bo qun. T in c ch to thnh
tng n v nh, ty tng ph ti m ghp dn t vo mng khin hiu sut s
dng cao. Nhng t in li nhy cm vi s bin ng in p t ln cc t
in. Khi ng t vo mng s xut hin dng in xung, cn khi ct t khi
mng th trn cc ca t vn cn in p d, gy nguy him. T in c s
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dng cc x nghip trung bnh v nh vi dung lng b nh hn
5000(kVAr).
- Dng my b ng b: my b ng b l mt loi ng c ng b
lm vic ch khng ti. ch qu kch thch, my b sn xut ra cng
sut phn khng Q cung cp cho mng, cn ch thiu kch thch, my b
tiu th cng sut phn khng Q cung cp cho mng. Nhng my b ng b
li c phn quay nn n c dng nhng ni cn b tp trung vi dung
lng ln.
- Dng ng c khng ng b roto dy qun c ng b ha: khi cho
dng mt chiu DC vo roto ca ng c khng ng b dy qun, n s lm
vic nh ng c ng b vi dng in vt trc in p. Do , n c kh
nng sinh ra cng sut phn khng Q cung cp cho mng. Nhng thit b ny
li c tn tht cng sut kh ln, kh nng chu qu ti km. Nn n thng
ch c dng khi khng c sn cc thit b b khc.
V hin nay xut hin mt phng php mi nng cao h s
cng sut cos bng iu khin trt dng in. Phng php ny s dng b
b tch phn h s cng sut IPFC (IPFC : Integrated Power Factor
Compensator) c s tham gia ca b chnh lu c kh nng lm vic ng
thi nh b lc tch cc vi cc tin ch ca chng.
Ngoi ra, cc sng hi bc cao cng l nguyn nhn lm nh hng ti
cht lng li in. Bi v: khi ti phi tuyn sinh ra cc sng bc cao s lm
cho dng in b bin dng hnh sin, nn cng sut ca li b suy gim, ko
theo h s cng sut cos gim i.
Do vy, ci thin cht lng li in bng nng cao h s cng
sut cos cn b cng sut phn khng cho mng v lc b cc sng hi bc
cao.
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Chng 2
Lc in bng cc b lc
2.1 M u:
Mng in c cc b bin i lm vic thng lm cho li b bin
dng, l do nh hng ca nhiu t cc sng bc cao mang n. M c cc
thit b rt nhy cm vi s bin dng y. l: cc thit b thng tin, khi c
s bin dng dng in c th b mt d liu. Hay my pht, ng c c th
b tng tn hao nhng h s cng sut cos li gim, mmen in t b dao
ng ng c.
V vy, ta cn phi s dng mt thit b in c chc nng san phng,
loi b cc nhiu lon cho dng in, l: b lc. Sau y, ta s nghin cu
cc loi b lc v ang c s dng t trc ti nay.
Trc ht, ta xt s sau:
U ~ U
t
U
DC
Hnh H-2.1 S ngun in mt chiu
- U~ l gi tr in p thch hp (c th ly trc tip t ngun hoc phi
chuyn i qua bin p). N c a ti b chnh lu c in p mt
chiu U
t
nhng vn cn nhp nh, cha n nh.
- in p mt chiu U
t
ny c a qua b lc loi b cc sng hi
bc cao. Sau , in p s c san phng, bt nhp nh.
- Ty thuc vo yu cu tng mch in m b n p (n dng) c
c s dng hay khng.
Nh vy, trong qu trnh iu khin, in p mt chiu sau b chnh
lu thng phi c lm phng, nu khng n s nh hng ti n nh
ca h thng. Ngoi ra, trong h thng iu chnh pha thng xut hin
tng dao ng vi tn s thp lm cho hng s thi gian ca b lc tng
8
Cu chnh lu
3 pha B lc n p
i ln nn s nh hng ti c tnh ng ca h thng, m ch yu l nh
hng ca tc phn ng ln s thay i ti.
Thnh phn dng in v in p trn tuy c cc tnh khng i
nhng gi tr ca n li thay i theo chu k, gi l s p mch ca dng
in v in p sau chnh lu.
Vi ti thun tr, dng in qua ti c biu din:
( ) ( )

+ +
1 n
n
1 n
n 0 t
t n cos B t n sin A I i
I
0
: l thnh phn dng mt chiu n nh
( ) ( )

+
1 n
n
1 n
n
t n cos B t n sin A
: l thnh phn cc sng hi. Vn t ra
l phi loi b cc sng hi ny (c bit l cc sng hi bc cao), v n gy
nhiu ln ti nn lm gim cng sut ca h thng.
Ngi ta a ra h s p mch nh sau :
Bin sng hi ln nht ca i
t
(U
t
)
K
p
=
Gi tr trung bnh ca i
t
(U
t
)
K
p
cng nh th cht lng ca b lc cng cao. Ngi ta tnh ton
c rng:
-Mch chnh lu 1 na chu k c K
p
= 1,58
-Mch chnh lu 2 na chu k c K
p
= 0,667[6]
Do vy, vic la chn b lc sau chnh lu phi c thc hin k cng
v chnh xc.
nghin cu v vic loi tr sng bc cao, nng cao h s cng sut
cos trong mng in, chng ta im qua cc b lc th ng c s
dng trc y:
9
2.2 B lc th ng L_C:
B lc l thit b ni gia pha sau b chnh lu v ph ti mt chiu.
Chc nng ca b lc l cho dng in c tn s no i qua m khng lm
gim bin ca n, ng thi lm suy gim mnh dng in c tn s khc.
a)Trc y c phng php lc bng t in nh trn hnh v
H-2.2 sau:
Hnh H-2.2. Mch lc bng t in
Ph ti l in tr R
in p ngun: u = 2Usin(
S
t)
Khi Diode m s cho dng in i i qua:
i = i
C
+ i
R
i
R
=
R
U 2
sin
S
t
i
C
= C
dt
dU
C
= 2UC
S
cos
S
t
na chu k dng ca ngun in p, ta c :
- Khi U > U
C
th t in C c np v tch ly nng lng =
2
1
C u
C
2
- Khi in p U gim dn n U < U
C
, diod b kho li th t in C
phng in mt phn hoc ton b qua in tr R.
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Nh vy c s phng np ca t in v cc sng hi bc cao c
r nhnh qua t C xung im chung. Kt qu l dng in qua ti ch cn
thnh phn mt chiu DC v mt lng nh sng hi bc thp.
Lc ny :
CR
2
K
P

Nu gi tr ca t in C v in tr R cng ln th h s K
p
cng nh,
nn cht lng ca b lc bng t c nng cao.
b)Lc bng cun cm L (cun cn) :
Hnh H-2.3 Mch lc bng cun cm
Khi dng in trn ti c s bin thin p mch th trong cun cm L
s sinh ra mt sc in ng chng li. M cun cm L c bit c tc
dng lc b cc sng hi bc cao nn dng in ti ch cn thnh phn dng
mt chiu.
Khi :
L 3
R
K
P

Vi gi tr in tr ti nh v gi tr cun cm ln th K
p
s nh nn ci
thin c cht lng ca b lc.
thc hin lc vi cc thit b cng sut ln, ngi ta dng mch lc
L_C nh trn hnh H-2.4 di y:
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Hnh H-2.4 Mch lc th ng L_C
B lc L_C l b lc th ng, n ch cho thnh phn mt chiu i qua
m ngn chn li thnh phn xoay chiu. c tnh c bn ca b lc L_C l
kh sng bc cao bng cch hp th n. Do vy, b lc L_C c u im l
thc hin tt vic dp sng bc cao. Nhng bn cnh , b lc L_C cn c
hn ch l cng knh v kch thc, kh la chn phng php tnh ton v
phi la chn bng thc nghim. Nn hin nay, nu s dng b lc th ng
th phi dng phn mm tnh ton v la chn L, C kh hon ton sng bc
cao, to dng in hnh sin.
2.3 B lc tch cc dng trong mng in:
Cng vi chc nng l loi b cc sng bc cao nh b lc th ng
trn, nhng b lc tch cc l mt thit b sinh ra cc sng bc cao c chiu
ngc li kh cc sng bc cao ca dng in.
Gn y, b lc tch cc c s dng nh l mt phng php hiu
qu nng cao cht lng li in do s tham gia ngy cng nhiu ca ti
phi tuyn v cc b bin i trong li in. B lc tch cc (APF : Active
Power Filter) ra i khc phc c cc nhc im ca b lc th ng
L_C trc y vi nhiu tin ch khc.
y thc hin mt k thut ng ngt b chnh lu ng thi hiu
chnh c h s cng sut cos v b lc tch cc APF lm gim nh hng
ca dng bc cao do ti phi tuyn sinh ra. V t khi c s tham gia ca b lc
12
tch cc APF, chi ph cho cu hnh mch in gim i so vi cu hnh ca
b lc th ng L_C thng thng. Nhiu mch in v s iu khin ca
b lc tch cc APF c nghin cu nhm loi b dng bc cao v nng
lng phn khng. Trong , b lc tch cc APF hot ng nh ngun dng,
n khng hp th sng bc cao nh b lc th ng L_C m n kh sng bc
cao ca ti phi tuyn bng cch sinh ra dng bc cao c chiu ngc li. ng
thi b lc tch cc APF cn gp phn iu chnh in p mt chiu DC ca
b bin i ngun p. Do , vic kh nhanh cc thnh phn cn kh l mt
yu cu quan trng trong vic b cng sut phn khng Q v kh sng bc
cao cho li in.
Thng thng vic b cng sut phn khng Q trong li in vi s
tham gia ca b lc c thc hin nh trn hnh H-2.5 di y:
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y, b chnh lu tch cc ca mng chuyn i AC/DC/AC c s
dng iu chnh in p mt chiu DC np cho ng c truyn ng. Ti
phi tuyn sinh ra dng iu ha vi cc sng bc cao. Cn b lc tch cc
APF c dng b cng sut phn khng v loi tr sng bc cao sinh ra
t ti phi tuyn v b chuyn i AC/DC/AC. Nhng vic lm ny yu cu
phi c mt b bin i ph v cc thit b o c dng ti phi tuyn v dng
in cn b. M chi ph cho s ci tin ny l rt ln.
khc phc iu ny, c th nghin cu lm cho b chnh lu tch
cc trong mng chuyn i AC/DC/AC c kh nng va iu chnh in p
mt chiu DC, hiu chnh h s cng sut cos va loi tr c sng bc
cao. Khi th b lc tch cc trn hnh H-2.5 s c thay th bng mt
phn t khc hu dng hn. ng thi, chi ph cho cu hnh mch in lc
ny cng gim xung ti mc c th chp nhn c do tit kim c cc
thit b cng sut c bit gim sng bc cao. y, b chnh lu c kh
nng lm vic ng thi nh mt b lc tch cc trong s iu khin nhm
kh sng bc cao. Do vy, dn ti s ra i ca mt phn t mi : b b
tch phn h s cng sut IPFC.
14
Chng 3
B cng sut phn khng v kh sng bc cao dng IPFC
Nhm gim bt s cng knh cng nh chi ph cao ca cu hnh mch
in m vn p ng c cc chc nng iu khin, b b tch phn h s
cng sut IPFC xut hin vi rt nhiu tin ch. N l s phi hp ca
nhiu tnh nng c bit.
3.1 Cu to mch in :
Cu hnh mch in b cng sut phn khng c s tham gia ca IPFC
c biu din trn hnh H-3.1 di y:
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Trong s mch trn hnh H-3.1 vn dng ti phi tuyn nh trn hnh
H-2.5. Ti phi tuyn (Nonlinear Load) c to thnh bi : cu chnh lu
Diod, t in v in tr. N chnh l ni sinh ra dng iu ha vi cc sng
bc cao. C mt s khc bit r rt gia hai s : hnh H-3.1 c s xut
hin ca phn t mi IPFC. B b tch phn h s cng sut IPFC l s kt
hp ca hai thit b : b chnh lu (Rectifier) v b lc tch cc (APF) mc
song song nhm thc hin ng thi c 2 chc nng : chnh lu in p mt
chiu DC cp cho ng c truyn ng v lc b sng bc cao do ti phi
tuyn sinh ra. Lc ny, dng in t 2 pha a v b : i
S a
, i
S b
c lc b
sng bc cao v in p mt chiu DC sau chnh lu V
dc
c a ti b iu
khin Controller PWM.
3.2 S khi iu khin ca b b tch phn h s cng sut
IPFC :
T khi c s tham gia ca b IPFC, hiu sut ca mng in c
nng cao ng k. N c th hin nh sau :
Hnh H-3.2 nh hng ca b IPFC ti hiu sut thc t ca mng
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hnh H-3.2A dng ring r c b chnh lu v b lc chuyn i
in p t xoay chiu AC sang mt chiu DC, chnh l nguyn nhn lm
cho h s cng sut cos thp.
Hiu sut thc t ca mng = 0,9 x 0,6 = 54%
Cn hnh H-3.2B th b chnh tch phn h s cng sut IPFC c
s dng vi c 2 nhim v : chnh lu in p AC thnh DC v lc b cc
sng bc cao, nn h s cng sut cos c nng ln. Khi :
Hiu sut thc t ca mng = 0,95 x 1,0 x 0,9 = 85,5%
Qua y, ta thy hiu sut thc t ca mng in c nng cao
r rt khi c mt b IPFC. V b chnh tch phn h s cng sut c cu to
mch c bn nh hnh di y :
Hnh H-3.3 S mch c bn ca b b h s cng sut
IC iu khin hiu chnh h s cng sut l b iu khin kiu
PWM. Ngun in nh mc c th t l 120 V hoc 240 V v in c
cp ra l 380 V.
Sau khi tm hiu v cu hnh mch in c s tham gia ca b IPFC,
ta s nghin cu v s iu khin ca n trong mch in.
Di y l s iu khin ca IPFC vi chc nng nhm lc b
sng bc cao :
17
Trong , b chnh lu 3 pha c s dng nh mt b chnh h s
cng sut cos v mt filt lc song song. Trn mt nhnh cu chnh lu c 2
van iu khin mc song song vi 2 diod ngc. Cn mt b chnh lu diod
vi t in v in tr ti c s dng lm ti phi tuyn. , ch c mch
dng in c o to dng in c dng hnh sin v trng pha vi in p
chnh. Trong s ny c s dng 2 mch vng iu khin : mch vng dng
in v mch vng in p. Mch vng in p ngoi vi s tham gia ca
b iu chnh PI gi cho in p mt chiu DC khng i. Cn mch vng
dng in trong vi b iu chnh trt dng in to dng trt. Tn
hiu sau khi tin hnh iu khin trt dng in l cc vector trng thi ca
in p : U
a
, U
b
, U
c
. Cc tn hiu in p ny s c a ti ng ngt cc
van cng sut trong b IPFC.
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Nh vy, s iu khin ny khng ch l mt b chnh lu lm vic
nh mt filt lc song song loi tr sng bc cao m n cng lm vic nh
mt b chnh h s cng sut c c h s cos cao t yu cu. Khi ,
cng sut phn khng v dng bc cao chy ra t ti phi tuyn c y qua
filt lc tch cc.
3.3 Nhim v c bn ca IPFC trong li in :
Khi xem xt v hiu r v s hot ng v s iu khin ca b
b tch phn h s cng sut IPFC trong li in th ta s thy c vai tr
v nhim v ch o ca n. T , ta tin hnh iu khin v s dng phn
t mi ny mt cch hiu qu nht.
Nh ta bit c tnh u vit ca IPFC vi 3 nhim v chnh :
- Chnh nh h s cng sut cos : tin ti cos 1
- iu chnh gi cho in p mt chiu DC khng i
- Lc b sng bc cao t ti phi tuyn
Trong s ca IPFC, c mch b cng sut phn khng Q nng
dn h s cng sut cos , c b iu chnh PI gi cho in p mt chiu
DC khng i v chc nng b lc tch cc lc b sng bc cao. Tm li,
IPFC t c hiu qu : nng cao h s cng sut cos v dp sng
bc cao ca dng in c ci thin kh.
3.4 Phn tch b b h s cng sut IPFC:
nghin cu tm hiu r v b IPFC, trc ht ta phn tch m hnh
mch in ca n.
3.4.1. M hnh mch in:
Khi tin hnh phn tch h thng, ta cn m t h thng mch in di
dng cc phng trnh ton hc, gn chng vo cc h thng ta . T , ta
thc hin vic phn tch h thng nh sau:
19
3.4.1.1 H ta :
cho vic phn tch h thng c n gin, ta coi cc van cng sut
l l tng.
a)in p pha xoay chiu cu chnh lu:
Trn hnh H-3.4, in p pha xoay chiu 3 pha ca b chnh lu c th
c biu din:
V
an
= f
a
V
dc
, V
bn
= f
b
V
dc
, V
cn
= f
c
V
dc
(1)
Vi: f
a
=
2
1 U
a
+
, f
b
=
2
1 U
b
+
, f
c
=
2
1 Uc+
(2)
Trong :
U
a
= 1 nu S1 dn v S4 tc
-1 nu S1 tc v S4 dn
U
b
= 1 nu S2 dn v S5 tc (3)
-1 nu S2 tc v S5 dn
U
c
= 1 nu S3 dn v S6 tc
-1 nu S3 tc v S6 dn
f
a
, f
b
, f
c
: l hm PWM ng m cc van c gi tr 1 khi van dn v
c gi tr 0 khi van tc. Nn ta thy:
Khi van S1 dn th U
a
= 1 th f
a
= 1
Khi van S2 dn th U
b
= 1 th f
b
= 1
Khi van S3 dn th U
c
= 1 th f
c
= 1
V
an
, V
bn
, V
cn
: in p ngun 3 pha a, b, c
V
dc
: in p mt chiu DC sau chnh lu
Nu ta gi thit rng mch 3 pha y khng c dy trung tnh th tng
gi tr tc thi ca dng in v in p bng 0. Do :
i
sa
+ i
sb
+ i
sc
= 0
V
an
+ V
bn
+ V
cn
= 0 (4)
V
aN
+ V
bN
+ V
cN
= 0
Trong :
i
sa
, i
sb
, i
sc
: l dng in ngun 3 pha a, b, c
20
V
aN
= V
m
sin
t
S

V
bN
= V
m
(sin
t
S

-
3
2
)
V
cN
= V
m
(sin
t
S

+
3
2
)
Vi V
m
: l bin ngun in p

S

: l tn s gc ca ngun in p
h (4) : ly phng trnh th 3 tr i phng trnh th 2, ta c :
(V
aN
+ V
bN
+ V
cN
) (V
an
+ V
bn
+ V
cn
) = 0
(V
aN
-V
an
) + (V
bN
-V
bn
) + (V
cN
-V
cn
) = 0
M: V
aN
- V
an
= V
Nn
V
bN
- V
bn
= V
Nn
V
cN
- V
cn
= V
Nn
Nn ta c :
(V
aN
-V
an
) + (V
bN
-V
bn
) + (V
cN
-V
cn
) = 3V
Nn
= 0
Mt khc, ta cng 3 phng trnh ca (1) :
V
an
+ V
bn
+ V
cn
= f
a
V
dc
+ f
b
V
dc
+ f
c
V
dc
= 0
V
an
+ V
bn
+ V
cn
= (f
a
+ f
b
+ f
c
)V
dc
= 0
V
an
+ V
bn
+ V
cn
= (
2
1 U
a
+
+
2
1 U
b
+
+
2
1 U
C
+

)V
dc
= 0
nn ta rt ra c :
2
1 U
a
+
+
2
1 U
b
+
+
2
1 U
C
+
= 0
Vy ta c :
2
1 U
a
+
+
2
1 U
b
+
+
2
1 U
C
+
= 3V
Nn

2
1 U 1 U 1 U
C b a
+ + + + +
= 3V
Nn

2
3 U U U
C b a
+ + +
= 3V
Nn
U
a
+ U
b
+ U
c
+3 = 6V
Nn
Suy ra : V
Nn
=
6
3 U U U
C b a
+ + +
21
Hay: V
nN
= -
6
3 U U U
C b a
+ + +
(6)
T cu hnh mch in hnh H-3.4 in p pha xoay chiu chnh lu
cn c biu din nh sau:
V
aN
= ri
ca
+ L
dt
di
Ca
+V
an
V
aN
= ri
ca
+ L
dt
di
Ca
+ f
a
V
dc
V
aN
= ri
ca
+ L
dt
di
Ca
+ (
2
1 U
a
+
) V
dc
V
aN
= ri
ca
+ L
dt
di
Ca
+ (
2
1
2
U
a
+
) V
dc
V
aN
= ri
ca
+ L
dt
di
Ca
-
6
1
[ (-3U
a
) - 3] V
dc
M U
a
+ U
b
+U
c
+ 3 = 0
Suy ra: U
a
+ U
b
+U
c
= -3
Nn:
V
aN
= ri
ca
+ L
dt
di
Ca
-
6
1
(-3U
a
+ U
a
+ U
b
+ U
c
) V
dc
V
aN
= ri
ca
+ L
dt
di
Ca
-
6
1
(-2U
a
+ U
b
+ U
c
) V
dc

V
bN
= ri
cb
+ L
dt
di
Cb
+V
bn
V
bN
= ri
cb
+ L
dt
di
Cb
+ f
b
V
dc
V
bN
= ri
cb
+ L
dt
di
Cb
+ (
2
1 U
b
+
) V
dc
V
bN
= ri
cb
+ L
dt
di
Cb
+ (
2
1
2
U
b
+
) V
dc
V
bN
= ri
cb
+ L
dt
di
Cb
-
6
1
[ (-3U
b
) - 3] V
dc
M U
a
+ U
b
+U
c
+ 3 = 0
U
a
+ U
b
+U
c
= -3
Nn:
22
V
bN
= ri
cb
+ L
dt
di
Cb
-
6
1
(-3U
b
+ U
a
+ U
b
+ U
c
) V
dc
V
bN
= ri
cb
+ L
dt
di
Cb
-
6
1
(-2U
b
+ U
a
+ U
c
) V
dc

V
cN
= ri
cc
+ L
dt
di
CC
+V
cn
V
cN
= ri
cc
+ L
dt
di
CC
+ f
c
V
dc
V
cN
= ri
cc
+ L
dt
di
CC
+ (
2
1 U
C
+
) V
dc
V
cN
= ri
cc
+ L
dt
di
CC
+ (
2
1
2
U
C
+
) V
dc
V
cN
= ri
cc
+ L
dt
di
CC
-
6
1
[ (-3U
c
) - 3] V
dc
M U
a
+ U
b
+U
c
+ 3 = 0
U
a
+ U
b
+U
c
= -3
Nn:
V
aN
= ri
ca
+ L
dt
di
Ca
-
6
1
(-3U
c
+ U
a
+ U
b
+ U
c
) V
dc
V
cN
= ri
cc
+ L
dt
di
CC
-
6
1
(-2U
c
+ U
b
+ U
a
) V
dc

Vy, phng trnh mch pha xoay chiu chnh lu c biu din nh
di y:
V
aN
= ri
ca
+ L
dt
di
Ca
-
6
1
(-2U
a
+ U
b
+ U
c
) V
dc
V
bN
= ri
cb
+ L
dt
di
Cb
-
6
1
(-2U
b
+ U
a
+ U
c
) V
dc
(7)
V
cN
= ri
cc
+ L
dt
di
CC
-
6
1
(-2U
c
+ U
b
+ U
a
) V
dc
b) Dng pha 1 chiu b chnh lu:
23
Cng t cu hnh mch in hnh H-3.4, ta thc hin tnh ton dng
mt chiu i
dc
sau b chnh lu:
Dng 1 chiu sau b chnh lu c tnh:
i
dc
= C
dt
dV
dC
+i
0
i
0
: dng in i qua in tr ti
Theo lut cn bng nng lng pha dng xoay chiu v dng 1 chiu
ca b chnh lu, ta c:
i
dc
= C
dt
dV
dC
+i
0
=
2
U
a
i
Ca
+
2
U
b
i
Cb
+
2
Uc
i
Cc
(8)
T cc phng trnh (7) v (8) ta xy dng c h phng trnh ca
b chnh lu dng ma trn nh sau:
dt
d
1
1
1
1
1
]
1

dC
CC
Cb
Ca
V
i
i
i
=
1
1
1
1
1
1
1
]
1

0 0 0 0
0
L
r
0 0
0 0
L
r
0
0 0 0
L
r

1
1
1
1
1
]
1

dC
CC
Cb
Ca
V
i
i
i
+
1
1
1
1
1
1
1
1
]
1

C 2
i
C 2
i
C 2
i
L 3
V
L 6
V
L 6
V
L 6
V
L
V
L 6
V
L 6
V
L 6
V
L 3
V
CC Cb Ca
DC DC DC
DC DC DC
DC DC DC

1
1
1
]
1

C
b
a
U
U
U
+
+
1
1
1
1
1
1
1
1
]
1

C
1
0 0 0
0
L
1
0 0
0 0
L
1
0
0 0 0
L
1

1
1
1
1
1
]
1

0
CN
bN
aN
i
V
V
V
(9)
y, nu cho trc hm ng ngt van cng sut U
a
, U
b
, U
c
th bin
trng thi s nhn c theo h phng trnh dng ma trn (9). Nhng (9) c
mt hn ch l phng trnh b phi tuyn, rt kh nhn c trng thi n
nh v tnh cht ng ca phng trnh.
3.4.1.2 Chuyn i Park:
Nh ta xy dng c phng trnh trng thi b chnh lu (9)
trn trong h trc 3 pha nhng li gp phi c tnh phi tuyn ca n. khc
24
phc nhc im ny, ta thc hin php chuyn i Park. Chuyn i Park l
php chuyn i t h trc 3 pha (a-b-c) sang h trc vung gc (-) v
(d-q). Sau , ta a h phng trnh h thng vo h trc mi ny.
Mi quan h gia cc h trc ta (a-b-c), (-), (d-q) c biu din
trn hnh H-3.5 di y:

b d
q
a
c
H-3.5 Hnh biu din mi quan h gia 3 h trc ta
(a-b-c), (-), (d-q)
a) Chuyn i t h trc (a-b-c) sang h trc (-) :

b
- a
c
-
25
H-3.6 Hnh v chuyn i h trc (a-b-c) sang h trc (-)
Mun chuyn i h trc (a-b-c) sang h trc (-), ta chiu tng trc
a, b, c ln mi trc , nh sau :
-Chiu x
a
, x
b
, x
c
ln trc :
x =
3
2
x
a
-
3
2
x
b
cos60
0
-
3
2
x
c
cos60
0
x =
3
2
( x
a
-
2
1
x
b
-
2
1
x
c
)
-Chiu x
a
, x
b
, x
c
ln trc :
x

=
3
2
0.x
a
+
3
2
x
b
cos30
0
-
3
2
x
c
cos30
0
x

=
3
2
( 0.x
a
+
2
3
x
b
-
2
3
x
c
)
Nn ta c phng trnh ma trn chuyn i t h trc (a-b-c) sang h
trc (-) :
1
]
1

x
x
=
3
2

1
1
1
1
]
1


2
3
2
3
0
2
1
2
1
1

1
1
1
]
1

C
b
a
x
x
x
(10)
Trong :
x
a
, x
b
, x
c
: l dng in, in p hoc hm ng ngt trong h trc (a-b-c)
x , x

: l dng in, in p hoc hm ng ngt trong h trc (-)


Ta thc hin chuyn h phng trnh b chnh lu sang h trc
(-) :
i C =

,
_


CC Cb Ca
i
2
1
i
2
1
i
3
2

dt
di
3
1
dt
di
3
1
dt
di
3
2
dt
di
CC Cb Ca C

M t (7) ta c:
aN C
dC
b
dC
a
dC
Ca
Ca
V
L
1
U
L
V
6
1
U
L
V
6
1
U
L
V
3
1
i
L
r
dt
di
+ + +
26
bN C
dC
b
dC
a
dC
Cb
Cb
V
L
1
U
L
V
6
1
U
L
V
U
L
V
6
1
i
L
r
dt
di
+ + +
CN C
dC
b
dC
a
dC
CC
CC
V
L
1
U
L
V
3
1
U
L
V
6
1
U
L
V
6
1
i
L
r
dt
di
+ + +
Suy ra :
C
dC
b
dC
a
dC
CN bN aN CC Cb Ca
C
U
L 3
V
3
1
U
L 3
V
3
1
U
L 3
V
3
2
V
L
1
3
1
V
L
1
3
1
V
L
1
3
2
i
L
r
3
1
i
L
r
3
1
i
L
r
3
2
dt
di
+ +
+ + +
,
_

,
_

,
_


,
_

CN bN
V
3
1
V
3
1
V
3
2
L
1
U
3
1
U
3
1
U
3
2
L 2
V
i
3
1
i
3
1
i
3
2
L
r
dt
di
aN
C b a
dC
CC Cb Ca
C

+
S
dC
C
C
V
L
1
U
L 2
V
i
L
r
dt
di
i C =

,
_

CC Cb
i
2
3
i
2
3
3
2

dt
di
3
3
dt
di
3
3
dt
di
CC Cb C

Suy ra:

,
_

,
_

,
_

CN bN
V
3
3
V
3
3
L
1
U
3
3
U
3
3
L 2
V
i
3
3
i
3
3
L
r
dt
di
C b
dC
CC Cb
C

+
S
dC
C
C
V
L
1
U
L 2
V
i
L
r
dt
di
T (9) ta c :
0 C
CC
b
Cb
a
Ca dC
i
C
1
U
C 2
i
U
C 2
i
U
C 2
i
dt
dV
+ +

0
C
C dC
i
C
1
U
C 2
i
U
C 2
i
dt
dV
+

T h phng trnh b chnh lu c th c vit di dng ma


trn trong h trc (-) nh sau:
27
dt
d
1
1
1
]
1

dC
C
C
V
i
i
=
1
1
1
1
1
1
]
1

0 0 0
0
L
r
0
0 0
L
r
1
1
1
]
1

dC
C
C
V
i
i
+
1
1
1
1
1
1
]
1

C 2
i
C 2
i
L 2
V
0
0
L 2
V
C
C
DC
DC
1
]
1

U
U
+
1
1
1
1
1
1
1
]
1

C
i
L
V
L
V
0
S
S
(11)
b) Chuyn i t h trc (-) sang h trc (d-q):

d
q

s
t

H-3.7 Hnh v chuyn t h trc (-) v h trc (d-q)


Sau khi chuyn t h trc (a-b-c) v h trc (-), ta tip tc thc hin
chuyn i v h trc (d-q) :
Tng t nh trn, ta chiu tng trc , ln mi trc d, q :
-Chiu x

, x

ln trc d :
x
d
= x

cos + x

sin
-Chiu x

, x

ln trc q :
x
q
= - x

sin + x

cos
Vi =
S
t : l gc quay trc n trc d theo chiu ngc chiu kim
ng h.
Nn ta c ma trn chuyn i t h trc (-) sang h trc (d-q) :
1
]
1

q
d
x
x
=
1
]
1



cos sin
sin cos
1
]
1

x
x
(12)
Trong :
28
x
d
, x
q
: c th l dng in, in p hoc hm ng ngt van cng sut
trong h trc (d-q).
Ta thc hin chuyn h phng trnh b chnh lu sang h trc d-q:
i
cd
= cos.i
C
+ sin.i
C

dt
di
sin i . cos
dt
di
cos i . sin
dt
di
C
C
C
C S
Cd
S

+ + +
M t (11) ta rt ra c :
L
V
U
L 2
V
i
L
r
dt
di
S dC
C
C

+
L
V
U
L 2
V
i
L
r
dt
di
S
dC
C
C

+
nn ta c :

,
_

+ + +

,
_

+ +


L
V
U
L 2
V
i
L
r
sin i . cos
L
V
U
L 2
V
i
L
r
cos i . sin
dt
di
S
dC
C C S
S dC
C C S
Cd

+ +
+


sin
L
V
U . sin
L 2
V
i . sin
L
r
i . cos
cos
L
V
U . cos
L 2
V
i . cos
L
r
i . sin
dt
di
S
dC
C C S
S dC
C C S
Cd

( ) ( )
( ) ( )


+ + +
+ + +
S S
dC
C C S C C
Cd
V . sin V . cos
L
1
U . sin U . cos
L 2
V
i . cos i . sin i . sin i . cos
L
r
dt
di

Sd d
dC
Cq S Cd
Cd
V
L
1
U
L 2
V
i i
L
r
dt
di
+ +
i
cq
= -sin.i
C
+ cos.i
C

dt
di
cos i . sin
dt
di
sin i . cos
dt
di
C
C
C
C S
Cq
S

+
nn ta c :
29

,
_

+ +

,
_


L
V
U
L 2
V
i
L
r
cos i . sin
L
V
U
L 2
V
i
L
r
sin i . cos
dt
di
S
dC
C C S
S dC
C C S
Cq

+ +
+


sin
L
V
U . sin
L 2
V
i . sin
L
r
i . cos
cos
L
V
U . cos
L 2
V
i . cos
L
r
i . sin
dt
di
S
dC
C C S
S dC
C C S
Cq

+
+ +


cos
L
V
U . cos
L 2
V
i . cos
L
r
i . sin
sin
L
V
U . sin
L 2
V
i . sin
L
r
i . cos
dt
di
S
dC
C C S
S dC
C C S
Cq

( ) ( )
( ) ( )


+ + +
+ +
S S
dC
C C C C S
Cq
V . cos V . sin
L
1
U . cos U . sin
L 2
V
i . cos i . sin
L
r
i . sin i . cos
dt
di

Sq q
dC
Cd S Cq
Cq
V
L
1
U
L 2
V
i i
L
r
dt
di
+
Nh trn ta c :
0
C
C dC
i
C
1
U
C 2
i
U
C 2
i
dt
dV
+

0 q
Cq
d
Cd dC
i
C
1
U
C 2
i
U
C 2
i
dt
dV
+
T , h phng trnh b chnh lu c th vit di dng ma trn
trong h trc (d-q) :
1
1
1
1
1
1
1
]
1

+
1
]
1

1
1
1
1
1
1
]
1

+
1
1
1
]
1

1
1
1
1
1
1
]
1

1
1
1
]
1

C
i
L
V
L
V
U
U
C 2
i
C 2
i
L 2
V
0
0
L 2
V
V
i
i
0 0 0
0
L
r
0
L
r
V
i
i
dt
d
0
Sq
Sd
q
d
Cq
Cd
DC
DC
dC
Cq
Cd
S
S
dC
Cq
Cd
(13)
Trong :
U
d
, U
q
: l hm ng ngt h trc (d-q)
V
Sd
, V
Sq
: l ngun in p h trc (d-q) khng i theo thi gian
30
Nh vy, ta c h phng trnh ca b chnh lu t h trc 3 pha
(a-b-c) v h trc vung gc (-) v (d-q), khc phc c nhc im phi
tuyn trc .
V nh trn, ta hiu v b b tch phn h s cng sut IPFC l s
phi hp gia 1 b chnhlu v 1 b lc tch cc. Ti y, ta s i su nghin
cu v nhng c tnh cng nh cc mch vng iu khin ca b IPFC.
B b tch phn h s cng sut IPFC c thit k vi nhng c tnh
sau :
- Dng bc cao b loi tr
- H s cng sut cos = 1
- Cng sut chy 2 pha
- C th iu chnh in p mt chiu DC n nh
3.4.2 Nguyn l hot ng ca IPFC :
B b tch phn h s cng sut IPFC khng ch kh sng bc cao do
ti phi tuyn sinh ra m n cn ci thin cng sut tc dng cho mch mt
chiu DC.
Ta c th biu din dng ti phi tuyn v dng kh ca pha a nh
sau:
i
La
(t) =
( )

+
1 n
n , L S n , L
t n sin I
=
( )

+ + +
2 n
n , L S n , L S 1 , L 1 , L S 1 , L 1 , L
t n sin I t cos sin I t sin cos I
=
( ) ( ) ( ) t i t i t i
h , La q , La P , La
+ +
i
Ca
(t) =
( )

+
1 n
n , C S n , C
t n sin I
(14)
=
( )

+ + +
2 n
n , C S n , C S 1 , C 1 , C S 1 , C 1 , C
t n sin I t cos sin I t sin cos I
=
( ) ( ) ( ) t i t i t i
h , Ca q , Ca P , Ca
+ +
Trong :

S
: l tn s gc ca sng c bn
31
I
L,n
: l bin sng bc th n ca dng bc cao

L,n
: l gc lch pha ca sng bc th n ca dng bc cao
i
L,p
(t) : l thnh phn dng tc dng ca dng bin dng
i
L,q
(t) : l thnh phn dng phn khng ca dng bin dng
i
L,h
(t) : l thnh phn sng bc cao ca dng bin dng
V khi h thng t c h s cng sut cos = 1 v dng bc cao
b kh th dng in s ch cp cng sut tc dng cho b chnh lu v ti
phi tuyn.
Lc ny, dng in ngun pha a c th c vit:
( ) ( ) t sin I t I
S
*
S
*
Sa

=
( ) ( ) t sin cos I t sin cos I
S 1 , C 1 , C S 1 , L 1 , L
+
= ( 1 , C 1 , C 1 , L 1 , L
cos I cos I +
).
( ) t sin
S

(15)
Do , thnh phn dng bc cao gia ti phi tuyn v b lc tch cc
c mi quan h nh sau:
( ) ( )

+ + +
2 n
n , L S n , L S 1 , L 1 , L
2 n
n , C S n , C S 1 , C 1 , C
t n sin I t cos sin I t n sin I t cos sin I
(16)
y, c mt li hnh sin c bin bng 1 trng pha vi li in
p chnh c cp t mch iu khin pha. Mt cm bin dng mt chiu DC
ca b chnh lu vi gi tr chun c to ra t b iu chnh PI. Nn u ra
ca b iu chnh in p ny l bin so snh (chun) ca ngun dng
in. Khi , gi tr dng in li so snh nhn c bng tch ca sng hnh
sin n v v in p ra ca b iu chnh dng in. V bng cch ny, b
chnh lu cp dng tc dng cho ti mt chiu DC v bm dng bc cao c
chiu ngc vi sng bc cao ca ti phi tuyn. Ngun dng so snh v
ngun dng cm bin c iu ch trong b iu chnh dng in nhn
c tn hiu iu khin cho cc van cng sut ca b lc tch cc.
Ta thy rng, khi ti phi tuyn thay i th cng sut thc gia ti v
li chnh s khng cn c duy tr. M cng sut thc ca li chnh c
iu chnh bng cch iu chnh dng iu khin np hoc phng khu
32
mt chiu DC phi hp vi ti thc ca ti phi tuyn. Do , nu khng c
ti phi tuyn ni gia li v b chnh lu th dng in li s bng vi
dng chnh lu nh sau:
i
Ca
(t) = i
Sa
(t) = I
S
sin(
S
t)
, dng in li cng trng pha vi in p li v c bin
dng nh.
3.4.3 L thuyt iu khin trt:
C th ni mt cch tng qut v l thuyt iu khin trt l : cn to
ra mt mt phng ng ngt (switching surface). Sau , cc tn hiu cn iu
khin c trt trn mt phng vi cc iu kin rng buc nht nh.
Da trn l thuyt trt , ngi ta tin hnh thit k b iu khin
dng cc phng php khc nhau:
a) Thit k b iu khin dng l thuyt trt bng cng thc
Lyapunov:
Dng l thuyt trt theo cng thc Lyapunov cng c s dng
thit k b iu khin c nhiu u vo. Phng php ny cho php to
nn mt mt phng trt m bo gn n nh trong khng gian trng thi.
Khi h thng s c c dng in u vo cao phn phi ton b nng
lng cho cc b chuyn i mc song song nhau. Cu hnh ny rt ng tin
cy v cho php b chuyn i i c thit k linh hot hn.
Tuy nhin, b chuyn mch y li lm cho dng in u vo c
thnh phn sng bc cao cn phi kh bng cch dng b lc. V sng bc
cao lm gim cht lng in p u vo v gy ra nhiu lon cho cc thit b
kt ni vi h thng. Vic dng b lc u vo kh sng bc cao ca dng
in dn nhng n cng l l do gy dao ng v lm cho vic thit k mch
vng iu khin b kh khn v h s tt dn thp.
b)Thit k b iu khin dng l thuyt trt bng phng php
Ackermann:
33
y, bc u tin trong vic thit k b iu khin l to nn mt
mt phng ng ngt. M mt phng ny c quan st theo chiu ngang
cng cc iu kin tn ti ca n. Trong trng hp mt phng tuyn tnh
thng thng th gi tr cc h s ca mt phng c chn bi qu trnh m
phng. Vic thit k dng phng php Ackermann c phng theo b
chuyn i DC/DC in hnh, cng vi gii hn tch phn ca sai s in p
u ra v gii hn khng i.
L thuyt trt c dng y nh mt phng php thch hp cung
cp cho h thng mt s c tnh tt: s phn hi tc thi nhanh, khng c
mt sai s trng thi trong in p u ra, s phn hi in p u ra mnh
trong mi tng quan vi in p u vo v s nhiu lon ca ti. Qua kt
qu m phng v thc nghim thy c phng php ny m bo s phn
hi ng rt n nh.
c)Thit k b iu khin dng l thuyt trt cho b chuyn i
AC/DC mt pha :
y, b iu khin c thit k m bo cho cos 1, dng in
u vo c hm lng sng bc cao thp, in p u ra c s phn hi ng
nhanh, s bin thin ca ti mnh. cos 1 th dng in u vo phi c
dng hnh sin trng pha vi in p u vo v bin ca n c iu
chnh bi b iu khin in p u ra.
B iu khin c thit k da trn l thuyt trt cn m bo 3 vn
: dng dng in, iu khin h s cng sut cos , in p mt chiu u
ra. Mun vy, cn xy dng 2 mch vng iu khin: mch vng dng in
pha trong dng iu khin kiu PWM v mch vng in p pha ngoi dng
b iu chnh PI. Thng thng, b iu khin PI lm vic da trn sai s
gia in p thc t v in p chun cho trc ta ra bin dng in
chun. Tuy nhin, phng php iu khin tuyn tnh s dng b iu chnh
PI iu khin iu khin in p u ra v b iu khin PWM mch
vng dng in pha trong phi thay i chm ch s iu bin m bo s
cn bng. iu khin dng in u vo, phng php iu bin trc tuyn
34
cn c a vo tnh ton trong trng thi thi gian thc ca in p. Hn
na, t khi b iu khin c thit k theo l thuyt trt to ra dng
in u vo th c c : cos 1, dng in u vo gn dng hnh sin
thm ch dng in cm mt chiu c s nhp nh cao. Do , b chuyn i
AC/DC khng i hi phn in cm mt chiu c t cm cao v gim
c trng lng, kch thc, gi thnh ca b chuyn i.
Nh vy, l thuyt trt l mt cng c iu khin mnh cho h thng,
nn n c s dng rng ri trong cng nghip ng dng nh: truyn ng
in mt chiu, cung cp ngun AC/DC cho thit b pht thanh truyn hnh ...
V trong bi lun vn ny, s dng l thuyt trt thit k b iu khin
chuyn i AC/DC mt pha ny nng cao h s cng sut cos cho
li in.
Trong s iu khin tng qut ca b tch phn h s cng sut
IPFC c 2 mch vng iu khin to thnh mt h thng kn. Vic iu chnh
ng hc nhanh dng in c tin hnh vng trong, cn vng ngoi
iu chnh ng hc chm in p. vng trong thc hin iu khin trt
dng in vi tn s trt (tc tn s ng m) thay i di theo dng iu
khin chun. vng ngoi s dng b iu chnh in p PI to ngun
dng so snh chun v thc hin iu chnh cho in p mt chiu DC
khng i.
Sau y, ta s i su nghin cu tng mch vng iu khin :
3.4.4 iu khin trt mch vng dng in:
Da theo l thuyt iu khin trt trn ta s tin hnh lp mch
vng iu khin dng in nh sau:
a)
Sd d
dC
Cq S Cd
Cd
V
L
1
U
L 2
V
i i
L
r
dt
di
+ +
M ta c :
i
S
(t) = i
C
(t) + i
L
(t)
i
C
(t) = i
S
(t) - i
L
(t)
35
Nn :
L
V
U
L 2
V
i i
L
r
i
L
r
dt
di
dt
di
Sd
d
dC
Cq S Ld Sd
Ld Sd
+ + +

L
V
U
L 2
V
i i
L
r
i
L
r
dt
di
dt
di
Sd
d
dC
Cq S Ld Sd
Ld Sd
+ + +
b)
Sq q
dC
Cd S Cq
Cq
V
L
1
U
L 2
V
i i
L
r
dt
di
+

L
V
U
L 2
V
i i
L
r
i
L
r
dt
di
dt
di
Sq
q
dC
Cd S Lq Sq
Lq Sq
+ +

L
V
U
L 2
V
i i
L
r
i
L
r
dt
di
dt
di
Sq
q
dC
Cd S Lq Sq
Lq Sq
+ +
Vy, phng trnh trng thi ca b b tch phn h s cng sut IPFC
c th c biu din nh di y :
L
V
U
L 2
V
i i
L
r
i
L
r
dt
di
dt
di
Sd
d
dC
Cq S Ld Sd
Ld Sd
+ + +
(17)
L
V
U
L 2
V
i i
L
r
i
L
r
dt
di
dt
di
Sq
q
dC
Cd S Lq Sq
Lq Sq
+ + (18)
M b bin i cng sut thng c :

S
.i
Cd
,
S
.i
Cq

2
V
dC
, V
Sd
, V
Sq
v r rt nh
Nn (17), (18) cn c th c vit nh sau:
L
V
U
L 2
V
dt
di
dt
di
Sd
d
dC Ld Sd
+
(19)
L
V
U
L 2
V
dt
di
dt
di
Sq
q
dC
Lq Sq
+
T y ta tin hnh iu khin trt dng in:
theo di nhanh dng in dy, ta nh ngha hm mt trt nh sau:

'



'
Sq
*
Sq q
Sd
*
Sd d
i i S
i i S
(20)
Trong :
i
*
Sd
: l dng in ngun trc d ca h trc ng b, i lng ny l
tn hiu ra ca b iu chnh in p PI
36
i
*
Sq
: l dng in ngun trc q ca h trc ng b, i lng ny
c xc nh bi h s cng sut ngun
Ta thc hin tnh o hm ca hm mt trt:

'



'
Sq
*
Sq
'
q
'
Sd
*
Sd
'
d
i i S
i i S
T (19) ta thay i

Sd
, i

Sq
vo:

'

+
+
Sq q
dC '
Lq
*
Sq
'
q
Sd d
dC '
Ld
*
Sd
'
d
V
L
1
U
L 2
V
i i S
V
L
1
U
L 2
V
i i S
(21)
C th biu din hm mt trt h trc (-):

'





S
*
S
S
*
S
i i S
i i S
(22)
V o hm hm mt trt h trc (-):

'





'
S
*
S
'
'
S
*
S
'
i i S
i i S
Tng t nh vy, h trc (d-q) ta cng c:

'

+
+


S
dC '
L
*
S
'
S
dC '
L
*
S
'
V
L
1
U
L 2
V
i i S
V
L
1
U
L 2
V
i i S
(23)
Trong trng hp cc bin trng thi khng b a phng ha trn mt
phng trt, ta c th iu chnh tn hiu iu khin U

, U

tha mn s
tip cn iu khin ca ch hot ng. S iu chnh nh sau:

'

+
+


0 ) V
L
1
U
L 2
V
i i ( S S S
0 ) V
L
1
U
L 2
V
i i ( S S S
S
dC '
L
*
S
'
S
dC '
L
*
S
'
(24)
tha mn yu cu ca s tip cn iu khin , tn hiu iu khin
U

, U

c dng nh sau:
( )
( )

'





S sign K U
S sign K U
(25)
37
Trong :

'





dC
S
'
L
*
S
dC
S
'
L
*
S
V
L 2
V
L
1
i i K
V
L 2
V
L
1
i i K
(26)
Trong h thng iu khin trt, khi tn s trt thay i th thng s
mch cn tha mn biu thc sau:

'

+
+


1
V
L 2
) V
L
1
U
L 2
V
i i ( 1
1
V
L 2
) V
L
1
U
L 2
V
i i ( 1
dC
S
dC '
L
*
S
dC
S
dC '
L
*
S
(27)
Khi tn hiu iu khin trn tha mn c (26) th qu o trng thi
s hng theo mt trt. Ngi ta s dng b so snh dng 3 mc nng
cao cht lng tn hiu iu khin U

, U

. y, ph thuc vo hm ng
ngt cc van cng sut th vector in p tc dng chnh lu c 8 v tr trong
h trc (-) c biu din trn hnh H-3.8 v bng B-3.1 di y :
Hnh H-3.8 Vect in p ca b chnh lu tch cc
38
B-3.1 Bng biu din mi lin h ca vector in p pha xoay chiu ca b
chnh lu tch cc h trc khng quay
Trng thi U
a
U
b
U
C V
n
V
n
0 1 1 1 0 0
1 1 -1 -1
3
V 2
dC
0
2 1 1 -1
3
V
dC
3
V
dC
3 -1 1 -1
3
V
dC

3
V
dC
4 -1 1 1
3
V 2
dC

0
5 -1 -1 1
3
V
dC

3
V
dC

6 1 -1 1
3
V
dC
3
V
dC

7 -1 -1 -1 0 0
T s phn tch cc trng thi ng m cc van chnh lu cho bng
B-3.1, ta c c nhng nh gi sau:
- Vector in p s 1, 2 v 6 c s dng gim dng i
S
- Vector in p s 2, 3 c s dng gim dng i
S
- Vector in p s 3, 4 v 5 c s dng tng dng i
S
- Vector in p s 5, 6 c s dng tng dng i
S
Trong b iu chnh ny, thut gii iu khin c thc hin:
- Vector in p s 5 c chn khi c dng i
S
v i
S
u nh hn i
lng so snh ca chng
- Vector in p s 3 c chn khi : i
S
< i
*
S
v i
S
< i
*
S
39
Gia b so snh dng 3 mc v vector in p c mi quan h c
biu din bng B-3.2 di y:
Bng B-3.2 Kt qu ca b so snh 3 bc v vic la chn vector
in p tng ng
U

U
a
, U
b
, U
c
U

-1 0 -1
-1 1, 1, -1
1, 1, -1
hoc
-1, 1, -1
-1, 1, -1
0 1, -1, -1
-1, -1, -1
hoc
1, 1, 1
-1, 1, 1
-1 1, -1, 1
-1, -1, 1
hoc
1, -1, 1
-1, -1, 1
Trong :
-Gi tr 1 l khi cc pha ni vi cc (+) ca ngun in p
chnh lu
-Gi tr -1 l khi cc pha ni vi cc (-) ca ngun in p
chnh lu
Vy, ta thy: khi c 3 pha cng ni vo cc (+) hoc cng ni vo cc
(-) th in p pha xoay chiu chnh lu bng 0.
T nhng phn tch trn, ta xy dng c mch vng iu khin
dng in ca b b tch phn h s cng sut IPFC nh hnh H-3.9 di
y:
40
Hnh H-3.9 Mch vng iu khin dng in ca b kh tch phn
h s cng sut
Vi mch vng iu khin ny, ngun dng in s c iu chnh
trt theo dng iu khin cho trc, ng thi h s cng sut cos c
nng ln v gim c sng bc cao.
3.4.5 iu khin PI mch vng in p:
ci thin p ng ng v loi b sai s trng thi ng ca in
p thanh ci dng mt chiu DC, ta t b iu chnh PI mch vng in p.
Qua b iu chnh PI ny, ta xc nh c tn hiu dng so snh (chun) i
*
Sd
.
ng thi nhn c h s cng sut li cos = 1 th dng iu khin
i
*
Sq
= 0. Mc ch iu khin mch vng in p ny l n c c tnh ng
chm hn so vi c tnh ng trong mch vng dng in. Do , ta c th
gi thit rng: mch vng iu khin dng in trng thi n nh c :
i
Sd
= i
*
Sd
i
Sq
= i
*
Sq
v mch vng iu khin in p c xy dng da trn c s ny.
41
T phng trnh ng ca dng in, ta c th nhn c tn hiu iu
khin nh sau:
dC
Sd
d
Sd d dC
Sd d
dC
Sd d
dC
V
V
2 U
V 2 U V
V
L
1
U
L 2
V
0 V
L
1
U
L 2
V




dC
Sq
q
Sq q dC
Sq q
dC
Sq q
dC
V
V
2 U
V 2 U V
V
L
1
U
L 2
V
0 V
L
1
U
L 2
V




Lc ny, phng trnh in p trn t in c xc nh:
0 Cq
q
Cd
d dC
i i
2
U
i
2
U
dt
dV
C + (28)
V ta xy dng c mch vng iu khin in p nh trn hnh
H-3.10 di y:
42
Hnh H-3.10 Mch vng iu chnh in p ca b kh tch phn
h s cng sut
Trong :
R
L
: l in tr tng ng ca mch in pha ti mt chiu DC
in p mt chiu DC c iu chnh qua b iu chnh PI c biu
din nh sau:
( ) ( ) ( )
( ) S i
C 2
U
k S
C R 2
2 R U
k S
S
C 2
U
S i
C 2
U
k S
C R 2
2 R U
k S
S
C 2
U
S V
C 2
U
k S
C R 2
2 R U
k S
C 2
U
k S
C 2
U
k
S V
Lq
d
i
L
L d
P
2
q
Ld
d
i
L
L d
P
2
d
*
dC
d
i
L
L d
P
2
d
i
d
C
dC
+
+
+

+
+
+

+
+
+
+

(29)
Thng s ca b iu chnh PI :

'

d
2
n
i
L d
n L
P
U
C 2
k
R U
2 C R 4
k
(30)
Trong :

: L h s dp dao ng ca in p

n

: L tn s gc ca in p
T (29) ta thy rng : s thay i ti tc thi s tc ng ln in p
mt chiu V
dc
ca t in. Khi in p li hoc ti thay i th cng sut
thc gia ti v li s khng cn tng ng. Cng sut thc ca li c
th c iu chnh p ng c s thay i cng sut thc t ca ti. V
trong trng thi n nh, in p mt chiu DC ph thuc vo ti phi tuyn.
T y, ta c c s tng th ca h thng m phng trn hnh
H-3.11 di y:
43
44
Chng 4 :
M phng h thng
Sau khi a h thng v di dng cc phng trnh ton hc, ta s
tin hnh m phng n trn phn mm m phng chuyn dng Matlab thu
c cc c tnh lm sng t nhng vn nu trn. Nhng trc ht,
ta cn hiu r v tnh nng cng nh mc ch s dng ca ngn ng m
phng m ta p dng.
4.1 Gii thiu phn mm m phng Matlab :
Matlab (Maxtric Laboratory) l mt cng c phn mm ca MathWork
vi giao din cc mnh cng nhng li th trong k thut lp trnh, p ng
c nhng vn ht sc a dng : t cc lnh vc k thut chuyn ngnh
nh in, in t, iu khin t ng, Rbt cng nghip, vt l ht nhn ...
cho n cc ngnh x l ton chuyn dng nh thng k, k ton ... gii
quyt c nhng vn ni trn mt cch n gin, trc quan m khng i
hi ngi s dng phi l nhng lp trnh vin chuyn nghip.
Matlab cng b lnh rt mnh ca n cho php gii quyt cc loi bi
ton khc nhau, c bit l cc h phng trnh tuyn tnh, phi tuyn hay cc
bi ton ma trn vi kt qu nhanh chng v chnh xc. B lnh ny ln ti
hng trm v ngy cng c m rng thng qua cc hm ng dng c lp
bi ngi s dng hay thng qua th vin tr gip. Bn cnh , Matlab cho
php x l d liu, biu din ha mt cch mm do, n gin v chnh
xc trong khng gian 2 chiu cng nh 3 chiu, gip ngi s dng c th
quan st kt qu mt cch trc quan v a ra gii php tt nht. c tch
hp cng vi mt s ngn ng lp trnh thng dng khc nh : C, C
+ +
,
Fortran, Java ... , do nhng ng dng ca Malab c th c chuyn i
mt cch d dng, mm do sang nhng ngn ng .
45
Matlab c tch hp sn mt h cc li gii cho cc ng dng chuyn
dng v c gi l cc Toolbox. chnh l th vin cho cc hm h tr
Matlab gii quyt cc cm cng vic trong cc lnh vc chuyn mn khc
nhau. Cc sn phm ca Matlab cung cp cho ngi s dng cc cng c
mnh, lin kt rng, hiu qu cao v thng nht kho st, phn tch, thit
k... Matlab tha mn c cc yu cu then cht ca mt h thng tnh
ton k thut, bao gm :
- Kh nng tnh ton mnh (c th lm ton bnh thng trn my tnh)
- Cho php lp trnh trn ngn ng bc cao da trn nn tng l cc php
ton vi vector, mng, ma trn
- C kh nng hin th v x l ha mnh (k c trong khng gian
3 chiu)
- C mt th vin ln cc Toolbox ng dng vi cc li gii y cho
cc lnh vc chuyn mn khc nhau (nh nhn dng, iu khin ti u, mng
nron...)
- Cha SIMULINK l mt mi trng mnh m phng cc h thng
ng hc phi tuyn v tuyn tnh
- C kin trc m, ng h vic xy dng thm cc mdul tnh ton k
thut theo chun cng nghip
- C kh nng tng tc a mi trng, d dng lin kt ng vi cc
phn mm chuyn nghip khc nh : cc phn mm x l nh ng, phn
mm m phng kh ng hc, m phng trong c hc...
Simulink l mt th vin quan trng trong phn mm m phng ng
hc cc h thng tuyn tnh v phi tuyn ca Matlab. c im ni bt nht
ca ngn ng Simulink l lp trnh dng s cu trc ca h thng. Ngha
l, m phng ng hc mt h thng c m t ton dng phng trnh
vi phn, phng trng thi, hm truyn t hoc s cu trc th ta cn
xy dng trong Simulink di dng s bao gm cc khi c bn khc
nhau, ni vi nhau theo cu trc ca h thng cn kho st. Vi cch lp trnh
nh vy ngi nghin cu h thng s thy trc quan v d hiu. Simulik cho
46
php ngi s dng va bit cc tnh cht ng hc ca h thng, va bit
cc c im cu trc v tham s ca n. Simulink cn cho php phn tch
c nh hng ca s thay i cu trc hoc tham s h thng ln cc tnh
cht ng hc ca h thng .
Mt c im na ca Simulink l : khi tin hnh m phng, mi
trng Simulink thc hin vic gii h cc phng trnh vi phn m t ng
hc h thng bng cc phng php nh le, Runge-Kutta, Linsim... Vic
la chn bc tnh cho ph hp c mi trng la chn mt cch t ng
trong khong cc gi tr Min v Max do ngi s dng khai bo. T trong
mi trng Simulink c th tn dng c cc kh nng tnh ton, phn tch
d liu, ha 2D, 3D ca Matlab v s dng cc kh nng ca cc Toolbox
khc nhau nh : Toolbox x l tn hiu s, logic m, iu khin m, mng
nron, nhn dng... Simulink kt hp vi cc Toolbox khc to thnh cng c
rt mnh kho st ng hc cc h thngs phng trnh tuyn tnh v phi
tuyn trong mt mi trng thng nht l Matlab.
Mi trng lp trnh Simulink c kin trc t cc khi chun trong
cc th vin ca mi trng ny. Cc th vin ca Simulink bao gm cc
khi chun nh sau :
- Th vin cc khi Sources : gm cc khi to ngun tn hiu khc nhau
- Th vin cc khi Sinks : gm cc khi dng hin th hoc ghi li
kt qu m phng u ra mt khi trong h thng c kho st.
- Th vin cc khi Discrete : gm cc khi c bn ca h thng ri rc ,
cc khi tnh ton trong min thi gian ri rc.
- Th vin cc khi Continuous : gm cc khi ca h lin tc theo thi
gian
- Th vin cc khi Math : gm cc khi to hm ton hc
- Th vin cc khi Connections : gm cc khi dn knh, phn knh,
khi to chng trnh con...
- Th vin cc khi Extras
47
Vi hng lot cc u im ni trn, Matlab , ang v s c s
dng rng ri trn nhiu lnh vc cng nh nhiu nc trn ton th gii.
4.2 M phng h thng trn Matlab :
Sau khi tm hiu v phn mm chuyn dng Matlab, ta cn s dng
n mt cch linh hot v hp l tin hnh m phng h thng.
Nn tng phn t ca h thng c m phng trn Matlab di dng
cc chng trnh con di y :
48
49
b)M hnh chuyn i h trc t (S
d
S
q
) sang (S

) :
Thc hin php chuyn i h trc (d-q) sang (-):
T (12) ta c :

'

+
+


cos x sin x x
sin x cos x x
q
d
Suy ra :

cos
sin x x
x
d
v

cos
sin x x
x
q
- Th x

vo x

:
Nn :

sin x cos x
cos
sin x sin x cos x
cos
sin
cos
sin x x
x
cos
sin x x
x
q d
2
2
q d
q
d
d
- Th x

vo x

:
Nn :
+

sin x cos x
cos
sin x sin x cos x
cos
sin
cos
sin x x
x
cos
sin x x
x
d q
2
2
d q
d
q
q

'

sin x cos x x
sin x cos x x
d q
q d
50
51
c)M hnh sng bc cao :
) t 5 sin( I ) t 3 sin( I ) t sin( I i
5 3 1 La
+ +
)
3
2
t 5 sin( I )
3
2
t 3 sin( I )
3
2
t sin( I i
5 3 1 Lb

+


)
3
2
t 5 sin( I )
3
2
t 3 sin( I )
3
2
t sin( I i
5 3 1 LC

+ +

+ +

+
Hnh H-4.3 M hnh sng bc cao
T , ta tin hnh lp ghp cc phn t hon chnh h thng trn
Matlab :
52
53
54
4.3 Cc kt qu thu c sau m phng :
Trong qu trnh m phng, cc thng s ca mch in c chn nh
sau :
- Cun cm L = 5 (mH)
- T in C = 2200 (F)
- in p li U = 220 (V)
- Tn s ngun f = 60 (Hz)
- in p mt chiu b chnh lu V
dc
= 400 (V)
Vy, t qu trnh m phng trn ta thu c cc c tnh sau :
55
a)Dng ti phi tuyn cha sng bc cao :
y l dng dng in t ti phi tuyn m ta a vo tin hnh m
phng. y c cha cc sng hi bc cao nn dng in b bin dng.
56
b) Dng in thu c khi sng bc cao b lc b:
y l dng dng in m ta thu c khi loi b c cc sng hi
bc cao. Lc ny, b bin i lm vic va nh mt phn t hiu chnh h s
cng sut cos, va nh mt b lc tch cc loi tr sng bc cao. Nn dng
in y c c s bin dng rt nh v tin gn ti dng hnh sin.
57
c) in p mt chiu c iu chnh:
Nh s dng mch vng iu chnh in p, qua b iu khin kiu PI
th in p mt chiu V
dc
c iu chnh n nh.
58
Kt lun
Sau 3 thng tm hiu v nghin cu, em hon thnh bi lun vn vi
tiu : B h s cng sut bng phng php iu khin trt.
Qua y, em c thm c nhiu kin thc v cng b ch : l
vai tr ca h s cng sut cos trong vic ci thin cht lng li in
cng cc bin php nng cao h s cng sut b lng cng sut phn
khng b mt mt trn ng dy. Do , ci thin cht lng in ta
dng cc b lc san phng dng in sau chnh lu. T , ta s thy
c u im ca b lc tch cc so vi b lc th ng cng nh vic phi
hp chc nng ca n vi b chnh lu to ra mt phn t mi : b chnh
tch phn h s cng sut IPFC. S iu khin ca b IPFC c xy
dng vi 2 mch vng : mch vng iu chnh in p ngoi nhm gi cho
in p mt chiu khng i dng b iu khin PI v mch vng iu chnh
dng in ngoi dng phng php iu khin trt. y, b b tch phn
h s cng sut c thit k trn c s iu khin trt dng in loi tr
cc sng hi bc cao v nng cao h s cng sut cos. Cui cng, nh s
dng phn mm chuyn dng Matlab ta s thu c cc dng c tnh sau m
59
phng : dng in c iu chnh c dng gn hnh sin vi bin dng
nh v h s cos 1.
V vy, t vic m phng h thng v quan st cc c tnh thu c,
ta thy n hon ton ng vi nhng xut m ta nu phn u ca
lun vn : dng in c lc b cc sng hi bc cao c dng hnh sin v
h s cng sut cos c nng cao ng k nh s dng phng php iu
khin trt dng in.
Nh vy, bi lun vn ca em c hon thnh nh s tn tm gip
ca cc thy gio trong khoa in-in t tu bin, m c bit l thy
gio hng dn PGS-TSKH Thn Ngc Hon cng s n lc ca bn thn.
Em xin chn thnh cm n tt c nhng s hng dn, gip ca cc thy.
Nhng do kinh nghim v nng lc bn thn cng thi gian thc hin cn
hn ch, nn bi lun vn ca em khng trnh khi nhng thiu st v khim
khuyt. V vy, em rt mong nhn c s ch bo v gp ca cc thy
bi lun vn ca em c hon thin hn v gip em c thm nhiu kin thc
trn bc ng cng tc sau ny.
60
Ti liu tham kho
1.Integrated Power Quality Compenstator Based on Sliding Mode
Controller.
Bor-Ren Lin, Shuh-Chun Tsay and Mu-Shan Liao Department of Electrical
Engineering, National Yunlin University of Science and Technology Touliu
City, Yunlin 640, Taiwan, ROC.
2. Controll strategy of active power filter using multiple votage-source PWM
converters.
IEEE Transactions on Industry Application, 1986
3. Application issues of active power filters.
IEEE Industry Application magazine, 1998
4. Power source with programmable harmonic contents.
European Power Electronics and Applications, EPE97, 1997
5. PWM rectifier and active filter with sliding-mode control.
European Power Electronics and Applications, EPE97, 1997
61
6. H thng cung cp in ca x nghip cng nghip th v nh cao
tng.
Tc gi : Nguyn Cng Hin-Nguyn Mnh Hoch
Nh xut bn khoa hc v k thut
7. in t cng sut.
Tc gi : Nguyn Bnh
8. Phn tch v tng hp cc h thng iu khin bng my tnh .
Tc gi : Nguyn Cng nh
Nh xut bn khoa hc v k thut
62

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