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Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp

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Mc Lc
1. M hnh ng c khng ng b xoay chiu ba pha (CKB).................... 2
1.1. H phng trnh ca CKDB ..................................................................... 2
a. Trn h ta o[ ....................................................................................... 2
b. Trn h ta Jq........................................................................................ 3
1.2. M hnh trng thi lin tc ca CKB ..................................................... 4
a. Trn h ta ........................................................................................ 4
b. Trn h ta dq ........................................................................................ 7
2. iu khin tuyn tnh ha chnh xc ............................................................ 10
2.1. t vn ................................................................................................. 10
2.2. Tuyn tnh ha chnh xc h phi tuyn MIMO .......................................... 12
2.2.1. o hm v hng hay o hm Lie ................................................... 12
2.2.2. Vector bc tng i ti thiu ca h MIMO ...................................... 12
2.2.3. iu khin tuyn tnh ha chnh xc h MIMO ................................... 13
2.3. Kt lun .................................................................................................... 15
3. Cu trc iu khin phi tuyn tch knh trc tip dnh cho CKB ...... 16
3.1. Vn tn ti ca cc cu trc iu khin tuyn tnh ................................ 16
3.2. Cu trc iu khin phi tuyn cho CKB da trn nguyn l tuyn tnh
ha chnh xc ..................................................................................................... 17
3.2.1. Tnh phi tuyn ca m hnh ng c ................................................... 17
3.2.2. B iu khin phi tuyn da trn nguyn l tuyn tnh ha chnh xc.. 18
3.2.3. Cu trc iu khin tch knh thng qua phn hi trng thi ............. 22



Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


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1. M hnh ng c khng ng b xoay chiu ba pha (CKB)
My in xoay chiu ba pha c m t bi h phng trnh vi phn bc cao,
nguyn nhn l do cc cun dy pha c phn b ri v mt khng gian v cc
tng tc qua li gia cc mch t. Trong mc ny, ta s dng m hnh trng thi
lin tc m t ng c, phc v cho vic thit k b iu khin phi tuyn theo
nguyn l tuyn tnh ha chnh xc c cp phn sau.
Cc i lng in v t thng c m t di dng vector vi cc thnh phn
thc. Cc ch s quy c:
Ch s vit bn phi, trn cao:
f i lng m t trn h ta ta theo t thng (h ta dq)
s i lng m t trn h ta , c nh vi stator
r i lng m t trn h ta c nh vi rotor
Ch s vit bn phi, pha di:
Ch ci th 1 : s i lng mch stator
r i lng mch rotor
Ch ci th 2 : d, q cc thnh phn thuc h ta dq
, cc thnh phn thuc h ta
Cc i lng vit m: vector, ma trn
1.1. H phng trnh ca CKDB
a. Trn h ta u
Phng trnh in p stator(trn h thng cuc dy stator):

u
s
s
= R
s
t
s
s
+
Jq
s
s
Jt

(1.1)
R
s
: in tr stator; q
s
s
: t thng stator
Phng trnh in p rotor(trn h thng cuc dy rotor ngn mch):

= R

+
Jq

Jt

(1.2)
R

: in tr rotor; q

: t thng rotor ; 0: vector rng


Phng trnh t thng:
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


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_
q
s
= I
s
t
s
+ I
m
t

= I
m
t
s
+I


vi _
I
s
= I
m
+I
cs
I

= I
m
+I
c

(1.S)
I
m
: h cm ; I
s
,I

: in cm pha stator, rotor


I
cs
,I
c
: in cm tn pha stator, rotor
Phng trnh mmen quay :
m
M
=
S
2
z
p
|q
s
t
s
|sign(sin
s
) =
S
2
z
p
|q

|sign(sin

)
m
M
=
S
2
z
p
Im{q
s

t
s
] =
S
2
z
p
Im{q

]
(1.4)
Phng trnh chuyn ng:

m
M
= m
w
+
[
z
p
J
Jt

(1.S)
m
M
, m
w
: mmen ca ng c,mmen ti ; z
p
: s i cc.
b. Trn h ta dq
Phng trnh in p stator:
S dng cng thc chuyn h ta ,ta c:
u
s
s
= u
s
]
c
]u
]
; t
s
s
= t
s
]
c
]u
]
; q
s
s
= q
s
]
c
]u
]
;
Jq
s
s
Jt
=
Jq
s
]
Jt
c
]u
]
+]
]
q
s
]
c
]u
]

Thay vo (1.1) ta c:

u
s
]
= R
s
t
s
]
+
Jq
s
]
Jt
]
s
q
s
]

(1.6)
Phng trnh in p rotor:
S dng cng thc chuyn h ta :
t

= t

]
c
]u
]
; q

= q

]
c
]u
]
;
Jq

Jt
=
Jq

]
Jt
c
]u
]
+]
]
q

]
c
]u
]

Thay vo (1.2) ta c:

= R

]
+
Jq

]
Jt
+ ]
]
q

]

(1.7)
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1.2. M hnh trng thi lin tc ca CKB
a. Trn h ta

u
s
s
= R
s
t
s
s
+
Jq
s
s
Jt

= R

s
+
Jq

s
Jt
]q

q
s
s
= I
s
t
s
s
+ I
m
t

s
= I
m
t
s
s
+ I


(1.8)
Kh cc i lng khng quan trng trong h (1.8): dng (khng o c) ca
mch in Roto t

s
v t thng Stator q
s
s
.
T hai phng trnh t thng ta c:
t

s
=
1
I

(q

s
I
m
t
s
s
); q
s
s
= I
s
t
s
s
+
I
m
I

(q

s
I
m
t
s
s
)
o = 1
L
m
2
L
s
L
r
: h s t tn ton phn.
I
s
=
L
s
R
s
; I

=
L
r
R
r
: hng s thi gian stator, rotor.
Thay vo 2 phng trnh u ca h (1.8):

u
s
s
= R
s
t
s
s
+oI
s
Jt
s
s
Jt
+
I
m
I

Jq

s
Jt

=
I
m
I

t
s
s
+_
1
I

]] q

s
+
Jq

s
Jt



(1.9)
Bin i v dng thnh phn:

u
s
= u
sd
+]u
sq
= u
su
+ ]u
s[
t
s
= i
sd
+ ]i
sq
= i
su
+ ]i
s[

=
d
+]
q
=
u
+]
[
q
s
=
sd
+ ]
sq
=
su
+]
s[


(1.1u)
Thay (1.10) vo phng trnh th hai ca (1.9):
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


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u =
I
m
I

(i
su
+ ]i
s[
) +_
1
I

]] (
u
+]
[
) +
J(
u
+]
[
)
Jt

Cn bng phn thc, phn o hai v ta c:

J
u
Jt
=
I
m
I

i
su

u
I


[
J
[
Jt
=
I
m
I

i
s[

[
I

+
u

(1.11)
Tip tc thay (1.10) vo phng trnh th nht ca (1.9):
u
su
+ ]u
s[
= R
s
(i
su
+ ]i
s[
) +oI
s
J(i
su
+ ]i
s[
)
Jt
+
I
m
I

J(
u
+ ]
[
)
Jt

Cn bng phn thc, phn o hai v ta c:

oI
s
Ji
su
Jt
= u
su
R
s
i
su

I
m
I

J
u
Jt

oI
s
Ji
s[
Jt
= u
s[
R
s
i
s[

I
m
I

J
[
Jt


Thay (1.11) vo h trn ta c:

oI
s
Ji
su
Jt
= u
su
R
s
i
su

I
m
I

(
I
m
I

i
su

u
I


[
)
oI
s
Ji
s[
Jt
= u
s[
R
s
i
s[

I
m
I

(
I
m
I

i
s[

[
I

+
u
)

Ji
su
Jt
=
1
oI
s
u
su
_
R
s
oI
s
+
I
m
2
oI
s
I

_i
su
+
I
m
oI
s
I

u
+
I
m
oI
s
I

Ji
su
Jt
=
1
oI
s
u
s[
_
R
s
oI
s
+
I
m
2
oI
s
I

_i
s[
+
I
m
oI
s
I

I
m
oI
s
I

u


Thay q

si
=
q

s
I
m
,
u
i
=

u
I
m
, ;
[
i
=

[
I
m
_
vo cc phng trnh
trn ta c:
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


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Ji
su
Jt
= _
1
oI
s
+
1 o
oI

] i
su
+
1 o
oI

u
i
+
1 o
o

[
i
+
1
oI
s
u
su
Ji
s[
Jt
= _
1
oI
s
+
1 o
oI

] i
s[

1 o
o

u
i
+
1 o
oI

[
i
+
1
oI
s
u
s[
J
u
i
Jt
=
1
I

i
su

1
I

u
i

[
i

J
[
i
Jt
=
1
I

i
s[
+
u
i

1
I

[
i


(1.12)
hon thin m hnh CKB phi b sung thm phng trnh mmen c s
dng cc thnh phn o[.
Rt t
r
s
thay vo phng trnh mmen quay (1.4):
m
M
=
S
2
z
p
I
m
2
I

(
u
i
i
s[

[
i
i
su
)
Cc thnh phn o v [ ca in p stator,dng stator v t thng rotor c th c
vit li di dng vector vi thnh phn thc:
x
s1
= |i
su
, i
s[
,
u
i
,
[
i
]; u
s
s1
= |u
su
, u
s[
]
Vi vector trng thi mi c nh ngha, ta c m hnh trng thi lin tc ca
CKB rotor lng sc.
Jx
s
Jt
= A
s
x
s
+B
s
u
s
s

(1.1S)
Trong tham s c th ca hai ma trn A
s
vB
s
xc nh nh sau:

A
s
=

_
1
oI
s
+
1 o
oI

] u
u _
1
oI
s
+
1 o
oI

]

1 o
oI

1 o
o

1 o
o

1 o
oI


1
I

u
u
1
I

1
I


1
I

(1.14)
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


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B
s
=

1
oI
s
u
u
1
oI
s
u u
u u



Nhn xt: M hnh trng thi c trong ma trn h thng A
s
c coi nh mt
tham s hm c th o c. T m hnh ny,n c th thit k cc b iu khin
truyn tnh. Tuy nhin, i vi nhng h thng m tham s lun bin bin i, th
b iu khin lun lm vic ch ng (khng c ch xc lp), gy nn sai
lch tc .
b. Trn h ta dq

u
s
]
= R
s
t
s
]
+
Jq
s
]
Jt
+ ]
s
q
s
]

= R

]
+
Jq

]
Jt
+]

q
s
]
= I
s
t
s
]
+I
m
t

]
= I
m
t
s
]
+ I


(1.1S)
Kh cc i lng khng quan trng trong h (1.15): t

]
v q
s
]

T hai phng trnh t thng ta c:
t

]
=
1
I

(q

]
I
m
t
s
]
); q
s
]
= I
s
t
s
]
+
I
m
I

(q

]
I
m
t
s
]
)
Thay vo 2 phng trnh u ca h (1.15) ta c:

u
s
]
= R
s
t
s
]
+_I
s

I
m
2
I

_
Jt
s
]
Jt
+
I
m
I

Jq

]
Jt
+]
s
__I
s

I
m
2
I

_ t
s
]
+
I
m
I

]
_
=
R

I
m
I

t
s
]
+
R

]
+
Jq

]
Jt
+]

]



(1.16)
Thay o; I
s
; I

ta c:
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u
s
]
= R
s
(1 + ]
s
oI
s
)t
s
]
+ oI
s
Jt
s
]
Jt
+
I
m
I

Jq

]
Jt
+ ]
s
I
m
I

=
I
m
I

t
s
]
+_
1
I

+]

] q

]
+
Jq

]
Jt


(1.17)
Bin i tng t phn (a), ng thi thay:

d
i
=

d
I
m
, ;
d
i
=

d
I
m
, ;
s
=


Cui cng ta c h phng trnh:

Ji
sd
Jt
= _
1
oI
s
+
1 o
oI

] i
sd
+
s
i
sq
+
1 o
oI

d
i
+
1 o
o

q
i
+
1
oI
s
u
sd
Ji
sq
Jt
=
s
i
sd
_
1
oI
s
+
1 o
oI

] i
sq

1 o
o

d
i
+
1 o
oI

q
i
+
1
oI
s
u
sq
J
d
i
Jt
=
1
I

i
sd

1
I

d
i
+ (
s
)
q
i

J
q
i
Jt
=
1
I

i
sq
(
s
)
d
i

1
I

q
i




(1.18)
hon thin m hnh CKB phi b sung thm phng trnh mmen c s
dng cc thnh phn Jq.
Rt t

]
thay vo phng trnh mmen quay (1.4) ta c:

m
M
=
S
2
z
p
I
m
2
I

d
i
i
sq

=
S
2
z
p
(1 o)I
s

d
i
i
sq

(1.19)
Ta c m hnh trng thi lin tc ca CKB rotor lng sc trn h ta dq:

Jx
]
Jt
= A
]
x
]
+B
]
u
s
]
+Nx
]

s

(1.2u)
Vi cc vector trng thi x
]1
v vector u vo u
s
]1

x
]1
= |i
sd
, i
sq
,
d
i
,
q
i
]; u
s
]1
= |u
sd
, u
sq
]
Trong tham s c th ca cc ma trn A
]
, B
]
vNxc nh nh sau:
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


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A
]
=

_
1
oI
s
+
1 o
oI

] u
u _
1
oI
s
+
1 o
oI

]

1 o
oI

1 o
o

1 o
o

1 o
oI


1
I

u
u
1
I

1
I


1
I


B
]
=

1
oI
s
u
u
1
oI
s
u u
u u

; N = _
u 1
1 u
u u
u u
u u
u u
u 1
1 u
_
(1.21)
H phng trnh thnh phn cho ta thy s xut hin ca tch gia bin trng thi
v u vo. iu ny ko theo s xut hin ma trn tng tc N. C th ch ng
cu trc phi tuyn ny bng phng php tuyn tnh ha chnh xc, do c c tnh
tch knh trc tip.


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2. iu khin tuyn tnh ha chnh xc
2.1. t vn
H tuyn tnh c c im c bn l tha mn nguyn l xp chng nn ta c th p
dng nguyn l ny phn tch cc thnh phn c trng ring cho tng ch
lm vic ca h thng nghin cu vi cc cng c ton hc mt cch cht ch v
chnh xc. V l do ny m l thuyt iu khin tuyn tnh pht trin kh y
v hon chnh.
Tuy nhin trong thc t phn ln cc i tng iu khin m chng ta gp u
mang tnh ng hc phi tuyn nh r-le, in tr v c bit l my in xoay
chiu ba pha, i tng gi vai tr quan trng trong nhiu ng dng ca k thut
iu khin t ng. M hnh ca chng ng thi c c im cu trc v tham s
phi tuyn. H phi tuyn khng c c im tha mn nguyn l xp chng, do
nhng kt qu l thuyt p i vi h tuyn tnh li hu nh khng th p dng
khi nghin cu v h phi tuyn.
Vi mong mun tn dng c nhng kt qu c ca l thuyt iu khin tuyn
tnh, mt hng nghin cu mi c a ra nhm mc tiu xy dng m hnh
tuyn tnh tng ng ca h phi tuyn. Cc phng php phn tch gin tip
thng qua m hnh tuyn tnh tng ng thng s dng l tuyn tnh ha quanh
im lm vic, tuyn tnh ha iu ha, tuyn tnh ha trong phm vi mt chu k
trch mu. Phng php phn tch h phi tuyn trong ln cn nh xung quanh
im lm vic ca h c s dng nhiu nht. Phng php ny kh n gin,
nhng li khng cung cp c thng tin mt cch y ca h thng trong ton
b khng gian trng thi, khng p dng c vi nhng h phc tp c im lm
vic thay i v kh c th kim sot cht lng ng hc ca h khi cha v im
lm vic cn bng.
Nhng tin b trong cng ngh vi x l c ng dng trong k thut iu
khin. Da trn c im trch mu ca vi x l, ngi ta gin on ha m hnh
i tng ri da vo thit k cc thut ton iu khin. Phng php thng
c s dng l tuyn tnh ha trong phm vi mt chu k trch mu, nhm a m
hnh i tng phi tuyn thnh m hnh gin on tuyn tnh c h s hm. Tuy
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


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nhin, cht lng iu khin s b suy gim khi iu kin tuyn tnh ha khng
c tha mn.
Gn y, Alberto Isidori xut php i trc vi phi (diffeomorphism) trn nn
hnh hc vi phn (differential geometric tools), to ra kh nng nghin cu, phn
tch, iu khin h phi tuyn theo hng tn dng cc kt qu ca h tuyn tnh,
in hnh l phng php tuyn tnh ha chnh xc. tng ca phng php
tuyn tnh ha chnh xc l thc hin chuyn ta m hnh trng thi ca i
tng phi tuyn thng qua vic thit k b iu khin phn hi trng thi hoc
phn hi u ra sao cho h kn tr thnh tuyn tnh. Phng php ny b p
khuyt im ca hai phng trn, l m bo h tha mn nguyn l xp chng
trong gn nh ton b khng gian trng thi, c bit vi cc h phi tuyn MIMO
cn em li kh nng tch knh hon ton cc bin trng thi gip d dng trong
vic thit k iu khin.
to ra mi trng thch hp vi cng c hnh hc vi phn, phng php tuyn
tnh ha chnh xc yu cu h c dng h phi tuyn affine:

_
Jx
Jt
= I(x) + H(x)u
y = g(x)

(2.1)
Trong cc vector x(t) v y(t) kh vi v hn ln. Phn ln cc h thng k thut
trong thc t u tha mn iu kin a ra trn nn phng php tuyn tnh ha
chnh xc c min ng dng kh rng v l mt cng c mnh m trong vic x l
cc bi ton phi tuyn.
Trong gii hn khun kh n, chng ta ch tp trung tm hiu trng hp tuyn
tnh ha chnh xc quan h vo ra cho h phi tuyn MIMO. Hnh di l minh
ha cu trc tuyn tnh ha chnh xc quan h vo ra cho h phi tuyn:




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2.2. Tuyn tnh ha chnh xc h phi tuyn MIMO
2.2.1. o hm v hng hay o hm Lie
nh ngha: Cho mt hm v hng (x). o hm ca n dc theo qu o trng
thi t do x(t) ca h khng b kch thch c hiu l:

I
I
u =
ou
ox
I I
I
u(x) =
ou(x)
ox
I(x)
(2.2)
Php o hm L
f
c nhng tnh cht sau:
a. Cho vector hm f(x) v hai hm v hng (x), (x). Khi ta c:

I
mI
u = I
I
u. (2.S)
b. Cho hai vector hm f(x), g(x) v hm v hng (x). Ta c:

I
g
I
I
u(x) = I
g
(I
I
u(x)) =
o(I
I
u(x))
ox
g(x)
(2.4)
c. Cho vector hm f(x), hm v hng (x) v mt s nguyn k. Ta c:

I
I
k
u(x) =
o [I
I
k-1
u(x)
ox
I(x) (2.S)
2.2.2. Vector bc tng i ti thiu ca h MIMO
Mt khi nim quan trng khi kim tra iu kin thc hin c ca phng php
tuyn tnh ha chnh xc l khi nim vector bc tng i ti thiu. Di y l
nh ngha vector bc tng i ti thiu ca h phi tuyn affine.
nh ngha: Cho h phi tuyn affine:

_
Jx
Jt
= I(x) + H(x)u = I(x) + h
t
(x)u

m
I=1
y = g(x)

(2.6)
Trong :
H(x) = |h
1
(x), h
2
(x), , h
m
(x)] v g(x) = _
g
1
(x)

g
m
(x)
_
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


13

Vector bc tng i ca h m l vector cc s t nhin [r
1
, r
2
, , r
m
] tha mn :
a) I
h
I
I
k
g(x) = u khi k r
i
2 vi mi i = 1, 2, , m
b) Ma trn:

L(x) = _
I
h
1
I
I

1
1
g(x) I
h
m
I
I

1
1
g(x)

I
h
1
I
I

m
1
g(x) I
h
m
I
I

m
1
g(x)
_ (2.7)
l khng suy bin.
2.2.3. iu khin tuyn tnh ha chnh xc h MIMO
tng ca bi ton l thit k b iu khin phn hi trng thi sao cho h kn
c a v h c tnh cht tuyn tnh trn ton b khng gian trng thi.
iu kin tn ti php i trc ta l h phi tuyn MIMO phi c vector bc
tng i ti thiu [r
1
, r
2
, , r
m
] tha mn:
r
1
+ r
2
+ + r
m
= n
Khi iu kin trn c tha mn, bng php i trc ta vi phi:

z = _
z
1

z
n
_ = m(x) =

m
1
1
(x)

1
1
(x)

m
1
m
(x)

m
m
(x)

g
1
(x)

I
]

1
-1
g
1
(x)

g
m
(x)

I
]

m
-1
g
m
(x)

(2.8)
H phi tuyn MIMO s c chuyn thnh h tuyn tnh MIMO c dng:

_
Jz
Jt
= Az + Bw
y = Cz

(2.9)
u vo lc u u c iu khin bi lut chuyn trc ta :

u = a(x) + L
-1
(x)w


Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


14

Trong vector a(x) v ma trn L
-1
(x) c dng:
L(x) = _
I
h
1
I
I

1
1
g(x) I
h
m
I
I

1
1
g(x)

I
h
1
I
I

m
1
g(x) I
h
m
I
I

m
1
g(x)
_
a(x) = L
-1
(x) _
I
]

1
g
1
(x)

I
]

m
g
m
(x)
_

thc hin c php i trc ta (hay tuyn tnh ha chnh xc), ma trn
L(x) phi c tnh kh nghch. Biu thc c th ca cc ma trn A, B v C rt phc
tp v ta s khng cp y. Hnh di y th hin m hnh iu khin tuyn
tnh ha chnh xc quan h vo ra ca h phi tuyn MIMO:

Tng kt li: Phng php tuyn tnh ha chnh xc i tng phi tuyn MIMO
c thc hin theo cc bc sau y:
Bc 1: Xc nh vector bc tng i ti thiu [r
1
, r
2
, , r
m
]. Kim tra iu kin:
r
1
+ r
2
+ + r
m
= n
Bc 2: Xc nh ma trn L(x) v kim tra tnh khng suy bin ca ma trn:

L(x) = _
I
h
1
I
I

1
1
g(x) I
h
m
I
I

1
1
g(x)

I
h
1
I
I

m
1
g(x) I
h
m
I
I

m
1
g(x)
_ ; uet(L(x)) u



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15

Bc 3: Xc nh php i trc ta :

z = _
z
1

z
n
_ = m(x) =

m
1
1
(x)

1
1
(x)

m
1
m
(x)

m
m
(x)

g
1
(x)

I
]

1
-1
g
1
(x)

g
m
(x)

I
]

m
-1
g
m
(x)


Bc 4: Xy dng lut iu khin phn hi trng thi:

u = a(x) + L
-1
(x)w
H qu: Khi tuyn tnh ha chnh xc h MIMO, h kn vi m hnh trng thi
tuyn tnh c ma trn truyn dng l:
Y(s) = C(sI A)
-1
BW(s) = _

1
1
(sI A)
-1
b
1
u

u
m
1
(sI A)
-1
b
m
_ W(s)
=

1
s
r
1
u

u
1
s
r
m

W(s)
Qua biu thc ta thy tn hiu ra y
k
(t) ch ph thuc vo tn hiu u vow
k
(t).
B iu khin tuyn tnh ha chnh xc khng nhng tuyn tnh ha c i
tng m cn tch c n ra thnh m knh ring bit. V vy, ngi ta cn gi
phng php iu khin tuyn tnh ha chnh xc quan h vo ra i tng
MIMO phi tuyn cn c gi l iu khin tch knh (decoupling control).
2.3. Kt lun
Phng php tuyn tnh ha chnh xc thng qua vic thit k b iu khin phn
hi trng thi, s dng php i trc vi phi z = m(x) a i tng phi tuyn
v dng tuyn tnh trong ton b khng gian trng thi. i vi h MIMO, phng
php ny khng ch em li li ch ca s tuyn tnh ha m cn mang ti kh nng
a m hnh i tng v dng tch knh. Cu trc iu khin s dng tnh cht
ny thng c t tn l cu trc tch knh trc tip (direct decoupling).
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


16

3. Cu trc iu khin phi tuyn tch knh trc tip dnh cho CKB
3.1. Vn tn ti ca cc cu trc iu khin tuyn tnh
K thut truyn ng in xoay chiu ba pha pht trin v kh hon thin.
Phng php iu khin ta theo t thng rotor l phng php c s dng
thng ri nht trong cc h truyn ng in v c thng mi ha. Mt di rng
ln cc vn c gii quyt, t cu trc ca b iu khin v b quan st cho
n cc vn v nhn dng tham s (on-line, off-line), thch nghi vi s t chnh
nh (self-tuning) v t vn hnh (self-commissioning).
Cu trc thng c p dng trong thc tin l mt b iu khin dng hai
chiu nhm tch knh khng tng tc gia qu trnh t ha v qu trnh to
momen, p t nhanh v chnh xc momen quay. S tch knh em li kh nng
thit k b iu khin ring cho cc vng iu khin t thng v tc . B iu
khin dng v b quan st t thng da trn m hnh tuyn tnh tng ng ca
ng c trong phm vi mt chu k trch mu.
Gi thuyt khi tuyn tnh ha l chu k trch mu T nh c th coi tn s
quay ca stator
s
l hng s trong phm vi mt chu k trch mu T. Vi gi thuyt
,
s
tr thnh tham s trong ma trn h thng, m hnh song tuyn tnh tr thnh
m hnh tuyn tnh h s hm, c th dng cc phng php thit k tuyn tnh
quen thuc.
Tuy nhin, do cc nguyn nhn sau:
- Tnh phi tuyn ca m hnh (gi tr u vo
s
xut hin trong ma trn h
thng) trong cc h truyn ng cht lng cao s dng iu ch ng b
- Tham s phi tuyn (t thng chnh ph thuc mnh vo cc bin trng thi i
m

v
r
) nh hng ti tnh n nh ca h thng trong qu trnh nhn dng v
thch nghi tham s
mt s vn pht sinh, ly n c nh h thng phi lm vic in p gii hn
(trong ch phi tuyn) v gi thuyt
s
l hng s trong phm vi mt chu k trch
mu khng tha mn. Nu cc vn ny khng c gii quyt, cht lng truyn
ng s b nh hng ng k. Do , cn mt phng php iu khin phi tuyn
t c cht lng truyn ng tt hn.
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


17

Trong khong 15 nm gn y, rt nhiu phng php thit k b iu khin phi
tuyn c a ra, mt s c a vo th nghim iu khin ng c, nhng
hu ht ch l s pht trin mang tnh l thuyt. S p dng vo thc nghim cn
rt hn ch. Gn y, mt s nghin cu c ra, nhm tip tc gii quyt vn
thc nghim ang cn thiu st, trong khun kh cun n chng ta ch cp
n s thc thi ca phng php tuyn tnh ha cho ng c khng ng b xoay
chiu ba pha.
3.2. Cu trc iu khin phi tuyn cho CKB da trn nguyn l tuyn
tnh ha chnh xc
3.2.1. Tnh phi tuyn ca m hnh dng in CKB
Tnh phi tuyn ca ng c c th hin r rng bi phng trnh (1.20). Do
phng php truyn tnh ha chnh xc yu cu y thng tin v bin trng
thi,nn ta ch tuyn tnh ha chnh xc m hnh dng in. Hai phng trnh u
ca h (1.18) m t m hnh dng in ca ng c v c b sung thm phng
trnh gc quay 0
s
thnh h mi c dng:

Ji
sd
Jt
= _
1
oI
s
+
1 o
oI

] i
sd
+
s
i
sq
+
1 o
oI

d
i
+
1 o
o

q
i
+
1
oI
s
u
sd
Ji
sq
Jt
=
s
i
sd
_
1
oI
s
+
1 o
oI

] i
sq

1 o
o

d
i
+
1 o
oI

q
i
+
1
oI
s
u
sq
J0
s
Jt
=
s


(S.1)
Ta k hiu mt s bin v tham s tm thi nh sau:
Tham s:
o =
1
oI
s
; b =
1
oI
s
; c =
1 o
oI

; J = b + c
Bin trng thi:
x
1
= i
sd
; x
2
= i
sq
; x
3
= 0
s

Bin u vo:
u
1
= u
sd
; u
2
= u
sq
; u
3
=
s

Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


18

Bin u ra:
y
1
= y
sd
; y
2
= y
sq
; y
3
= 0
s

H trn tr thnh:

Jx
1
Jt
= Jx
1
+ x
2
u
3
+ou
1
+c
d
i

Jx
2
Jt
= x
1
u
3
Jx
2
+ou
sq
cI

d
i
Jx
3
Jt
= u
3


(S.2)
Hay:

_
x
1
x
2
x
3
_ = _
Jx
1
+ c
d
i
Jx
2
cI

d
i
u
_ +_
o
u
u
_ u
1
+_
u
o
u
_ u
2
+ _
x
2
x
1
1
_ u
3
_
y
1
y
2
y
3
_ = _
1
u
u
u
1
u
u
u
1
_ _
x
1
x
2
x
3
_
(S.S)
a h v dng thu gn:

_
x = I(x) + h
1
u
1
+ h
2
u
2
+h
3
u
3
y = g(x)

(S.4)
Trong :

I(x) = _
Jx
1
+ c
d
i
Jx
2
cI

d
i
u
_ ; h
1
= _
o
u
u
_ ; h
2
= _
u
o
u
_ ; h
3
= _
x
2
x
1
1
_
y
1
= g
1
(x) = x
1
; y
2
= g
2
(x) = x
2
; y
3
= g
3
(x) = x
3
;

(S.S)
M hnh (3.4) s c s dng thit k vng iu khin dng phi tuyn theo
nguyn l tuyn tnh ha chnh xc.
3.2.2. B iu khin phi tuyn da trn nguyn l tuyn tnh ha chnh xc
Nh cp phn 2, thit k da trn nguyn l tuyn tnh ha chnh xc c
thc hin ln lt theo 4 bc.
Bc 1: Xc nh vector bc tng i ti thiu r:
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


19

a) j = 1:
I
h
1
g
1
(x) =
og
1
(x)
ox
h
1
= |
1 u u
] _
o
u
u
_ = o u
I
h
2
g
1
(x) =
og
1
(x)
ox
h
2
= |
1 u u
] _
u
o
u
_ = u
I
h
3
g
1
(x) =
og
1
(x)
ox
h
3
= |
1 u u
] _
x
2
x
1
u
_ = x
2
u
Do r
1
= 1.
b) j = 2:
I
h
1
g
2
(x) =
og
2
(x)
ox
h
1
= |
u 1 u
] _
o
u
u
_ = u
I
h
2
g
2
(x) =
og
2
(x)
ox
h
2
= |
u 1 u
] _
u
o
u
_ = o u
I
h
3
g
2
(x) =
og
2
(x)
ox
h
3
= |
u 1 u
] _
x
2
x
1
u
_ = x
1
u
Tng t r
2
= 1.
c) j = 3:
I
h
1
g
3
(x) =
og
3
(x)
ox
h
1
= |
u u 1
] _
o
u
u
_ = u
I
h
2
g
3
(x) =
og
3
(x)
ox
h
2
= |
u u 1
] _
u
o
u
_ = u
I
h
3
g
3
(x) =
og
3
(x)
ox
h
3
= |
u u 1
] _
x
2
x
1
u
_ = 1 u
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20

Vy r
3
= 1.
Bc 2: Xc nh ma trn L:
L(x) = _
I
h
1
g
1
(x) I
h
2
g
1
(x) I
h
3
g
1
(x)
I
h
1
g
2
(x) I
h
2
g
2
(x) I
h
3
g
2
(x)
I
h
1
g
3
(x) I
h
2
g
3
(x) I
h
3
g
3
(x)
_ = _
o u x
2
u o x
1
u u 1
_
D thy det [L(x)] = a
2
0 nn ma trn L(x) l kh nghch. Cc iu kin cn v
c tng kt li:
_
uet|I(x)] = o
2
u
r
1
+ r
2
+r
3
= S = n


Nh vy iu kin tuyn tnh ha chnh xc c tha mn.
Bc 3: Xc nh php i trc ta :
z = _
z
1
z
2
z
3
_ = _
m
1
1
(x)
m
1
2
(x)
m
1
3
(x)
_ = _
g
1
(x)
g
2
(x)
g
3
(x)
_ = _
x
1
x
2
x
3
_
Vi php i trc trn th m hnh trng thi mi s c xc nh nh sau:

Jz
1
Jt
=
og
1
(x)
ox
Jx
Jt
= I
I
g
1
(x) + I
h
1
g
1
(x)u
1
+ I
h
2
g
1
(x)u
2
+ I
h
3
g
1
(x)u
3
Jz
2
Jt
=
og
2
(x)
ox
Jx
Jt
= I
I
g
2
(x) + I
h
1
g
2
(x)u
1
+ I
h
2
g
2
(x)u
2
+I
h
3
g
2
(x)u
3
Jz
3
Jt
=
og
3
(x)
ox
Jx
Jt
= I
I
g
3
(x) + I
h
1
g
3
(x)u
1
+ I
h
2
g
3
(x)u
2
+I
h
3
g
3
(x)u
3


Trong :
I
I
g
1
(x) =
og
1
(x)
ox
I = |
1 u u
] _
Jx
1
+c
d
i
Jx
2
cI

d
i
u
_ = Jx
1
+ c
d
i

I
I
g
2
(x) =
og
2
(x)
ox
I = |
u 1 u
] _
Jx
1
+ c
d
i
Jx
2
cI

d
i
u
_ = Jx
2
cI

d
i

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21

I
I
g
3
(x) =
og
3
(x)
ox
I = |
u u 1
] _
Jx
1
+ c
d
i
Jx
2
cI

d
i
u
_ = u
Kt qu ca php i trc ta :

Jz
1
Jt
= Jx
1
+c
d
i
+ ou
1
+ x
2
u
3
= w
1

Jz
2
Jt
= Jx
2
cI

d
i
+ou
2
x
1
u
3
= w
2
Jz
3
Jt
= u
3
= w
3


(2.S)
Vector w c tnh bng cng thc:
w = _
w
1
w
2
w
3
_ = _
Jx
1
+ c
d
i
Jx
2
cI

d
i
u
_ +_
o u x
2
u o x
1
u u 1
_ _
u
1
u
2
u
3
_

w = p(x) + L(x) u
Bc 4: Lut iu khin phn hi trng thi, w l vector bin u vo mi, c
tnh theo cng thc:

u = - L
-1
(x) p(x) + L
-1
(x) w = - a(x) + L
-1
(x) w (2.6)
Tnh ma trn L
-1
:

L
-1
= _
1o u x
2
o
u 1o x
1
o
u u u
_ (2.7)
Lut iu khin phn hi trng thi c tnh c th nh sau:

u = _
u
1
u
2
u
3
_ =

Jx
1
o

c
d
i
o
Jx
2
o
+
cI

d
i
o
u

1
o
u
x
2
o
u
1
o
x
1
o
u u u

_
w
1
w
2
w
3
_
(2.8)
p(x) L(x) u
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22

=

[
1
1
s
+
1-o
1
r
I
s
x
1

1-o
1
r
I
s

d
i
[
1
1
s
+
1-o
1
r
I
s
x
2
+ (1 )I
s

d
i
u

+_
oI
s
u oI
s
x
2
u oI
s
oI
s
x
1
u u 1
_ _
w
1
w
2
w
3
_


3.2.3. Cu trc iu khin tch knh thng qua phn hi trng thi
S dng phng php phn hi trng thi hay i trc ta , m hnh ng c
c tuyn tnh ha chnh xc c th hin nh hnh di. Vic thit k b iu
khin s da trn cc bin trng thi mi.

Sau khi thc hin bin i ta thu c ma trn hm truyn:
y(s) = _
1s

1
u u
u 1s

2
u
u u 1s

3
_ w(s) = _
1s u u
u 1s u
u u 1s
_ w(s)
(2.9)
T chng ta thu c cc kt lun quan trng sau :
- Bn cnh s thnh cng trong vic tuyn tnh ha chnh xc a h phi tuyn
ban u thnh h tuyn tnh trong khng gian trng thi mi, phng php
cn em li s tch knh vo-ra hon ton.
- Ba hm truyn tng ch bao gm mt phn t tch phn duy nht.
T hai kt qu mi thu c chng ta thy c kh nng thay th b iu khin
dng hai chiu truyn thng bng mt khi chuyn h trc ta v hai b iu
khin dng ring bit cho hai trc d v q.
a(x)
L
-1
(x)
w
Nguyn Hoi Nam Nguyn Tin Lc- Lp KSTN KT K51 Bo co thc tp


23

Nguyn l tch knh trc tip c hiu qu trong ton b khng gian trng thi. Hai
b iu khin dng in ring bit R
isd
v R
isq
s s dng thut ton iu khin kinh
in t l - tch phn PI m s dng cc thut ton mi hn nh phng php dead-
beat. Qua , s p t nhanh v chnh xc momen quay ca ng c c th t
c m khng ph v bt k iu kin tuyn tnh ha no.
Di y l cu trc iu khin vng trong mi b sung thm hai khi c tch knh
trc tip s dng phng php tuyn tnh ha chnh xc :

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