LI M U

Ngy nay vi s pht trin khng ngng ca nn khoa hc k thut to

ra nhng thnh tu to ln, trong ngnh t ng ha cng gp phn khng
nh vo thnh cng . Mt trong nhng vn quan trng trong cc dy truyn
t ng ho sn xut hin i l vic iu chnh tc ng c. T trc n
nay, ng c mt chiu vn lun l loi ng c c s dng rng ri k c
trong nhng h thng yu cu cao. V vy em c giao ti tt nghip l:
Xy dng h truyn ng in ng c mt chiu s dng b iu khin
PID. Ni dung ti c chia lm 3 chng:
Chng 1. Tng quan v h truyn ng in mt chiu
Chng 2. Xy dng m hnh h truyn ng in mt chiu trn Matlab
v Simulink
Chng 3. Xy dng m hnh vt l b iu khin PID iu khin ng
c in mt chiu
Trong qu trnh lm ti tt nghip, em lun nhn c s hng dn,
ch bo tn tnh v cung cp nhng ti liu cn thit ca thy gio GS TSKH
Thn Ngc Hon. Em xin gi ti hai thy li cm n chn thnh. Tuy nhin, do
thi gian v gii hn ca n cng vi phm vi nghin cu ti liu vi kinh
nghim v kin thc cn hn ch nn bn n ny khng trnh khi nhng
thiu st rt mong s ng gp kin ca thy c bn n ca em c
hon thin hn.

Sinh vin thc hin

Lu c Trng

CHNG 1. TNG QUAN V H TRUYN NG IN MT

CHIU
1.1. TNG QUAN V NG C IN MT CHIU
1.1.1. Cu to, phn loi ng c in mt chiu
a. Cu to ca ng c in mt chiu
ng c in mt chiu c th phn thnh hai phn chnh: Phn tnh v
phn ng.
- Phn tnh hay stato hay cn gi l phn kch t ng c, l b phn sinh ra t
trng n gm c:
+) Mch t v dy cun kch t lng ngoi mch t (nu ng c c kch t
bng nam chm in), mch t c lm bng st t (thp c, thp c). Dy
qun kch thch hay cn gi l dy qun kch t c lm bng dy in t, cc
cun dy in t nay c mc ni tip vi nhau.
+) Cc t chnh: L b phn sinh ra t trng gm c li st cc t v dy qun
kch t lng ngoi li st cc t. Li st cc t lm bng nhng l thp k thut
in hay thp cacbon dy 0,5 n 1mm p li v tn cht. Trong ng c in
nh c th dng thp khi. Cc t c gn cht vo v my nh cc bulng.
Dy qun kch t c qun bng dy ng bc cch in v mi cun dy u
c bc cch in k thnh mt khi, tm sn cch in trc khi t trn cc
cc t. Cc cun dy kch t c t trn cc cc t ny c ni tip vi nhau
+) Cc t ph: Cc t ph c t trn cc cc t chnh. Li thp ca cc t
ph thng lm bng thp khi v trn thn cc t ph c t dy qun m cu
to ging nh dy qun cc t chnh. Cc t ph c gn vo v my nh
nhng bulng.
+) Gng t: Gng t dng lm mch t ni lin cc cc t, ng thi lm v
my. Trong ng c in nh v va thng dng thp dy un v hn li, trong
my in ln thng dng thp c. C khi trong ng c in nh dng gang
lm v my.
+) Cc b phn khc:

Np my: bo v my khi nhng vt ngoi ri vo lm h hng dy

qun v an ton cho ngi khi chm vo in. Trong my in nh v va np
my cn c tc dng lm gi bi. Trong trng hp ny np my thng
lm bng gang.
C cu chi than: a dng in t phn quay ra ngoi. C cu chi
than bao gm c chi than t trong hp chi than nh mt l xo t cht ln c
gp. Hp chi than c c nh trn gi chi than v cch in vi gi. Gi
chi than c th quay c iu chnh v tr chi than cho ng ch, sau khi
iu chnh xong th dng vt c nh li.
- Phn quay hay rto: Bao gm nhng b phn chnh sau.
+) Phn sinh ra sc in ng gm c:
Mch t c lm bng vt liu st t (l thp k thut) xp li vi nhau.
Trn mch t c cc rnh lng dy qun phn ng.
Cun dy phn ng: Gm nhiu bi dy ni vi nhau theo mt qui lut
nht nh. Mi bi dy gm nhiu vng dy cc u dy ca bi dy c ni
vi cc phin ng gi l phin gp, cc phin gp c ghp cch in vi
nhau v cch in vi trc gi l c gp hay vnh gp.
T trn c gp l cp tri than lm bng than graphit v c ghp st vo
thnh c gp nh l xo.
+) Li st phn ng: Dng dn t, thng dng nhng tm thp k thut in
dy 0,5mm ph cch in mng hai mt ri p cht li gim tn hao do
dng in xoy gy nn. Trn l thp c dp hnh dng rnh sau khi p li th
t dy qun vo. Trong nhng ng c trung bnh tr ln ngi ta cn dp
nhng l thng gi khi p li thnh li st c th to c nhng l thng gi
dc trc. Trong nhng ng c in ln hn th li st thng chia thnh nhng
on nh, gia nhng on y c mt khe h gi l khe h thng gi. Khi
my lm vic gi thi qua cc khe h lm ngui dy qun v li st.
Trong ng c in mt chiu nh, li st phn ng c p trc tip vo
trc. Trong ng c in ln, gia trc v li st c t gi rto. Dng gi rto
c th tit kim thp k thut in v gim nh trng lng rto.

+) Dy qun phn ng: Dy qun phn ng l phn pht sinh ra sut in ng

v c dng in chy qua, dy qun phn ng thng lm bng dy ng c bc
cch in. Trong my in nh c cng sut di vi Kw thng dng dy c
tit din trn. Trong my in va v ln thng dng dy tit din ch nht,
dy qun c cch in cn thn vi rnh ca li thp.
trnh khi quay b vng ra do lc li tm, ming rnh c dng nm
cht hoc ai cht dy qun. Nm c th lm bng tre, g hay bakelit.
+) C gp: C gp gm nhiu phin ng c c m cch in vi nhau bng
lp mica dy t 0,4 n 1,2mm v hp thnh mt hnh trc trn. Hai u trc
trn dng hai hnh p hnh ch V p cht li. Gia vnh p v tr trn cng cch
in bng mica. ui vnh gp c cao ln mt t hn cc u dy ca cc
phn t dy qun v cc phin gp c d dng.
b. Phn loi, u nhc im ca ng c in mt chiu
- Phn loi ng c in mt chiu
Khi xem xt ng c in mt chiu cng nh my pht in mt chiu
ngi ta phn loi theo cch kch thch t cc ng c. Theo ta c 4 loi ng
c in mt chiu thng s dng:
+) ng c in mt chiu kch t c lp: Phn ng v phn kch t c cung
cp t hai ngun ring r.
+) ng c in mt chiu kch t song song: Cun dy kch t c mc song
song vi phn ng.
+) ng c in mt chiu kch t ni tip: Cun dy kch t c mc ni tp
vi phn ng.
+) ng c in mt chiu kch t hn hp: Gm c 2 cun dy kch t, mt
cun mc song song vi phn ng v mt cun mc ni tip vi phn ng.
- u nhc im ca ng c in mt chiu
Do tnh u vit ca h thng in xoay chiu: sn xut, truyn ti...,
c my pht v ng c in xoay chiu u c cu to n gin v cng sut
ln, d vn hnh... m my in (ng c in) xoay chiu ngy cng c s
dng rng ri v ph bin. Tuy nhin ng c in mt chiu vn gi mt v tr

nht nh trong cng nghip giao thng vn ti, v ni chung cc thit b cn

iu khin tc quay lin tc trong phm vi rng (nh trong my cn thp,
my cng c ln, u my in...). Mc d so vi ng c khng ng b
ch to ng c in mt chiu cng c th gi thnh t hn do s dng nhiu
kim loi mu hn, ch to bo qun c gp phc tp hn. Nhng do nhng u
im ca n m my in mt chiu vn khng th thiu trong nn sn xut hin
i.
+) u im ca ng c in mt chiu l c th dng lm ng c in hay
my pht in trong nhng iu kin lm vic khc nhau. Song u im ln nht
ca ng c in mt chiu l iu chnh tc v kh nng qu ti. Nu nh
bn thn ng c khng ng b khng th p ng c hoc nu p ng
c th phi chi ph cc thit b bin i i km (nh b bin tn....) rt t tin
th ng c in mt chiu khng nhng c th iu chnh rng v chnh xc m
cu trc mch lc, mch iu khin n gin hn ng thi li t cht lng
cao.
+) Nhc im ch yu ca ng c in mt chiu l c h thng c gp - chi
than nn vn hnh km tin cy v khng an ton trong cc mi trng rung
chn, d chy n.
1.1.2. c tnh c ca ng c in mt chiu
a. Nguyn l lm vic ca ng c in mt chiu
Khi cho in p mt chiu vo, trong dy qun phn ng c in. Cc
thanh dn c dng in nm trong t trng s chu lc tc dng lm rto quay,
chiu ca lc c xc nh bng quy tc bn tay tri.
Khi phn ng quay c na vng, v tr cc thanh dn i ch cho nhau.
Do c phiu gp chiu dng in d nguyn lm cho chiu lc t tc dng
khng thay i. Khi quay, cc thanh dn ct t trng s cm ng vi sut in
ng E chiu ca sut in ng c xc nh theo quy tc bn tay phi,
ng c chiu s E ngc chiu dng in I nn E c gi l sc phn in
ng. Khi ta c phng trnh: U = E + R.I

b. c tnh c ca ng c in mt chiu kch t c lp

Khi ngun mt chiu c cng sut khng ln th mch in phn ng
v mch in kch t mc vo hai ngun c lp nhau. Lc ny ng c c
gi l ng c in mt chiu kch t c lp[2].

Hnh 1.1: S ni dy ca ng c in mt chiu kch t c lp

Ta c phng trnh cn bng in p ca mch phn ng nh sau:
U = E + (R + Rf)I

(1.1)

Trong :
U: in p phn ng, V
E: Sc in ng phn ng, V
R: in tr mch phn ng,
I: Dng in ca mch phn ng, A
Vi: R = r + rcf + rb + rct
r: in tr cun dy phn ng
rcf: in tr cun dy cc t ph
rct: in tr tip xc cun b
Sc in ng E ca phn ng ng c c xc nh theo biu thc:
E

P.N
..
2 a

K ..

(1.2)

Trong :
P: S i cc t chnh
N: S thanh dn tc dng ca cun dy phn ng

a: S i mch nhnh song song ca cun dy phn ng

: T thng kch t di mt cc t
: Tc gc (rad/s)
K=

P.N
: H s cu to ca ng c
2 a

T (1.1) v (1.2) ta c:
U
K .

Ru Rf
.I
K .

(1.3)

Biu thc trn l phng trnh c tnh c in ca ng c

Mt khc, m men in t Mt ca ng c c xc nh bi
Mt = K. .I
Vi I

(1.4)

Mt
: thay gi tr I vo (1.3) ta c
K .

U
K .

Ru Rf
.Mt
( K .)2

(1.5)

Nu b qua tn tht c v tn tht thp th mmen c trn trc ng c

bng m men in t, ta k hiu l M. Ngha l: Mt = Mc = M
Uu
K.

Ru Rf
.M
(K.)2

(1.6)

y l phng tnh c tnh c ca ng c in mt chiu kch t c lp.

Gi thit phn ng c b , t thng

= const, th cc phng trnh

c tnh c in (1.3) v phng trnh c tnh c (1.6) l tuyn tnh. th ca

chng c biu din trn hnh 1.2 l nhng ng thng.
Theo cc th, khi I = 0 hoc M = 0 ta c:
0

U
K .

c gi l tc khng ti l tng ca ng c in mt chiu kch t c

lp.

Hnh 1.2: c tnh c in v c tnh c ca ng c in mt chiu

Khi

= 0 ta c:
I

U
Ru

Rf

Inm

(1.7)

M = K. .Inm = Mnm

(1.8)

Inm v Mnm c gi l dng in ngn mch v m men ngn mch.

Ngoi ra phng trnh c tnh (1.3) v (1.6) cng c th c vit di dng:
U
K .

R
.I
K .

U
K .

R
.M
( K .)2

(1.9)

(1.10)

Trong :
R = R + Rf,
0

U
K .
R
.I
K .

R
.M
( K .)2

c gi l st tc ng vi gi tr ca M. T phng trnh c tnh c

ta thy c 3 tham s nh hng n c tnh c: t thng ng c , in p
phn ng U, in tr phn ng ng c.
1.2. CC PHNG PHP IU KHIN TC NG C IN
MT CHIU
- Phng php thay i in tr phn ng

- Phng php thay i t thng

- Phng php thay i in p phn ng
1.2.1. Phng php thay i in tr phn ng
- y l phng php thng dng iu khin tc ng c in mt chiu
+) Nguyn l iu khin: Trong phng php ny ngi ta gi U = Um,
m

v ni thm in tr ph vo mch phn ng tng in tr phn ng[3].

cng ca ng c tnh c:

(k) 2
Ru Rf

+) Ta thy khi in tr cng ln th

(1.11)
cng nh ngha l c tnh c cng dc v

do cng mm hn.

Hnh 1.3: c tnh c ca ng c khi thay i in tr ph

ng vi Rf = 0 ta c cng t nhin

TN

c gi tr ln nht nn c tnh c t

nhin c cng ln hn tt c cc ng c tnh c c in tr ph. Nh vy,

khi ta thay i Rf ta c mt h c tnh c thp hn c tnh c t nhin.
- c im ca phng php:
+) in tr mch phn ng cng tng th dc c tnh cng ln, c tnh c
cng mm, n nh tc cng km v sai s tc cng ln.
+) Phng php ny ch cho php iu chnh tc trong vng di tc nh
mc ( ch cho php thay i tc v pha gim).
+) Ch p dng cho ng c in c cng sut nh, v tn hao nng lng trn
in tr ph lm gim hiu sut ca ng c v trn thc t thng dng ng
c in trong cn trc.

+) nh gi cc ch tiu: Phng php ny khng th iu khin lin tc c

m phi iu khin nhy cp. Di iu chnh ph thuc vo ch s mmen ti, ti
cng nh th di iu chnh D =

max

min

cng nh. Phng php ny c th

iu chnh trong di D = 3 : 1
+) Gi thnh u t ban u r nhng khng kinh t do tn hao trn in tr ph
ln, cht lng khng cao d iu khin rt n gin.
1.2.2. Phng php thay i t thng
- Nguyn l iu khin:
Gi thit U= Um, R = const. Mun thay i t thng ng c ta thay i
dng in kch t, thay i dng in trong mch kch t bng cch ni ni tip
bin tr vo mch kch t hay thay i in p cp cho mch kch t.
Bnh thng khi ng c lm vic ch nh mc vi kch thch ti a
(

max)

m phng php ny ch cho php tng in tr vo mch kch t

nn ch c th iu chnh theo hng gim t thng

trong vng trn tc nh mc. Nn khi gim
o

th tc khng ti l tng
k
Ru

U dm
tng, cn cng c tnh c
k

tc l iu chnh tc

gim, ta thu c h c

tnh c nm trn c tnh c t nhin[3].

o
2 o
1

1
2

0 Mc1

Mc2

Hnh 1.4: c tnh c ca ng c khi gim t thng

- Khi tng tc ng c bng cch gim t thng th dng in tng v tng
vt qu mc gi tr cho php nu mmen khng i. V vy mun gi cho
dng in khng vt qu gi tr cho php ng thi vi vic gim t thng th
ta phi gim Mt theo cng t l.
- c im ca phng php:

10

+) Phng php ny c th thay i tc v pha tng.

+) Phng php ny ch iu khin vng ti khng qu ln so vi nh mc,
vic thay i t thng khng lm thay i dng in ngn mch.
+) Vic iu chnh tc bng cch thay i t thng l phng php iu
khin vi cng sut khng i.
+) nh gi cc ch tiu iu khin: Sai s tc ln, c tnh iu khin nm
trn v dc hn c tnh t nhin. Di iu khin ph thuc vo phn c ca
my. C th iu khin trn trong di iu chnh D = 3 : 1. V cng sut ca
cun dy kch t b, dng in kch t nh nn ta c th iu khin lin tc vi
1.
+) Phng php ny c p dng tng i ph bin, c th thay i lin tc
v kinh t ( v vic iu chnh tc thc hin mch kch t vi dng kch t
(1 10)%Im ca phn ng nn tn hao iu chnh thp).
y l phng php gn nh l duy nht i vi ng c in mt chiu
khi cn iu chnh tc ln hn tc iu khin.
1.2.3. Phng php thay i in p phn ng
- iu chnh in p phn ng ng c mt chiu cn c thit b ngun nh
my pht in mt chiu kch t c lp, cc b chnh lu iu khin Cc
thit b ngun ny c chc nng bin nng lng in xoay chiu thnh mt
chiu c sc in ng Eb iu chnh nh tn hiu iu khin Uk. V ngun c
cng sut hu hn so vi ng c nn cc b bin i ny c in tr trong R b
v in cm Lb khc khng. a tc ng c vi hiu sut cao trong gii hn
rng ri 1:10 hoc hn na[3].
~

Rb I

LK
Uk

BB

Eb(Uk)

R
U

Hnh 1.5: S dng b bin i iu khin in p phn ng

ch xc lp c th vit c phng trnh c tnh ca h thng nh sau:

11

Eb - E = I(Rb +R)
Eb
K . dm
o

(1.12)

Rb Rud
.I u
K . dm

(1.13)

U dk

(1.14)

- V t thng ca ng c c gi khng i nn cng c tnh c cng

khng i, cn tc khng ti l tng th tu thuc vo gi tr in p iu
khin Uk ca h thng, do c th ni phng php iu chnh ny l trit .
xc nh gii iu chnh tc ta rng tc ln nht ca h
thng b chn bi c tnh c c bn, l c tnh ng vi in p phn ng nh
mc v t thng cng c gi gi tr nh mc. Tc nh nht ca di iu
chnh b gii hn bi yu cu v sai s tc v v mmen khi ng. Khi
mmen ti l nh mc th cc gi tr ln nht v nh nht ca tc l:

M dm
max

o max

min

o min

(1.15)

M dm

(1.16)

tho mn kh nng qu ti th c tnh thp nht ca di iu chnh

phi c mmen ngn mch l: Mnmmin = Mcmax = KM.Mm
Trong KM l h s qu ti v mmen. V h c tnh c l cc ng thng
song song nhau, nn theo nh ngha v cng c tnh c c th vit:
min

M nm min

M dm

M dm
KM

1 M dm

M dm

KM 1

o max .

o max

M dm
KM 1

12

(1.17)

(1.18)

0 max
max

U k1
U k2

0 min
min

M,I
Mnm

Mm

Hnh 1.6: c tnh c ca ng c khi thay i in p

- Vi mt c cu my c th th cc gi tr

0max,

Mm, KM l xc nh, v vy

phm vi iu chnh D ph thuc tuyn tnh vo gi tr ca cng . Khi iu

chnh in p phn ng ng c bng cc thit b ngun iu chnh th in tr
tng mch phn ng gp khong hai ln in tr phn ng ng c. Do c
th tnh s b c:

o max

1
M dm

10

V th ti c c tnh mmen khng i th gi tr phm vi iu chnh tc

cng khng vt qu 10. i vi cc my c yu cu cao v di iu chnh v
chnh xc duy tr tc lm vic th vic s dng cc h thng h nh trn l
khng tho mn c.
- Trong phm vi ph ti cho php c th coi c tnh c tnh ca h truyn ng
mt chiu kch t c lp l tuyn tnh. Khi iu chnh in p phn ng th
cng c c tnh c trong ton di l nh nhau, do st tc tng i s t
gi tr ln nht ti c tnh thp nht ca di iu chnh. Hay ni cch khc, nu
ti c tnh c thp nht ca di iu chnh m sai s tc khng vt qu gi
tr sai s cho php, th h truyn ng s lm vic vi sai s lun nh hn sai s
cho php trong ton b di iu chnh. Sai s tng i ca tc c tnh c
thp nht l:

13

o min

min
o min

M dm
. o min

(1.19)
o min

scp

V cc gi tr Mm,

(1.20)
0min,

scp l xc nh nn c th tnh c gi tr ti

thiu ca cng c tnh c sao cho sai s khng vt qu gi tr cho php.

lm vic ny, trong a s cc trng hp cn xy dng cc h truyn ng in
kiu vng kn.
- Nhn xt: C 3 phng php trn u iu chnh c tc ng c in mt
chiu nhng ch c phng php iu chnh tc ng c in mt chiu bng
cch thay i in p U t vo phn ng ca ng c l tt nht v hay c
s dng nht v n thu c c tnh c c cng khng i, iu chnh tc
bng phng v khng b tn hao.
1.3. GII THIU MT S H TRUYN NG IN MT CHIU
- H truyn ng my pht - ng c mt chiu (F - )
- H truyn ng xung p - ng c (XA - C
- H truyn ng chnh lu - ng c (CL - C)
1.3.1. H truyn ng my pht - ng c in mt chiu (F - )
- Cu trc h F - v c tnh c bn:
H thng my pht - ng c (F - ) l h truyn ng in m b bin i in
l my pht in mt chiu kch t c lp. My pht ny thng do ng c s
cp khng ng b ba pha ko quay[3].
Tnh cht ca my pht in c xc nh bi hai c tnh: c tnh t
ho l s ph thuc gia sc in ng my pht vo dng in kch t v c
tnh ti l s ph thuc ca in p trn hai cc ca my pht vo dng in ti.
Cc c tnh ny ni chung l phi tuyn do tnh cht ca li st, do cc phn ng
ca dng in phn ng trong tnh ton gn ng c th tuyn tnh ho cc
c tnh ny:
EF =KF. F.

=KF.

F .C.iKF

(1.21)

Trong :

14

KF: l h s kt cu ca my pht
C=

F/

iKF l h s gc ca c tnh t ho.

Nu dy qun kch thch ca my pht c cp bi ngun p l tng

UKF th: IKF =UKF/rKF
Sc in ng ca my pht trong trng hp ny s t l vi in p kch thch
bi h s hng KF nh vy c th coi gn ng my pht in mt chiu kch t
c lp l mt b khuych i tuyn tnh:
EF = KF.UKF
~

iKF
Uk

Uk

UK

UF=U

UKF

iK

MS

Hnh 1.7: S nguyn l h truyn ng my pht ng c

Nu t R = RF + RD th c th vit c phng trnh cc c tnh ca
h F - nh sau:
KF
.U KF
K

RI
K

KF
U KF
K

(1.22)
M

U KF ,U KD

(1.23)
M
U KD

(1.24)

Cc biu thc trn chng t rng, khi iu chnh dng in kch thch ca
my pht th iu chnh c tc khng ti ca h thng cn cng c
tnh c th gi nguyn. Cng c th iu chnh kch t ca ng c c di
iu chnh tc rng hn.

15

- Cc ch lm vic ca h F-

(II)

(I)
M

Uktf = 0

(III)

(IV)

Hnh 1.8: Cc trng thi lm vic ca h F -

Trong h F - khng c phn t phi tuyn no nn h c nhng c tnh
ng rt tt, rt linh hot khi chuyn cc trng thi lm vic. Vi s c bn
nh hnh 1.7 ng c chp hnh c th lm vic ch iu chnh c c
hai pha: Kch thch my pht F v kch thch ng c , o chiu quay bng
cch o chiu dng kch thch my pht, hm ng nng khi dng kch thch
my pht bng khng, hm ti sinh khi gim tc hoc khi o chiu dng
kch t, hm ngc cui giai on hm ti sinh khi o chiu hoc khi lm
vic n nh vi mmen ti c tnh cht th nng h F - c c tnh c c
bn gc phn t ca mt phng to [ ,M].
+) gc phn t th I v th III tc quay v mmen quay ca ng c lun
cng chiu nhau, sc in ng my pht v ng c c chiu i nhau v
EF

E,

. Cng sut in t ca my pht v ng c l:

PF = EF.I > 0
P = E.I < 0
Pc = M. > 0

Cc biu thc ny ni ln rng nng lng c vn chuyn thun chiu t

ngun

my pht

ng c

ti.

+) Vng hm ti sinh nm gc phn t th II v th IV, lc ny do

nn E

EF , mc d E, EF mc ngc nhau, nhng dng in phn ng li chy

ngc t ng c v my pht lm cho mmen quay ngc chiu tc quay.

16

Cng sut in t ca my pht, cng sut in t v cng sut c hc ca ng

c l:
PF = EF.I < 0
P = E.I > 0
Pc = M. < 0
Ch do dng in i chiu m cc bt ng thc trn cho ta thy nng
lng c chuyn vn theo chiu t ti

ng c

my pht

ngun, my

pht F v ng c i chc nng cho nhau. Hm ti sinh trong h F - c

khai thc trit khi gim tc , khi hm o chiu quay v khi lm vic n
nh vi ti c tnh cht th nng.
- c im ca h F - :
+) Cc ch tiu cht lng ca h F - v c bn tng t cc ch tiu ca h
iu p dng b bin i ni chung. u im ni bt ca h F - l s chuyn
i trng thi lm vic rt linh hot, kh nng chu qu ti ln, do vy thng s
dng h truyn ng F - cc my khai thc trong cng ngip m.
+) Nhc im quan trng nht ca h F - l dng nhiu my in quay, trong
t nht l hai my in mt chiu, gy n ln, cng sut lp t my t nht
gp ba ln cng sut ng c chp hnh. Ngoi ra do cc my pht mt chiu c
t d, c tnh t ho c tr nn kh iu chnh su tc .
1.3.2. H truyn ng xung p ng c (XA - C)
B bin i xung p l mt ngun in p dng iu chnh tc ng c
in mt chiu[3].

Hnh 1.9: S nguyn l v gin xung

17

 ci thin dng sng ca dng in phn ng ta thm vo mch mt

van m V0. C th s dng thyristor hoc transistor cng sut thay cho kha
K trn. Khi ng ct kha K, trn phn ng ng c s c in p bin i
theo dng xung vung. Khi trng thi dng lin tc th gi tr trung bnh ca
in p ra s l:
t

Ud

1 1
Udt
TCK 0

t1
U
TCK

.U

(1.25)

Trong :
t1 : L thi gian kha trng thi ng
t2 : L thi gian kha trng thi m
Tck : Thi gian thc hin mt chu k ng m kha

t1
TCK

: L rng ca xung p

Vy ta c th coi b bin i xung ng tr vi ngun lin tc c in p ra U d

v Ud c th thay i c bng cch thay i rng xung . Mt khc, thi
gian mt chu k ng ct ca kha K rt nh so vi hng s thi gian c hc ca
h truyn ng, nn ta coi tc v sc in ng phn ng ng c khng thay
i trong thi gian Tck.
- c tnh iu chnh ca h XA - C
.U
K.

.U
K.

Rb Rb
.I
K . m

(1.26)

R Rb
.M
( K . m ) 2

(1.27)

Khi thay i ta c h ng thng song song c cng

tc khng ti l tng

= const v

thay i theo . Nu ngun v cng ln th ta c th

b qua Rb, khi cng ca c tnh c ca h c cng l:

(K.
TN

Rb

)2

const

(1.28)

18

Tc khng ti l tng

ph thuc vo ch l gi tr gi nh. N c

th tn ti nu nh dng trong h l lin tc k c khi gi tr dng tin n 0. V

vy hai biu thc trn ch ng vi trng thi dng lin tc.
Khi dng in nh th h s chuyn trang thi t dng lin tc sang
trng thi dng gin on. Khi cc phng trnh c tnh iu chnh ni trn
khng cn ng na m lc ny c tnh ca h l nhng ng cong rt dc.

Hnh 1.10: c tnh c ca h

- Nhn xt:
+) Tt c c tnh iu chnh ca h XA C khi dng in gin on u c
chung mt gi tr khng ti l tng, ch ngoi tr trng hp = 0.
+) B ngun xung p cn t van dn nn vn u t t, h n gin chc chn.
+) cng ca c tnh c ln.
+) in p dng xung nn gy ra tn tht ph kh ln trong ng c. Khi lm
vic trng thi dng in gin on th c tnh lm vic km n nh v tn
tht nng lng nhiu.
1.3.3. H truyn ng chnh lu - ng c in mt chiu (CL - C)
- S nguyn l:
K
+
C

KT

CL
L

Hnh 1.11: S nguyn l ca h chnh lu - ng c in mt chiu

19

H truyn ng chnh lu c iu khin - ng c in mt chiu (CL - C)

c b bin i l cc mch chnh lu c iu khin, c sc in ng E d ph
thuc vo gi tr ca xung iu khin ( tc l ph thuc vo gc iu khin hay
gc m Tiristor )[3].
in p chnh lu Ud ( hay Ed ) l in p khng ti u ra, c dng p mch
vi s ln p mch l n trong mt chu k 2 ca in p th cp my bin p.
+) Vi s chnh lu hnh tia: n = m, trong m l s pha
+) Vi s hnh cu: n = 2.m, trong m l s pha
Gi s in p th cp ca my bin p c dng hnh sin vi biu thc l:
,

u2 = U2m.sin t = U2m.sin
Trong khong

=(0

( vi

= t)

(1.29)

2 ) th dng in p v dng in lp li nh chu k ban

u nn ta ch cn xt trong mt chu k T = 2 .
- S thay th ca h CL C.

Tiristor
~

Ud
L

Hnh 1.12: S thay th ca h chnh lu - ng c in mt chiu

Khi van dn th ta c phng trnh cn bng in p nh sau:

u2

E I d .R

Suy ra: U 2m .sin

di d

L .

(1.30)

dt

E i d .R

L .

di d
dt

(1.31)

Trong :
R = Rba + R + Rk
L = Lba + L + Lk
Vi: R ba

R2

R1.(

W2
W1

)2

(1.32)

20

L ba

L2

L1.(

W2
W1

)2

(1.33)

- Trng thi dng lin tc

trng thi dng lin tc, khi van ny cha kha th van k tip m, vic m
van k tip l iu kin cn kha van ang dn. Do vy, in p ca chnh
lu s c dng ng bao ca in p th cp my bin p.
Gi tr trung bnh ca in p chnh lu:

Ud

n
.
2

2
n

n
.
2

u 2 .dt

.sin .U 2m .cos
n

2
n

U 2 m .sin .d

(1.34)

U do .cos

Trong :
.t

U do

) : L gc m ca van

.U 2m .sin : L in p mt chiu ln nht u ra chnh

n

lu ng vi = 0
U2m: L tr bin ca in p th cp my bin p
n: L s ln p mch trong mt chu k
+) B qua st p trn van, ta c phng trnh c tnh c nh sau :
R

U do . cos
K . m

(K.

2
m )

(1.35)

Trong :

Ru

Rkh

Rba

n
. X ba
2

Rv

R: L in tr ca phn ng ng c
Rkh: L in tr ca cun khng lc
Rba: L in tr ca my bin p, vi R ba

21

R2

R1.(

W2 2
)
W1

Xba: L in khng my bin p, vi X ba

X2

X1.(

W2 2
)
W1

Rv: L in tr ca cc van ( Rv rt nh c th b qua )

n
.X ba : L in tr ng tr do qu trnh chuyn mch
2
+) cng ca c tnh c:
dM
d

(K.

)2

(1.36)

Udo
Ud1
Ud2
Ud3

o1
o2
o3

M( I )

Hnh 1.13: c tnh c ca h chnh lu - ng c mt chiu khi dng lin tc

- Trng thi dng gin an
Khi in khng trong mch khng ln, nu sc in ng ca ng c
ln th dng in ti s tr thnh gin on. trng thi ny th dng qua van
bt k s bng 0 trc khi van k tip m. Do vy trong mt khong dn ca van
th sc in ng ca chnh lu bng sc in ng ngun: ed = U2 , vi 0
, trong

l khong dn.

Khi dng in bng 0 th sc in ng ca chnh lu bng sc in ng

ca ng c: ed = E , vi

<

2
n

Vy ta c in p trung bnh ca chnh lu l :

Ud

n
. u .d
2 0 2

2
n

E.d

n
. U .sin .d
2 0 2m

n
2
.U 2m .(1 cos ) E.(
2
n

22

2
n

E.d

(1.37)

Vy : U d

n
2
.U 2m .(1 cos ) E.(
2
n

(1.38)

c tnh c ca h CL - C khi dng in gin an:

Hnh 1.14: c tnh c ca h chnh lu - ng c khi dng gin on

- Nhn xt:
+) u im: H truyn ng chnh lu - ng c c tc ng nhanh cao,
khng gy n v d t ng ha, do cc van bn dn c h s khuch i cng
sut rt cao, v vy rt thun tin cho vic thit lp h thng t ng iu chnh
nng cao cht lng cc c tnh tnh v cc c tnh ng ca h thng. Mt
khc, vic dng h chnh lu - ng c c kch thc v trng lng nh gn.
+) Nhc im: H truyn ng chnh lu - ng c c cc van bn dn l cc
phn t phi tuyn tnh, do dng in p chnh lu ra c bin p mch
cao, gy nn tn tht ph trong my in mt chiu.

23

CHNG 2. XY DNG M HNH H TRUYN NG IN

MT CHIU TRN MATLAB V SIMULINK
2.1. M HNH TON CA NG C IN MT CHIU
Khi t ln dy qun kch t mt in p no th trong dy qun kch
t s c dng in v mch t ca my s c t thng . Tip t mt gi tr
in p U ln mch phn ng th trong dy qun phn ng s c dng in I
chy qua, tng tc gia dng in phn ng v t thng kch t to thnh
mmen in t. Vy ta c cc phng trnh c bn ca ng c mt chiu.
- Phng trnh cn bng in p phn ng:
U = E + I(R + Rf)

(2.1)

- Sc in ng phn ng E c tnh theo biu thc:

E = k..

(2.2)

- Mmen in t ca ng c c xc nh:
Mdt = k..I

(2.3)

- Phng trnh cn bng m men ca ng c:

M(t) MC(t) = J

d
dt

(2.4)

Trong :
R: L in tr cun dy phn ng
E: L sc in ng phn ng ng c
Rf: L in tr ph
I: L dng phn ng
K: L h s cu to ca my in
M: L m men ng c
U: L in p t vo phn ng ng c
: L tc gc ng c
: L t thng ng c
Chuyn cc phng trnh trn sang dng ton t Laplace:
U(p) = R.I(p) + L.I(p).p + E(p)

(2.5)

M(p) - MC(p) = J(p). (p).p

(2.6)

24

E(p) = K. (p)

(2.7)

M(p) = k..I(p)

(2.8)

- Ta thnh lp c phng trnh c tnh c nh sau:

=

Lu . p.I
k

Ru

Rp

(k . ) 2

.M

(2.9)

- Hm truyn ca ng c nh sau:
I

RU

1
(U
LU . p

E)

1 / RU
(U
1 TU . p

E)

(2.10)

T cc phng trnh trn ta c s cu trc ca ng c in mt chiu nh

sau:

Hnh 2.1: S cu trc ng c in mt chiu

- La chn thng s m phng
ng c s dng l ng c mt chiu B1T20E ca hng YASKAWA.
Thng s ng c:
+) Cng sut nh mc: Pm = 20 (W)
+) in p nh mc phn ng: Um = 21,3 (V)
+) Tc quay nh mc: n m = 2200 (vng/pht)
+) Dng in nh mc: Im = 0,59 (A)
+) in cm phn ng: Lu = 9,1 (mH)
+) in tr phn ng: Ru = 15,7 ( )
+) Mmen qun tnh ca ng c: J = 1,18.10-6 (kg.m2)
+) Hng s momen Km = 0,037 (N.m/A)
+) Hng s thi gian iu khin Tk = 0,0001 (s)
+) Hng s thi gian chuyn mch chnh lu: Tv = 0,001 (s)

25

+) Hng s thi gian ca my bin dng: Ti = 0,001 (s)

+) Hng s thi gian ca my pht tc: T = 0,01 (s)
Ta c:
Hng s thi gian phn ng:

Tu

Lu
9,1.10-3
=
= 5,796.10-4 (s)
Ru
15,7

Tc gc ca rto:

n
2200
=
= 230,37 (rad/s)
9,55 9,55
H s khuch i ca b bin i:
Chn Uk = 5 (V)
Vy Kbd = Um =
Uk

21,4
= 4,28
5

Hm truyn ca b bin i:
Wb =

Kbd
(1 Tdk P)(1 Tv P)

4, 28
(1 0,0001.s)(1 0,001.s)

(2.11)
4, 28
1 1,1.10 3. s 10 7. s 2

- M hnh ng c in mt chiu

Hnh 2.2: M hnh ng c in mt chiu

26

2.2. TNG HP MCH VNG DNG IN

Khi b qua sc in ng E ta c s sau:

Hnh 2.3: S cu trc ca mch vng dng in

Trong :
Kbd
: Hm truyn ca b bin i
(1 Tdk P)(1 Tv P)

K bd : H s khuch i ca b bin i

Tdk : Hng s thi gian mch iu khin

Tv : Hng s thi gian ca s chuyn mch ca van bn dn

Ki
:Hm truyn ca cm bin dng in
1 Ti p
K i : H s khuch i ca cm bin dng in

Ti : Hng s thi gian ca cm bin dng in

Thu gn ta c s nh hnh v:
Trong S 0i l hm truyn ca i tng
U id

S 0i

Ri

Hnh 2.4: S thu gn ca mch vng in

S 0i

Kbd Ki .1/ Ru
(1 Tdk p)(1 Tv p)(1 Ti p)(1 Tu p)

(2.12)

V Tdk ; Tv ; Ti s thi gian rt nh nn b qua thnh phn bc cao l cc hng s

27

K bd K i .1/ Ru
1 (Tdk Tv Ti ) p (1 Tu p)

S 0i
t: Tsi

Ti

Tdk

(2.13)

Tv

Kbd Ki .1/ Ru
(1 Tsi p)(1 Tu p)

S 0i

(2.14)

p dng tiu chun mdul ti u ta c hm truyn ca h thng:

FMC

M FK

1 2

FMC

1
p 2

(2.15)

p2

Ri S 0 i
1 Ri S 0 i

Ri

1
S 0i ( FMi1 1)

Thay vo ta c:

Ru (1 pTsi )(1 pTu )

Kbd Ki .2 p(1
p)

Ri
Chn

(2.16)

= Tsi ta c b iu chnh dng:

RuTu
1
1
2 Kbd KiTsi
pTu

Ri

(2.17)

Ri l khu t l tch phn PI

- H s khuch i dng:
Chn Uid = 5(V)
5
Ki = Uid =
Ikm 0,59

8, 47

Tsi = Ti + Tk + Tv = 0,001 + 0,0001 + 0,001 = 2,1.10-3 (s)

- Hm truyn ca b iu chnh dng in l:

RuTu
1
1
2 Kbd KiTsi
pTu

Ri
=

15, 7.5, 796.10 4

=
2.4, 28.8, 47.2,1.10

1
5, 796.10

0, 06.s 103,52
s

Ki
8, 47
- Khu phn hi dng in:
=
1 Ti p 1 0, 001.s

28

(2.18)

2.3. TNG HP MCH VNG TC

Ta c s mch vng tc :

Hnh 2.5: S mch vng tc ng c in mt chiu

Trong :

Ru
: Hm truyn ca i tng iu khin
K m .Tc . p
Tc

Ru .J
: Hng s thi gian c hc ca ng c
( K m )2

K
: Hm truyn ca my pht tc
1 T p

K : H s khuch i ca my pht tc
T : Hng s thi gian ca my pht tc
S thu gn:

Hnh 2.6: S thu gn ca mch vng tc

Trong :

S0 =

K .Ru
Ki .K mTc p.(1 2Tsi p)(1 T p)

(2.19)

V Tsi v T rt nh nn ta b qua cc thnh phn bc cao:

S0

K .Ru
K i .K mTc p. 1 (2Tsi T ) p)

(2.20)

29

t: Ts =2 Tsi + T
Ta c: So =

v K

Ru .K
Ki .K m

K
Tc.p(1+Ts.p)

(2.21)

p dng tiu chun mdul i xng ta c hm truyn ca h thng:

FMC =

1 4

1 4 p
p 8 2 p2 8

(2.22)

p3

R S0
1 R S0

M FK

FMC

Vy R =

Tc .1+4.Ts.p
2.K.Ts 4.Ts.p

1
S 0 ( FMC1

1)

(2.23)
(2.24)

- H s khuch i ca my pht tc:

Chn U d = 5 (V)
K =

5
= 0,022
230

Ts = 2.Tsi+ T = 2.2,1.10-3 + 0,01 = 0,0142 (s)

- Hm truyn ca b iu chnh tc :
R =
Vi : K

Tc

Ru .J
K m2

Tc .1+4.Ts.p
2.K.Ts 4.Ts.p
Ru .K
Ki .K m

15, 7.0, 022

1,1
8, 47.0, 037

15,7.1,18.10
0,0372

Vy : R

(2.25)

0,021

0, 021
1
1
2.1,1.0, 0142
4.0, 0142.s

0, 672.s 11,83
s

- Khu phn hi tc :

0, 022
K
=
1 T p
0, 01.s 1

(2.26)

30

2.3.1. M hnh mch vng tc khi c mch vng dng in

Hnh 2.7: M hnh mch vng tc khi c mch vng dng in

+) p ng dng in:

Hnh 2.8: p ng dng in ca ng c khi c 2 b iu khin

31

+) p ng tc

Hnh 2.9: p ng tc ca ng c khi c 2 b iu khin

Nhn xt: Khi c 2 b iu khin l mch vng dng in v mch vng
tc th sau khi khi ng khong 0,6s th dng in v tc ng c dn n
inh. Sau khi ng c nhn ti th khong 0,3s tc ca ng c v dng in
ca ng c cng t gi tr nh mc.
2.3.2. M hnh mch vng tc khi b qua mch vng dng in
S thu gn ca m hnh mch vng tc khi b qua mch vng dng in:

Hnh 2.10: S thu gn ca mch vng tc khi b qua mch vng dng
Khi b qua mch vng dng in th hm truyn ca i tng:

S0

Kbd .K m .K
Ru .J .s.(1 p.Tu )(1 Tdk .s)(1 Tv . p)(1 T . p)

(2.27)

V Tdk ; Tv ; Ti s thi gian rt nh nn b qua thnh phn bc cao l cc hng s

Vy:

S0

K bd .K m .K
Ru .J .s.(1 p.Tu ) 1 (Tdk

Tv T ). p

32

(2.28)

t: T

Tdk Tv T

p dng tiu chun ti u modul ta c hm truyn ca h thng:

FMC
M FK
Chn

1 2

1
p 2

(2.29)

p2

R .S0
1 R .S0

FMC
=T

1
S0 ( FMC

(2.30)

1)

Tdk Tv T = 0,0001 + 0,001 + 0,01 = 0,0111 (s)

- Vy hm truyn ca b iu khin tc :

Ru .Tu .J .s
1
1
2.Kbd .K m .K .T
p.Tu

(2.31)

15,9.5, 796.10 4.1,18.10 6.s

1
1
2.4, 28.0, 037.0, 022.0, 011
s.5, 796.10

9,354 9,12.10 3 s
- H s khuch i ca my pht tc:
Chn U
K =

d
d

= 5 (V)

5
= 0,022
230

K
- Khu phn hi tc :
1 T .p

0, 022
1 0, 01s

(2.32)

Hnh 2.11: M hnh mch vng tc khi b qua mch vng dng in

33

+) p ng dng in:

Hnh 2.12: p ng dng in ca ng c khi c mch vng tc

+) p ng tc :

Hnh 2.13: p ng tc ca ng c khi c mch vng tc

Nhn xt: Lc u gi tr dng in v tc ca ng c tng ln v dn n
nh, sau khi nhn ti khong 0,6s th th tc v dng in ca ng c gn
nh khng cn dao ng na v t gi tr nh mc. Khi c b iu khin tc
th thi gian tc ng c n nh c rt ngn i rt nhiu so vi
khi cha c b iu khin.

34

CHNG 3. XY DNG M HNH B IU KHIN PID IU

KHIN NG C IN MT CHIU
3.1. NGUYN L XY DNG B IU KHIN PID
- Lut iu khin t l P
Tn hiu iu khin U(t) t l vi tn hiu vo e(t).
Phng trnh vi phn m t ng hc:
U(t) = Km.e(t)

(3.1)

Trong :
U(t): Tn hiu ra ca b iu khin
e(t): Tn hiu vo
Km: H s khuch i ca b iu khin
Xy dng bng s thut ton:

Hnh 3.1: S khuch i thut ton biu din lut iu khin t l

+) u im: B iu khin c tnh tc ng nhanh khi u vo c tn hiu sai
lch th tc ng ngay tn hiu u ra.
+) Nhc im: H thng lun tn ti sai lch d, khi tn hiu sai lch u vo
ca b iu khin b th khng gy tn hiu tc ng iu khin, mun khc
phc nhc im ny th ta phi tng h s khuch i Km. Nh vy h thng s
km n nh.
- Lut iu khin tch phn I
Tn hiu iu khin U(t) t l vi tch phn ca tn hiu u vo e(t).
Phng trnh vi phn m t ng hc:
t

e(t ).dt

U(t) =
0

1
e(t ).dt
Ti 0

(3.2)

35

Trong :
U(t): Tn hiu iu khin
e(t): Tn hiu vo ca b iu khin
Ti: Hng s thi gian tch phn
+) Xy dng s mch khuch i thut ton

Hnh 3.2: S mch khuch i thut ton biu din lut iu khin tch phn
Ta c:

Ur
Uv

1
R.C. p

(3.3)

+) u im: B iu khin tch phn loi b c si lch d ca h thng, t

chu nh hng tc ng ca nhiu cao tn.
+) Nhc im: B iu khin tc ng chm nn tnh n nh ca h thng.
- Lut iu khin vi phn D
Tn hiu ra ca b iu khin t l vi vi phn tn hiu vo.
Phng trnh vi phn m t ton hc:

U (t ) Td

de(t )
dt

(3.4)

Trong :
e(t): Tn hiu vo ca b iu khin
U(t): Tn hiu iu khin
Td: Hng s thi gian vi phn
+) Xy dng s bng khuch i thut ton

36

Hnh 3.3: S khuch i thut ton biu din lut iu khin vi phn
Ta c:

dU (t )
dt

Ur

RC.

Ur
Uv

RC. p

(3.5)

+) u im: Lut iu khin vi phn p tnh tc ng nhanh y l mt c

tnh m trong iu khin t ng thng rt mong mun.
+) Nhc im: Khi trong h thng dng b iu khin c lut vi phn th h
thng d b tc ng bi nhiu cao tn. y l loi nhiu thng tn ti trong
cng nghip.
Cc lut t l, vi phn, tch phn thng tn ti nhng nhc im ring.
Do vy khc phc cc nhc im trn ngi ta thng kt hp cc lut
li c b iu khin loi b cc nhc im , p ng cc yu cu k thut
ca cc h thng trong cng nghip.
- B iu khin t l tch phn PI
Phng trnh vi phn m t quan h tn hiu vo, ra ca b iu khin.
t

U (t )

K1.e(t ) K 2 . e(t )dt

0

(3.6)

U (t )

Km

1
e(t )
e(t )dt
Ti 0

Trong :
e(t): L tn hiu vo ca b iu khin
U(t): L tn hiu ra ca b iu khin
Km = K1: L h s khuch i

37

Ti

K1
K 2 : L hng s thi gian tch phn

+) Xy dng bng s khuch i thut ton

Hnh 3.4: S khuch i thut ton biu din b iu khin PI

Ta c:
t

Ur

R1
.U v
R2

Ur
Uv

R1
R2
(1
)
R2
R3 .C3 .R1. p

1
U v (t )dt
R3 .C3 0
(3.7)

- B iu khin t l vi phn PD
Phng trnh vi phn m t quan h vo ra ca b iu khin

de(t )
dt
de(t )
e(t ) Td
dt

U (t )

K1.e(t ) K 2 .

U (t )

Km

(3.8)

Trong :
e(t): L tn hiu vo ca b iu khin
U(t): L tn hiu ra ca b iu khin
Km = K1: L h s khuch i

38

Td

K2
: L hng s thi gian vi phn
K1

+) Xy dng bng s khuch i thut ton

Hnh 3.5: S khuch i thut ton biu din b iu khin PD

Trong :

dU v
dt

Ur

R1
.U v
R2

Ur
Uv

R2 .Rd .Cd
R1
1
.p
R2
R1

Rd .Cd .

(3.9)

Tn hiu ra ca b iu khin lch pha so vi tn hiu vo mt gc , y

l c im tc ng nhanh ca h thng. Khi h thng s dng b iu khin t
l vi phn d b tc ng bi nhiu cao tn, tn ti sai lch d, nhng li p ng
c tnh tc ng nhanh. Nn b iu khin ny thng c s dng trong h
thng t c nhiu cao tn v cn tnh tc ng nhanh.
Bng thc nghim hoc l thuyt ta xc nh cc tham s Td, Km b iu
khin p ng c tnh h thng.
- B iu khin t l vi tch phn PID
ci thin cht lung ca cc b iu khin PI, PD ngui ta kt hp ba
lut iu khin t l, vi phn, tch phn tng hp thnh b iu khin t l vi

39

tch phn (PID). C c tnh mm do ph hp cho hu ht cc i tng trong

cng nghip[5].
Phng trnh vi phn m t quan h tn hiu vo ra ca b iu khin:
t

U (t )

K1.e(t ) K 2 . e(t )dt K 3 .

0

de(t )
dt

U (t )

Km

1
de(t )
e(t )
e(t )dt Td
Ti 0
dt

Trong :
e(t): L tn hiu vo ca b iu khin
U(t): L tn hiu ra ca b iu khin
Km = K1: H s khuch i

Td

K3
: Hng s thi gian vi phn
K1

Ti

K1
: Hng s thi gian tch phn
K2

+) Xy dng bng khuch i thut ton

Hnh 3.6: S khuch i thut ton b iu khin PID

40

(3.10)

Ta c:

dU
Rd .Cd . v
dt

Ur

R1
.U v
R2

Ur
Uv

R2 .Rd .Cd
R1
1
.p
R2
R1

1
U v (t ).dt
R3 .C3 0
(3.11)

R2
R1.R3 .C3 . p

+) c tnh lm vic ca b iu khin PID rt linh hot, mm do. gii tn s

thp th b iu khin lm vic theo quy lut t l tch phn. gii tn s cao th
b iu khin lm vic theo quy lut t l vi phn khi

1
b iu khin
Ti .Td

lm vic theo quy lut t l.

+) B iu khin c ba tham s Km, Ti v Td.
Khi ta cho Ti = , Td = 0 th b iu khin lm vic theo lut t l
Khi Ti = b iu khin lm vic theo lut t l - vi phn
Khi Td = 0 b iu khin lm vic theo lut t l - tch phn
Tn hiu ra ca b lch pha so vi tn hiu vo mt gc , y l c tnh mm
do ca b iu khin. Nu ta chn c b tham s ph hp cho b iu khin
PID th h thng cho ta c tnh nh mong mun, p ng cho cc h thng
trong cng nghip. c bit nu ta chn b tham s tt b iu khin s p ng
c tnh tc ng nhanh, y l c im ni bt ca b iu khin.
Trong b iu khin c thnh phn tch phn nn h thng trit tiu c sai
lch d. Bng thc nghim hoc l thuyt ta xc nh cc tham s Km, Ti ,Td
b iu khin p ng c tnh h thng.
3.2. XY DNG M HNH VT L
3.2.1. S khi ca h thng

Hnh 3.7: S khi ca b iu khin ng c mt chiu

41

Mch iu khin tip nhn gi tr in p t v gi tr in p phn hi t

my pht tc, sau x l tn hiu v cp tn hiu xung PWM v tn hiu nhn
bit chiu ca ng c vo mch cng sut iu khin ng c.
3.2.2. Xy dng mch cng sut
- Gii thiu IC MC33883
MC33883 l mt IC kch FET chuyn dng iu khin cu H.
+) in p ngun VCC2 cung cp cho IC t 5,5V n 28V
+) in p ngun VCC t 5,5V n 55V
+) Hot ng nhit t -40oC n 125oC
+) C th p ng tn s bm xung PWM ln n 100Khz
+) S chn ca MC33883

Hnh 3.8: S chn ca MC33883

Bng 3.1: M t cc chn chc nng ca MC33883
Chn

K hiu

1, 11

VCC, VCC2

2, 13

C2, C1

4, 19

SRC_HS1, SRC_HS2

5, 18

GATE_HS, GATE_HS2

Chc nng
Chn cp ngun cho thit b
Hai chn ny ni vi mt t in
Ngun u ra ca MOSFET
Hai chn ny ni vi chn iu khin
ca MOSFET

6, 17

IN_HS1, IN_HS2

u vo tn hiu logic, tc ng ln
chn iu khin ca MOSFET

7, 16

IN_LS1, IN_LS2

Hai chn u vo tn hiu logic, dng

iu khin cc cng ca MOSFET

42

8, 15

GATE_LS1, GATE_LS2 u vo chn iu khin ca

MOSFET

9, 12, 14

GND1, GND_A, GND2

20

G_EN

Chn ni t ca thit b
Chn chung cho php

Hnh 3.9: S dng MC33883 iu khin 4 MOSFET

- MOSFET IRF540
IRF540 l MOSFET knh dn loi N c thng s nh sau:
+) in p nh mc 100 V
+) Dng in nh mc 25oC l 33 A
+) Dng in nh l 100 A
+) in p iu khin VGS l 20 V
+) in p ngng iu khin VGS t 2 n 4 V
+) in p ri trn van khi dn hon ton l 1,2 V
+) Dng r trng thi kha ID look l 25 A
+) Din tr khi dn RDS on l 44 m
+) Dng r cc G trng thi kha IG look l 100 nA
+) Tc tng trng in p

du
l 7 V/ns
dt

+) Nhit lm vic 175oC

43

3.2.3. Khu phn hi tc

- Hi tip tc l mt phn khng th thiu trong h thng iu khin tc
ng c. iu khin c tc ca ng c ngi ta phi bit c gi tr
u ra ca h thng c nhng iu chnh thch hp u vo t c tc
mong mun. phn hi tc ngi ta thng hay dng my pht tc v
cc b o tc xung s.
- My pht tc l my in nh, lm vic ch my pht v thc hin chc
nng bin i chuyn ng ca trc thnh tn hiu in p ra.
Phng trnh c tnh ca my pht tc:
UF = K.n = K1.

d
dt

(3.12)

Trong :
UF: L in p ra ca my pht tc
K, K1: L h s khuch i
n: L vn tc quay ca roto (vng/pht)
: L gc quay
Cc yu cu i vi my pht tc l: tuyn tnh ca c tnh cao, h s
khuch i K = UF ln, in p ra phi i xng.
n
My pht tc mt chiu c cu trc v nguyn l hot ng nh my in
mt chiu cng sut nh, kch thch bng nam chm vnh cu hoc kch thch
c lp. Yu cu i vi my pht tc mt chiu l in p mt chiu c cha t
thnh phn xoay chiu tn s cao v t l vi tc ng c, khng b tr nhiu
v gi tr v du so vi bin i i lng o. in p mt chiu pht ra khng
ph thuc vo ti v nhit , m bo yu cu trn my pht tc mt chiu
phi c t thng khng i trong ton vng iu chnh tc . V vy phi hn
ch tn tht mch t bng vic s dng vt liu t c t tr hp v s dng l
thp k thut in mng (hn ch tn tht dng in xoay).
Nhc im ca my pht tc mt chiu l chnh xc ph thuc vo
ph ti. Mt khc nhit cun dy thay i nh hng ti in tr phn ng

44

my pht lm in p ra ca my pht thay i (do in p ri mch phn ng

thay i). in p u ra ca my pht cn b thay i do in tr ca chi than.
nh hng ca phn ng phn ng ti h s t l (nht l khi vng tc cao).
3.2.4. Xy dng mch iu khin

Hnh 3.11: Cu trc mch iu khin ng c mt chiu

Tn hiu t v tn hiu phn hi t my pht tc c a qua mt mch
tr, in p u ra ca mch tr s c a vo b iu khin. in p iu
khin Udk s c a n khu so snh, khu so snh s so snh in p iu
khin v in p rng ca to ra tn hiu xung, tc ng vo van cng sut.
- Mch iu khin s dng khuch i thut ton (operational amplifier), thng
c gi tt l op-amp l mt mch khuch i "DC-coupled" (tn hiu u vo
bao gm c tn hiu BIAS) vi h s khuch i rt cao, c u vo vi sai, v
thng thng c u ra n. Trong nhng ng dng thng thng, u ra c
iu khin bng mt mch hi tip m sao cho c th xc nh li u ra,
tng tr u vo v tng tr u ra. Cc mch khuch i thut ton c nhng
ng dng tri rng trong rt nhiu cc thit b in t thi nay t cc thit b
in t dn dng, cng nghip v khoa hc.
- Vi mch khuch i thut ton LM358 xy dng b iu khin PID

Hnh 3.12: S chn ca vi mch LM358

45

LM358 l mt vi mch tch hp sn 2 khuch i thut ton. Ngun cung

cp cho LM358 tm t 3V~32V, p ti a ng vo t 0~32V i vi ngun n
v cng tr 16V i vi ngun i. y l mch khuch i c hi tip v c
in tr rt cao, cho nn khng lm nh hng xu n tn hiu cm bin, c kh
nng chng nhiu cao.
+) li khuch i in p DC ca LM324 ti a khong 100 dB.
+) Tn s hot ng ca LM324 l 1MHz.
- Khu in p t

Hnh 3.13: S nguyn l khi iu chnh in p t

Ta c th thay i gi tr in p t thng qua bin tr R4. in p t
qua mt mch lc RC, nh vy ta s c ng c tnh in p t mt hn.
Ta chn: Gi in p t U = 5V, R1 = 50 (K)
R4 = 50 (K), C9 = 1(F), R2 = R9 = 10 (K)
- Khu mch tr

46

Hnh 3.14: S nguyn l mch tr

Ta c: UphVn + U-Vn = 0
R10
R12
Chn R10 = R12 ta c: U = 2.Vn - Uph
M Vp = Uset.R13 , chn R13 = R11 ta c: Vp = Uset
R13+R11
2
M Vn = Vp vy: U = Uset - Uph
Ta chn: R10 = R11 = R12 = R13 = 10 (K)
- Mch iu khin PID

47

Hnh 3.15. S nguyn l mch PID

Khi PID gm 3 khu: T l, tch phn v vi phn. Gi tr in p ra t
mch tr c a vo khi ny, u ra ca khi PID qua mt mch cng th ta
s c in p iu khin.
+) Khu t l: Ta s dng 2 bin tr R3 v R8 thay i h s P ca b iu
khin, s dng kha sw1 ta c th ngt c b ny ra khi mch iu khin
Theo tnh cht ca khuch i thut ton h s khuch i ca khu t l:
K = Up = - R3
U
R8
in p ra ngc pha so vi in p vo, bin tr R 3 gy ra hi tip m song
song theo in p lm cho h s khuch i gim xung.

48

Vy Up = - U. R3
R8

(3.14)

Ta chn R3 = 100 (K) v R8 = 10 (K)

+) Khu tch phn: Ta s dng bin tr R5 thay i h s I ca b iu khin,
s dng kha sw2 ta c th ngt c b ny ra khi mch iu khin.
Theo tnh cht ca khuch i thut ton ta c:

UI =

1
R5.C7

U.dt

(3.15)

in p ra t l vi tch phn in p vo
R5.C7 gi l hng s tch phn
Ta chn R5 = 100 (K) v C7 = 10 (F)
+) Khu vi phn: Ta s dng bin tr R6 thay i h s D ca b iu khin,
s dng kha sw3 ta c th ngt c b ny ra khi mch iu khin.
Theo tnh cht ca khuch i thut ton ta c:
dU
UD = C8.R6.
dt

(3.16)

in p ra t l vi tch phn in p vo
C8.R6 gi l hng s vi phn
Ta chn R6 = 50 (K) v C8 = 100 (nF)
- Mch cng in p

Hnh 3.16: S nguyn l mch cng in p

49

Mch cng in p thc hin nhim v cng gi tr in p Up, UI, UD li

Nu R15 = R16 = R17 = R18, theo tnh cht ca khuch i thut ton ta c:
Uk = - (UP + UI + UD)

(3.17)

Ta chn: R15 = R16 = R17 = R18 = 10 (K)

- Khu nhn bit chiu ca tn hiu iu khin

Hnh 3.17: S nguyn l khu nhn bit chiu ca tn hiu iu khin

Ta chn R23 = 4,7 (K) v D1 l diode zener loi DZ5V1.
- Mch tch tn hiu chiu v ln tn hiu iu khin s dng IC CD4052
CD4052B l mt b dn knh - phn knh 4 knh tng t. C hai ng
chn u vo nh phn l A v B, v mt hn ch u vo. Hai tn hiu u vo
la chn 1 trong 4 cp knh phi c bt v kt ni cc yu t u vo tng
t v ra s c u ra.
+) S chn ca CD4052

Hnh 3.18: S chn ca CD4052

50

+) Khi tch knh d liu vo chn COM OUT/IN, ra 4 knh CHANNEL I/O.
Ngc li, khi dn knh th d liu song song vo cc chn CHANNEL
OUT/IN v ra chn COM OUT/IN.
+) 2 ng chn l A, B
+) Chn INH (inhibit) cho php d liu c php truyn ra

Hnh 3.19. Cu trc mch ca CD4052

Bng 3.2. Hot ng ca CD4052

51

Hnh 3.20: S nguyn l mch tch tn hiu iu khin dng CD4052

in p iu khin c a vo chn 13 ca CD4052, thc hin tch
knh d liu. in p iu khin c tch xang 2 knh X0 v X1. Nu khng
c tn hiu bt iu khin, chn X0 s c ni vi Y0 v ta c u ra Y. Nu c
tn hiu bit iu khin th chn X1 s c ni vi Y1, in p iu khin c th
m ln t chn X1 in p iu khin s c qua mt mch khuch i thut
ton o, nh vy ta s c u ra Y.
Chn R21 = R22 = 10 (K )
- Mch to xung dao ng dng IC NE555
+) 555 l mt loi linh kin kh l ph bin by gi vi vic d dng to c
xung vung v c th thay i tn s ty thch, vi s mch n gin, iu
ch c rng xung. N c ng dng hu ht vo cc mch to xung ng
ct hay l nhng mch dao ng khc. y l linh kin ca hng CMOS sn
xut[1].
in p u vo: 2 - 18V (Ty tng loi LM555, NE555, NE7555)

52

Dng in cung cp: 6mA - 15mA

in p logic mc cao: 0,5 - 15V
in p logic mc thp: 0,03 - 0,06V
Cng sut ln nht l: 600mW
+) S chn ca NE555

Hnh 3.21: S chn ca NE555

IC NE 555 gm c 8 chn
+) Chn s 1 (GND): Cho ni GND ly dng cp cho IC hay cn gi l chn
chung.
+) Chn s 2(TRIGGER): ng vo ca 1 tn so p. Mch so p dng cc
transistor PNP, mc p chun l 2.Vcc/3.
+) Chn s 3(OUTPUT): Chn ny l chn dng ly tn hiu ra logic. Trng
thi ca tn hiu ra c xc nh theo mc 0 v 1, 1 y l mc cao n tng
ng vi gn bng Vcc nu (PWM=100%) v mc 0 tng ng vi 0V nhng
m trong thc t mc 0 ny ko c 0V m n trong khong t (0.35 ->0.75V).
+) Chn s 4(RESET): Dng lp nh mc trng thi ra. Khi chn s 4 ni
masse th ng ra mc thp. Cn khi chn 4 ni vo mc p cao th trng thi
ng ra ty theo mc p trn chn 2 v 6. Nhng m trong mch to c dao
ng thng hay ni chn ny ln VCC.
+) Chn s 5 (CONTROL VOLTAGE): Dng lm thay i mc p chun trong
IC555 theo cc mc in p ngoi hay dng cc in tr ngoi cho ni GND.
Chn ny c th khng ni cng c nhng m gim tr nhiu ngi ta
thng ni chn s 5 xung GND thng qua t in t 0.01uF n 0.1uF cc t
ny lc nhiu v gi cho in p chun c n nh.

53

+) Chn s 6(THRESHOLD) : l mt trong nhng chn u vo so snh in p

khc v cng c dng nh 1 chn cht.
+) Chn s 7(DISCHAGER) : c th xem chn ny nh 1 kha in t v chu
iu khin bi tng logic ca chn 3. Khi chn 3 mc p thp th kha ny
ng li.ngc li th n m ra. Chn 7 t np x in cho 1 mch RC lc IC555
dng nh mt mch dao ng.
+) Chn s 8 (Vcc): l chn cung cp p v dng cho IC hot ng. Khng
c chn ny coi nh IC cht. N c cp in p t 2V ->18V (Ty tng loi
555 thp nht l NE7555).

Hnh. 3.22: Mch to dao ng dng NE555

Khi t C4 np in ta c: T1 = 0,693.C4.(R7 + R27)
Khi t C4 phng in ta c: T2 = 0,693.C4.R27
Vy chu l xung l: T = T1 + T2 = 0,693.C4.(R7 + 2.R27)
to dao ng c tn s 10Khz, tc l chu k dao ng T =
Ta chn: R7 = 50 (K ), R27 = 100 (K ), C4 = 1 (nF)

54

1 1
= 4 = 10-4 s
f 10

Vy: T1 = 0,639.10-9.(50000 + 100000) = 1,04.10-4 (s)

T2 = 6,93.10-9.100000 = 6,93.10-5 (s)
- Mch to xung rng ca dng kha Transistor

Hnh 3.23: Mch to xung rng ca dng Transistor

Khi transistor m, t C3 phng in qua transistor, Uc = 0. Khi transistor
kha t C3 np in t +12V qua R29, in p trn t thay i theo quy lut hm
m vi hng s thi gian = R29.C3 [1].
t
Uc = 12.(1 - e )

(3.18)

1
ly on tuyn tnh ca in p trn t c th chn T = .
3
+) Chn transistor l loi A1015 c cc thng s sau:
Ic = 150 mA = 0,15 (A)
VCB0 = -50 (V)
VCE0 = -50 (V)
Pcmax = 400 (mW)
Tn s hot ng 1 kHz
0,15
+) Dng in cc i qua Baz l IB = IC =
.1,2 = 2 (mA)
90
HFE
55

M IB =

12-0,7
R28+R29

Vy R28 + R29 = 5650 ( )

Ta c Un = 12V, T = 10-4 s, vy R29.C3 = 3.10-4

Chn R 28 = 3 (K ), R29 = 3 (K ), t C3 = 0,1 (F)
- Mch so snh

Hnh 3.24: Mch so snh in p

y l mch so snh hai in p vo l: in p rng ca v in p
iu khin Uk (ly t bn ngoi vo)[1]
Ti thi im bng nhau v gi tr tuyt i ca 2 in p ny, trong phn
sn s dng ca in rng ca th mch pht ra mt xung in p, xung ny
c a qua khi to xung n c th thay i c di cng sut, dc
sn trc. C ngha l khi so snh l ni quyt nh gi tr gc iu khin
th so snh in p:

56

Hnh 3.25: th so snh in p

Mun xc nh c thi im m van cng sut ( gc m

) th ta tin

hnh so snh hai tn hiu Uk v Urc. in p rng ca c a vo ca o ca

khu khuch i thut ton qua R25 so snh vi in p iu khin c a
vo ca khng o, in p iu khin c a vo ca khng o ca khuch
i thut ton qua R24.
+) Nu Uc < Uk th tn hiu ra l dng
+) Nu Uc > Uk th tn hiu ra l m

Ur > 0.
Ur < 0.

+) Nu Uc = Uk th l thi im pht xung m van cng sut. Vy u

ra ca khuch i thut ton l mt chui xung m dng lin tip. Mun thay
i gc m

ca van cng sut th ta thay i gi tr ln ca in p iu

khin Uk.
+) it D2 dng loi b phn xung m. V vy in p ra ch cn phn xung
dng.
+) Tnh ton khu so snh
Chn in tr R24 = R25 = R26 = 4,7 (k )
it D2 dng gii hn in p u ra chn loi DZ5V1

57

- Xy dng mch iu khin

Hnh 3.26: S nguyn l khu in p t v mch tr

58

Hnh 3.27: S nguyn l b iu khin PID

59

Hnh 3.28: S nguyn l khu nhn bit chiu v tch in p iu khin

Hnh 3.29: S mch to xung rng ca v khu so snh in p

60

3.3. KT QU THC NGHIM

Sau hn ba thng nghin cu em hon thnh n tt nghip: Nghin
cu tng quan v h truyn ng in mt chiu, i su xy dng b iu khin
PID cho ng c in mt chiu vi cc kt qu t c nh sau:
- Tm hiu tng quan v ng c mt chiu
- Cc phng php iu khin tc ng c mt chiu
- Xy dng m hnh h truyn ng in mt chiu trn Matlab & Simulink
- Xy dng b iu khin PID ng dng cho ng c mt chiu.

Hnh 3.31: M vt l iu khin tc ng c in mt chiu

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KT LUN
ti iu khin ng c mt chiu s dng b iu khin PID tuy khng
phi l mt ti mi, nhng qua phn nh c tnh nghim tc trong
vic hc hi v vn dng cc kin thc vo vic thc hin ti.
Sau thi gian ba thng nghin cu em hon thnh ti vi cc kt qu
t c nh sau: Tm hiu tng quan v ng c mt chiu, cc phng php
iu khin tc ng c mt chiu, xy dng m hnh h truyn ng in
mt chiu trn Matlab & Simulink v l thuyt iu khin t ng t lm c
s cho vic xy dng b iu khin PID ng dng cho ng c mt chiu.
Tuy nhin bn n vn cn mt s vn tn ti, hn ch cn gii
quyt:
+) Vic kim sot cc tham s ca b iu khin PID l kh kh khn.
+) Cha quan st c mt cch trc quan tc ng c trn my tnh.
Do vy, hng pht trin tip theo ca ti s l:
+) ng dng cm bin o dng in ACS712 xy dng h thng iu khin
gm 2 mch vng tc v dng in cho ng c in mt chiu.
+) Thit k giao din trn my tnh cho php quan st c p ng tc .
+) Xy dng b iu khin PID cho h thng iu khin v tr.

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TI LIU THAM KHO

1. Nguyn Bnh (1996), in t cng sut. NXB Khoa Hc K Thut
2.Bi Quc Khnh, Nguyn Vn Lin, Phm Quc Hi, Dng Vn Nghi
(2008), iu chnh t ng truyn ng in. NXB Khoa hc v k thut
3. Bi Quc Khnh, Nguyn Vn Lin (2005), C S Truyn ng in. NXB
Khoa hc v k thut
4. Nguyn Phng Quang (2006), Matlab & Simulink dnh cho k s iu
khin t ng. NXB Khoa hc v k thut
5. Design PID circuit - http://www.ecircuitcenter.com/Circuits/op_pid.htm

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