Dong Cơ 1 Chieu Ko Choi Than

2
S ha bi Trung tm Hc liu i hc Thi Nguyn http://www.lrc-tnu.edu.vn

I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP

LUN VN THC S K THUT

NGHIN CU H TRUYN NG IN DNG NG
C MT CHIU KHNG CHI THAN

Ngnh : T NG HO
M s:23.04.3898
Hc vin: NGUYN C HNG
Ngi HD Khoa hc : TS. TRN XUN MINH

THI NGUYN - 2010

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I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP

LUN VN THC S K THUT

NGNH: T NG HO

NGHIN CU H TRUYN NG IN DNG NG
C MT CHIU KHNG CHI THAN

NGUYN C HNG

THI NGUYN - 2010

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I HC THI NGUYN
TRNG I HC
K THUT CNG NGHIP

CNG HA X HI CH NGHA VIT NAM
c lp T do Hnh phc
LUN VN THC S

H v tn hc vin: Nguyn c Hng
Ngy thng nm sinh: Ngy 04 thng 07 nm 1978
Ni sinh: Bnh vin Gang Thp - Thi Nguyn
Ni cng tc: Trng Cao ng C Kh Luyn Kim
C s o to: Trng i hc K thut Cng nghip - Thi
Nguyn
Chuyn ngnh: T ng ha
Kha hc: K11- TH
TN TI: NGHIN CU H TRUYN NG IN DNG NG C MT
CHIU KHNG CHI THAN

Ngi hng dn khoa hc: TS. Trn Xun Minh
Trng i hc K Thut Cng Nghip - Thi Nguyn

GIO VIN HNG DN

TS. Trn Xun Minh
HC VIN

Nguyn c Hng

DUYT BAN GIM HIU

KHOA SAU I HC

5


LI CAM OAN

Ti xin cam oan y l cng trnh nghin cu ca c nhn ti di s
hng dn ca Thy gio TS.Trn Xun Minh v ch tham kho cc ti liu c
lit k. Ti khng sao chp cng trnh ca c nhn khc di bt k hnh thc no.

Tc gi lun vn

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MC LC
Trang ba ph ...................1
Li cam oan .................2
Mc lc ......................3
Danh mc cc k hiu v ch vit tt ...............6
Danh mc cc bng .................6
Danh mc cc hnh v, th .................7
M u..................11
Chng1: TNG QUAN V NG C IN MT CHIU KHNG CHI
THAN V H TRUYN NG IN DNG NG C IN MT CHIU
KHNG CHI THAN.16
1.1. Tng quan v ng c in mt chiu khng chi than16
1.1.1. Tng quan v ng c in mt chiu khng chi than...16
1.1.2. Cu to ca ng c mt chiu khng chi than..18
1.2. Cc h truyn ng in dng CMCKCT...25
1.2.1. Truyn ng khng o chiu (truyn ng mt cc tnh)..25
1.2.2. Truyn ng c o chiu (truyn ng hai cc tnh).26
1.3. Mt s c im v in ca CMCKCT27
1.3.1. Th t chuyn mch...........24
1.3.2. c tnh c v c tnh lm vic ca CMCKCT..30
1.3.3. Sc phn in ng.30
1.4. Kt lun..31
Chng 2: M HNH TON HC CA NG C IN MT CHIU KHNG
CHI THAN V LA CHN THUT TON IU KHIN. 32
2.1. M hnh ton hc ca ng c mt chiu khng chi than...35
2.1.1. M hnh ton hc..35
2.1.2. Mmen in t.34
2.1.3. Phng trnh ng hc ca CMCKCT.35
2.2. Phng trnh c tnh c ca ng c mt chiu khng chi than...35
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2.3. S cu trc ca CMCKCT.37
2.4. La chn thut ton iu khin cho CMCKCT..41
2.4.1. t vn 41
2.4.2. Gii thiu v vi iu khin DSPIC30F401139
2.4.2.1. Ngt ca DSPIC30F4011..44
2.4.2.2. Cng vo ra ca DSPIC30F4011..45
2.4.2.3. Cc b nh thi.46
2.4.2.4. Module chuyn i tng t - s ADC 10bit...48
2.4.2.5. Module PWM iu khin ng c51
2.4.3. Thit k mch iu khin CMCKCT dng DSPIC30F401152
2.4.3.1. Module x l trung tm52
2.4.3.2. H thng phn hi dng in...50
2.4.3.3. Mch phn hi tc 56
2.4.3.4. Mt s cu trc khc.57
2.4.4. Thit k mch m cho b nghch lu57
2.4.4.1. IC HCPL 316J...57
2.4.4.2. Mch m cho mi van IGBT..58
2.4.4.3. Ngun cp cho tng module ca mch m58
2.4.4.4. Mch m ca c 6 van IGBT..59
2.4.5. Vit chng trnh iu khin cho ng c...64
2.5. Thit k mch lc cho CMCKCT..64

2.5.1. Gii thiu v cc b bin i cho CMCKCT..64

2.5.2. Bin p t ngu70
2.5.3. Mch chnh lu71
2.5.4. Mch nghch lu..73
2.5.4.1 Cu to v nguyn l hot ng ca IGBT73
2.5.4.2. c tnh ng ct ca van IGBT..69
2.5.4.3. La chn mch nghch lu76
2.5.5. Tnh ton tham s mch lc.78
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2.5.5.1. Tnh chn mch chnh lu.78
2.5.5.2. Tnh chn mch nghch lu...79
2.6. Kt lun..80
Chng 3: XY DNG CU TRC H TRUYN NGV M PHNG..76
3.1. Tng hp cc b iu chnh tc v dng in cho CMCKCT...81
3.1.1. M hnh 1 pha ca ng c mt chiu khng chi than ............................. 81
3.1.2. Tng hp cc b iu chnh ca CMCKCT ............................................ 83
3.1.3. M hnh h thng iu khin 1 pha CMCKCT ....................................... 84
3.1.4. Hm truyn t ca cc khi chc nng trong m hnh h iu khin ....... 85
3.1.4.1. Khi b bin i79
3.1.4.2. Khu o dng in - phn hi dng..81
3.1.4.3. Khu o tc - phn hi tc ..81
3.1.5. Tng hp mch vng dng in..81
3.1.6. Tng hp mch vng tc ...................................................................... 89
3.1.7. M phng m hnh mt pha ca CMCKCT ............................................ 93
3.2. Xy dng v m phng m hnh 3 pha ca CMCKCT ................................. 97
3.2.1. Xy dng tng quan m hnh h iu khin CMCKCT .......................... 98
3.2.2. M hnh CMCKCT ................................................................................. 99
3.2.3. M hnh b chuyn mch in t - nghch lu ngun p ......................... 105
3.2.4. Khi B iu khin ................................................................................. 106
3.2.5. Mt s khi chc nng khc.................................................................... 109
3.2.6. Mt s chng trnh phc v cho m hnh h iu khin ........................ 110
3.2.7. M phng m hnh hon chnh h thng iu khin CMCKCT ............ 110
3.2.8. Kt qu m phng h thng iu khin CMCKCT ............................... 111
3.2.9. Nhn xt kt qu m phng..................................................................... 115
3.3. Kt lun....106
KT LUN V KIN NGH ............................................................................. 115
Kt lun ............................................................................................................. 115
Kin ngh...115
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TI LIU THAM KHO ................................................................................... 116
PH LC............................................................................................................ 117

DANH MC CC K HIU V CC CH VIT TT
CMC ng c mt chiu
CMCKCT ng c mt chiu khng chi than
C ng c
DC Direct Current
DSP Digital Signal Processor
PWM Pulse Width Modulation
BEMF Back EMF Sc phn in ng
ADC Analog to Digital Converter
DAC Digital to Analog Converter
GND Ground
BLDC Brushless Direct Current
MOSFET Metal Oxide Semi-conductor Field Effect Transistor
IC Integrated Circuit

DANH MC CC BNG
Bng 1.1 So snh CMC khng chi than vi CMC thng thng
Bng 1.2 Th t chuyn mch khi ng c quay theo chiu kim ng h
Bng 1.3 Th t chuyn mch khi ng c quay ngc chiu kim ng h
Bng 2.1 Phn cng a ch vo ra cho cc chn ca vi iu khin

DANH MC CC HNH V V TH
Hnh 1.1 Cc thnh phn c bn ca CMCKCT
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Hnh 1.2 S khi CMCKCT
Hnh 1.3
Mt ct ngang ca mt CMC khng chi than(a) v ca mt ng c
mt chiu khng chi than hai pha (b)
Hnh 1.4 Stator ca CMCKCT
Hnh 1.5 Cc dng sc in ng ca CMCKCT
Hnh 1.6 Rotor ca CMCKCT
Hnh 1.7 Cc dng Rotor ca ng c mt chiu khng chi than
Hnh 1.8 Hiu ng Hall
Hnh 1.9 ng c mt chiu khng chi than cu trc nm ngang
Hnh 1.10 B phn i chiu in t s dng transistor cng sut
Hnh 1.11 Minh ho nguyn l lm vic ca CMCKCT truyn ng mt cc
Hnh 1.12 Th t chuyn mch v chiu quay ca t trng stator
Hnh 1.13 Minh ho nguyn l lm vic ca CMCKCT truyn ng hai cc
Hnh 1.14 T trng stator v chiu ca m men quay
Hnh 1.15 Chuyn ng cng chiu kim ng h ca r to v t trng stator
Hnh 1.16 Chuyn ng ngc chiu kim ng h ca rotor v t trng stator
Hnh 2.1 M hnh mch in ca CMCKCT
Hnh 2.2 M hnh thu gn ca CMCKCT
Hnh 2.3 S 1 pha tng ng ca CMCKCT
Hnh 2.4 S khi CMCKCT
Hnh 2.5 S chn linh kin vi iu khin DSPIC30F4011
Hnh 2.6 Cu trc mt chn ca cng vo ra
Hnh 2.7 Cu trc ca b nh thi 1 (Timer1 - nh thi loi A)
Hnh 2.8 Cu trc ca module ADC 10bit trong DSPIC30F4011
Hnh 2.9 Cu trc ca module PWM
Hnh 2.10 Cu trc module x l trung tm
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Bng 2.11 Cu trc mch phn hi dng in
Hnh 2.12 Cu trc ca HCPL 7510
Hnh 2.13 Cu trc mch phn hi tc
Hnh 2.14 Mch ghp ni LED v nt n
Hnh 2.15 Mch xut tn hiu PWM v nhn tn hiu t cm bin Hall
Hnh 2.16 Mch ghp ni cng COM
Hnh 2.17 Ngun cp cho mch iu khin
Hnh 2.18 Mch iu khin ng c
Hnh 2.19 Cu trc ca ICHCPL 316J
Hnh 2.20 c tnh in p vo v cc tn hiu bo v ca ICHCPL 316J
Hnh 2.21 Module mch m cho mt van IGBT
Hnh 2.22 Ngun cp cho modul ca mch im cho van IGBT
Hnh 2.23 Mach m cho 6 van IGBT
Hnh 2.24 Lu chng trnh mch vng h iu khin CMCKCT
Hnh 2.25 Lu chng trnh mch vng kn iu khin CMCKCT
Hnh 2.26 S bin i cho CMCKCT
Hnh 2.27 Cu to ca bin p t ngu
Hnh 2.28 S chnh lu cu 3 pha c iu khin
Hnh 2.29 S chnh lu cu diot
Hnh 2.30 S in p chnh lu cu diot
Hnh 2.31 Cu trc bn dn v cu trc tng ng ca van IGBT
Hnh 2.32 S th nghim kho IGBT
Hnh 2.33 th th hin s dn dng ca van IGBT
Hnh 2.34 th th hin qu trnh kho ca van IGBT
Hnh 2.35 S b nghch lu p ba pha
Hnh 2.36 S mch lc ca CMCKCT
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Hnh 3.1 Mch tng ng mt pha CMCKCT
Hnh 3.2 M hnh tng ng 1 pha CMCKCT
Hnh 3.3 M hnh h thng iu khin 1 pha CMCKCT
Hnh 3.4 M hnh mch vng dng in c xt ti nh hng ca BEMF CMCKCT
Hnh 3.5 M hnh mch vng dng in ti gin ca CMCKCT
Hnh 3.6 M hnh mch vng tc ca CMCKCT
Hnh 3.7 M hnh ti gin mch vng tc ca CMCKCT
Hnh 3.8 M hnh mch vng tc ca CMCKCT khi cha c khu lc u vo
Hnh 3.9 c tnh mch vng tc ca CMCKCT khi cha c khu lc u vo
Hnh 3.10 M hnh mch vng tc ca CMCKCT khi c khu lc u vo
Hnh 3.11 c tnh mch vng tc ca CMCKCT khi c khu lc u vo
Hnh 3.12 M hnh m phng mt pha ca CMCKCT
Hnh 3.13 Kt qu m phng p ng tc
Hnh 3.14 Kt qu m phng p ng dng in
Hnh 3.15 M hnh mt pha c khu hn ch dng in ca CMCKCT
Hnh 3.16 Kt qu m phng p ng tc
Hnh 3.17 Kt qu m phng p ng dng in
Hnh 3.18 H thng iu khin CMCKCT
Hnh 3.19 M hnh m phng CMCKCT
Hnh 3.20 Mch nguyn l CMCKCT
Hnh 3.21 Khu tnh ton momen
Hnh 3.22 M hnh khi to dng sc phn in ng
Hnh 3.23 c im tn hiu ca hm rem(u,2*pi)
(a) Tn hiu vo trc rem(u,2*pi), (b) Tn hiu ra sau rem(u,2*pi)
Hnh 3.24 M hnh b chuyn mch nghch lu 3 pha
Hnh 3.25 M hnh B iu khin
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Hnh 3.26 M hnh khi to dng dng in
Hnh 3.27 M hnh khi Pulse Generator
Hnh 3.28 M hnh hon chnh h thng iu khin CMCKCT
Hnh 3.29 c tnh tc ca CMCKCT
Hnh 3.30 c tnh mmen in t trung bnh ca CMCKCT
Hnh 3.31 c tnh dng in mt pha ca CMCKCT
Hnh 3.32 c tnh dng in ba pha ca CMCKCT
Hnh 3.33 c tnh sc phn in ng ba pha ca CMCKCT

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M U
Ngy nay, th gii ang chng kin s thay i to ln ca nn sn xut cng
nghip do vic p dng nhng thnh tu ca cuc cch mng khoa hc cng ngh. Cng
vi s thay i ca nn sn xut cng nghip, ngnh khoa hc cng ngh v t ng ho
cng c nhng bc pht trin vt bc v tr thnh ngnh mi nhn ca th gii.
Cc h thng t ng ho s dng ng c in truyn thng thng c thit k
vi nhng phn t tng t tng i r tin. im yu ca cc h thng tng t l
chng nhy cm vi s thay i ca nhit v tui th ca cc thnh phn. Mt nhc
im na ca cc h thng ny l kh m rng v nng cp. Cc cu trc iu khin s
khc phc c tt c nhng nhc im ca cc cu trc truyn ng tng t v bng
cch s dng cc b x l c th lp trnh c vic nng cp tr nn rt d dng do
c thc hin bng phn mm. Cc b x l tn hiu s tc cao cho php chng ta
thc hin c nhng bi ton iu khin s yu cu phn gii cao, tc v khi
lng tnh ton ln chng hn nh cc bi ton iu khin thi gian thc. Ngoi ra,
chng cn cho php ti thiu ho cc thi gian tr trong mch vng iu khin. Nhng
iu khin hiu sut cao ny cn cho php gim c dao ng momen, gim ng k
tn tht cng sut nh tn tht cng sut do cc iu ho bc cao gy ra trong rotor. Cc
dng sng lin tc cho php ti u ho cc phn t cng sut v cc b lc u vo.
Nhng tin b gn y trong ngnh Vt liu t (Nam chm vnh cu), ngnh in
t cng sut, trong ch to cc b x l tn hiu s tc cao, k thut iu khin hin
i nh hng ng k n vic m rng ng dng ca cc h truyn ng ng c
mt chiu khng chi than (CMCKCT) kch thch vnh cu nhm p ng nhu cu v
sn xut hng ho, thit b, cc b x l ca th trng cnh tranh khp th gii.
ng c mt chiu khng chi than l loi ng c c rt nhiu u im nn gn
y c ch nghin cu v a vo s dng rng ri nht l trong cc h thng t
ng c yu cu cao v tin cy trong cc iu kin lm vic c bit: mi trng chn
khng, nhit thay i, va p mnh, d chy n,... Do khng c b phn i chiu c
kh s dng vnh gp, chi than nn ng c ny khc phc c hu ht cc nhc
15


im ca ng c mt chiu thng thng. Hiu sut cao do gim c tn tht cng
sut, khng cn bo dng v qun tnh rotor nh ca ng c mt chiu khng chi than
lm tng nhu cu s dng ng c ny trong nhng ng dng r bt v servo cng sut
ln. Vic pht minh ra cc thit b cng sut hin i nh MOSFET, IGBT, GTO v nam
chm vnh cu t him nng lng cao tng cng cc ng dng ca ng c ny
trong cc truyn ng c yu cu iu chnh tc .
c s hng dn ca Thy gio TS. Trn Xun Minh - Trng Khoa in
Trng H K Thut Cng Nghip-Thi Nguyn, ti tin hnh nghin cu ti
lun vn tt nghip l Nghin cu h truyn ng in dng ng c in mt
chiu khng chi than.
Kt cu ca lun vn gm:
Chng 1- Tng quan v ng c in mt chiu khng chi than v h truyn
ng in dng ng c in mt chiu khng chi than.
Chng 2- M hnh ton hc ca ng c in mt chiu khng chi than v la
chn thut ton iu khin.
Chng 3- Xy dng cu trc h truyn ng v m phng.
Kt lun v kin ngh
ti c hon thnh, ngoi s n lc ca bn thn cn c s ch bo, gip
ng vin ca cc thy c gio, gia nh, bn b v ng nghip. Ti xin gi li cm
n su sc nht n Thy gio - TS Trn Xun Minh, ngi lun quan tm ng
vin, khch l v tn tnh hng dn ti trong sut qu trnh thc hin lun vn.
Cc vn c cp n trong quyn lun vn ny chc chn khng trnh
khi thiu st, ti rt mong nhn c nhng kin ng gp t cc thy c gio v cc
bn ng nghip.
Xin trn trng cm n!
Thi Nguyn, ngy thng 8 nm 2010
Tc gi

Nguyn c Hng
16


Chng 1
TNG QUAN V NG C IN MT CHIU KHNG CHI THAN V
H TRUYN NG IN DNG NG C IN MT CHIU KHNG
CHI THAN
1.1. Tng quan v ng c in mt chiu khng chi than
1.1.1. Tng quan v ng c in mt chiu khng chi than
ng c mt chiu (CMC) thng thng c hiu sut cao v cc c tnh
ca chng thch hp vi cc truyn ng servo. Tuy nhin, hn ch duy nht l
trong cu to ca chng cn c c gp v chi than, nhng th d b mn v yu
cu bo tr, bo dng thng xuyn. khc phc nhc im ny ngi ta ch
to loi ng c khng cn bo dng bng cch thay th chc nng ca c gp v
chi than bi cc chuyn mch s dng thit b bn dn (chng hn nh bin tn s
dng transitor cng sut chuyn mch theo v tr rotor). Nhng ng c ny c
bit n nh l ng c ng b kch thch bng nam chm vnh cu hay cn gi l
ng c mt chiu khng chi than BLDC (Brushless DC Motor). Do khng c c
gp v chi than nn ng c ny khc phc c hu ht cc nhc im ca ng
c mt chiu c vnh gp thng thng.
So snh CMCKCT vi CMC thng thng:

Hnh 1.1: Cc thnh phn c bn ca CMCKCT
17


Mc d ngi ta ni rng c tnh tnh ca CMCKCT v CMC thng
thng hon ton ging nhau, thc t chng c nhng khc bit ng k mt vi
kha cnh. Khi so snh hai loi ng c ny v mt cng ngh hin ti, ta thng
cp ti s khc nhau hn l s ging nhau gia chng. Bng 1.1 so snh u nhc
im ca hai loi ng c ny. Khi ni v chc nng ca ng c in, khng c
qun ngha ca dy qun v s i chiu. i chiu l qu trnh bin i dng
in mt chiu u vo thnh dng xoay chiu v phn b mt cch chnh xc
dng in ny ti mi dy qun phn ng ng c. ng c mt chiu thng
thng, s i chiu c thc hin bi c gp v chi than. Ngc li, ng c
mt chiu khng chi than, i chiu c thc hin bng cch s dng cc thit b
bn dn nh transitor, MOSFET, GTO, IGBT.
Ni dung CMC thng thng CMC khng chi than
Cu trc c
kh
Mch kch t nm trn
stator
Mch kch t nm trn rotor
Tnh nng c
bit
p ng nhanh v d iu
khin
p ng chm hn. D bo dng
(thng khng yu cu bo dng)
S ni dy
Ni vng trn.
n gin nht l ni A
Cao cp: Ba pha ni Y hoc A. Bnh
thng: Dy qun 3 pha ni Y c im
trung tnh ni t hoc ni 4 pha. n
gin nht: ni 2 pha
Phng php
i chiu
Tip xc c kh gia chi
than v c gp
Chuyn mch in t s dng thit b
bn dn nh transitor, IGBT...
Phng php
xc nh v tr
rotor
T ng xc nh bng
chi than
S dng cm bin v tr: phn t Hall,
cm bin quang hc (optical encoder)
Phng php
o chiu
o chiu in p ngun
(cp cho phn ng hoc
mch kch t)
Sp xp li th t ca cc tn hiu logic
Bng 1.1: So snh CMC khng chi than vi CMC thng thng
18


1.1.2. Cu to ca ng c mt chiu khng chi than
Cu to ca ng c mt chiu khng chi than rt ging mt loi ng
c xoay chiu l ng c xoay chiu ng b kch thch bng nam chm
vnh cu. Hnh 1.1 minh ho cu to ca mt ng c mt chiu khng chi
than ba pha in hnh:

Dy qun stator tng t nh dy qun stator ca ng c xoay chiu nhiu
pha v rotor bao gm mt hay nhiu nam chm vnh cu. im khc bit c bn
ca ng c mt chiu khng chi than so vi ng c xoay chiu ng b l n kt
hp mt vi phng tin xc nh v tr ca rotor (hay v tr ca cc t) nhm to
ra cc tn hiu iu khin b chuyn mch in t nh biu din trn hnh 1.2. T
hnh 1.2 ta thy rng ng c mt chiu khng chi than chnh l s kt hp ca
ng c xoay chiu ng b kch thch vnh cu v b i chiu in t chuyn
mch theo v tr rotor.
Vic xc nh v tr rotor c thc hin thng qua cm bin v tr, hu ht cc
cm bin v tr rotor (cc t) l phn t Hall, tuy nhin cng c mt s ng c s
dng cm bin quang hc. Mc d hu ht cc ng c chnh thng v c nng sut
cao u l ng c ba pha, ng c mt chiu khng chi than hai pha cng c

Chuyn mch in t
Cm bin v
tr
C ng b
kch thch
vnh cu
Hnh 1.2: S khi CMCKCT
19


s dng kh ph bin v cu to v mch truyn ng n gin. Hnh 1.3 l mt ct
ngang ca mt ng c mt chiu khng chi than hai pha c cc t ph in hnh.
Nh vy, v mt cu to ng c mt chiu khng chi than gm c 3 phn chnh
l: stator, rotor v b phn i chiu, ngoi ra cn c cm bin v tr xc nh v tr rotor,
b m ho so lch (encoder) o tc rotor ca ng c.
Stator:
Khc vi ng c mt chiu thng thng, stator ca ng c mt chiu
khng chi than cha dy qun phn ng. Dy qun phn ng c th l hai pha, ba
pha hay nhiu pha nhng thng l dy qun ba pha (hnh 1.4). Dy qun ba pha c
hai s ni dy, l ni theo hnh sao Y hoc hnh tam gic A.

Hnh 1.4: Stator ca CMCKCT
Hnh 1.3: Mt ct ngang ca mt CMC khng chi than (a) v ca mt
ng c mt chiu khng chi than hai pha (b)
(a) (b)
20


Stator ca CMCKCT c cu to t cc l thp k thut in vi cc cun dy
c t trong cc khe ct xung quanh chu vi pha trong ca stator. Theo truyn thng
cu to stator ca CMCKCT cng ging nh cu to ca cc ng c cm ng khc.
Tuy nhin, cc bi dy c phn b theo cch khc. Hu ht tt c cc ng c mt
chiu khng chi than c 3 cun dy u vi nhau theo hnh sao hoc hnh tam gic. Mi
mt cun dy c cu to bi mt s lng cc bi dy ni lin vi nhau. Cc bi dy
ny c t trong cc khe v chng c ni lin nhau to nn mt cun dy. Mi
mt trong cc cun dy c phn b trn chu vi ca stator theo trnh t thch hp to
nn mt s chn cc cc. Cch b tr v s rnh ca stator ca ng c khc nhau th cho
chng ta s cc ca ng c khc nhau.
S khc nhau trong cch ni lin cc bi dy trong cun dy stator to nn s
khc nhau ca hnh dng sc phn in ng. CMCKCT c 2 dng sc phn in
ng l dng hnh sin v dng hnh thang. Cng chnh v s khc nhau ny m tn
gi ca ng c cng khc nhau, l CMCKCT hnh sin v CMCKCT hnh
thang. Dng in pha ca ng c tng ng cng c dng hnh sin v hnh thang.
iu ny lm cho momen ca ng c hnh sin phng hn nhng t hn v phi c
thm cc bi dy mc lin tc. Cn ng c hnh thang th r hn nhng c tnh
momen li nhp nh do s thay i in p ca sc phn in ng l ln hn.

Pha A - B
Pha B - C
Pha C - A
0 60 120 180 240 300 360 60

Pha A - B
Pha B - C
Pha C - A
0 60 120 180 240 300 360 60

a) Sc in ng CMCKCT hnh thang b) CMCKCT nam chm vnh cu

Hnh 1.5: Cc dng sc in ng ca CMCKCT
21


ng c mt chiu khng chi than thng c cc cu hnh 1 pha, 2 pha v 3
pha. Tng ng vi cc loi th stator c s cun dy l 1, 2 v 3. Ph thuc vo
kh nng cp cng sut iu khin, c th chn ng c theo t l in p. ng c
nh hn hoc bng 48V c dng trong my t ng, robot, cc chuyn ng
nh. Cc ng c trn 100V c dng trong cc thit b cng nghip, t ng
ha v cc ng dng cng nghip.
Rotor:
c gn vo trc ng c v trn b mt rotor c dn cc thanh nam chm
vnh cu. cc ng c yu cu qun tnh ca rotor nh, ngi ta thng ch to
trc ca ng c c dng hnh tr rng.

Rotor c cu to t cc nam chm vnh cu. S lng i cc dao ng t 2
n 8 vi cc cc Nam (S) v Bc (N) xp xen k nhau.
Da vo yu cu v mt t trng trong rotor, cht liu nam chm thch
hp c chn tng ng. Nam chm Ferrite thng c s dng. Khi cng ngh
pht trin, nam chm lm t hp kim ngy cng ph bin. Nam chm Ferrite r hn
nhng mt thng lng trn n v th tch li thp. Trong khi , vt liu hp
kim c mt t trn n v th tch cao v cho php thu nh kch thc ca rotor
nhng vn t c momen tng t. Do , vi cng th tch, momen ca rotor c
nam chm hp kim lun ln hn rotor nam chm Ferrite.
Hnh 1.6: Rotor ca CMCKCT
22


Rotor li trn vi nam
chm t trn chu vi

Rotor li trn vi nam
chm hnh ch nht c
t trong rotor

Rotor li trn, nam chm
hnh ch nht chn vo
trong li rotor
Hnh 1.7: Cc dng Rotor ca ng c mt chiu khng chi than
Cc cm bin Hall
Khng ging nh ng c mt chiu dng chi than, chuyn mch ca ng
c mt chiu khng chi than c iu khin bng in t. Tc l cc cun dy
ca stator s c cp in nh s chuyn mch ca cc van bn dn cng sut.
ng c lm vic, cun dy ca stator c cp in theo th t. Tc l ti mt thi
im th khng ngu nhin cp in cho cun dy no c m ph thuc vo v tr
ca rotor ng c u cp in cho ng. V vy iu quan trng l cn phi
bit v tr ca rotor tin ti bit c cun dy stator tip theo no s c cp
in theo th t cp in. V tr ca rotor c o bng cc cm bin s dng hiu
ng Hall c t n trong stator.
Hu ht tt c cc ng c mt chiu khng chi than u c 3 cm bin Hall
t n bn trong stator, phn ui trc (trc ph) ca ng c.
Mi khi cc cc nam chm ca rotor i qua khu vc gn cc cm bin Hall,
cc cm bin s gi ra tn hiu cao hoc thp ng vi khi cc Bc hoc cc Nam i
qua cm bin. Da vo t hp ca cc tn hiu t 3 cm bin Hall, th t chuyn
mch chnh xc c xc nh. Tn hiu m cc cm bin Hall nhn c s da
trn hiu ng Hall. l khi c mt dng in chy trong mt vt dn c t
trong mt t trng, t trng s to ra mt lc nm ngang ln cc in tch di
chuyn trong vt dn theo hng y chng v mt pha ca vt dn. S lng cc
23


in tch b y v mt pha s cn bng vi mc nh hng ca t trng. iu
ny dn n xut hin mt hiu in th gia 2 mt ca vt dn. S xut hin ca
hiu in th c kh nng o c ny c gi l hiu ng Hall, ly tn ngi tm
ra n vo nm 1879.

Hnh 1.8: Hiu ng Hall

Hnh 1.9: ng c mt chiu khng chi than cu trc nm ngang
Trn hnh 1.9 l mt ct ngang ca ng c mt chiu khng chi than vi
rotor c cc nam chm vnh cu. Cm bin Hall c t trong phn ng yn ca
ng c. Vic t cm bin Hall trong stator l qu trnh phc tp v bt c mt s
mt cn i s dn n vic to ra mt sai s trong vic xc nh v tr rotor. n
gin qu trnh gn cm bin ln stator, mt vi ng c c cc nam chm ph ca
cm bin Hall c gn trn rotor, thm vo so vi nam chm chnh ca rotor. y
l phin bn thu nh ca nam chm trn rotor. Do , mi khi rotor quay, cc nam
chm cm bin rotor em li hiu ng tng t nh ca nam chm chnh. Cc cm
bin Hall thng thng c gn trn mch in v c nh trn np y ng c.
24


iu ny cho php ngi dng c th iu chnh hon ton vic lp rp cc cm
bin Hall cn chnh vi nam chm rotor, em li kh nng hot ng ti a.
Da trn v tr vt l ca cm bin Hall, c 2 cch t cm bin. Cc cm bin
Hall c th c t dch pha nhau cc gc 60
o
hoc 120
o
ty thuc vo s i cc.
Da vo iu ny, cc nh sn xut ng c nh ngha cc chu trnh chuyn mch
m cn phi thc hin trong qu trnh iu khin ng c.
Cc cm bin Hall cn c cp ngun. in p cp c th t 4 n 24V. Yu
cu dng t 5 n 15mA. Khi thit k b iu khin, cn n c im k thut
tng ng ca tng loi ng c bit c chnh xc in p v dng in ca cc
cm bin Hall c dng. u ra ca cc cm bin Hall thng l loi open-collector,
v th, cn c in tr treo pha b iu khin nu khng c in tr treo th tn hiu
m chng ta c c khng phi l tn hiu xung vung m la tn hiu nhiu.
B phn i chiu in t (Electronic commutator)
ng c mt chiu khng chi than v dy qun phn ng c b tr trn
stator ng yn nn b phn i chiu d dng c thay th bi b i chiu in
t s dng transistor cng sut chuyn mch theo v tr rotor.
Do trong cu trc ca ng c mt chiu khng chi than cn c cm bin v
tr rotor. Khi b i chiu in t c th m bo s thay i chiu ca dng
in trong dy qun phn ng khi rotor quay ging nh vnh gp v chi than ca
ng c mt chiu thng thng.
Hnh 1.10: B phn i chiu in t s dng transistor cng sut
25


1.2. Cc h truyn ng in dng CMCKCT
1.2.1. Truyn ng khng o chiu (truyn ng mt cc tnh)

Hnh 1.11: Minh ho nguyn l lm vic ca CMCKCT truyn ng mt cc
t
t
t
t
0 120 240 360 480
Gc quay ()
Tn hiu ra ca phototransistor
PT1
PT2
PT3
I
1
I
2
I
3
t
t
PT1
PT2
PT3
PT1
t(s)
Hnh 1.12: Th t chuyn mch v chiu quay ca t trng stator
26


Hnh 1.11 minh ho mt CMCKCT ba pha n gin, ng c ny s dng cm
bin quang hc lm b phn xc nh v tr rotor. Nh biu din trn hnh 1.11, cc Bc
ca rotor ang v tr i din vi cc li P2 ca stator, phototransistor PT1 c chiu
sng, do c tn hiu a n cc gc (Base) ca transistor Tr1 lm cho Tr1 m. trng
thi ny, cc Nam c to thnh cc li P1 bi dng in I
1
chy qua cun dy W1
ht cc Bc ca rotor lm cho rotor chuyn ng theo hng mi tn.
Khi cc Bc ca rotor di chuyn n v tr i din vi cc li P1 ca stator, lc ny
mn chn gn trn trc ng c s che PT1 v PT2 c chiu sng, Tr2 m, dng I
2
chy
qua Tr2. Khi dng in ny chy qua dy qun W2 v to ra cc Nam trn cc li P2 th cc
Bc ca rotor s quay theo chiu mi tn n v tr i din vi cc li P2. thi im ny,
mn chn s che PT2 v phototransistor PT3 c chiu sng. Lc ny chiu ca dng in
c chiu t W2 sang W3. V vy, cc li P2 b kh kch thch trong khi cc li P3 li
c kch hot v to thnh cc li. Do , cc Bc ca rotor di chuyn t P2 sang P3 m
khng dng li. Bng cch lp li cc chuyn mch nh vy theo th t cho hnh 1.12,
rotor nam chm vnh cu ca ng c s quay theo chiu xc nh mt cch lin tc.
1.2.2. Truyn ng c o chiu (truyn ng hai cc tnh)
ng c mt chiu khng chi than, dy qun phn ng c qun trn stator l
phn ng yn nn c th d dng thay th b chuyn mch c kh (trong ng c in
mt chiu thng thng dng chi than) bng b chuyn mch in t dng cc bng
transistor cng sut c iu khin theo v tr tng ng ca rotor.

Hnh 1.13: Chuyn mch hai cc tnh ca CMCKCT
M
Q1
Q4
Q3
Q6
Q5
Q2
D1
D4
D6 D2
D3 D5
+DC
-DC
G1 G3 G5
G2
G6 G4
27


V bn cht, chuyn mch hai cc tnh l b nghch lu c lp vi 6 van
chuyn mch c b tr trn hnh 1.13. Trong 6 chuyn mch l cc van cng
sut, i vi cc loi ng c cng sut b th cc van chuyn mch c th dng van
MOSFET cn cc loi ng c cng sut ln th van chuyn mch thng dng van
IGBT. thc hin dn dng trong nhng khong m van khng dn th cc diode
c mc song song vi cc van. iu khin cc van bn dn ca chuyn mch
in t, b iu khin cn nhn tn hiu t cm bin v tr rotor m bo s thay
i chiu dng in trong dy qun phn ng khi rotor quay ging nh vnh gp
chi than ca ng c mt chiu thng thng.
1.3. Mt s c im v in ca CMCKCT
1.3.1. Th t chuyn mch
Hnh 1.14 l mt v d v cc tn hiu ca cm bin Hall tng ng vi sc
phn in ng ca ng c v dng in pha. Hnh 1.15 ch ra th t chuyn mch
tng ng vi cc cm bin Hall khi ng c quay thun chiu kim ng h. Hnh
1.16 l mt v d v cc tn hiu ca cm bin Hall tng ng vi sc phn in
ng ca ng c v dng in pha. Hnh 1.17 ch ra th t chuyn mch tng
ng vi cc cm bin Hall khi ng c quay ngc chiu kim ng h.
C mi khi quay c 60
0
in, mt cm bin Hall li thay i trng thi. Nh
vy, c th thy, n cn 6 bc hon thnh mt chu k in. ng thi, c mi
60
0
in, chuyn mch dng in pha cn c cp nht. Tuy nhin, cng ch l
mt chu k in c th khng tng ng vi mt vng quay ca rotor v c kh. S
lng chu k in cn lp li hon thnh mt vng quay ca ng c c xc
nh bi s cp cc ca rotor. Mt chu k in c xc inh bi mt cp cc rotor.
Do s lng chu k in trn mt chu k c bng s cp cc rotor.
Khng ging nh cc loi ng c thng thng nh ng c mt chiu v ng
c ng b th CMCKCT c ng sc phn in ng l hnh thang cn dng in
chy trong cc pha l dng hnh ch nht. c tnh sc phn in ng ca ba cun dy
lch nhau 2t/3 do cc cun dy stator c t lch nhau 2t/3 v gc chuyn mch ca
sc phn in ng l t/3 v th trong thi gian ny th khng cp dng cho cun dy
28


stator tng ng. Cn c vo dng dng in ca 3 pha ca ng c theo v tr ca cm
bin Hall xc nh c s m van cho b nghch lu. Do mt chu k c 6 ln
cm bin Hall thay i v tr nn s c 6 trng thi m van.

Hnh 1.14: Tn hiu cm bin Hall, sc phn in ng v dng in pha trong ch
quay thun chiu kim ng h
HALL1
HALL2
HALL3
EA
EB
EC
IA
IB
IC
29


A
B C C B
A
C B
A
C B
A
A
B C
C B
A
(1)
(3)
(5)
(2)
(4)
(6)
30


Hnh 1.15: Th t cp in cho cc cun dy tng ng vi cc cm bin Hall
trong ch quay thun chiu kim ng h

IC
IA
EC
EB
EA
HALL3
HALL2
HALL1
31


Hnh 1.16: Tn hiu cm bin Hall, sc phn in ng v dng in pha trong ch
quay ngc chiu kim ng h

(6)
(4)
(2)
(5)
(3)
(1)
A
B C
C B
A
A
B C
A
B C
A
B C C B
A
32


Hnh 1.17: Th t cp in cho cc cun dy tng ng vi cc cm bin Hall
trong ch quay ngc chiu kim ng h
Hnh 1.18 l s khi ca h iu khin ng c mt chiu khng chi than.
H thng iu khin c s dng vi iu khin lm b iu khin chnh, pht xung
PWM cho b m PWM - IGBT driver. pht xung PWM cho b m th vi iu
khin phi thc hin cng vic ly tn hiu t cm bin Hall v v cn c vo bng cm
bin Hall pht xung m van ng theo th t cp in.

Hnh 1.18: H iu khin ng c mt chiu khng chi than
Bng 1.2 v 1.3 l th t chuyn mch ca cc van da trn cc u vo t
cc cm bin Hall A, B, C ng vi chiu quay ca ng c. Trong cc cm bin
Hall t lch nhau 60
o
.
Th
t
u vo t cm bin
Hall
Cc tn hiu PWM Dng in pha
A B C A B C
1 1 0 1 PWM5(Q5) PWM6(Q6) - -DC +DC
2 1 0 0 PWM1(Q1) PWM6(Q6) +DC -DC -
3 1 1 0 PWM1(Q1) PWM2(Q2) +DC - -DC
4 0 1 0 PWM3(Q3) PWM2(Q2) - +DC -DC
5 0 1 1 PWM3(Q3) PWM4(Q4) -DC +DC -
PWM1
M
Q1
PWM6
Q4
Q3
Q6
Q5
Q2
D1
D4
D6
D2
D3 D5
PWM3
PWM2
I
G
B
T

D
r
i
v
e
r
HALL1
+DC
-DC
HALL2
HALL3
G1 PWM1 PWM5 G5 PWM5
G2 PWM2 G6 PWM6 G4 PWM4 PWM4
PWM3
D
S
-
P
I
C

3
0
F
4
0
1
1
33


6 0 0 1 PWM5(Q5) PWM4(Q4) -DC - +DC
Bng 1.2: Th t chuyn mch khi ng c quay theo chiu kim ng h
Th
t
u vo t cm bin
Hall
Cc tn hiu PWM Dng in pha
A B C A B C
1 0 0 1 PWM5(Q5) PWM6(Q6) - -DC +DC
2 0 1 1 PWM5(Q5) PWM4(Q4) -DC - +DC
3 0 1 0 PWM3(Q3) PWM4(Q4) -DC +DC -
4 1 1 0 PWM3(Q3) PWM2(Q2) - +DC -DC
5 1 0 0 PWM1(Q1) PWM2(Q2) +DC - -DC
6 1 0 1 PWM1(Q1) PWM6(Q6) +DC -DC -
Bng 1.3: Th t chuyn mch khi ng c quay ngc chiu kim ng h
1.3.2. c tnh c v c tnh lm vic ca CMCKCT
c tnh c ca CMCKCT ging c tnh c ca ng c in mt chiu
thng thng. Tc l mi quan h gia momen v tc l cc ng tuyn tnh nn
rt thun tin trong qu trnh iu khin ng c truyn ng cho cc c cu khc.
CMCKCT khng dng chi than nn tc c th tng ln do khng c s hn ch
nh la. V vy vng iu chnh ca CMCKCT c th c m rng hn.
P
M
w
M,P
wdm

M(N.m )
W(rad/s)

a) c tnh lm vic ca CMCKCT b) c tnh c ca CMCKCT
Hnh 1.13: ng c tnh c v c tnh lm vic ca CMCKCT
1.3.3. Sc phn in ng
34


Khi ng c mt chiu khng chi than quay, mi mt cun dy to ra mt
in p gi l sc phn in ng chng li in p ngun cp cho cun dy theo
lut Lenz. Chiu ca sc phn in ng ny ngc chiu vi in p cp. Sc phn
in ng ph thuc ch yu vo 3 yu t: Vn tc gc ca rotor, t trng sinh ra
bi nam chm vnh cu ca rotor v s vng trong mi cun dy ca stator.
Back EMF = E ~ NlrB.e
Trong : N l s vng dy trn mi pha
l l chiu di rotor
r l bn knh trong ca rotor
B l mt t trng rotor v
e l vn tc gc ca ng c
Trong CMCKCT t trng rotor v s vng dy stator l cc thng s khng
i. Ch c duy nht mt thng s nh hng n sc phn in ng l vn tc gc
hay vn tc ca rotor v khi vn tc tng, sc phn in ng cng tng. Trong cc
ti liu k thut ca ng c c a ra mt thng s gi l hng s sc phn in
ng c th c s dng c lng sc phn in ng ng vi tc nht nh.
1.4. Kt lun
Chng 1 trnh by tng quan v ng c mt chiu khng chi than gm
cu trc, mt s khi nim v cc thng s in ca ng c, cc yu cu cn thit
khi la chn ng c v u nhc im ca CMCKCT so vi mt s loi ng c
khc. C th thy, ngoi tr cc nhc im v gi c v phc tp trong iu
khin, CMCKCT l mt loi ng c ph hp vi rt nhiu yu cu i hi
chnh xc v yu cu momen cao. N c th tha mn cc ng dng t di cng
sut thp c vi Watt n cng sut ln c hng trm KW. V vy CMCKCT ang
tr nn ngy cng ph bin trong c dn dng v cng nghip. ng c mt chiu
thng thng c rt nhiu u th v iu chnh tc , tuy nhin nhc im ln
nht ca n l trong cu to cn c b chuyn mch dng in c kh l c gp
v chi than. Do vy hn ch phm vi ng dng ca n c bit l trong cc
truyn ng yu cu tc rt ln, khi b chuyn mch c kh khng th p
35


ng c. CMCKCT khc phc c nhc im ny, do m ra nhiu
hng ng dng mi cho loi ng c ny.

Chng 2
M HNH TON HC CA NG C IN MT CHIU KHNG CHI
THAN V LA CHN THUT TON IU KHIN
2.1. M hnh ton hc ca ng c mt chiu khng chi than
M hnh ton hc ca i tng l cc mi quan h ton hc nhm mc ch m t
li i tng thc t nhng di dng cc biu thc ton hc thun li cho qu trnh
phn tch, kho st thit k. i vi ng c, m t ton hc ng vai tr quan trng v
mi kho st v tnh ton bng l thuyt u da trn m hnh ton hc. V vy m hnh
ton hc l cha kho m ra mi vn trong qu trnh tnh ton thit k cho ng c.
2.1.1. M hnh ton hc
thc hin xy dng m hnh ton hc th phi c lng ng c v cc phn t
in c bn. Hnh 2.1 trnh by m hnh mch in trong CMCKCT bao gm 3 cun
dy stator c c lng bi in tr R
a
v in cm L
a
, do 3 cun dy ca stator c
t cnh nhau nn xy ra hin tng h cm gia cc cun dy vi nhau, s h cm gia
cc cun dy c th hin qua i lng M. Mt khc do rotor ca ng c l nam chm
vnh ca nn khi rotor quay s qut qua cun dy stator nn c s tng tc gia hai t
trng. V vy cc i lng e
a
, e
b
, e
c
th hin s tng tc gia hai t trng, bin ca
cc sc phn in ng ny l bng nhau v bng E. Do cc nam chm u c lm t
vt liu c sut in tr cao nn c th b qua dng cm ng rotor.
36


Ec
Vc
R
a
L
a
R
b
L
b
R
c
L
c
M
M
M
Va
Ea Eb
Vb

Hnh 2.1: M hnh mch in ca CMCKCT
T m hnh mch in ca ng c th phng trnh in p ca mt pha:

a c c c
b b b b
a a a a
e
dt
di
L i R V
e
dt
di
L i R V
e
dt
di
L i R V
+ + =
+ + =
+ + =
.
.
.

(2-1)
t s l ton t laplace khi di/dt=i.s
Phng trnh in p ca ba pha:
= . + s. . + (2-2)
Trong , L
a
, L
b
, L
c
l in cm ca cc cun dy ng c. L
ab
, L
bc
, L
ca
l h
cm gia cc cun dy tng ng. R
a
, R
b
, R
c
l in tr ca cun dy stator ng
c. Do cc pha l i xng nn cc gi tr in tr, in cm, h ca ba cun dy l
bng nhau. Khi :
R
a
= R
b
= R
c
= R
L
a
= L
b
= L
c
= L
L
ab
= L
ca
= L
cb
= M
Do :
37


= . + s. . + (2-3)
Trn hnh 2.1 cc cun dy ca stator u sao nn:
i
a
+ i
b
+ i
c
= 0 (2-4)
Suy ra :
M.i
a
+ M.i
b
= -M.i
c
(2-5)
Kt hp hai biu thc (2.3) v (2.5), suy ra:
= . + s. . + (2-6)
Chuyn v ca biu thc (2-6) a dng in v mt v ta c:

s. = .
(2-7)
T biu thc (2-7) xy dng c m hnh thu gn ca CMCKCT.
Ec
Vc
R
a
L-M
R
b
R
c
Va
Ea Eb
Vb
L-M
L-M

Hnh 2.2: M hnh thu gn ca CMCKCT
t L-M = Ls l in cm tng ng ca mi pha
38


Thay vo biu thc (2-7) :
s. = . (2-8)
2.1.2. Momen in t
Momen in t ca CMCKCT c tnh thng qua cc cng sut c v cng
sut in. Do trong CMCKCT ma st sinh ra ch yu gia trc ng c v
nn lc ma st ny nh. Thm vo vt liu ch to ng c cng l loi c in
tr sut cao nn c th gi thit b qua cc tn hao st, tn hao ng V vy, cng
sut in cp cho ng c cng chnh bng cng sut c trn u trc.
Vi e l tc ca ng c, cng sut c c tnh theo biu thc:
P
c
= M. (2-9)
Cng sut in c tnh theo biu thc:
P
= e
a
.i
a
+ e
b
.i
b
+ e
c
.i
c
(2-10)
Cn bng cng sut hai biu thc trn:
M. = e
a
.i
a
+ e
b
.i
b
+ e
c
.i
c
(2-11)
=> M = (2-12)
Biu thc (2.12) l cng thc dng tnh momen in t ca CMCKCT.
2.1.3. Phng trnh ng hc ca CMCKCT
Momen qun tnh : J
m

Momen ma st : M
f

Ma st thng t l vi tc v c biu hin thng qua h s nht D theo
biu thc:
M
f
= D.e
m

Momen ti ca ng c : M
c

Momen qun tnh ca ti : J
c
Nh vy, phng trnh ng hc tng qut ca ng c c dng nh sau:
Mc D
dt
d
J J M
c m
+ + + = e
e
. ) ( (2-13)
t J = J
m
+ J
c
, bin i phng trnh (2.12) s c:
39


J
M D M
dt
d
c

=
e e .
(2-14)
Vit di dng ton t Laplace:

J
M D M
s
c

=
e
e
.
. (2-15)
2.2. Phng trnh c tnh c ca ng c mt chiu khng chi than
c tnh c ca ng c l mi quan h gia tc v momen ca ng c.
Cng sut c ca ng c l tch s gia momen v tc . Tuy vy, cng mt
gi tr cng sut, mi loi ng c khc nhau th mi quan h gia hai i lng
ny l khc nhau.
Xt s mt pha tng ng ca CMCKCT trong hnh 2.3 gm ngun
cp mt chiu c ln V, sc phn in ng l E, in tr cun dy l R v dng
in mi pha ch xc lp l I. Do ti mt thi im trong CMCKCT lun c
2 pha cng dn nn phng trnh cn bng in p ca ng c thi im xc lp
nh sau:
V = 2.E + 2.R.I (2-16)

Hnh 2.3: S 1 pha tng ng ca CMCKCT
Ta c biu thc cng sut in:
P
d
= e
a
.i
a
+ e
b
.i
b
+ e
c
.i
c
= 2.E.I
(2-17)
Biu thc v cng sut c:
P
c
= M.e (2-18)
Biu thc v sc phn in ng:
E = K
e
. e (2-19)
R
V
E
L
40


Nu b qua cc tn hao v momen nh tn hao do ma st, tn hao st t,
khe h th c th coi cng sut c xp x bng cng sut in. Trong biu
thc v sc phn in ng trn, E l gi tr o theo nh nh. V vy, bin
ca sc phn in ng phi l E/2. Cn bng cc phng trnh (2-17) v
(2-18) kt hp vi biu thc sc phn in ng, ta c:

I K I
K
I E M
e
e
. . .
2
.
. 2 . . 2 . e
e
e = = =
e
K
M
I =
(2-20)
Nu thay biu thc sc in ng vo (2-15), ta s c biu thc ca tc nh
sau:

e
K
I R V . . 2
= e (2-21)
T hai biu thc (2-20) v (2-21), ta s c phng trnh c tnh c ca
CMCKCT:

M
K
R
K
V
e e
.
. 2
2
= e (2-22)
Giao im ca c tnh c vi trc tc chnh l biu th ca tc khng
ti l tng. Lc , dng in bng 0.

e
K
V
=
0
e (2-23)
Giao im ca ng c tnh c vi trc momen l gi tr momen ln nht
hay momen ngn mch (tng ng vi dng in ngn mch).

R
K V
M
e
mm
. 2
.
=
(2-24)
C th thy, dng ca phng trnh c tnh c ca ng c mt chiu thng
thng vi CMCKCT l ging nhau.
2.3. S cu trc ca CMCKCT
S cu trc ca CMCKCT mang tnh tng qut cho mt ng c 3 pha.
Do trong CMCKCT h s nht l rt nh nn c th b qua thnh phn D trong
41


cc phng trnh tnh ton. Xut pht t biu thc (2-7), cc phng trnh in
c vit li nh sau:
i
a
= (V
a
e
a
) (2-25)
i
b
= (V
b
e
b
) (2-26)
i
c
= (V
c
e
c
) (2-27)
Trong T
=L
/R
c gi l hng s thi gian in t ca CMCKCT.

T 3 phng trnh trn, kt hp vi cc phng trnh momen in t (2-11) v
phng trnh ng hc (2-14), b qua ma st trong ng c, s khi ca
CMCKCT c trnh by nh trong hnh 2.4.

Hnh 2.4: S khi CMCKCT
2.4. La chn thut ton iu khin cho CMCKCT
2.4.1. t vn
thc hin iu khin CMCKCT th chng ta thc hin iu khin s
ng ct ca cc van trong b bin i cp in cho tng cp van tng ng. V
42


th c hai cch thay i in p t ln van l thay i in p mt chiu hoc
thay i in p cp cho cun dy stator ca ng c.
iu khin CMCKCT hin nay vi cng ngh bn dn ngy cng pht
trin nn cc nh sn xut IC c th tch hp nhiu chc nng trn mt IC bn dn
v th nn vic nghin cu iu khin cc loi ng c gp nhiu thun li hn
trc. C rt nhiu loi vi x l khc nhau ca nhiu hng khc nhau sn xut
nhng mi loi li c s khc nhau v cu trc vo ra v chc nng ca cc chn
cng khc nhau. V vy khi la chn vi x l cn phi n mc ch ca vic
iu khin ng c l nh th no tc l iu khin cho ng c loi cng sut no,
chng loi ca ng c. i vi CMCKCT dng phng php chuyn mch hai
cc tnh cp in cho cc cun dy ca ng c nn chng ta c th thc hin
iu khin ng c thng qua vic iu ch rng xung trong khong thi gian
m cc van dn thay i in p t ln ng c. Vic iu ch rng xung l
hon ton c th lm c v chng trc chng ta gii thiu van cho b
chuyn mch nghch lu l IGBT. y l loi van c th chu c tn s ng ct
kh ln cho chng ta c th thc hin iu ch rng xung thay i in
p t vo ng c.
Nh sn xut Microchip ni ting sn xut ra loi vi x l chuyn h tr
cho vic iu khin cc loi ng c nh ng c khng ng b, ng c mt
chiu, ng c t tr hay ng c khng chi than. V th i vi ng c m ti
nghin cu cng c th s dng loi vi x l ny v n cung cp sn cho cc cng ra
iu ch rng xung.
Loi vi x l 30F4011 th c sn 6 u pht xung PWM v tch hp cc tnh
cht c bit khc nh ADC phn gii cao cng cc tnh nng x l tc cao
nn vic iu khin ng c l c th lm c v vi x l phi nhanh th mi p
ng kp s thay i ca vic truyn ng nhanh. Trong cng nghip th khi xy
dng cc h thng th vic x l thng tin phi m bo tnh thi gian thc.
i vi CMCKCT 30kW th cc van ca b bin i c s dng cp dng
ln c vi trm ampe. V vy cc tn hiu iu khin t cc loi vi x l a ra l
43


khng in p m cc van nn thc hin c truyn ng cho ng c th
ngoi mch iu khin dng vi x l 30F4011 th cn phi c thm mch m
kch m van IGBT.
V vy trong phn ny s c hai vn c trnh by l:
- Thit k mch iu khin
- Thit k mch m
2.4.2. Gii thiu v vi iu khin DSPIC30F4011
DSPIC30F4011 l b vi iu khin x l tn hiu s 16 bit c hiu sut cao do
hng microchip sn xut. N c mt s c im chnh sau:
+ Khi iu khin trung tm CPU hiu sut cao vi tp lnh rt gn nng cao
tc x l:
- Kin trc tp lnh ti u cho ngn ng C v cc ch a ch linh
hot nn vic lm vic ng thi trn nhiu chn l rt tt
- C 83 lnh c bn
- Cc lnh c rng 24 bit, d liu c ln 16 bit
- 48Kb flash rom (16k t lnh)
- 2Kb ram trn chip
- 1Kb eeprom dng cha d liu
- C th hot ng vi tc 30 mips (triu lnh/s), tn s thch anh
u vo c th t 4-10MHz
- 30 ngun ngt, trong c 3 ngun ngt ngoi, 8 mc u tin ngt
- Mng thanh ghi c th lm vic 16 x 16 bit
+ Cc c trng v c ch x l tn hiu s
- Thanh ghi cha np li cho hot ng x l tn hiu s
- Cc ch a ch ha o bit v theo module
- 2 thanh cha c rng 40 bit thc hin tnh ton.
- B nhn s thc/s nguyn bng phn cng n chu k 17bit x 17bit
- Tt c cc lnh x l tn hiu s u gi gn trong 1 chu k
+ Cc c im v ngoi vi
44


- Tn hiu ca cc chn vo ra c cp dng in ln 25mA
- Module nh thi c b chia trc lp trnh c
- Cc hm so snh/xut PWM 16bit
- H tr ch I2C thc hin kt ni cc vi x l li vi nhau
- Module UART
- Module CAN
+ Cc b A/D
- B chuyn i tng t - s 10bit vi 4 u vo sample and hold
- Tc chuyn i l 1 msps (triu mu/s)
- 9 knh u vo

Hnh 2.5: S chn linh kin vi iu khin DSPIC30F4011
2.4.2.1. Ngt ca DSPIC30F4011
DSPIC30F4011 c tng cng 30 ngun ngt v 4 ngoi l ngt (by b x l).
Chng c phn nh nh 7 mc u tin ngt.
CPU c trch nhim tra trong bng vector ngt, tm ra a ch ca vector ngt
ca ngt hin thi ri chuyn a ch vo b m chng trnh. B iu khin
45


ngt c trch nhim x l cc ngt v cc by b x l. Cc ngt c ci t, s
dng v iu khin nh vo cc thanh ghi chc nng c bit sau:
- IFS0<15:0>, IFS1<15:0>, IFS2<15:0> vi chc nng lu gi cc c ngt.
Cc c ny c xa bi phn mm.
- IEC0<15:0>, IEC1<15:0>, IEC2<15:0> lu gi bit iu khin cho
php/khng cho php ngt ca tt c cc ngun ngt.
- IPC0<15:0>... IPC11<7:0> l 12 thanh ghi lu gi mc u tin ca tt c
cc ngt. Chng c ci t do lp trnh ca ngi s dng.
- IPL<3:0> mc u tin CPU hin thi c lu y. IPL<3> c mt
trong thanh ghi CORCON cn cc bit IPL<2:0> c mt trong thanh
ghi trng thi SR.
- INTCON1<15:0>, INTCON2<15:0> chc nng iu khin ngt ton cc c
lu gi y.
Mi mt ngun ngt c th c lp trnh gn cho n 1 trong 7 mc u tin ngt
thng qua thanh ghi ICPx. Mi mt ngun ngt tng ng vi mt vector ngt trong bng
cc vector ngt. Mc u tin 7 v 1 tng ng l cc mc u tin cao nht v thp nht.
C mt c im trong DSPIC30F4011 v hot ng ngt. Bit NSTDIS
(INTCON1<15>) c set chn cc ngt khc khi ngt ang c phc v. C
ngha l khi mt chng trnh con dch v ngt ang c thc thi, nu bit ny c set
ln s c th chn cc ngt khc, k cc khi cc ngt khc c mc u tin cao hn.
2.4.2.2. Cng vo ra ca DSPIC30F4011
DSPIC30F4011 c 5 cng vo ra c nh k hiu t RB n RF. S lng bit ca
cc cng l khc nhau, v d cng RB c 9 bit trong khi cng RE c 6 bit. Cc cng vo ra
ny c th chu c dng 25mA vo v xut ra c 25mA, c ngha l tn hiu xut trc
tip t cng mnh c th iu khin LED trc tip.
C 3 thanh ghi chnh phc v cho cng vo ra.
Thanh ghi TRISx (x l tn cng) c nhim v iu khin chiu i ca d liu qua cc chn
cng tc l thanh ghi ny ci t cho mt chn ca cng l u vo hay u ra. Quy c, 1
l u vo v 0 l u ra.
46


Hnh 2.6: Cu trc mt chn ca cng vo ra
Thanh ghi PORTx c nhim v cht d liu khi cng l u vo, mt
thao tc c thanh ghi POTRx s cho bit trng thi ca port (khi l
cng vo).
Thanh ghi LATx l thanh ghi cht d liu cho cng ra. gi d liu ra bn
ngoi, mt thao tc ghi vo thanh ghi LATx c thc hin.
Sau khi RESET h thng, tt c cc PORT u c nh ngha l cng vo.
2.4.2.3. Cc b nh thi
DSPIC30F4011 c 5 b nh thi, trong , cc b nh thi c
chia lm 3 loi: A, B v C. Mi kiu nh thi c mt c trng ring.
B nh thi Timer1 l loi A. Module nh thi 1 l b nh thi 16
bit c th lm nhim v cung cp b m thi gian cho ng h thi gian
thc hoc cng c th hot ng nh mt b m/nh thi t do v theo
khong. B nh thi 16 bit c cc ch sau:
- Ch nh thi 16 bit: khi ch ny, b nh thi s tng gi
tr ca n ln 1 sau mi chu k lnh. Khi ni dung b nh thi
bng vi gi tr t trong thanh ghi PR1, gi tr ca n s c
reset v 0 v li tip tc m t u.
47


- Ch m ng b 16 bit: trong ch ny, gi tr ca b nh
thi c tng ln mt mi khi pht hin mt sn ln ca xung
clock bn ngoi a ti. Xung clock t bn ngoi ny s c
ng b vi xung clock bn t rong vi iu khin. Khi gi tr b
nh thi bng vi gi tr t trong thanh ghi PR1, n s c
reset v 0 v tip tc m t u.
- Ch m khng ng b 16 bit: trong ch ny, gi tr ca b
nh thi c tng ln mt mi khi pht hin mt sn ln ca
xung clock bn ngoi a ti. Khi gi tr b nh thi bng vi gi
tr t trong thanh ghi PR1, n s c reset v 0 v tip tc m
t u.

Hnh 2.7: Cu trc ca b nh thi 1 (Timer1 - nh thi loi A)
48


B nh thi 16 bit c kh nng to ra ngt c mi khi ni dung ca n
bng vi ni dng ca thanh ghi PR1. Khi , bit T1IF c set v mt ngt
c to ra. Bit T1IF cn phi c xa bi phn mm khi vo th tc ngt.
Cc b nh thi 2/3 l cc b nh thi kiu B, chng l cc module nh
thi 32 bit v c th c cu hnh thnh 2 b nh thi 16 bit vi cc ch
c th la chn c. Cc b nh thi ny c th c s dng bi cc module
ngoi vi nh module bt u vo, module PWM. Cc b nh thi 32 bit c cc
ch lm vic sau:
- 2 b nh thi lm vic c lp (b 2 v b 3) vi cc ch nh thi
16 bit (ngoi tr ch m khng ng b)
- Hot ng ch nh thi 32 bit
- Hot ng ch m ng b 32 bit
- Ngoi ra, b nh thi 2/3 cn h tr cho cc hot ng ADC, ci t b
chia trc, hot ng nh thi trong cc ch ng v ngun ngh
Cc b nh thi 4/5 cng l b nh thi 32 bit v cng c ghp t 2 b
nh thi 16 bit. Tuy nhin b nh thi 4 l kiu B trong khi b nh thi 5 l kiu
C. b nh thi 5, chn cp xung clock a vo l khng c. Cn v cc ch
hot ng cc b 4/5 hon ton ging vi b 2/3 nhng ch khc l h tr hot ng
ca ADC v chng c th c s dng bi cc module ngoi vi nh chp u vo
v so snh u ra.
2.4.2.4. Module chuyn i tng t - s ADC 10bit
Cc chip DSPIC c module ADC thuc mt trong hai dng: 10-bit vi tc
ln n 1 MSPS (triu mu/giy) hay 12-bit vi tc ln n 200 ksps (nghn
mu/giy). Cc module ADC c thit k nhm phc v cho cc mc ch khc
nhau. Trong cc DSPIC thuc dng iu khin ng c, module ADC l loi 10-bit
vi tc cao, nhm p ng yu cu v tc ly mu ca cc b iu khin
truyn ng in. Cc b ADC trong cc DSPIC s dng thut ton chuyn i
successive approximation register - sar, do c thi gian chuyn i c xc
nh trc. Vic chuyn i tn hiu t dng tng t sang dng s bao gm hai giai
49


on: giai on ly mu tn hiu v giai on chuyn i, c th bt u giai on
ly mu bng tay hay t ng. Thi im chm dt ly mu (v bt u chuyn i)
c th do ngi dng xc nh (bng cch tt bit SAMP) hay c mt ngoi vi no
xc nh (mt timer dnh ring, module MCPPWM, Timer 3, hay chn INT(0).
Nh vy thi gian ly mu l khc nhau vi cc thit lp khc nhau. Giai on
chuyn i d liu cn c 12 xung clock cho module ADC, vi mt chu k xung
clock T
AD
c th c chn l t T
cy
/2 n 32T
cy
. T
cy
chnh l thi gian ca mt chu
k my.
Module ADC ca DSPIC30F4011 c 4 b khuch i s/h (sample and hold),
c nh a ch l knh 0 n knh 3. C th ch dng knh 0, hay dng knh 0
v 1, v cng c th dng c 4 knh cho vic thu thp d liu. Knh 0 l knh linh
hot nht trong vic chn la cc ng vo tng t. B m ca module ADC c
th cha c ti a 16 kt qu.
Module ADC ca DSPIC30F4011 c 6 thanh ghi 16 bit:
- A/D CONTROL REGISTER - ADCONx vi x l s th t t 1 n 3.
Thanh ghi ny iu khin hot ng ca ADC.
- A/D INPUT SELECT REGISTER - ADCHS c nhim v chn knh cn
chuyn i.
- A/D PORT CONFIGURAITON REGISTER - ADPCFG cu hnh cho
cc PORT l u vo tng t hay u vo s.
- A/D INPUT SCAN SELETION REGISTER (ADCSSL) chn u vo
qut
50


Hnh 2.8: Cu trc ca module ADC 10bit trong DSPIC30F4011
Sau khi chuyn i, kt qu s c lu vo cc b m tn l ADCBUF0 n
ADCBUFF.
Hot ng chuyn i ca ADC module cn phi thit lp theo cc bc sau:
- Chn cc chn dng lm ng vo analog bng cc bit ADPCFG<15:0>
- Chn ngun in p chun bng cc bit ADCON2<15:13>
- Chn tc xung clock cho module ADC ph hp vi tc d liu v
tc ca b x l bng cc bit ADCON3<5:0>
- Xc nh bao nhiu knh S/H s c dng bng cc bit ADCON2<9:8>
v ADPCFG<15:0>
- Xc nh cch thc ly mu bng cc bit ADCON1<3> v ADCSS1<15:0>
- Chn th t ly mu/chuyn i thch hp bng cc bit ADCON1<7:0> v
ADCON3<12:8>
- Chn cch biu din kt qu chuyn i trong b m bng cc bit
ADCON1<9:8>
51


- Chn tc to ngt bng cc bit ADCON2<5:9>
- Bt module ADC bng bit ADCON1<15>
- Nu c s dng ngt, cn thit lp thm cu hnh cho ngt A/D
- Xa bit ADIF
- Chn u tin cho ngt A/D
Cc bit ADCS<5:0> (ADCON3<5:0>) c dng thit lp tc xung
clock cho module ADC. Gi tr ca ADCS<5:0> c xc nh t cng thc:
1
2
=
CY
AD
T
T
ADCS
Gi tr c chn ca T
AD
khng c php nh hn 83.33 ns.
2.4.2.5. Module PWM iu khin ng c
i vi DSPIC30F4011 th b PWM c tch hp sn vi 6 xung ng b
u ra chuyn dng iu khin cc thit b l.
- iu khin ng c cm ng xoay chiu 3 pha
- iu khin ng c t tr
- iu khin CMCKCT
- Ngun lu in UPS
khi to hot ng ca module PWM iu khin ng c theo trnh t sau:
- Xc nh thi gian cho mt chu k xung bng cch t mt gi tr 15bit
vo thanh ghi ngng m chu k xung PTPER, theo cng thc:
1
Pr

=
escale PTMR f
f
PTPER
PWM
cy
So snh theo xung rng ca sn thng
1
2 Pr

=
escale PTMR f
f
PTPER
PWM
cy
So snh theo xung rng ca sn dc
- Thit lp ch dng cc chn pwm bng thanh ghi PWMCON1
- Thit lp ch bm xung trong thanh ghi OVDCON
- t gi tr phn trm bm xung trong 3 thanh ghi PCDx
52


Hnh 2.9: Cu trc ca module PWM
2.4.3. Thit k mch iu khin CMCKCT dng DSPIC30F4011
2.4.3.1. Module x l trung tm
Module x l trung tm l trung tm x l cc tn hiu v a ra cc tn hiu t
cho cc thit b khc.V th vi x l ng vai tr quan trng trong mch iu khin.
Trong module ny x l trung tm gm c vi iu khin v cc mch RESET,
mch cp xung clock. Xung clock y c cp bng thch anh tn s 11.589 MHz.
53


Speed Feedback Signal Analog
Y2
11.589 MHZ
C19
33
C20
33
OSC1
VSS
Encoder2
Encoder1
R35
10K
R36
2K
SW5
VCC
VCC
VCC
/MCLR
OSC2
/MCLR
C21
104
Current_Feedback_Phase_A
VCC
VCC
OSC2
OSC1
/INT0
Set_Speed Vref
RC14
Hall1
RD3
Hall2
Hall3
dsPIC30F4011
U7
dsPIC30F4011
/MCLR
1
EMUD3/AN0/VREF+/CN2/RBO
2
EMUC3/AN1/VREF-/CN3/RB1
3
AN2/SS1/CN4/RB2
4
AN3/INDX/CN5/RB3
5
AN4/QEA/IC7/CN6/RB4
6
AN5/QEB/IC8/CN7/RB5
7
AN6/OCFA/RB6
8
AN7/RB7
9
AN8/RB8
10
VDD
11
VSS
12
OSC1/CLKIN
13
OSC2/CLKO/RC15
14
EMUD1/SOSCI/T2CK/U1ATX/CN1/RC13
15
EMUC1/SOSCO/T1CK/U1ARX/CN0/RC14
16
FLTA/INT0/RE8
17
EMUD2/OC2/IC2/INT2/RD1
18
OC4/RD3
19
VSS
20
AVdd
40
AVss
39
PWM1L/RE0
38
PWM1H/RE1
37
PWM2L/RE2
36
PWM2H/RE3
35
PWM3L/RE4
34
PWM3H/RE5
33
VDD
32
VSS
31
C1RX/RF0
30
C1TX/RF1
29
U2RX/CN17/RF4
28
U2TX/CN18/RF5
27
PGC/EMUC/U1RX/SDI1/SDA/RF2
26
PGD/EMUD/U1TX/SDO1/SCL/RF3
25
SCK1/RF6
24
EMUC2/OC1/IN1/INT1/RD0
23
OC3/RD2
22
VDD
21
Current_FeedBack_Signal_DC
Test2
/INT2
Test3
Test1
Test4
Tx
RF6
/INT1
RX
PWM3H
PWM2H
RD2
PWM1H
PWM2L
PWM3L
PWM1L

Hnh 2.10: Cu trc module x l trung tm
thun tin cho qu trnh lp trnh nn thc hin phn cng cng vo ra theo
bng 2.1 khi khi bo ban u t cng vo ra.
STT Chc nng Tn chn Nhim v
S th
t chn
1 MCLR MCLR Chn reset h thng 1
2 Set_speed AN0/RB0 t tc 2
3
Current Feedback
phase A
AN1/RB1
Phn hi dng in xoay
chiu pha A
3
4
Current Feedback
Signal DC
AN2/RB2
Phn hi dng in pha
mt chiu
4
5 Encoder1 QEA Phn hi tc ng c 6
54


6 Encoder2 QEB 7
7 Hall1 RB6
Cm bin Hall
8
8 Hall2 RB7 9
9 Hall3 RB8 10
10 INT(0) RE8
Ngt ngoi
16
11 INT(1) RD1 17
12 INT(2) RD0 23
13 TX RF3
Giao tip my tnh
25
14 RX RF2 26
15 Test1 RF5
Th chng trnh
27
16 Test2 RF4 28
17 Test3 RF1 29
18 Test4 RF0 30
19 PWM3H RE5
PWM
33
20 PWM3L RE4 34
21 PWM2H RE3 35
22 PWM2L RE2 36
23 PWM1H RE1 37
24 PWM1L RE0 38
25 AN3/RB3
Phn hi tc bng pht
tc
5
Bng 2.1: Phn cng a ch vo ra cho cc chn ca vi iu khin
2.4.3.2. H thng phn hi dng in
thc hin iu khin c ng c chnh xc chng ta thc hin hai mch
vng phn hi nn khi thit k mch iu khin phi c thnh phn phn hi dng
in. i vi dng in mt chiu th chng ta dng in tr Shunt thc hin
phn hi t mch lc.
in tr Shunt c thng s l 200A/75mV. Do in p ra trn in tr Shunt
l rt b nn a vo cng A/D ca vi x l cn c mt khu khuych i tn
hiu tn hiu vo mch iu khin c th nhn bit c.
thc hin khu khuych i trn chng ta dng mt IC tn l HCPL 7510
55


PHAN HOI DONG
Current Feedback Phase A
Current Feedback Signal DC
J10
From Shunt
1
2
J2
From Shunt Phase A
1
2
Vdd1
Vin+
Vin-
GND1 GND2
Vref
Vout
Vdd2
U5
HCPL 7510
2
8
3
4
1
5
6
7
Vdd1
Vin+
Vin-
GND1 GND2
Vref
Vout
Vdd2
U60
HCPL 7510
2
8
3
4
1
5
6
7
VCC
VCC
GND MACH LUC 1
GND MACH LUC
+5V MACH LUC
+5V MACH LUC
R26
6.8k
R28
6.8k
C14
104
C15
104

Hnh 2.11: Cu trc mch phn hi dng in
Trong mch phn hi dng in th thc hin khuych i tn hiu in p
t in tr shunt dng mt IC. Vai tr ca IC l a ra in p chun cho vi iu
khin c th nhn bit c v do mc in p ca vi iu khin l 5V cho nn in
p ra ca IC cng c t l 5V.
56


Hnh 2.12: Cu trc ca HCPL 7510
2.4.3.3. Mch phn hi tc
thc hin phn hi tc th c th dng hai cch phn hi tc v
mch iu khin:
- Dng pht tc ni ng trc vi ng c
- Dng encoder.
V vy, m bo tnh m rng ca mch iu khin, c 2 mch nhn tn
hiu c thit k. Vi pht tc, c th nhn trc tip tn hiu v, thng qua chit p
v t lc. Tn hiu phn hi a vo chn ADC chuyn thnh d liu s cho
CPU x l. Cn vi encoder, c th a trc tip v vi iu khin m xung v
tnh ra tc phn hi.
R19
220
R20
220
D17
LED
J6
From Tachometer
1
2
VCC
R32
RESISTOR
R33
RESISTOR VAR
C5
33
J4
From Encoder
1
2
3
4
J8
JUM ENCODER
1
2
3
VCC
D14
LED

Hnh 2.13: Cu trc mch phn hi tc
57


2.4.3.4. Mt s cu trc khc
a. Mch vo ra bng nt n v n LED
Cc n LED c s dng dng kim tra chng t rnh v hin th khi
cn thit. Trong mt s trng hp pht hin ra li ca chng trnh
trong qu trnh lp trnh c th nhanh chng tm ra ch sai m khng tn nhiu
thi gian v cng sc. Dng nt bm khi ng chng trnh. dng nt
bm khi ng chng trnh th trong qu trnh lp trnh s dng mc 1 ca
chn a vo ngt nn khi o tn hiu a vo th n l 0 khi c th dng
c chng trnh cho n khi c bm nt. Khi th tn hiu vo vi iu
khin l 0 nn sau khi o tn hiu th n l 1 cho php chng trnh chy. Sau
phi c thm vng lp cho lnh tip tc thc hin.
Cc n LED c dng hin th xem nt c bm cha, dng
hin th kt qu khi bit chng trnh chy n im m chng trnh t
hay khng.
/INT1
R8
470
R9
470
R10
470
VCC VCC VCC
R4
470
D4
LED
VCC
R11
470
Test4
D10
LED
Test1 Test2 Test3
SW1
SW_PB_SPST
/INT0
VCC
/INT2
VCC
SW3
SW_PB_SPST
D6
LED
R6
470
VCC
SW2
SW_PB_SPST
D5
LED
R5
470
D7
LED
D8
LED
D9
LED

58


Hnh 2.14: Mch ghp ni LED v nt n
b. Mch ghp ni vi ng c v pht xung PWM
VCC
J5
From Hall Sensor
1
2
3
4
5
PWM1L
PWM1H
PWM2L
PWM3L
PWM2H
PWM3H
J3
PWM Signal
1
2
3
4
5
6
R29 100
R30 100
R31 100
D13
LED
D12
LED
D11
LED
R21
1K
R22
1K
R23
1K
VCC
Hall1
Hall2
Hall3

Hnh 2.15: Mch xut tn hiu PWM v nhn tn hiu t cm bin Hall
Cc n LED dng nhn bit c s thay i ca tn hiu Hall xem c
ng vi bng gi tr hay khng.
c. Mch truyn thng ni tip
Mch c s dng max232 thc hin kt ni v cch ly mch iu khin vi
my tnh thng qua cng com. V nu khng c IC cch ly th cc xung in t my
tnh xung c th lm hng mch iu khin.
Dng truyn thng ni tip thc hn c cc tn hiu t mch iu khin
ln v th tc ca ng c hoc c th thc hin iu khin ng c trc
tip bng my tnh.
59


TX
U6
MAX232
C1+
1
C1-
3
C2+
4
C2-
5
V
C
C
1
6
G
N
D
1
5
V+
2
V-
6
R1OUT
12
R2OUT
9
T1IN
11
T2IN
10
R1IN
13
R2IN
8
T1OUT
14
T2OUT
7
P1
From/To Computer
5
9
4
8
3
7
2
6
1
C10 104(TU VANG)
C8
10uF
C9
10uF
VCC
VCC
C7
10uF
RX

Hnh 2.16: Mch ghp ni cng COM
d. Ngun cp v cc n bo.
Ngun cp thit k cp ngun cho cc phn t trong mch iu khin
NGUON CAP
J12
nguon 5v OUT
1
2 +5V
J18
POWER SUPPLY
1
2
3
4
C30
2200/50V
C50
470uF/25V
C40
104
U20
LM7805C/TO220
IN
1
OUT
3
G
N
D
2
NGUON CHO MACH DEM +5V
R24
220
D18
LED
+5V
VCC
+12V
NGUON CHO MACH DEM +12V
R1
220
R2
470
D1
LED
D2
LED
VCC +12V

Hnh 2.17: Ngun cp cho mch iu khin
60


Hnh 2.18 : Mch iu khin ng c
N
G
U
O
N

C
A
P
J
1
2
n
g
u
o
n

5
v

O
U
T
1 2
+
5
V
J
1
8
P
O
W
E
R

S
U
P
P
L
Y
1 2 3 4
R
1
9
2
2
0
R
2
0
2
2
0
C
3
0
2
2
0
0
/
5
0
V
D
1
7
L
E
D
C
5
0
4
7
0
u
F
/
2
5
V
C
4
0
1
0
4
/
I
N
T
1
T
X
S
p
e
e
d

F
e
e
d
b
a
c
k

S
ig
n
a
l
A
n
a
lo
g
Y
1
1
1
.
5
8
9

M
H
Z
C
1
3
3
R
8
4
7
0
C
2
3
3
J
6
F
r
o
m

T
a
c
h
o
m
e
t
e
r
1 2
E
n
c
o
d
e
r
1
O
S
C
1
E
n
c
o
d
e
r
2
R
9
4
7
0
V
C
C
V
S
S
R
3
2
R
E
S
I
S
T
O
R
R
1
7
1
0
K
U
2
0
L
M
7
8
0
5
C
/
T
O
2
2
0
I
N
1
O
U
T
3
G N D
2
R
1
8
2
K
S
W
4
R
1
0
4
7
0
R
3
3
R
E
S
I
S
T
O
R

V
A
R
C
5
3
3
/
M
C
L
R
V
C
C
V
C
C
V
C
C
V
C
C
V
C
C
T
X
J
5
F
r
o
m

H
a
ll
S
e
n
s
o
r
1 2 3 4 5
V
C
C
/
M
C
L
R
O
S
C
2
P
W
M
1
L
P
W
M
1
H
P
W
M
2
L
P
W
M
3
L
/
M
C
L
R
P
W
M
2
H
P
W
M
3
H
V
C
C
J
3
P
W
M

S
ig
n
a
l
1 2 3 4 5 6
P
H
A
N

H
O
I

D
O
N
G
U
6
M
A
X
2
3
2
C
1
+
1
C
1
-
3
C
2
+
4
C
2
-
5
V C C
1 6
G N D
1 5
V
+
2
V
-
6
R
1
O
U
T
1
2
R
2
O
U
T
9
T
1
I
N
1
1
T
2
I
N
1
0
R
1
I
N
1
3
R
2
I
N
8
T
1
O
U
T
1
4
T
2
O
U
T
7
J
1
1
C
o
n
n
e
c
t

t
o

P
r
o
g
r
a
m
m
e
r
1 2 3 4 5
C
4
1
0
4
C
u
r
r
e
n
t
_
F
e
e
d
b
a
c
k
_
P
h
a
s
e
_
A
R
4
4
7
0
R
X
P
1
F
r
o
m
/
T
o

C
o
m
p
u
t
e
r
5 9 4 8 3 7 2 6 1
D
4
L
E
D
R
2
9
1
0
0
J
4
F
r
o
m

E
n
c
o
d
e
r
1 2 3 4
C
1
0
1
0
4
(
T
U

V
A
N
G
)
R
3
0
1
0
0
S
e
t
_
S
p
e
e
d
V
C
C
V
C
C
R
1
1
4
7
0
V
C
C
T
e
s
t
4
D
1
0
L
E
D
O
S
C
1
R
3
1
1
0
0
V
C
C
N
G
U
O
N

C
H
O

M
A
C
H

D
E
M
+
5
V
O
S
C
2
/
I
N
T
0
R
2
7
1
0
K
V
C
C
T
e
s
t
1
C
3
1
u
F
T
e
s
t
2
S
e
t
_
S
p
e
e
d
V
r
e
f
J
8
J
U
M

E
N
C
O
D
E
R
1 2 3
J
1
5
J
U
M

K
E
T

N
O
I

E
N
C
O
D
E
R
1 2 3
S
p
e
e
d
_
F
e
e
d
b
a
c
k
_
S
ig
n
a
l_
A
n
a
lo
g
E
n
c
o
d
e
r
2
T
e
s
t
3
H
a
ll1
R
C
1
4
C
8 1
0
u
F
H
a
ll2
R
D
3
H
a
ll3
C
u
r
r
e
n
t

F
e
e
d
b
a
c
k

P
h
a
s
e

A
C
u
r
r
e
n
t

F
e
e
d
b
a
c
k

S
ig
n
a
l
D
C
d
s
P
I
C
3
0
F
4
0
1
1
U
3
d
s
P
I
C
3
0
F
4
0
1
1
/
M
C
L
R
1
E
M
U
D
3
/
A
N
0
/
V
R
E
F
+
/
C
N
2
/
R
B
O
2
E
M
U
C
3
/
A
N
1
/
V
R
E
F
-
/
C
N
3
/
R
B
1
3
A
N
2
/
S
S
1
/
C
N
4
/
R
B
2
4
A
N
3
/
I
N
D
X
/
C
N
5
/
R
B
3
5
A
N
4
/
Q
E
A
/
I
C
7
/
C
N
6
/
R
B
4
6
A
N
5
/
Q
E
B
/
I
C
8
/
C
N
7
/
R
B
5
7
A
N
6
/
O
C
F
A
/
R
B
6
8
A
N
7
/
R
B
7
9
A
N
8
/
R
B
8
1
0
V
D
D
1
1
V
S
S
1
2
O
S
C
1
/
C
L
K
I
N
1
3
O
S
C
2
/
C
L
K
O
/
R
C
1
5
1
4
E
M
U
D
1
/
S
O
S
C
I
/
T
2
C
K
/
U
1
A
T
X
/
C
N
1
/
R
C
1
3
1
5
E
M
U
C
1
/
S
O
S
C
O
/
T
1
C
K
/
U
1
A
R
X
/
C
N
0
/
R
C
1
4
1
6
F
L
T
A
/
I
N
T
0
/
R
E
8
1
7
E
M
U
D
2
/
O
C
2
/
I
C
2
/
I
N
T
2
/
R
D
1
1
8
O
C
4
/
R
D
3
1
9
V
S
S
2
0
A
V
d
d
4
0
A
V
s
s
3
9
P
W
M
1
L
/
R
E
0
3
8
P
W
M
1
H
/
R
E
1
3
7
P
W
M
2
L
/
R
E
2
3
6
P
W
M
2
H
/
R
E
3
3
5
P
W
M
3
L
/
R
E
4
3
4
P
W
M
3
H
/
R
E
5
3
3
V
D
D
3
2
V
S
S
3
1
C
1
R
X
/
R
F
0
3
0
C
1
T
X
/
R
F
1
2
9
U
2
R
X
/
C
N
1
7
/
R
F
4
2
8
U
2
T
X
/
C
N
1
8
/
R
F
5
2
7
P
G
C
/
E
M
U
C
/
U
1
R
X
/
S
D
I
1
/
S
D
A
/
R
F
2
2
6
P
G
D
/
E
M
U
D
/
U
1
T
X
/
S
D
O
1
/
S
C
L
/
R
F
3
2
5
S
C
K
1
/
R
F
6
2
4
E
M
U
C
2
/
O
C
1
/
I
N
1
/
I
N
T
1
/
R
D
0
2
3
O
C
3
/
R
D
2
2
2
V
D
D
2
1
V
C
C
S
W
1
S
W
_
P
B
_
S
P
S
T
C
9 1
0
u
F
/
I
N
T
0
D
1
4
L
E
D
R
2
4
2
2
0
D
1
8
L
E
D
D
1
3
L
E
D
D
1
2
L
E
D
V
C
C
D
1
1
L
E
D
V
C
C
C
u
r
r
e
n
t
_
F
e
e
d
B
a
c
k
_
S
ig
n
a
l_
D
C
V
C
C
R
2
1
1
K
R
2
2
1
K
R
2
3
1
K
/
I
N
T
2
V
C
C
S
W
3
S
W
_
P
B
_
S
P
S
T
D
6
L
E
D
+
5
V
R
6
4
7
0
V
C
C
J
1
0
F
r
o
m

S
h
u
n
t
1 2
V
C
C
+
1
2
V
J
2
F
r
o
m

S
h
u
n
t

P
h
a
s
e

A
1 2
C
6
1
0
u
F
S
W
2
S
W
_
P
B
_
S
P
S
T
C
7
1
0
u
F
D
5
L
E
D
R
5
4
7
0
R
X
E
n
c
o
d
e
r
1
D
7
L
E
D
V
C
C
D
8
L
E
D
/
I
N
T
2
D
9
L
E
D
N
G
U
O
N

C
H
O

M
A
C
H

D
E
M
+
1
2
V
T
e
s
t
3
T
e
s
t
1
T
e
s
t
2
R
X
T
e
s
t
4
T
X
R
F
6
R
D
2
/
I
N
T
1
V
d
d
1
V
i
n
+
V
i
n
-
G
N
D
1
G
N
D
2
V
r
e
f
V
o
u
t
V
d
d
2
U
5
H
C
P
L

7
5
1
0
2
8
3 4 1
5 6 7
P
W
M
1
L
P
W
M
1
H
P
W
M
2
L
P
W
M
3
L
P
W
M
3
H
P
W
M
2
H
V
d
d
1
V
i
n
+
V
i
n
-
G
N
D
1
G
N
D
2
V
r
e
f
V
o
u
t
V
d
d
2
U
6
0
H
C
P
L

7
5
1
0
2
8
3 4 1
5 6 7
V
C
C
V
C
C
H
a
ll1
H
a
ll2
H
a
ll3
G
N
D
G
N
D
+
5
V
+
5
V
R
2
6
6
.
8
k
R
2
8
6
.
8
k
C
1
4
1
0
4
C
1
5
1
0
4
R
1
2
2
0
R
2
4
7
0
D
1 L
E
D
D
2 L
E
D
V
C
C
+
1
2
V
61


2.4.4. Thit k mch m cho b nghch lu
Do ng c cng sut ln nn thc hin ng ct cho van th phi dng mt
b m tng in p v dng iu khin thc hin ng ct cho van.
B m s dng IC HCPL316J y l loi IC chuyn dng cho b m ca
van v n ch bo v tt nn khi vn hnh c th trnh c nhiu trng hp
hng van do qu dng.
2.4.4.1. IC HCPL 316J

Hnh 2.19: Cu trc ca ICHCPL 316J

Hnh 2.20: c tnh in p vo v cc tn hiu bo v ca ICHCPL 316J
62


IC thc hin bo v qua tn hiu in p gi v qua chn DESAT v khi c
hin tng qu dng th in p trn chn DESAT tng ln ln hn in p ngng
th tn hiu ra ca van c ct v thc hin bo li ra chn Fault. Vai tr ca IC
HCPL 316J l kch tn hiu iu khin ng m cc van IGBT, bo v qu dng
cho cc van v bo v in p thp.
2.4.4.2. Mch m cho mi van IGBT
Do mch nghch lu c 6 van nn mch m tng ng cng c 6 IC m
kch dng v in p m van. Do tnh c lp gia cc pha l cao v nu khng
s xy ngn mch nn ngun cp cho mi mch IC m phi c lm ring. Trong
mch s dng 6 bin p mt pha cp ngun cho 6 IC m.
Sau y l s mch in ca mch m cho mt van.
R19
33
J8
CON3
1
2
3
D2
Desat1
C5
0.1uF R3
3.3k
C6
330pF GND
HCPL 316J
U1
HCPL 316j
Vin+
1
Vin-
2
Vcc1
3
Gnd1
4
Reset
5
Fault
6
Vled1+
7
Vled1-
8
Vee1
9
Vee2
10
Vout
11
Vc
12
Vcc2
13
Desat
14
Vled2+
15
Ve
16
C1
0.1uF
C2
0.1uF
C3
0.1uF
R1
100
GNDA
G1
D1
G1
Vcc(+5V)
Desat1
R2
47k
D3
C4
0.1uF
PWM1
D4
Vcc21(15V)
D5
GNDA
D6
Vee1(-5V)
D7 RU1P1

Hnh 2.21: Module mch m cho mt van IGBT
2.4.4.3. Ngun cp cho tng module ca mch m
Vee1(-5V)
GNDA
Vcc21(15V)
- +
DB1
DIODE BRIDGE
J7
VAC In +/-20VAC
1
2
3
GNDA
C37
2200/50V
C38
2200/50V
C41
470uF/25V
C42
470uF/25V
C39
104
C40
104
U7
LM7815C/TO220
IN
1
OUT
3
G
N
D
2
U9
LM7905C/TO220
IN
2
OUT
3
G
N
D
1
U8
LM7912C/TO220
IN
2
OUT
3
G
N
D
1
C43
104
C44
470uF/25V

Hnh 2.22: Ngun cp cho modul ca mch im cho van IGBT
Do mi van phi c ngun cp ring trnh trng hp ngn mch cho van
nn mi module mch m c cp mt ngun in v cc ngun c cch ly
bng bin p bn ngoi.
63


2.4.4.4. Mch m ca c 6 van IGBT
Sau khi thit k cho tng van thc hin ghp 6 van li ta c mch m
hon chnh nh sau:
PWM6
J21
CON2
1
2
PWM5
PWM4
R19
33
D22 D23 D24 D25 D26 D27 RU1P4 D28
R20
33
Vcc(+5V)
GNDF
R21
33
PWM3
R22
33
J8
CON3
1
2
3
D2
PWM2
R23
33
C31
0.1uF
D29
R16
3.3k
D30
C32
330pF
D31 D32 D33
GND
D34 D35 RU1P5
HCPL 316J
U6
HCPL 316j
Vin+
1
Vin-
2
Vcc1
3
Gnd1
4
Reset
5
Fault
6
Vled1+
7
Vled1-
8
Vee1
9
Vee2
10
Vout
11
Vc
12
Vcc2
13
Desat
14
Vled2+
15
Ve
16
C33
0.1uF
C34
0.1uF
C35
100pF
R17
100
G6
PWM1
Desat6
Vcc(+5V)
Desat1
R18
47k
GNDE
C5
0.1uF
Desat5
C36
0.1uF
J12
CON3
1
2
3
G5
PWM6
Vee6(-5V)
Vcc26(15V)
J13
CON3
1
2
3
Desat6
G6
GNDF
C25
0.1uF R13
3.3k
C26
330pF GND
HCPL 316J
U5
HCPL 316j
Vin+
1
Vin-
2
Vcc1
3
Gnd1
4
Reset
5
Fault
6
Vled1+
7
Vled1-
8
Vee1
9
Vee2
10
Vout
11
Vc
12
Vcc2
13
Desat
14
Vled2+
15
Ve
16
C27
0.1uF
C28
0.1uF
C29
0.1pF
R14
100
G5
Vcc(+5V)
Desat5
R15
47k
GNDD
C30
0.1uF
R24
33
PWM5
Vee5(-5V)
R3
3.3k
C6
330pF
Vcc25(15V)
D36 D37 D39 D38 D40 D41 D42 RU1P6
GND
HCPL 316J
U1
HCPL 316j
Vin+
1
Vin-
2
Vcc1
3
Gnd1
4
Reset
5
Fault
6
Vled1+
7
Vled1-
8
Vee1
9
Vee2
10
Vout
11
Vc
12
Vcc2
13
Desat
14
Vled2+
15
Ve
16
C1
0.1uF
C2
0.1uF
C3
0.1uF
R1
100
GNDA
G1
D1
G1
Vcc(+5V)
C7
0.1uF R4
3.3k
C8
330pF
HCPL 316J
U2
HCPL 316j
Vin+
1
Vin-
2
Vcc1
3
Gnd1
4
Reset
5
Fault
6
Vled1+
7
Vled1-
8
Vee1
9
Vee2
10
Vout
11
Vc
12
Vcc2
13
Desat
14
Vled2+
15
Ve
16
C9
0.1uF
C10
0.1uF
C11
0.1uF
R5
100
G2
Vcc(+5V)
GND
Desat2
R6
47k
GNDB
C12
0.1uF
PWM2
Vcc22(15V)
Vee2(-5V)
Desat1
R2
47k
C13
0.1uF R7
3.3k
C14
330pF
HCPL 316J
U3
HCPL 316j
Vin+
1
Vin-
2
Vcc1
3
Gnd1
4
Reset
5
Fault
6
Vled1+
7
Vled1-
8
Vee1
9
Vee2
10
Vout
11
Vc
12
Vcc2
13
Desat
14
Vled2+
15
Ve
16
C15
0.1uF
C16
0.1uF
C17
0.1uF
R8
100
G3
GND
Vcc(+5V)
J22
CON6
1
2
3
4
5
6
Desat3
R9
47k
GNDC
C18
0.1uF
Vcc23(15V)
PWM3
Vee3(-5V)
D8 D9 D11 D10 D12 D13 D14 RU1P2
C19
0.1uF R10
3.3k
C20
330pF
HCPL 316J
U4
HCPL 316j
Vin+
1
Vin-
2
Vcc1
3
Gnd1
4
Reset
5
Fault
6
Vled1+
7
Vled1-
8
Vee1
9
Vee2
10
Vout
11
Vc
12
Vcc2
13
Desat
14
Vled2+
15
Ve
16
C21
0.1uF
C22
0.1uF
C23
0.1uF
R11
100
G4
Vcc(+5V)
GND
Desat4
R12
47k
GND
C24
0.1uF
Vcc24(15V)
PWM4
D3
Vee4(-5V)
C4
0.1uF
GNDE
PWM1
D4
J9
CON3
1
2
3
Desat2
G2
Vcc21(15V)
GNDB
D5
GNDA
D6
Vee1(-5V)
J10
CON3
1
2
3
Desat3
G3
GNDC
D15 D16 D17 D18 D19 D21 D20 RU1P3
D7 RU1P1
J11
CON3
1
2
3
Desat4
G4
GNDD

Hnh 2.23: Mach m cho 6 van IGBT
64


2.4.5. Vit chng trnh iu khin cho ng c
Chng trnh iu khin cho ng c c vit bng ngn ng C trn
phn mm MPLAB v c bin dch bng C30 chuyn sang file hex
np vo mch iu khin thng qua mch np.
Chng trnh iu khin ca ng c c hnh thnh t cc module, cc
module ny l cc hm c khai bo sn v ch cn a vo chng trnh
chnh thc hin cng vic ca mnh cn. Qu trnh lp trnh chng trnh
cho ng c c tin hnh qua cc bc:
+ Th tnh n nh ca mch iu khin bng cch lp trnh n l cc
module chc nng ca vi iu khin nh kim tra cc ch vo ra ca
Port bng cch hin th qua cc LED, kim tra lm vic ADC ca vi iu
khin bng cch thay i rng xung ca module PWM.
+ Sau khi kim tra xong cc module th chng ta tin hnh lp ghp v lp
trnh chng trnh iu khin ng c vi mch vng h kim tra xem vic
pht xung cho cc van ng cha sau th mi tin hnh lp trnh cho
mch vng kn vi hai mch vng phn hi dng in v tc .
+ Sau khi lp trnh mch vng h xong th ly cc tham s ca PID
phn tng hp v m phng cho m hnh ng c a vo thut ton
v tnh ton ra gi tr t cho cc thanh ghi PCDx.
2.4.5.1. Lp trnh cho mch vng h
Lu cho chng trnh mch vng h iu khin CMCKCT.
Tin trnh ca lu l khi c s khi ng cho chng trnh chy bng
mt nt bm th chng trnh c thc hin. Khi vi iu khin thc hin
t cc cng vo ra cho cc Port sau thc hin cc hm m chng trnh
nh sn. Khi cm bin Hall c c v qua Port B thng qua 3 chn. Sau
khi c tn hiu ca Hall th chng trnh thc hin so snh gi tr Hall vi cc
gi tr trong bng nh sn, cc gi tr ny c ly t bng chuyn mch
c lp chng 2. Sau khi chn c gi tr theo bng nh sn th gi
tr ny c gn vo thanh ghi OVDCON quyt nh s lm vic cho cc
65


chn PWM u ra. Trong ch lp trnh ny th chn ch iu ch
rng xung cho nhm van cao cn trong thi gian 60
0
th nhm van di c
ch dn lin tc ton khong. thc hin iu ch rng xung th
chng trnh phi t gi tr cho cc thanh ghi PCDx y l cc thanh ghi
quyt nh phn trm gi tr bm ca xung. Nu 3 gi tr thanh ghi PCDx
bng nhau v bng gi tr ca thanh ghi PTPER th tn hiu xung ra ca vi
iu khin s c iu ch vi rng xung l 50%. Sau khi np t n hiu
ban u cho thanh ghi PCDx th chng trnh thc hin c gi tr t t cc
cng ADC c chng trnh nh sn. Sau khi c xong th np gi tr
vo thanh ghi PCDx thc hin thay i tc ng c. Chng trnh vn
tip tc chy cho n khi c lch dng.
66


t ch vo
ra cho Port
,ADC
c cm bin HALL so
snh vi bng c a gi
tr ca bng vo thanh ghi
OVDCON
Np gi tr ban
u cho cc
thanh ghi
PCDx
Start
c gi tr t
tc qua thanh
ghi ca cng vo
ADC
Np gi tr ban
u cho cc
thanh ghi
PCDx
Kim tra
tn hiu
dng
S
Stop

67


Hnh 2.24: Lu chng trnh mch vng h iu khin CMCKCT
2.4.5.2. Chng trnh mch vng kn

c gi tr t tc ,gi tr tc
phn hi qua thanh ghi ca cng vo
ADC
t ch vo
ra cho Port
,ADC
c cm bin HALL so
snh vi bng c a gi
tr ca bng vo thanh ghi
OVDCON
Np gi tr ban
u cho cc
thanh ghi PCDx

Start
Np gi tr ban
u cho cc
thanh ghi PCDx
Kim tra tn
hiu dng
S

Stop
Tnh ton tnh
hiu t t sai
lch
68


Hnh 2.25: Lu chng trnh mch vng kn iu khin CMCKCT
69


Lu chng trnh mch vng kn cng tng t nh lu ca mch vng
h, n ch khc lu mch vng h l c thm tnh ton cc gi tr phn hi a
ra cc gi tr t cho cc b iu khin c lp trnh sn trong chng trnh.
Chng trnh mch vng kn c thit k trnh t lm vic l: sau khi nhn
c tn hiu khi ng th vi iu khin khi ng chg trnh t ch cng
vo ra cho cc PORT v thc hin c gi tr ca cm bin Hall v v chn ch
pht xung PWM cho cc u ra theo bng nh sn. Tn hiu pht xung u ra
c thay i bng cch thay i gi tr ca ba thanh ghi PCDx. Sau khi pht xung
ban u th vi iu khin thc hin c cc tn hiu v t cc cng ADC t sn
v thc hin cng vic tip theo l so snh gi tr t tc ca ng c v gi tr
phn hi bng ADC thng qua u vo c nh sn. Gi tr sai lch gia hai
gi t v thc c khch i v tch phn a ra gi tr t cho b iu khin
dng in. Khi vi iu khin ly gi tr t ca dng in tr i gi tr phn hi
qua ADC a ra tn hiu t cho 3 thanh ghi PCDx thc hin pht xung m
van cho b nghch lu. Chng trnh lm vic cho n khi c tn hiu dng.
Chng trnh bng m ngun C c t trong phn ph lc.
2.5. Thit k mch lc cho CMCKCT
2.5.1. Gii thiu v cc b bin i cho CMCKCT
i vi ng c cng sut ln dng trong cng nghip nh ng c m ti
ang cp n th ngun mt chiu cp cho CMCKCT khng th dng cc b
ngun in mt chiu c sn nh acquy v cc b ngun in mt chiu ny khng
nng lng cp in cho ng c. V vy cc ng c c cng sut ln s
phi c mt b chnh lu to ra in p mt chiu cho ng c. Ngoi ra i vi
CMCKCT cho ng c quay th chng ta phi cp in cho cc cun dy
stator ca ng c theo quy lut nh sn. cp in th t cho cc cun dy
th sau khi chnh lu ra in p mt chiu chng ta cho qua b nghch lu ngun p
cp in cho ng c.
70


Hnh 2.26: S bin i cho CMCKCT
Trong hnh 2.26 th c dng thm bin p t ngu trc b chnh lu hn ch
dng in ban u khi ng mch vo nu in p qu ln th dng in chy trong
mch chnh lu s rt ln nn c th lm hng cc van chnh lu cng nh cc t lc.
Sau y l phn tch c th ca tng khi trong s bin i.
2.5.2. Bin p t ngu
X
Y
Z
A
B
C
a
b
c

Hnh 2.27: Cu to ca bin p t ngu
Trong thc t th c th dng mt in tr khi ng hn ch dng in chy
qua cc van khi thc hin np cho t. Sau khi t c np y th chng ta thc hin ct
b in tr i bng cch iu khin mt van bn dn. M van bn dn cho dng in
chy hu ht qua van tc l ngn mch in tr i.
Bin p t ngu cn c nhim v cch ly ngun mch lc v ngun cp v
nu c xy ra s c bn pha mch lc th khng nh hng ti ngun cp ca
li. V trong qu trnh nghin cu mch thc nghim th vic xy ngn mch l
c th xy ra.
71


2.5.3. Mch chnh lu
Mch chnh lu c rt nhiu loi nhng ch yu xoay quanh cc mch chnh lu
c bn l chnh lu mt pha mt na chu k, chnh lu mt pha hai na chu k c im
gia, chnh lu cu mt pha, chnh lu hnh tia ba pha, chnh lu cu ba pha. i vi
ngun cp cho CMCKCT th tch cht ca ngun in l phi phng hn ch s
nhp nh in p c th lm hng van khi van c bm vi tn s ln khong trn vi
KHz. V th chng ta phi la chn mch chnh lu sao cho dng in p ra phng th
cng tt khi chng ta thc hin iu ch rng xung PWM vi tn s cao nn c
th iu khin ng c chay trn v m rng c vng tc iu chnh.
i vi CMCKCT cng sut 30 kW th chng khng th dng c cc b
chnh lu mt pha v n cho chng ta cng sut u vo thp v in p thp nu vn s
dng th dng in chy trong cc van l rt ln nn vic u t kh tn km m hiu
qu a li th khng c tt. V vy i vi loi ng c c cng sut ln nh th
ny th chng ta nn s dng cc b chnh lu 3 pha v n c th cung cp c cng
sut u vo ln. ng thi cng sut c chia lm 3 pha nn cng sut trn mi pha
b i mt phn ba nn dng in chy qua cc van cng b i mt phn 3. V th vic
tnh chn cho mch chnh lu s n gin v t tn km hn.
Khi s dng mch chnh lu 3 pha th chng ta s i n hai la chn ch yu l
chnh lu hnh tia v chnh lu cu. Trong th chnh lu hnh tia th h s nng in p
sau chnh lu thp do bin in p ch l mt cc nn h s nng in p thp.
CMCKCT th in p vo ca ng c l 640(V) nn nu dng chnh lu hnh tia th
in p ri trn van l ca in p cp cho ng c cn dng chnh lu cu th in p ny
c chia ri trn hai van nn in p ri trn van b hn nn thun li cho vic tnh
chn van.
CMCKCT c hai b bin i l b chnh lu v b nghch lu nn khi iu
khin thay i tc ca ng c c th dng hai cch:
72


- Thay i in p mt chiu cp cho b nghch lu tc l thc hin iu
khin cc van chnh lu tiristor. Cn cc van nghch lu ch ng vai tr
dn dng m khng thay i ng ct cho van.
- Thay i in p t ln ng c tc l bng cch ng m van ca b nghch lu
thay i in p trung bnh t ln van. Hay l thc hin thay i rng xung
thay i in p ra. Khi th chng ta i n hai quyt nh l s dng chnh
lu cu c iu khin hay khng iu khin.
Di y l cu trc ca hai b chnh lu va c nu trn.
T1
T2
T3
T4
T5
T6
+
-
C
A
B
C

Hnh 2.28: S chnh lu cu 3 pha c iu khin

A
C
B
C
+
-
D7
DIODE
D8
DIODE
D9
DIODE
D10
DIODE
D11
DIODE
D12
DIODE

Hnh 2.29: S chnh lu cu diot
73


Trong hnh 2.29 th t in C c vai tr san phng in p cho in p mt
chiu cp cho ng c l bng phng.
Di y l dng in p sau chnh lu ca chnh lu cu diot:
Uab Uac Ubc Uba Uca Ucb Ucb Uab Uac Ubc Uba Uca Ucb Uab Uac
Ua Ub Ua Ua Ub Uc Uc
D1 D1 D1 D3 D3 D5 D5
D4 D4 D6 D6 D6 D2 D2
U(V)
u
u
u
Ud(V)

Hnh 2.30: S in p chnh lu cu diot
2.5.4. Mch nghch lu
B nghch lu c s dng l nghch lu c lp v i vi CMCKCT th cc
cun dy stator c cp theo bng nn phi thc hin ng m van theo bng. i vi cc
loi ng c nh th c th dng van MOSFET cn i vi cc loi ng c ln th do van
Mosfet khng chu c cc dng ln nn phi s dng van IGBT.
2.5.4.1 Cu to v nguyn l hot ng ca IGBT
IGBT l phn t kt hp kh nng ng ct nhanh ca Mosfet v kh nng chu
dng ca transistor thng. Van IGBT c iu khin bng in p nn cng sut iu
khin yu cu cc nh. Van IGBT di tc dng ca in p U
GE
>0 knh dn vi cc
ht mang in l in t c hnh thnh, cc in t di chuyn v pha colector vt
qua lp tip gip n-p nn to ra qu trnh dn dng.

C
E
G
n n n n
n
p
Colector C
Emito E
Gate G
74


Hnh 2.31: Cu trc bn dn v cu trc tng ng ca van IGBT
2.5.4.2. c tnh ng ct ca van IGBT
a. Qu trnh m IGBT
Qu trnh m IGBT xy ra khi in p iu khin tng t khng n gi tr U
G
.
Trong thi gian tr khi m tn hiu iu khin np in cho t C
GE
lm in p gia cc
iu khin v emitor tng theo quy lut hm m t khng n gi tr ngng U
GE
, in p
ny vo khong t 3-5V. Khi c in p th mosfet trong van IGBT mi bt u m
ra. Dng in gia colector v emitor tng theo quy lut tuyn tnh t khng n dng ti
I
0
trong thi gian t
r
. Trong thi gian t
r
in p gia cc iu khin v emitor tng n gi
tr U
GE,Io
xc nh gi tr dng I
0
qua colector. Do diotde D
0
cn ang dn dng ti I
0
nn
in p U
CE
vn b gm ln mc in p ngun mt chiu U
DC
. Tip theo qu trnh m
din ra hai giai on t
fv1
,t
fv2
. Trong sut hai giai on ny th in p gia hai cc iu
khin v cc emitor c gi nguyn mc U
GE,Io
duy tr dng I
0
, do dng iu khin
hon ton l dng phng ca t C
GE
nn IGBT vn lm vic trong ch tuyn tnh. V
vy trong giai on u din ra qu trnh kho v phc hi ca diode D
0
to nn xung
dng trn mc I
0
ca IGBT. Khi in p U
CE
bt u gim IGBT chuyn t ch
tuyn tnh sang ch bo ho. Giai on hai tip din qu trnh gim in tr trong
vng thun tr ca colect dn n in tr gia colect v emit v gi tr R
ON
th kho
bo ho.
Tn hao nng lng khi m c tnh gn ng theo cng thc:
on
dc
ON
t
I U
Q .
2
.
0
=
Nu tnh thm nh hng ca qu trnh phc hi ca Dit D
0
th tn hao nng
lng s ln hn do xung dng trn colect.
75


Ug
R3
Cge
Cgc
Udc

Hnh 2.32: S th nghim kho IGBT
Cc qu trnh dn ca van IGBT c m t trn hnh 2.33
t
t
UG
UGE.Io
UGE
Ic
Udc
t
td tr
UCE
Diot Do phc hi
tfv1 tfv2
Io

Hnh 2.33: th th hin s dn dng ca van IGBT
b. Qu trnh kho IGBT
76


Qu trnh kho bt u khi in p iu khin gim t U
G
xung -U
G
, trong thi gian
tr khi kho th khi in p trn cc iu khin v cc emitor gim xung do s phng
in ca t C
GE
nn in p GE gim xung U
GE,Io
v c gi khng i do in p U
CE
bt
u tng ln do th t C
GC
bt u c np in. Dng iu khin by gi s hon ton
np cho t C
GE
nn in ap U
GE
c gi khng i. in p U
CE
tng bo ho trong khong
thi gian t
rv
. T cui khong t
rv
th diode D
0
bt u m ra cho dng I
0
ngn mch chy qua
do dng colector bt u gim. Qu trnh ny tri qua hai giai on ban u th dng chy
qua mosfet nhanh chng gim xung khng v khi in p iu khin l -U
G
th van c
kho hon ton.
Cc qu trnh kho ca van IGBT c m t trn hnh 3.34.
Io
UCE
t
Udc
Ic
UGE
UGE.Io
UG
t
t
-UG
td(off)
i1
i2
tfi1 tfi2
Udc

Hnh 2.34: th th hin qu trnh kho ca van IGBT
2.5.4.3. La chn mch nghch lu
Do CMCKCT c cu to stator l ba cun dy nn b nghch lu c s dng l b
nghch lu ba pha ngun p. S b nghch lu c trnh by hnh 2.35:
77


A
B
C
Q1
Q4
Q3
Q6
Q5
Q2
+
-
C

Hnh 2.35: S b nghch lu p ba pha
Sau khi chn xong cc b bin i th thc hin ghp cc b bin i la vi nhau
v c c m hnh ca mch lc ca CMCKCT nh sau:

C
2
2
2
0
0
/
4
0
0
D
1
D
I
O
D
E
D
3
D
I
O
D
E
D
5
D
I
O
D
E
D
2
D
I
O
D
E
D
4
D
I
O
D
E
D
6
D
I
O
D
E
A B C
J
2
C
O
N
3
1 2 3
M
R
1
8
2
K
R
2
8
2
K
J
1
6
C
O
N
3
1 2 3
J
1
C
O
N
3
1 2 3
J
1
4
C
O
N
3
1 2 3
J
1
7
C
O
N
3
1 2 3
J
1
8
C
O
N
3
1 2 3
J
1
9
C
O
N
3
1 2 3
J
1
5
C
O
N
3
1 2 3
Q
1
Q
4
Q
3
Q
6
Q
5
Q
2
D
1
D
4
D
6
D
2
D
5
D
3
C
1
2
2
0
0
/
4
0
0
78


Hnh 2.36: S mch lc ca CMCKCT
2.5.5. Tnh ton tham s mch lc
Sau khi thit k xong mch lc cho CMCKCT th vic tip theo l i tnh chn
cc tham s cho cc phn t trong mch.
Ta c tham s ca ng c nh sau:
P
m
=30(kW)
I
m
=72(A)
2.5.5.1. Tnh chn mch chnh lu
in p sau chnh lu cu ba pha l:
U
d
= 2.34xU
2

M:
I
d
=I
m
=72(A)
Dng qua diot l:
I
D
=I
d
/3=72/3=24(A)
in p ngc ln nht t ln van l:
U
ng
=2.45U
2
79


in p sau chnh lu l:
U
d
=640(V)
U
2
=U
d
/2.34=640/2.34=273(V)
U
ng
=2.45U
2
=2.45273=668.85(V)
Chn h s an ton K
u
=2 nn:
U
ngvan
=K
u
U
ng
=2668.85=1337.7(V)
Lm mt cho van bng tn nhit nhm nn chn h s d tr cho van l K
i
=5 nn:
I
V
=K
i
I
D
=524=120(A)
Khi cn chn van c dng in chy qua van v in p ngc t ln van phi ln
hn hai thng s sau:
U
V
=1337.7(V), I
V
=120(A)
Chn b chnh lu cu c tch hp c 6 van diot trn cng mt van. Tn van
SEMIKRON-SKD 160/16 c I
V
=160(A) v U
V
=1600(V).
2.5.5.2. Tnh chn mch nghch lu
Do s dng b nghch lu ba pha nn ti mi thi im ch c hai van ca b
nghich lu dn cp in cho cc cun dy. V vy khi in p ngc t ln van
cn li chnh l in p sau chnh lu.
in p ngc t ln van IGBT l:
U
ng
=U
d
=640(V)
in p ngc t ln diode:
U
ng
=U
d
/2=640/2=320(V)
Dng in chy qua van IGBT l:
I
IGBT
=I
d
/2=72/2=36(A)
Dng in chy qua diode l:
I
D
=I
d
/2=72/2=36(A)
Chn h s an ton: K
u
=1.8
in p ngc ca van IGBT l:
U
ngvan
=K
u
U
ng
=1.8640=1152(V)
80


in p ngc ca diode l:
U
ngvan
=K
u
U
ng
=1.8320=576(V)
Do tn nhit cho van l loi tn nhit nhm nn chn h s d tr l: K
i
=5 nn:
I
V
=K
i
I
IGBT
=536=180(A)
Dng chy qua diode l: I
VD
=K
i
I
D
=536=180(A)
Khi cn chn van c dng in chy qua van v in p ngc t ln van phi ln
hn hai thng s sau: U
V
=1152V), I
V
=180(A)
Chn van nghch lu l loi n nn phi c 6 van ghp thnh mch nghch lu. Tn
van MBN200F12 ca hng HITACHI c cc thng s:
I=200(A), U=1200(V), U
GE
=20(V), t
on
=0.5s, t
off
=1s
2.5.5.3. Tnh chn t lc
T in c vai tr san phng in p v th dng in xoay chiu chy qua t cng
nhiu th cht lng in p ra cng phng tc l loi c cc sng bc cao. V th t c
dung lng cng ln th lc cng tt. chn t chng ta dng cng thc:
) 2 ln 1 .(
. . 3
.
A
=
c t
t
U R
T E
C
n gin ta tnh chn t theo cng thc.
) ( 238 . 0
38025 . 0
011475 . 0 3 3 3
2 2
F
R
L
R
T
C
t
t
t
t
=
=
2.6. Kt lun
Trong chng 2 trnh by qu trnh thnh lp m hnh ton hc cho
CMCKCT, la chn thut ton iu khin, thit k mch iu khin, mch ng lc
cng nh vit chng trnh iu khin cho CMCKCT.

81


Chng 3
XY DNG CU TRC H TRUYN NGV M PHNG
3.1. Tng hp cc b iu chnh tc v dng in cho CMCKCT
3.1.1. M hnh 1 pha ca ng c mt chiu khng chi than
CMCKCT c 3 cun dy stator v rotor c lm bng nam chm vnh cu.
Nu thc hin vic thit k b iu khin cho ng c trong mi quan h in - t - c
gia cc pha ca stator, gia stator vi rotor th khi lng cng vic s rt ln thm
ch l khng th nu thc hin tnh ton bng tay. V vy vic xy dng m hnh ng
c thng c lm n gin ha bng cch a v phn tch m hnh tng ng 1
pha ca ng c. y cng l bc c s em li m hnh ca b iu khin. Cc
thng s ca b iu khin c th s c hiu chnh li sau khi tin hnh ghp ni vi
ton b h thng.
Mch tng ng 1 pha ca CMCKCT c trnh by trong hnh 3.1.
82


R
V
E
L

Hnh 3.1: Mch tng ng mt pha CMCKCT
Vi mch trn, phng trnh cn bng in p s l:

m e
K
dt
di
L i R e
dt
di
L i R V e . . . . . + + = + + =

(3-1)
Do t trng ca nam chm vnh cu l khng i nn momen in t M s t l
vi dng in:
M=K
t
.I (3-2)
Trong chng trc, phng trnh ng hc ca ng c c trnh by, nu
b qua thnh phn h s nht do rt nh, s c:

c
m
c m
M
dt
d
J J M + + =
e
). ( (3-3)
Chuyn (3-1) sang dng s dng ton t Laplace c:

R s L
K V
I
K I R s L K I s L I R V
m e
m e m e
+
=
+ + = + + =
.
.
. ). . ( . . . .
e
e e

(3-4)
Kt hp hai phng trnh (3-2) v (3-3) ta c

s J J
M I K
M I K s J J M M
c m
c t
m
c t m c m c
). (
.
. . ). (
+
=
= + =
e
e

(3-5)
T (3-4), (3-5) suy ra m hnh ng c mt chiu khng chi than nh sau:
83


1
(JM+JL)s
(Tu.s+1)
1/Ru
Kt
Ke
w U
Mc

Hnh 3.2: M hnh tng ng 1 pha CMCKCT
3.1.2. Tng hp cc b iu chnh ca CMCKCT
Trong lnh vc truyn ng in, mt trong nhng khu quan trng nht l tng
hp cc b iu chnh bi b iu chnh chnh l yu t quyt nh cht lng ng v
tnh ca h truyn ng in. Nhim v ca b iu chnh l khuch i tn hiu sai
lch nh ca h v to hm iu khin m bo cht lng.
u vo ca b iu chnh thng thng l tn hiu sai lch gia tn hiu t v tn
hiu thc ca h thng. u ra ca b iu chnh c th c dng lm tn hiu iu
khin a n u vo ca b iu chnh khc hoc lm tn hiu iu khin mt i
tng khc trong h truyn ng. Ty thuc vo loi tn hiu iu khin m ngi thit
k c th s dng cc b iu chnh tng ng. C th l b iu chnh s, tng t, b
iu chnh xung b iu chnh thch nghi. Ngy nay, mt trong nhng b iu chnh
thng dng nht l b T l Tch phn Vi phn PID bi s n gin trong cu trc cng
nh trong cc phng php tm tham s.
Khi tng hp b iu chnh (tm ra cu trc v tham s ca b iu chnh) cho cc
h truyn ng nhiu thng s, ngi ta thng phn tch h thng thnh nhiu vng
lp, mi vng lp i din cho mt thng s v cc b iu chnh ca cc vng lp c
ni cp vi nhau. Cho n nay, cha c nh khoa hc no tm ra c mt phng
php chung tng hp cc b iu chnh ni cp hoc cc phng php c th cng
cha tht hon thin bi v mi h thng khc nhau th phc tp cng khc nhau.
Thc cht, mc tiu cui cng ca cc phng php l tm ra b tham s ti u cho b
iu chnh.
84


Hin nay tng hp, cc phng php tnh ton gn ng c s dng nhiu.
N mang tnh nh hng trong thit k cng nh trong vic chnh nh v vn hnh h
truyn ng. C hai tiu chun ti u ph bin, l tiu chun module ti u v tiu
chun ti u i xng. Mi mt tiu chun c phm vi ng dng ring v u nhc
im c th. Ty thuc vo phc tp ca h thng thc t m vic la chn tiu
chun tng hp cng khc nhau.
Lun vn s s dng 2 tiu chun ti u ny thit k cc b iu chnh cho
CMCKCT. C th l ng c vi cc tham s sau:
in tr mt pha: R = 0.38205 (O)
in cm mt pha: L = 11.475.10
-3
(H)
Tc khng ti: n
0
= 2069
e
0
= 216.555
(v/ph)
(rad/s)
Tc nh mc: n
m
= 1150
e
m
= 120.367
(v/ph)
(rad/s)
Dng nh mc: I
m
= 72 (A)
Momen nh mc: T
m
= 249.11 (N.m)
Momen qun tnh: J
m
= 0.185 (kg.m
2
)
H s momen: K
t
= 2.54 (N.m/A)
H s sc in ng: K
e
= 2.25 (V/rad/s)
S cp cc: p = 4
in p nh mc: V
m
= 640 (V)
3.1.3. M hnh h thng iu khin 1 pha CMCKCT
Khi iu khin ng c bt k, tham s cn quan tm u tin l dng in v tc .
iu khin tc m bo tc thc ca ng c lun phi bm theo mt lng t cho
trc. iu khin dng in ca ng c cng chnh l iu khin momen, m bo ng c
lun cp mt lng momen ng vi yu cu ca ti. Tuy nhin, s ph hp gia momen v
tc phi tun theo ng c tnh c ca ng c. S h thng iu khin mt pha ca
CMCKCT c trnh by trong hnh 3.3 sau:
85


Hnh 3.3: M hnh h thng iu khin 1 pha CMCKCT
Trong m hnh trn, hai b iu chnh tc v iu chnh dng in tng ng
l Re v Ri. B bin i y l b chuyn mch dng 6 van MOSFET mc theo kiu
nghch lu ngun p. Cc phn t o gm o tc s dng pht tc hoc Encoder v
o dng in s dng in tr shunt hoc my bin dng.
3.1.4. Hm truyn t ca cc khi chc nng trong m hnh h iu khin
3.1.4.1. Khi b bin i
Hm truyn ca b bin i c dng:

) . 1 ).( . 1 (
0 v dk
bd
bd
T s T s
K
W
+ +
=
(3-6)
Trong , T
dk
v T
vo
ln lt l cc hng s thi gian mch iu khin v hng s
thi gian chuyn mch nghch lu ca van bn dn. H s khuch i c tnh theo t
s gia in p ra khi b bin i v in p iu khin t vo b bin i.

32
10
320
10
2
640
max
max
= = = =
dk
dc
bd
U
U
K (3-7)
Do tc ln nht ca ng c l 216,555 rad/s nn tn s ln nht ca ng c
l f
max
= 216,555/(2.3.14) = 33,9 Hz. Nu dng phng php iu khin PWM th tn
s PWM phi ln hn 10 ln tn s ln nht ca ng c, nh vy tn s chuyn mch
ti thiu ca mt pha dng PWM s l: 3x33,9x10 = 1017 Hz.
86


Do , thi gian iu khin T
dk
cn phi tun theo biu thc:
00098 . 0
1017
1
= s
dk
T (3-8)
Chn Tdk = 0,00098 (s)
Chn thi gian T
vo
= 0,0001(s)
Nh vy, b bin i c biu din bi hm truyn:

) 0001 . 0 . 1 ).( 00098 . 0 . 1 (
32
s s
W
bd
+ +
=
(3-9)
T phng trnh (3.6) ta c:

1 ) .( . . ) . 1 ).( . 1 (
0 0
2
0
+ + +
=
+ +
=
v dk v dk
bd
v dk
bd
bd
T T s T T s
K
T s T s
K
W
(3-10)
t:
T
b
=T
k
+T
v0
=0.00098+0.0001=0.00108 (3-11)
Ta c thnh phn T
dk
v T
v0
nh nn thnh phn T
k
.T
v0
l rt b nn c th b qua
thnh phn ny. Khi ta c th b thnh phn vi phn bc cao mu s.
Do , hm truyn ca b bin i s l:

1 00108 , 0 .
32
1 . +
=
+
=
s T s
K
W
bd
bd
bd

(3-12)
Sau khi ti gin hm truyn ca b bin i th hm truyn ny c dng thc
hin tng hp b iu khin cho qu trnh tng hp tr nn n gin hn.
3.1.4.2. Khu o dng in - phn hi dng
B o dng in c th c chn l mt khu tr vi dng hm truyn nh sau:

1 . +
=
i
i
i
T s
K
W (3-13)
trnh bo ha b iu khin, cn phi tnh ton vi cc thng s ln nht.
Trong trng hp ny, cn phi tnh vi dng in ln nht ca ng c l lc dng m
my l:
87


I
khi ng
= 123 (A)
H s khuch i dng:
K
i
= U
ram
/I
khi ng
= 10/123 = 0,0578
Chn hng s thi gian:
Ti = 0,0001 (s) (3-14)
Do , hm truyn ca b phn hi dng in:
W
i
= (3-15)
3.1.4.3. Khu o tc - phn hi tc
Khu phn hi tc c hm truyn:

1 . +
=
e
e
e
T s
K
W
(3-16)
Trong : K
e
= U
ram
/e
max
= 10/216.555 = 0,0461
Chn hng s thi gian khu phn hi tc :
T
e
= 0,001 (s) (3-17)
Nh vy, hm truyn b phn hi tc s l:
W
= (3-18)
3.1.5. Tng hp mch vng dng in
Ta c i vi ng c ln th momen qun tnh ca ng c l kh ln v h s
nht B ca trc ng c l b so vi J nn ta c th coi gi tr sc in ng cha
kp thay i trong khong thi gian m dng in p ng.
Ta c hng s thi gian in t l:
T
= L
/R
= 0.011475/0.38205 = 0.03 (s) (3-19)

88


Hnh 3.4: M hnh mch vng dng in c xt ti nh hng ca
BEMF CMCKCT
Do ng c cng sut ln nn ta c th b qua s thay i ca sc phn in ng
E trong thi gian ngn khi ta c th n gin mch vng iu khin dng in nh
sau:

Hnh 3.5: M hnh mch vng dng in ti gin ca CMCKCT
Ta c hm truyn ca i tng l:

) . 1 ).( . 1 ).( . 1 (
.
1
.
i u bd
i
u
bd
dt
T s T s T s
K
R
K
W
+ + +
=
(3-20)
Ta c hng s thi gian T
b
t biu thc (3.11), hng s thi gian T
i
t biu thc (3.14),
hng s thi gian T
t biu thc (3.17) ta c T
ln hn nhiu ln so vi T
b
v T
i
nn ta c
th xp x hai thnh phn hng s thi gian T
b
v T
i
li vi nhau, ta c:

T
s
= T
k
+T
vo
+T
i
= 0.00098+0.0001+0.0001=0.00118 (s) (3-21)
Khi ta c hm truyn i tng l:
89


) . 1 ).( . 1 (
.
1
.
s u
i
u
bd
dt
T s T s
K
R
K
W
+ +
=
(3-22)
Khi p dng tiu chun ti u modul cho i tng trn ta c b iu chnh
dng in l khi PI.
B iu chnh dng s c dng:

s T K
s T
R
i
. .
. 1+
=
(3-23)
Trong :

u u
i bd
T R
Ts K K
K
.
. . . 2
= v T = T

Thay s vo ta c:

s
s
s T K
s T
R
u
u
i
. 01 , 0
. 03 , 0 1
. .
. 1 +
=
+
=
Khi hm chun ca tiu chun ti u module c dng l.

1 . . 2 . 2
1
2 2
+ +
=
s T s T
F
s s
K

(3-24)
3.1.6. Tng hp mch vng tc
Khi tng hp mch vng tc th mch vng dng in c thay bng hm
chun v b qua s nh hng ca sc phn in ng v mmen cn v trong thi
gian nh th cc thnh phn thay i chm.

Hnh 3.6: M hnh mch vng tc ca CMCKCT
90


Ta c dng hm chun t biu thc (3-24) do hng s thi gian T
s
b nn ta c th
b qua thnh phn s
2
mu s ca hm chun thun li cho vic tng hp. Khi ta
c m hnh ca mch vng tc nh sau:

Hnh 3.7: M hnh ti gin mch vng tc ca CMCKCT
Hm truyn ca h h l:

) . 1 ).( . . 2 1 .( . . .
.
) . ).( . 1 ).( . . 2 1 .(
.
e
e
e
e
T s T s s T K K
K R
J s T s T s K
K K
W
S c e i
u
m S i
t
dt
+ +
=
+ +
= (3-25)
Ta c hng s thi gian c :

) ( 0124 . 0
25 . 2 * 54 . 2
38205 . 0 * 185 . 0
.
.
s
K K
R J
T
e t
u m
c
= = =
(3-26)
Ta c trong biu thc (3-20) th c th c lng khu qun tnh bc hai v khu
qun tnh bc nht bng cch gin c thnh phn vi phn bc hai v hai hng s thi
gian T
s
v T
e
b nn tch ca hai thnh phn ny c th b qua. Khi ta c hm truyn
h h l:

)) . 2 .( 1 .( . . .
.
) . 1 ).( . . 2 1 .( . . .
.
S c e i
u
S c e i
u
dt
T T s s T K K
K R
T s T s s T K K
K R
W
+ +
~
+ +
=
e
e
e
e

(3-27)
t:
s s
e i
u
T T T
K K
K R
K
+ =
=
2
.
'
e
e
Khi
) . 1 .( .
'
s T s T
K
W
s c
dt
+
=

p dng tiu chun ti u i xng cho i tng trn th ta c b iu chnh tc c dng:
91


s T
s T
T K
T
R
s
s
s
c
. . 4
. . 4 1
. . 2
,
'
'
+
=
e

(3-28)
Thay s vo ta c:
s
s
s
s
s T
s T
T K
T
R
s
s
s
c
) . 01344 , 0 1 .( 58 , 1018
). 00118 , 0 . 2 001 , 0 .( 4
). 00118 , 0 . 2 001 , 0 .( 4 1
54 . 2 / 25 . 2 / 0461 , 0 . 38025 , 0 . 2
0124 , 0
. . 4
. . 4 1
. . 2
,
'
'
+
=
+
+ +
=
+
=
e

Dng hm chun ca tiu chun ti u i xng l:

1 . . 4 . . 8 . . 8
. . 4 1
' 2
2
' 3
3
'
'
+ + +
+
=
s T s T s T
s T
F
s s s
s
K
iu kin m phng:
Kp = 13.689
Ki = 1018.58
Gi tr t l 5.528
Ta c m hnh mch vng tc trong trng hp cha c khu lc u vo:
phan hoi toc do
Kw
Tw.s+1
Step
Scope
Ri
PID
MVDD
1
2*Ts^2s +2*Tss+1
2
Gain
1/Ki
Kt
Jm.s

Hnh 3.8: M hnh mch vng tc ca CMCKCT khi cha c khu lc u vo
92


0 0.05 0.1 0.15 0.2 0.25 0.3
0
20
40
60
80
100
120
140
160
180
t(s)
w
(
r
a
d
/
s
)

Hnh 3.9: c tnh mch vng tc ca CMCKCT khi cha c khu lc u vo
Ta c m hnh mch vng tc trong trng hp c khu lc u vo l:
phan hoi toc do
Kw
Tw.s+1
Step
Scope
Ri
PID
MVDD1
1
4*Tsss+1
MVDD
1
2*Ts^2s +2*Tss+1
2
Gain
1/Ki
Kt
Jm.s

Hnh 3.10: M hnh mch vng tc ca CMCKCT khi c khu lc u vo
93


0 0.05 0.1 0.15 0.2 0.25 0.3
0
20
40
60
80
100
120
140
t(s)
w
(
r
a
d
/
s
)

Hnh 3.11: c tnh mch vng tc ca CMCKCT khi c khu lc u vo
3.1.7. M phng m hnh mt pha ca CMCKCT
Sau khi tng hp cc b iu khin cho cc mch vng iu chnh th chng ta
thc hin ghp hai mch vng li v c c cu trc ca m hnh mt pha vi y
cc tham s ca b iu khin.
Mc ch ca vic thc hin m phng li cu trc y l kim tra xem qu
trnh tng hp ng cha v cc iu kin b qua khi tng hp c nh hng n kt
qu m phng ca m hnh mt pha hay khng.
Ghp cc mch vng li vi nhau th ta c cu trc mt pha ca CMCKCT l:
94


Hnh 3.12: M hnh m phng mt pha ca CMCKCT
iu kin m phng:
R
e
:
Kp = 13.689
Ki = 1018.58
R
i
:
Kp = 3
Ki = 100
Gi tr t = 5.528
0 0.5 1 1.5 2 2.5 3
0
20
40
60
80
100
120
140
t(s)
w
(
r
a
d
/
s
)

Hnh 3.13: Kt qu m phng p ng tc
95


0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-100
0
100
200
300
400
500
600
t(s)
i
(
A
)

Hnh 3.14: Kt qu m phng p ng dng in
Nhn xt: Khi ghp hai mch vng li th kt qu p ng tc khng thay i
so vi vic tng hp mch vng tc cn p ng dng in th khi khi ng dng
in ng c ln kh cao. V vy cn hiu chnh li b iu khin v cho thm khu hn
ch dng in cho dng in khi ng khng ln qu cao c th lm hng ng c.
Khi ta c m hnh mt pha ca CMCKCT nh sau:

96


Hnh 3.15: M hnh mt pha c khu hn ch dng in ca CMCKCT
Sau qu trnh hiu chnh th tm ra c tham s ca hai b iu khin dng in
v tc nh sau:
R
e

Kp = 5 Ki = 20
R
i
Kp = 3 Ki = 100
Kt qu m phng:
0 0.5 1 1.5 2 2.5 3
0
20
40
60
80
100
120
140
t(s)
w
(
r
a
d
/
s
)

Hnh 3.16: Kt qu m phng p ng tc
97


0 0.5 1 1.5 2 2.5 3
-20
0
20
40
60
80
100
120
140
160
180
200
t(s)
i
(
A
)

Hnh 3.17: Kt qu m phng p ng dng in
Nhn xt kt qu m phng:
Sau khi hiu chnh th cc kt qu c tnh thu c cho thy b iu chnh hai
mch vng lm vic tt. Dng in khi ng l 180(A) l im cao nht ca c tnh
dng in, vi gi tr dng in nh mc ca ng c l 72(A) th gi tr trn hon ton
c th chp nhn.
Khi ng ti th dng in ca ng c bm gi tr nh mc vi qu iu
chnh rt b khng gy sc cho ng c nn khng sinh ra cc lc in t lm hng kt
cu ca ng c trong qu trnh lm vic. qu iu chnh ca tc ng c l 9.8% .
Tc ca ng c sau mt thi gian qu la t
q
=0.8s th bm vo gi tr t, cn khi
ng ti th tc ng c c st xung v sau khong thi gian nh t
q
=0.8s th tc
ng c li quay li bm gi tr t.
3.2. Xy dng v m phng m hnh 3 pha ca CMCKCT
Sau khi thc hin vic m phng cho m hnh mt pha ca CMCKCT v tm ra
b iu khin cho mch vng iu chnh th chng ta thc hin xy dng m hnh 3
pha ca CMCKCT thng qua cc phng trnh c in c.
98


3.2.1. Xy dng tng quan m hnh h iu khin CMCKCT
Trong m hnh mt pha cng nh trong phng trnh hm truyn ca
CMCKCT th chng ta u thc hin vic gin c cc nh hng nh n cht
lng ca hm truyn t thun li cho vic tng hp cng nh xy dng m
hnh. Tuy nhin trong qu trnh m phng cho ng c m xy dng h thng t cc
phn t in thc c th nguyn nh cun dy, in tr, cc van bn dn th kt
qu m chng ta nhn c s chnh xc hn. Bn cnh th mt s khu c th
vn c ti gin vic thit k n gin hn v rt ngn c thi gian m phng
nh cc thnh phn ca h iu khin, cc b phn hi dng, phn hi tc vn
c trnh by di dng cc hm truyn t ton hc. c bit l cc b iu chnh
hon ton c th s dng m hnh hm truyn m phng v trn thc t cc b
iu chnh thng c lp trnh v a vo vi iu khin thc hin thut ton.
M hnh h thng iu khin ng c tng qut c trnh by trong hnh 3.18:

Hnh 3.18: H thng iu khin CMCKCT
M hnh c xy dng thnh 3 khi chnh l:
+ Khi b iu khin: bao gm cc b iu chnh tc , dng in, hn ch dng
in, khi to dng dng in, khu iu ch rng xung. Tn hiu vo ca khi l
tn hiu t tc , cc tn hiu phn hi dng in v phn hi tc . u ra l 6
xung iu khin c iu bin rng xung (PWM).
99


+ Khi b chuyn mch: gm 6 bng MOSFET u theo kiu nghch lu ngun p.
u vo l 6 xung PWM cp cho 6 van. u ra ca khi l 3 in p pha cp cho
ng c.
+ Khi ng c mt chiu khng chi than: gm CMCKCT c cp in 3 pha.
Cc gi tr dng in pha hay tc thc s c truyn v b iu khin lm tn
hiu phn hi.
Trn thc t, trong trng hp ny c 2 cch ly tn hiu phn hi dng in.
l ly tn hiu phn hi v t pha dng mch mt chiu cp cho b nghch lu v tn hiu
phn hi ly trc tip trn cc pha ca ng c. Phng php ly tn hiu u tin s n
gin v tit kim hn do ch cn dng 1 phn t o dng in. Trong khi , nu o dng
c 3 pha th s lng cm bin dng in tng ln v vic iu khin s phc tp hn do c
3 tn hiu phn hi cng mc u tin. Tuy nhin, u im ca phng php ny ch, n
em li tnh chn thc ca tn hiu dng in thc chy trong ng c, c bit l pha ca
tn hiu dng. Mc tiu ca vic m phng l xem xt, ti to li cc c tnh ca i tng
thc trn my tnh. V vy ti s chn cch ly phn hi dng in trn c 3 pha ng
c.
3.2.2. M hnh CMCKCT
M hnh CMCKCT bao gm 3 cun dy sator, 3 thit b o dng in ca cc
pha, khu tnh ton mmen in t, khu to sc phn in ng, khu qun tnh ca
ng c.
100


Hnh 3.19: M hnh m phng CMCKCT
Sau y l phn tch cc thnh phn c th ca m hnh CMCKCT
3.2.2.1. Phn mch in
Mch nguyn l ca CMCKCT c xy dng bi cc thnh phn in tr, in
cm, sc phn in ng. M hnh mch nguyn l tng ng s c ghp li t 3 pha
v c ni thnh mch hnh sao nh trn hnh 3.20:
Ra La
Ea
Eb
Rb Lb
Rc
Ec
Lc
Va
Vb
Vc

101


Hnh 3.20: Mch nguyn l CMCKCT
Phn mch bao gm 3 cun dy v 3 in tr l cc thnh phn ca cun dy stator
ca ng c v 3 thnh phn sc phn in ng th hin s tng tc gia t trng
rotor v t trng stator. Mi mt nhnh l mt pha bao gm 1 in tr v 1 cun dy
u ni tip nhau v ni tip vi mt ngun sc phn in ng. Do 3 cun dy ca
stator t lch nhau 120
0
nn tng ng sc phn in ng ca 3 pha cng lch nhau
120
0
.
Trn mi nhnh c t mt phn t Measurement o dng in pha ri sau
s c phn hi v b iu khin. ng thi, dng in ny l tham s cho vic tnh
ton momen in t ca ng c.
3.2.2.2. Phn tnh ton momen

M
1
Switch
Product 3
Product 2
Product 1
Product
Fcn
1/u
Constant
0.001
Abs
|u|
w
5
Ic
4
Ib
3
Ia
2
Ea,Eb,Ec
1

Hnh 3.21: Khu tnh ton momen
Momen in t c tnh ton da trn cc thng tin v dng in, sc phn in
ng v tc c a v t cc khi khc theo cng thc (2-11).
M hnh khu tnh ton momen c trnh by trong hnh 3.21. M hnh thc hin
vic nhn tng cp sc phn in ng v dng in pha tng ng ri tnh tng ca
chng. Sau , kt qu s c nhn vi nghch o ca tc ng c.
102


Cn lu trong cng thc (2-11) thi im khi ng c bt u quay th tc
ng c bng 0 rad/s nn nu ta s dng cng thc (2-11) th s gp phi trng hp
chia cho khng nn m hnh s khng chy c v khng tho mn iu kin ton hc.
V vy trong trng hp ny chng ta s dng mt b chuyn mch (Switch) theo
nguyn l sau:
- Nu gi tr tuyt i ca tc xp x bng 0, u ra ca chuyn mch s bng
u vo (tc ) cng vi 0.001. y chnh l vic loi b trng hp chia cho
khng.
- Nu gi tr tuyt i ca tc ln hn 0, u ra b chuyn mch s ly trc tip
gi tr ca tc .
Momen in t sau khi tnh ton s tr i momen cn kt hp vi momen qun
tnh c gi tr tc ng c theo cng thc dt
J
M M
m
c dt
.
}

= e
3.2.2.3. Khi to dng sc phn in ng
Ta c gi tr sc phn in ng c tnh theo cng thc: E= K
e
e.
i vi CMCKCT c c tnh sc phn in ng l hnh thang nn khi m
phng cho m hnh ca ng c th gi tr sc phn in ng ca ng c c tnh
ton t cc gi tr thc t bng cch d im theo v tr ca rotor.
ly c cc gi tr sc phn in ng ca ng c th dng mt ng c
khng ng b 3 pha c iu khin bng bin tn ko cho CMCKCT quay vi tc
cao thng ly l 1000 vng/pht. Khi s dng osiloscope s o in p hai u
mt bi dy ca stator ca ng c. Sau khi ly c cc gi tr t thit b o th cc gi
tr sc phn in ng c a vo bng gm c gi tr thi gian. Do y l c tnh
thc ca ng c nn n ng vai tr rt quan trng nh hng n cht lng m
phng ca ng c. V vy cng on ny nu vic o c cng chnh xc th vic tm
hai b iu chnh m phng cho ng c ng l cng thun li.
T bng gi tr sc phn in ng theo thi gian a c vo m hnh th ta
phi quy cc gi tr sc phn in ng theo gi tr gc in hoc gc c. Trong m
103


hnh m phng s dng gc c tc l gi tr sc phn in ng s tng ng vi gc
ca rotor ng c. C hai cch to ra dng sc phn in ng l:
+ Dng cc khi to dng tn hiu to ra dng sc phn in ng theo hnh
thang. u im ca phng php ny l n gin nhng n khng th hin ht
c tnh cht thc t ca dng sc phn in ng ca ng c v dng tn hiu
c a ra l dng hnh thang bng phng m trong thc t th khe h ca rotor
v stator nn n c th nhp nh.
+ Dng bng LookupTable a cc gi tr o c vo trong bng theo dng
ma trn hai chiu. Bng LookupTable c mt u vo v mt u ra, u vo l
gi tr gc c ca rotor ng c cn u ra l gi tr sc phn in ng o
c tc 1000 vng/pht. u im ca phng php ny l chnh xc hn v
th hin c s nhp nh ca sc phn in ng.
ng thi do tn hiu ra ca sc phn in ng l 3 pha lch nhau 120
0
v gc
pha nn to c tn hiu in p ra lch th chng ta thc hin cng, tr gi tr gc
ca rotor i 120
0
th chng ta s c c tn hiu ca 3 pha lch nhau.
Cu trc ca m hnh khi to sc phn in ng c m t trong hnh 3.22:

Hnh 3.22 : M hnh khi to dng sc phn in ng
Trong m hnh trn, c cc khi chc nng gm:
+ Khi rem(u,2*pi) cn gi l khi chia ly phn d trong u l bin vo (s
chia) cn 2*pi l s b chia. C th gii thch khi ny nh sau:
104


- Nu u < 2*pi, u ra ca khi chnh l u do php chia u/(2*pi) cho kt
qu l 0 v d l u.
- Nu u > 2*pi, u ra ca khi l phn d ca php chia u/(2*pi).
Trn m hnh 3.22 tc sau khi qua khu tch phn s cho thng tin v v tr ca
rotor tnh theo radian (do tc tnh theo rad/s), m v tr ca rotor lun nm trong on
[0,2*pi]. V vy, hm rem(0,2*pi) chnh l khi gii hn gc quay ca rotor. Hnh 3.23 cho
thy s khc nhau ca tn hiu v tr rotor trc (3.23.a) v sau (3.23.b) khi i qua khu
rem().
2. 4.
U
vo
U
ra
(a)
(b)

Hnh 3.23: c im tn hiu ca hm rem(u,2*pi)
(a) Tn hiu vo trc rem(u,2*pi)
(b) Tn hiu ra sau rem(u,2*pi)
+ Khi Lookup Table l mt khi chc nng trong b cng c Simulink. Khi ny
c nh ngha l khi hm xp x mt chiu, n s dng cc thng tin v cc
vector x, y c cung cp thc hin php tnh ton xp x thnh hm y=f(x). Mt
cch n gin, n l mt bng i chiu, ng vi mt gi tr vo, khi s a ra mt
gi tr ra tng ng. Nu gi s t vo u vo mt gi tr khng c sn trong
bng, Lookup Table s thc hin tnh xp x ha gi tr u ra t cc gi tr lin k.
Trong m hnh khi to dng sc phn in ng 3.23 th Lookup Table bao gm 2
ct. Mt ct gi tr u vo l v tr ca rotor theo gc c, ct gi tr u ra l ln ca
105


sc phn in ng. y, sc phn in ng ca ng c c o ti mi 1.17

c.
V vy, php o trn s tin hnh trong di t vi t 0
0
n 90
0
c.
Sau khi tn hiu ra khi bng LookupTable th gi tr tn hiu l sc phn in ng ca
ng c tc 1000 vng/pht nn cn phi c mt khu chuyn n v c c h s
K
e
nhn vi gi tr tc ca rotor c gi tr sc phn in ng ca 3 pha. Gi tr
ca khu khch i ny l K=60/(2*pi*1000)=9.55/1000.
3.2.3. M hnh b chuyn mch in t - nghch lu ngun p
B chuyn mch in t c cu to ca mt b nghch lu ngun p 3 pha. Vi ngun
cp l in mt chiu 640VDC. Trong m hnh c s dng 6 van MOSFET c sn trong th
vin ca Simulink xy dng m hnh b chuyn mch nh trnh by trong s hnh
3.24. Cc van c sp xp theo th t 1- 4, 3 6, 5 - 2.

Hnh 3.24: M hnh b chuyn mch nghch lu 3 pha
Trong m hnh trn, theo mc nh ca phn mm, in tr ca bng MOSFET l
0,1O l kh ln so vi in tr cun dy ng c (0.382). V vy, s c mt phn in p
cp cho ng c s ri trn van khi van dn nn lm cho qu trnh m phng khng chnh
xc. Do , vic m phng hon thnh ng theo yu cu, cn phi iu chnh li in
106


tr ca van xung gi tr thp hn nhiu so vi in tr ng c. Trong m hnh chn l
0.0001O.
- u ra ca khi l in p 3 pha ni n ng c.
- u vo ca khi l 6 xung PWM nhn t b iu khin. Cc xung ny cp
cho 6 van MOSFET.
3.2.4. Khi B iu khin
Khi B iu khin bao gm cc b iu chnh tc , b iu chnh dng in,
khi to dng dng in 3 pha, khi iu ch rng xung. M hnh ca khi B iu
khin c trnh by trong hnh 3.25:

Hnh 3.25: M hnh B iu khin
Hot ng ca khi nh sau: Tn hiu t tc s c so snh vi tn hiu tc
thc, sai lch ca chng s i qua b iu chnh tc ri qua hn ch dng i ti
b to dng dng in. B to dng dng in s to ra 3 dng in chun 3 pha lch
nhau 120
0
, y cng chnh l dng in t ca mch vng dng in. Dng in t
c so snh vi dng in 3 pha thc phn hi t ng c v. Tn hiu sai lch dng
in s c i qua b iu chnh dng in ri i ti b to xung PWM iu ch ra
rng xung cp cho cc u ra. 6 xung PWM cp cho 6 van mch nghich l p 3
pha. Sau y l phn tch c th ca tng khi.
Khi Rw: b iu chnh tc
Khi to dng dng in : c chc nng to dng dng in chun
Khi Ri: b iu chnh dng in
107


Khi PWM: to xung PWM
3.2.4.1. Khi Rw

Khi Rw thc cht ch l mt khu PID n gin vi cc thng s c tng
hp trong mch vng tc .
Do tn hiu tc ch l duy nht nn khi ny cng s ch c mt b PID.
3.2.4.2. Khi to dng dng in
Khi to dng dng in chun lm tn hiu t dng cho b iu chnh. Khu to dng
dng chun phi c l v dng in phn hi c ly v sau b chuyn mch 3 pha nn
dng in 3 pha c a v s c th t lch pha nhau 120
0
. V vy, dng in t cng
phi tng ng lch nhau 120
0
. ng thi i vi CMCKCT c sc phn in ng l
hnh thang th dng in chy trong 3 pha ca cun dy stator l dng xung vung nn dng
in t cng phi l dng xung vung th hai dng in thc v t mi so snh c vi
nhau.
M hnh ca khi c trnh by trong hnh 3.26 sau:

Hnh 3.26: M hnh khi to dng dng in
B to dng dng in c cu trc cng ging nh b to dng sc phn in
ng u bao gm cc khi tch phn, hm rem(), bng LoolupTable. Tc sau khi
qua b tch phn cho ta v tr ca rotor. Sau c cng tr i mt lng (2*pi/3)
a vo hm rem() ct i phn gc tha v rotor ch dch chuyn trong khong gc
108


(0.2*pi). Tn hiu ra khi hm rem() c a qua khu chuyn i n vi t rad sang
lm tn hiu t cho khi Lookup Table to ra dng dng in chun 3 pha vi
bin bng 1. Ba dng in ny s c nhn vi gi tr dng in t Im to nn
h thng 3 dng in c bin bng gi tr dng in t v lch nhau 120
0
v pha I
a
*,
I
b
*, I
c
*.
Nh vy, im khc bit ln nht gia hai khi to dng dng chun v to dng
sc in ng chun l khi Lookup Table.
Bng LookupTable trong khi to dng dng in chun c lp ra cn c vo
bng LookupTable ca khi to dng sc phn in ng.
3.2.4.3. Khi Ri

Sai lch gia tn hiu dng in chun v tn hiu dng in thc s c a n
khi Ri, thc cht l cc b iu chnh dng in. Do c 3 tn hiu sai lch dng in
vi ln thc t l khc nhau nn s cn phi c 3 b PID mc song song nhau. u
ra ca khi s l tn hiu t dng in a n khi to xung iu khin Pulse
Generator.
3.2.4.3. Khi Pulse Generator
Chc nng ca khi ny l to ra 6 tn hiu PWM cung cp cho b chuyn
mch in t. Dng in t cho ng c s c so snh vi dy xung rng ca do b
Repeating Sequence to ra. Kt qu sau php so snh s c a n cc b chuyn
mch 2 trng thi to ra 3 dy chm xung k hiu l V1, V3, V5. Cc tn hiu PWM
V4, V6, V2 c to ra bng cch o cc tn hiu PWM trn m bo rng khng
c 2 van cng nhnh dn. Vic lm ny nhm mc ch trnh trng hp ngn mch
ngun lm hng mch lc do 2 van cng nhnh cng c cp xung iu khin.
109


M hnh khi to xung PWM c trnh by trong hnh 3.27.

Hnh 3.27: M hnh khi Pulse Generator
Trong khi to xung PWM th xung rng ca c t tn s 10 KHz v sn
xung l t 0 10.
3.2.5. Mt s khi chc nng khc
3.2.5.1. Khi phn hi tc
Phn hi tc c th s dng my pht tc hoc encoder.
Out 1
1
Transfer Fcn
Kw
Tw.s+1
In1
1

u vo ca khi chnh l tc thc ca ng c, u ra l mc in p tng
ng so snh vi tc thc a vo b iu chnh tc .
Cc tham s K
e
v T
e
c tnh ton trong biu thc (3-18)
3.2.5.2. Khi phn hi dng in
110


Cng nh b iu chnh dng in, do s dng 3 phn t o dng trn 3 pha nn
khi phn hi dng cng c 3 hm truyn u song song.
Cc tham s K
i
v T
i
c tnh ton trong biu thc (3-15).
3.2.6. Mt s chng trnh phc v cho m hnh h iu khin
hon thin m hnh m phng h thng iu khin ng c mt chiu khng
chi than, mt s *.m file c thit lp. Cc *.m file c dng thit lp cc trng
thi ban u cho h thng, k t khi tin hnh m phng m khng phi quan tm
n cc *.m file ny na. V vy, chng cn phi c chy ngay t khi bt u m
phng ln u tin. Cc file ny gm:
- EMF1000.m: file ny cha thng tin v bng sc phn in ng ca khu
Lookup Table trong m hnh to dng sc phn in ng. N cha d liu
ca mt ma trn 2 ct. Trong , ct th nht l v tr ca rotor c o trong
mi 1.17
0
, ct th hai l ln sc phn in ng tng ng.
- Current30kw.m: cha thng tin v dng dng in chun cung cp cho khi
Lookup Table trong m hnh to dng dng in.
- Parameter.m: cha cc tham s m phng.
3.2.7. M phng m hnh hon chnh h thng iu khin CMCKCT
M hnh hon chnh h thng c trnh by hnh 3.28.
Sau khi xy dng xong m hnh hon chnh h thng th chng ta thc hin ci t
cc tham s cho cc khi tin hnh m phng.
iu kin m phng:
111


Tn hiu t tc = 5.5528 tng ng vi gi tr tc nh mc 1150
vng/pht.
Thi gian m phng l 5(s).

w
powergui
Continuous
iventer
In1
In2
In3
In4
In5
In6
Ua
Ub
Uc
Step
M
Ia,Ib,Ic
Do toc do
In1 Out1
Do dong
Ia,Ib,Ic Uia,Uib,Uic
Bo dieu khien
w*
Uw
Uia,Uib,Uic
V1
V2
V3
V4
V5
V6
BLDC
w
M
Ia,Ib,Ic 1
Ua
Ub
Uc
Hn
h 3.28: M hnh hon chnh h thng iu khin CMCKCT
3.2.8. Kt qu m phng h thng iu khin CMCKCT
Phn ny trnh by v mt s kt qu m phng ca h iu khin CMCKCT
trong ch nh mc.
Tc t: e
m
= 120 rad/s
Mmen nh mc: M
m
= 250 N.m
Dng in nh mc: I
m
= 78A
112


0 0.5 1 1.5 2 2.5 3
-20
0
20
40
60
80
100
120
140
t(s)
w
(
r
a
d
/
s
)

Hnh 3.29: c tnh tc ca CMCKCT
0 0.5 1 1.5 2 2.5 3
0
50
100
150
200
250
300
t(s)
M
(
N
.
m
)

113


Hnh 3.30: c tnh momen in t trung bnh ca CMCKCT
2 2.05 2.1 2.15 2.2 2.25 2.3
-80
-60
-40
-20
0
20
40
60
80

Hnh 3.31: c tnh dng in mt pha ca CMCKCT
114


2.2 2.22 2.24 2.26 2.28 2.3 2.32 2.34 2.36 2.38 2.4
-80
-60
-40
-20
0
20
40
60
80
t(s)
w
(
r
a
d
/
s
)

Hnh 3.32: c tnh dng in ba pha ca CMCKCT
1 1.02 1.04 1.06 1.08 1.1 1.12 1.14 1.16 1.18 1.2
-400
-300
-200
-100
0
100
200
300
400
t(s)
S
u
c

p
h
a
n

d
i
e
n

d
o
n
g
-
E
M
F
(
V
)

Hnh 3.33: c tnh sc phn in ng ba pha ca CMCKCT
115


3.2.9. Nhn xt kt qu m phng
T cc kt qu m phng trn, c th thy mt s c im sau:
- Hnh dng ca dng in, sc in ng u ging nh l thuyt trnh by. Bin
ca cc thng s iu khin gm tc , dng in, mmen ng c cng bng vi cc
tn hiu t.
- Tuy nhin, nhp nh mmen cn kh ln, tc cha n nh m vn cn dao
ng quanh gi tr cn bng, y chnh l nhc im ca cc CMCKCT v hin nay
rt nhiu nh khoa hc ang tm cch gii quyt.
3.3. Kt lun
Ch-ng 3 trnh by v cc b-c tng hp b iu chnh dng in v b iu
chnh tc . Sau l xy dng mt m hnh m phng hon chnh cho ng c mt
chiu khng chi than. Cc kt qu m phng cng kh chnh xc v ng vi l thuyt
phn tch.

KT LUN V KIN NGH
Kt lun
Lun vn gii quyt c nhng vn sau:
- Nghin cu tng quan v ng c mt chiu khng chi than
- a ra m hnh ton hc ca ng c mt chiu khng chi than.
- Nghin cu v cu trc ca vi iu khin DSPIC 30F4011.
- Xy dng c m hnh m phng h truyn ng ng c mt chiu khng
chi than v p ng c cc yu cu ra.
Kin ngh
116


Nghin cu p dng cc thut iu khin hin i nh: iu khin thch nghi, iu
khin ti u, iu khin m, vo iu khin ng c mt chiu khng chi than
nhm kh dao ng momen, nng cao cht lng ca h iu khin.

TI LIU THAM KHO

Ting Vit
1. Bi Quc Khnh Phm Quc Hi Dng Vn Nghi (1999), iu chnh t
ng truyn ng in, nh xut bn Khoa hc v k thut, H Ni.
2. Nguyn Phng Quang (1996), iu khin ng c khng ng b xoay chiu
ba pha, nh xut bn Khoa hc v k thut, H Ni.
117


3. Nguyn Phng Quang (2004), Matlab & Simulink dnh cho k s iu khin
t ng, nh xut bn Khoa hc v k thut, H Ni.

Ting Anh
1. 48531EMS Chapter 12. Brushless DC motors
2. Bhim Singh B P Singh (Ms) K Jain (2002), Implementation of DSP based
Digital Speed for Permanent Magnet Brushless dc Motor, Department of Electrical
Engineering, IIT, New Delhi.
3. Bimal K Bose (1996), Power Electronics and Variable Frequency Drives,
University of Tennessee, Knoxville, Institute of Electrical and Electronics Engineers,
Inc., NewYork.
4. Devendra Rai, Brushless dc Motor Simulink simulator, Department of
Electronics and Communication Engineering, National Institute of Technology
Karnataka, India.
5. DSP-based Electric Drives Laboratory, Getting Started with dSPACE,
University of Minnesota.
6. Jianwen Shao (2003), Direct Back EMF Detection Method for Sensorless
Brushless DC (BLDC) Motor Drives, Virginia Tech University.
6. Texas Instruments (1997), DSP Solutions for BLDC Motors, Literature Number:
BPRA055

PH LC
Chng trnh vit cho mch vng ca ng c.
//---------------------------------------------------------------------------------------------------
//File: openloop2.c
#define _DSPIC30F4011_
#include "C:\Program Files\Microchip\MPLAB C30\support\h\p30F4011.h"
//Macros for Configuration Fuse Registers
118


_FOSC(CSW_FSCM_OFF & FRC_PLL4);
_FWDT(WDT_OFF);
_FBORPOR(PBOR_OFF & MCLR_EN); t
_FGS(CODE_PROT_OFF);
//---------------------------------------------------------------------------------------------------
//Cac hang so cua chuong trinh
#define PWM_PORT PORTE
#define PWM_TRIS TRISE
#define PWM_LAT LATE
#define Fcy 6000000
#define FPWM 10000
#define S2 !PORTEbits.RE8
#define MILLISEC Fcy/10000
//Bang trang thai van nhom Low
unsigned int StateLoTable[] = {0x0000, 0x0210, 0x2004, 0x0204, 0x0801, 0x0810,
0x2001, 0x0000};
//---------------------------------------------------------------------------------------------------
//Cac bien toan cuc
unsigned int HallValue;
unsigned int ADCValue;
unsigned int RunFlag;
//---------------------------------------------------------------------------------------------------
//Cac chuong trinh con
void Init_TM1(void);
void Init_Port(void);
void Init_MCPWM(void);
void Init_ADC10(void);
void Led_turn(void);
void Update_DutyCycle(void);
void DelayNmSec(unsigned int N);
void _ISR _T1Interrupt(void);
void _ISR _ADCInterrupt(void);
void _ISR _CNInterrupt(void);
119


//---------------------------------------------------------------------------------------------------
int main(void)
{
Init_Port();
Init_MCPWM();
Init_ADC10();
Init_TM1();
while (!S2);
while (1)
{
OVDCON=StateLoTable[1];
DelayNmSec(50);
DelayNmSec(50);
DelayNmSec(50);
DelayNmSec(50);
DelayNmSec(50);
DelayNmSec(50);
//---------------------------------------------------------------------------------------------------
//Chuong trinh con khoi tao TM1
void Init_TM1(void)
{
TMR1 = 0x0000;
PR1 = 0x1388;
_T1IF = 0;
_T1IE = 1;
T1CON = 0x8030;
}
//---------------------------------------------------------------------------------------------------
120


//Chuong trinh con khoi tao PORT
void Init_Port(void)
{
TRISE = 0xFF00;
TRISF = 0xFFCC;
TRISB = 0xFFFF;
CNEN1 = 0x00E0;
CNPU1 = 0x00E0;
LATFbits.LATF0 = 0;
LATFbits.LATF1 = 0;
LATFbits.LATF4 = 0;
LATFbits.LATF5 = 0;
IFS0bits.CNIF = 0;
IEC0bits.CNIE = 1;
}
//---------------------------------------------------------------------------------------------------
//Chuong trinh con khoi tao Module PWM
void Init_MCPWM(void)
{
PTPER = Fcy/FPWM - 1;
SEVTCMP = PTPER/2;
PWMCON1 = 0x0777;
OVDCON = 0xFF00;
PDC1 = 1.5*PTPER;
PDC2 = 1.5*PTPER;
PDC3 =1.5*PTPER;
PWMCON2 = 0x0F00;
PTCON = 0x8000;
}
//---------------------------------------------------------------------------------------------------
//Chuong trinh con khoi tao Module ADC
void Init_ADC10(void)
{
121


ADPCFG = 0xFFFE;
ADCON1 = 0x006E;
ADCON2 = 0;
ADCHS = 0;
ADCSSL = 0;
ADCON3 = 0x0103;
_ADIF = 0;
_ADIE = 1;
_ADON = 1;
_ASAM = 1;
}
//---------------------------------------------------------------------------------------------------
//Chuong trinh con update Duty Cycle
void Update_DutyCycle(void)
{
PDC1 = 1.5*PTPER;
PDC2 = 1.5*PTPER;
PDC3 = 1.5*PTPER;
}
//--------------------------------------------------------------------------------------------------------
-------------------------
//Chuong trinh con dao trang thai Led
void Led_turn(void)
{
TRISF = 0xFFCC;
LATFbits.LATF0 = !LATFbits.LATF0;
}
//---------------------------------------------------------------------------------------------------
//Chuong trinh con tao tre
void DelayNmSec(unsigned int N)
122


{
unsigned int j;
while(N--)
for(j = 0; j < MILLISEC; j++);
}
//---------------------------------------------------------------------------------------------------
//TRinh phuc vu ngat cho TM1
void _ISR _T1Interrupt(void)
{
_T1IF=0;
TMR1=0;
Led_turn();
Update_DutyCycle();
}
//---------------------------------------------------------------------------------------------------
//Trinh phuc vu ngat cho ADC
void _ISR _ADCInterrupt(void)
{
ADCValue = ADCBUF0 >> 1;
_ADIF = 0;
}
//---------------------------------------------------------------------------------------------------
//Trinh phuc vu ngat de xac dinh van duoc nhan tin hieu dieu khien
void _ISR _CNInterrupt(void)
{
IFS0bits.CNIF = 0;
HallValue = PORTB & 0x0038;
HallValue = HallValue >> 3;
OVDCON = StateLoTable[HallValue];
}

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2

S ha bi Trung tm Hc liu i hc Thi Nguyn http://www.lrc-tnu.edu.vn

c gi l hng s thi gian in t ca CMCKCT.

= 0.011475/0.38205 = 0.03 (s) (3-19)

t biu thc (3.17) ta c T

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