MUC LUC

Muc luc 1
Li ni u 2
Chng 1: Tng quan v tng hp h in c 3
1.1Nguyn tc c bn khi xy dng h iu chnh t ng truyn ng in 3
Chng 2: Xy dng m hnh ton hc cho ng c in 1 chiu 5
2.1 ng c in mt chiu. 5
2.2 Ch xc lp ca ng c mt chiu 6
2.3 Ch qu ca ng c 1 chiu 7
Chng 3: Xy dng h thng iu chnh tc quay vi hai vng c
phn cp
3.1 Tng hp mch vng dng in.
13
3.2 Tng hp mch vng tc . 15
Chng 4: M phng ng c in 1 chiu bng Matlab 20
4.1 La chn thng s cho ng c 20
4.2 Tng hp b iu khin dng in Ri 21
4.3 Tng hp b iu khin tc Rw 22
4.4 Kt qu m phng 23
Tai lieu tham khao 26
Trang : 1
Li ni u
S bng n tin b k thut trong lnh vc in in t - tin hc nhng
nm gn y dn n nhng thay i su sc c v mt l thuyt ln thc t
lnh vc truyn ng in t ng. Trc ht phi k n s ra i v ngy cng
hon thin cc b bin i in t cng sut vi kch thc gn nh, tc ng
nhanh cao, d dng ghp ni vi cc mch iu khin dng vi mch in t, vi
x l ... . Ngy nay vic s dng ng c in mt chiu c s dng rt rng
ri trong cc h truyn ng; vi vic iu khin d dng hn so vi ng c
xoay chiu.Trong n ny trnh by cch xy dng ln mt h truyn ng
in iu khin truyn ng ca ng c in mt chiu t cc phng php
c hc. Vi s gip ca thy gio v cc bn gip em hon thnh
n. Em xin chn thnh cm n v c g cn thiu st mong kin ng gp ca
thy gio
Chng 1:
Trang : 2
Tng quan v tng hp h in c
1.1 Nguyn tc c bn khi xy dng h iu chnh t ng truyn
ng in.
1.1.1 khi nim v phn loi
mc tiu c bn ca h iu chnh t ng truyn ng inl phi dm bo
gi tr yu cu ca cc i lng i chnh. H thng i chnh t ng truyn
ng in c cu trc chung c trnh by trn hnh sau gm : ng c truyn
ng M quay my sn xut M
x
v thit b bin i nng lng B ( c gi l
phn lc); cc thit b o lng L v cc b iu chnh R(c goi l phn
iu khin). Tn hiu iu khin h thng c gi l tn hiu t TH v ngoi
ra cn cc tn hiu nhiu lon NL tc ng ln h thng.
ng c truyn ng thng dng ng c mt chiu, xoay chiu khng
ng b v cc ng c bc. Cc ng c in c cp nng lng t cc b
bin i B, ngy nay cc b bin i thng dung l cc b chnh lu
thyristor, transistor, cc b bin tn thyristor v.v... . Cc b bin i c 2 chc
nng : th nht l bin i nng lng i t dng ny sang dng khc thch ng
vi ng c truyn ng; th 2 mang thng tin iu khin iu khin cc
tham s u ra b bin i ( nh cng sut, din p, dng in , tn s, . . . ). Tn
hi iu khin ly ra t b iu chnh R. Cc b iu chnh R nhn tn hiu
thng bo cc sai lch v trng thi lam vic ca truyn ng thng qua so snh
gia tn hiu t TH v tn hi o lng cc i lng ca truyn ng. Tn
hiu sai lch ny qua b iu chnh c khuch i v to hm chc nng iu
khin sao cho m bo cht lng ng v tnh ca h thng truyn ng. Trong
thc t cc i lng iu chnh ca truyn ng l momenquay , tc , v tr.
m bo cht lng ca h, thng c nhiu mch vng mch vng iu
chnh nh in p, dng in , tc , t thng, tn s , cng sut . . .
Phn loi theo nhim v chung ca h thng :
- H iu chnh t ng truyn ng in iu chnh duy tr theo lng t
trc khng i.
Trang : 3
- H iu chnh ty ng (h bm) l h iu chnh v tr trong cn iu
khin truyn ngtheo lng t trc bin thin ty .
- H iu khin chng trnh: thc cht l h iu chnh v tr nhng i
lng iu khin li tun theo chng trnh t trc.
1.1.2 Nhng vn chung khi thit k h iu chnh t ng in.
Khi thit k h iu chnh t ng truyn ng in cn phi m bo thc
hin c tt c cc yu cu t ra, l cc yu cu v cng ngh, cc ch tiu
cht lng v cc yu cu v kinh t. V vy khi thit k h ta phi thc hin cc
bi ton v phn tch v tng hp h tm ra li gii hp l sao cho p ng
c yu cu kinh t v k thut ra.
i vi bi ton tng hp h, c a ra 3 loi:
- Bi ton tng hp chc nng.
- Bi ton tng hp tham s.
- Bi ton tng hp cu trc tham s.
Chng 2:
Xy dng m hnh ton hc cho ng c in 1 chiu
2.1 ng c in mt chiu.
Trang : 4
Gin kt cu chung ca ng c in 1 chiu c biu din nh sau:
Hnh 1. S thay th ca ng c in mt chiu
Trong :
+ CK: dy qun kch t c lp
+ CKN: dy qun kch t ni tip
+ CB: dy qun b
+ CF: dy qun cc t ph
+ UK : in p kch thch
+ U: in p phn ng
+ N, p, L, R : s thanh dn td, s i cc, s i mch nhnh, h s t
cm v in tr phn ng.
+ R
K
, L
K :
in tr v in cm cun kch t c lp
+ i
K
: dng in phn kch t.
+ I : dng in phn ng.
+ , M, MC l tc gc, mmen in t v mmen cn ca ng c.
2.2 Ch xc lp ca ng c mt chiu.
Khi t ln dy qun kch t mt in p UK no , th trong dy qun
kch t s c dng in ik v do mch t ca my s c t thng . Tip
li t gi tr in p U ln mch phn ng th trong dy qun phn ng s c
Trang : 5
dng in I chy qua. Tng tc gia dng in phn ng v t thngmch kch
t s to ra mmen in t c gi tr:

'.
.
2 .
p N
M I k I
a
(1-1)
Trong :
p _ s i cc ca ng c;
N _ s thanh dn phn ng di mt cc t ;
a _ s mch nhnh song song ca dy qun phn ng ;
k = pN/2

a h s kt cu ca my.
Mmen in t ko cho phn ng quay quanh trc. Cc dy qun phn ng
qut qua t thng v trong cc dy qun ny cm ng sc t ng :

'.
.
2 .
p N
E k
a

(1-2)
Trong

_ tc gc ca roto.
Trong ch xc lp ta c phng trnh cn bng in p phn ng:
U = I.R

+ E
Trong : E = k _ sc in ng.
R

: in tr mch phn ng ca ng c.

?
IR U
k

(1-3)
Vi cc phng trnh (1-1) v (1-2) c th v c h c tnh c M(

)
ca ng c in 1 chiu khi t thng khng i nh hnh trn.
2.3 Ch qu ca ng c 1 chiu
Trang : 6
2.3.1 M t chung.
Nu cc thng s ca ng c l khng i th c th vit c cc phng
trnh m t s thay th hnh 1 nh sau :
- Mch kch t c 2 bin :
+ i
k
_ dng in kch t.
+ _ t thng my ph thuc phi tuyn bi ng cong t ha
ca li st.

Nk: s vng dy cun kch t
Rk: in tr cun dy kch t
bin i Laplax ta c :
(1-4)
- Mch phn ng :

N
N
: s vng dy cun kch t ni tip
=> (1-5)
Hoc dng dng in:

L

_ in cm mch phn ng ;
N
N
_ s vng dy cun kch t ni tip
Trang : 7
T

= L

/R
_
hng s thi gian mch phn ng
- Phng trnh chuyn ng ca h thng :
M(p) M
c
(p) = Jp

(1-6)
Trong J l momen qun tnh ca cc phn chuyn ng quy i v trc
ng c.
T cc phng trnh trn ta thnh lp c s cu trc ca ng c mt
chiu nh sau :
S cu trc ny l phi tuyn, trong tnh ton ng dng thng dng m
hnh tuyn tnh ha quanh im lm vic.
Chn im lm vic n nh v tuyn tnh ha on c tnh t ha v
tnh mmen ti nh sau :
Trang : 8
Tuyn tnh ha c tnh t ha Tuyn tnh ha c tnh ti
dc ca c tnh t ha v c tnh c momen ti tng ng l :

0, K ko
k
k I
I

,
c
cb B
M
B M

Ti im lm vic xc lp c: in p phn ng U0; dng phn ng I0, tc

B

, in p kch t U
ko
, t thng
o
dng kch t I
ko
v mmen ti M
cb
. Bin
thin nh ca i lng trn tng ng l:
( ) ( ) ( ) ( ) ( ) ( ) ( )
, , , , , ,
P P P K P K P P c P
U I U I M
* i vi ng c 1 chiu kch t c lp th NN = 0 => cc phng trnh
sau:
- Mch phn ng :
Trang : 9
T PT : ( ) ( )
di
U t RI t L e
dt
+ +
Ta c :
(1-7)
- Mch kch t :
( ) ( ) ( )
ko k ko k ko k P k P k P
U U R I I PL I I
1 1
+ + + +
] ]
(1-8)
- Phng trnh chuyn ng c hc :
(1-9)
T cc phng trnh trn nu b qua cc v cng b bc cao th t cc
phng trnh trn c th vit c cc phng trnh ca gia s:
-> phn ng :
( ) ( ) ( )
. . . .
B O
U p K p K p 1 +
]
=R

.I(p).(1+pT

)
(1-
10)
-> phn kch t :
U
k
(p) = R
k
.I
k
(p)(1+pT
k
) (1-10)
-> phng trnh chuyn ng c hc :
K.I
o
.(p) +K.
o
.I(p) - M
c
(p) = J.p(p) (1-11)
Trang : 10
2.3.2.Trng hp t thng kch t khng i.
Khi dng in kch t ng c khng i, hoc khi ng c c kch
thch bng nam chm vnh cu th t thng kch t l hng s :
Ta c cc phng trnh cho ng c nh sau :
K = const = C
u
-> phn ng :
U(p) = R

I(p)(1 + pT

) + C
u
.(p) (1-12)
-> phng trnh ng hc :
C
u
.I(p) M
c
(p) = Jp(p) (1-13)
S cu trc khi t thng khng i
Bng phng php i s ta c s thu gn :
Trang : 11
T phng trnh :
U(p) = R

.(p).(1 + pT

) + C
u
.(p)
V C
u
.I(p) M
c
(p) = J.p.(p)
t h s khuch i ng c : K

= 1/C
u
Hng s thi gian c hc : T
c
=
2
u
u
R J
C
=>
2
( ). . ( )
( )
1
c c
u u
u c c
U p pT M p
R C
I p
T T p T p
+

+ +
Chng 3:
Trang : 12
Xy dng h thng iu chnh tc quay vi hai vng c phn cp
3.1 Tng hp mch vng dng in.
3.1.1 Khi nim mch vng iu chnh dng in.
Trong cc h thng truyn ng in cng nh cc h thng chp hnh th
mch vng iu chnh dng in l mch vng c bn. Chc nng c bn ca
mch vng dng in trong cc h thng truyn ng mt chiu v xoay chiu l
trc tip (hoc gin tip) xc nh momen ko ca ng c, ngoi ra cn c
chc nng bo v, iu chnh gia tc v.v...
Mt s cu trc iu chnh dng in.
a)
b)
c)
3.1.2 Tng hp mch vng dng in khi b qua sc in ng ng c.
S khi ca mch vng iu chnh dng in nh hnh sau:
Trang : 13
Trong :
- F : mch lc tn hiu
- R
i
: b iu chnh dng in
- B : b bin i mt chiu
- S
i
: l xenxo dng in
Xenxo dng in c th thc hin bng cc bin dng mch xoay chiu
hoc bng in tr sun hoc cc mch do cch ly trong mch mt chiu.
T
f
, T
k,
T
vo,
T
,
T
i
- cc hng s thi gian ca mch lc, mch iu khin
chnh lu, s chuyn mch chnh lu, phn ng v xen xo dng in ;
R

- in tr mch phn ng;

d
U

- h s khuch i ca chnh lu.

Trong trng hp h thng truyn ng in c hng s thi gian c hc
rt ln hn hng s thi gian in t ca mch phn ng th ta c th coi sc
in ng ca ng c khng nh hng n qu trnh iu chnh ca mch
vng dng in (coi E = 0 hoc E = 0)
T
c
>> T

Xc nh hm truyn t R
i

Ta c :
S
o
(p) =
( ) ( ) ( ) ( ) ( )
. /
1 1 1 1 1
cl i u
f vo dk i u
K K R
T T p T p T p T p + + + + +
=
( ) ( )
. /
1 1
cl i u
si u
K K R
T p T p + +
Trang : 14
Trong : cc hng s thi gian T
f
, T
k
, T
vo
, T
i
l rt nh so vi thi gian
in t T

. t T
si
= T
f
+ T
k
+ T
vo
+ T
i
=> F
o
= R
i
.S
o
(p)
=> F(p) =
( )
1 ( )
i o
i o
R S p
R S p +
= F
MC
Vi F
MC
=
2 2
1
1 2 2 p p

+ +

=> R
i
(p) =
1
( ).2 .(1 )
o
S p p p

+
=
( ) ( )
1 1
.
.2 .(1 )
si u
cl i
u
T p T p
K K
p p
R


+ +
+
Chn

= T
si
( )
1
1
( )
. . .
.2 .2 .2
1 1
. .
.2 .2
u
u
i
cl i cl i cl i
si si si
u u u
u
p
cl i cl i
i
si si
u u
T p
T p
R p
K K K K K K
T p T p T p
R R R
T
K PI
K K K K
T p
T p T
R R
+
+
+ +

=> R
i
(p) l khu PI
Nu thm a vo th ta c : R
i
(p) =
( )
1
.
.2 .
u
cl i
si
u
T p
K K
T p a
R
+
a = 1
3.2 Tng hp mch vng tc .
3.2.1 Cu trc chung
H thng iu chnh tc l h thng m i lng c iu chnh l tc
gc ca ng c in, cc h ny rt thng gp trong thc t k thut. H
thng iu chnh iu chnh tc c hnh thnh t h thng iu chnh dng
in. Cc h thng ny c th l o chiu hoc khng o chiu. Do cc yu
Trang : 15
cu cng ngh m h cn t v sai cp 1 hoc v sai cp 2. Nhiu chnh ca h
l momen ti M
c
+ H c : - i lng iu chnh , .
- nhiu ph ti M
c
- tn hiu tc ng U

3.2.2 Tng hp mch vng tc c mch vng dng in.

a) Cu trc
H c dng ni cp : mch vng dng in l mch vng trong, mch vng
tc l mch vng ngoi. N c s dng khi: h khng c kh nng chu
qu dng hoc c yu cu cao v iu chnh gia tc hoc lm vic trong vung
gin on
S mch vng l 1 i vi h khng o chiu; s l 2 cho h o chiu
Kt cu c bn ca h truyn ng ng c c dng nh trn. Tn hiu t
b pht xung s c a vo b bin i iu khin ng c. B iu chnh
dng in R
I
v sensor dng S
I
to thnh mch vng iu chnh dng in. Phn
t phi tuyn HCD l phn t hn ch dng in trong qu trnh qu . Sensor
tc S

ng vai tr khu phn hi tc .

Ta thy rng c hai tn hiu tc ng vo h truyn ng tc , l tn
hiu t U

v tn hiu nhiu lon M

C
, hai tn hiu ny s quyt nh b bin
i R

ca h.
S khi chc nng ca h truyn ng tc c trnh by trn hnh
v:
Trang : 16
b) Tng hp mch vng tc .
Kt qu khi tng hp mch vng dng in bng tiu chun mdul ti u ta
c:

Mi
F
2 2
2 2 1
1
p T p T
si si
+ +
V
<<
si
T
nn ta c th b qua cc thnh phn bc cao:

Mi
F
p T
si
2 1
1
+
Vy s cu trc ca mch vng tc l:
S mch vng tc ng c in mt chiu.

c
T
2
) (
.
K
J R
:Hng s thi gian c hc
p T
K

+ 1
:Hm truyn ca my pht tc

K
:H s khuch i ca my pht tc

T
:Hng s thi gian ca my pht tc

Vit gn s trn ta c s nh hnh v:

Trang : 17
S thu gn mch vng tc .
0
S
=
) 1 )( 2 1 .( ) (
.
p T p T p T K K
R K
si c i

+ +
V
si
T
v

T
<< nn ta c th b i cc thnh phn bc cao:

0
S
=
[ ] p T T p T K K
R K
si c i
) 2 ( 1 ) (

+ +
t
s
T
=2T
si
+

T
thay vo biu thc trn ta c:
0
S
=
) 1 ( ) ( p T p T K K
R K
s c i

+
Ap dng tiu chun mdul ti u ta c hm truyn ca h thng kn:
M
F
=
2 2
2 2 1
1
p p

+ +
Mt khc ta c:
M
F
=


0
0
1 S R
S R
+

R
=
) 1 (
1
1
0

M
F S
Thay vo ta c:

R
=
) 1 ( 2 .
) 1 ( ) (
p p R K
p T p T K K
s c i

+
+
Chn

= s
T
ta c:

R
=

s
c i
T R K
T K K
. 2
) (
Trang : 18

R
l khu t l (P).
Chng 4:
M phng ng c 1 chiu bng Matlab
4.1 La chn thng s cho ng c
Chn cc thng s cho ng c in mt chiu:
Cng sut nh mc:
Trang : 19
dm
P ) ( 10 kW
in p nh mc:

dm
U ) ( 220 V
Tc nh mc:

dm
n ) / ( 1150 ph v
Hiu sut nh:

dm
% 90
in cm phn ng:
L
) ( 3 , 0 H
Mmen qun tnh:
J ) / ( 2
2
m kg
Hng s thi gian ca:
Cm bin dng in:

i
T ) ( 002 , 0 s
S chuyn mch chnh lu:

v
T ) ( 001 , 0 s
Mch iu khin chnh lu:
dk
T ) ( 001 , 0 s
My pht tc:

T
=
) ( 002 , 0 s
Gi s trong sut qu trnh hot ng ng c lm vic vi M
c
=M
m
=const
4.2 Tng hp b iu khin dng in Ri

m
=
60
. 2
dm
n
=
60
1150 . 2
=
) / ( 43 , 120 s rad

dm
M

dm
dm
P

=
43 , 120
10000
=
) ( 04 , 83 Nm

dm
I
dm
dm
U
P
=
220
10000
=
) ( 45 , 45 A
Trang : 20
K
dm
dm
I
M
=
45 , 45
04 , 83
=
83 , 1
24 , 0
45 , 45
220
). 9 , 0 1 ( 5 , 0 ). 1 ( 5 , 0
dm
dm
dm
I
U
R ) (
) ( 25 , 1
24 , 0
3 , 0
s
R
L
T
u

) ( 004 , 0 002 , 0 001 , 0 001 , 0 s T T T T
i v dk si
+ + + +
Ta c :
dm i id
dk cl dm
I K U
U K U
.
.

Chn
) ( 10 V U U
id dk

22 , 0
45 , 45
10
22
10
220


dm
id
i
dk
dm
cl
I
U
K
U
U
K

Cu trc b iu khin mch vng dng in:

i
R

,
_

+
u si i cl
u
pT T K K
RT 1
1
2
=

,
_

+
p . 25 , 1
1
1
004 , 0 . 22 , 0 . 22 . 2
25 , 1 . 24 , 0
=
+ 2 , 6
p
75 , 7

S m phng mch vng dng in v p ng u ra:

Hnh 4.1:S mch vng dng in.
4.3 Tng hp b iu khin tc Rw

c
T
2
) ( K
J R
u
=
2
) 83 , 1 (
2 . 24 , 0
= ) ( 14 , 0 s
) ( 01 , 0 002 , 0 004 , 0 . 2 . 2 s T T T
si s
+ +

94 , 0
14 , 0 . 83 , 1
24 , 0
) (

c
T K
R

Ta c:
Trang : 21
d
U
=
K .
Chn
d
U

=
) ( 10 V

K
=

d
U
=
43 , 120
10
=
083 , 0

Cu trc b iu khin mch vng tc :

R
=

s
c i
T R K
T K K
. 2
) (
=
01 , 0 . 24 , 0 . 083 , 0 . 2
14 , 0 . 83 , 1 . 22 , 0
=
48 , 141

S m phng mch vng tc :

Hnh 4.2:S mch vng tc .
ng c tnh nh sau:
Trang : 22
Hnh 4.3:ng ni suy tc t.
4.4 Kt qu m phng
Gi s trong qu trnh hot ng ng c lm vic vi M
c
=M
m
=const v
trong qu trnh qu gi tr dng in trong ng c tng ln rt nhiu ln do
ta phi a thm vo s mch vng tc khi hn ch dng; gi tr
trong khi hn ch dng c chnh nh sao cho dng in ra trong phm vi
cho php v tc thc ca ng c vn tng i tho mn c cc yu cu
ca vic sn xut trong thc t.
-S m phng nh sau:
-Kt qu m phng
Trang : 23
Hnh 4.4:Tc thc
Hnh 4.5:M men in t
Trang : 24
Hnh 4.6:Dng in
Hnh 4.7:c tnh c
Trang : 25
Hnh 4.8: c tnh c in
Ti liu tham kho
- iu chnh t ng truyn ng in _ Tc gi: Bi Quc Khnh
Nguyn Vn Lin Phm Quc Hi Dng Vn Nghi. Nh xut bn khoa hc
v k thut.
- Matlab & Simulink dnh cho k s iu khin t ng _ Tc gi :
Nguyn Phng Quang . Nh xut bn khoa hc v k thut.
Trang : 26