Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
ng dng gii thut by n xc nh thng s b PID trong iu khin
tc ng c khng ng b ba pha
Optimal Gain Tuning of PI Controller For Induction Motor Using Particle
Swarm Optimization
1
Hunh c Chn
Trng H Lc Hng ng Nai
e-Mail: Huynhducchan@yahoo.com
2
L Th Thanh Hong
Trng H SPKT TPHCM
e-Mail: hoangltt@yahoo.com
3
Nguyn Minh Tm
Trng H SPKT TPHCM
e-Mail: tamnguyenspkt@gmail.com

Tm tt
Bi bo trnh by v phng php iu khin nh
hng t thng (Field Orientated Control - FOC) cho
ng c khng ng b ba pha v gii thut by n
(Particle swarm optimization- PSO) xc nh thng
s b iu khin PID. Phng php FOC v gii thut
xc nh thng s b iu khin PID bng phng
php c in Ziegler - Nichols v bng gii thut ti
u by n PSO c trnh by chi tit trong bi bo
ny. kim tra tnh ng n ca gii thut, bi bo
ny s dng ngn ng lp trnh Matlab/Simulink
m phng iu khin FOC ng c khng ng b ba
pha bng phng php Ziegler - Nichols v gii thut
by n. Kt qu m phng cho thy b iu khin
PID vi thng s c xc nh bng gii thut PSO
hot ng tt.

Abstract:
This paper presents field oriented control (FOC) of
induction motor (IM) and Particle swarm
optimazation algorithm. It presents in details about
tuning of PID controller using Ziegler Nichols (ZN)
and Particle swarm optimazation (PSO) methods.
Constructing the control model and checking the
correctness of model are also included in this paper.
This paper uses the programe language MATLAB
SIMULINK for tuning of PID controller of induction
motor using Ziegler Nichols (ZN) and Particle
swarm optimazation (PSO). The simmulation results
show that the proposed method has good
performance.

K hiu
K hiu n v ngha
i
best
G

v tr tt nht ca c th
trong qun th
i
sd
, i
sq
A dng in dc trc v
ngang trc ca t thng
rotor
K
gh
li gii hn
i
best
P


v tr tt nht ca c th
th i
u
sd
, u
sq
V in p dc trc v ngang
trc ca t thng rotor
,
s s
u u
o |

V in p dc trc v ngang
trc ca stator
( )
,
t
i m
v

vn tc c th th i ln
lp li th t
( )
,
t
i m
x
v tr c th th i ln lp
li th t

s
,
r

rad/s vn tc gc stator vn tc
gc rotor

rd

Vs thnh phn dc ca t
thng rotor

Ch vit tt
FOC Field Oriented Control
PID Proportional-integral-derivative
PSO Particle Swarm Optimazation
ZN Ziegler Nichols

332
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
1. Phn m u
Hin nay phng php iu khin nh hng t
thng (FOC) c s dng ph bin vi hiu sut cao
trong vic iu khin ng c v t thng v moment
c th c iu khin c lp. FOC l phng php
iu khin dng stator ch yu da vo bin v
gc pha v c trng l cc vector. iu khin ny c
bn da vo s tham chiu v thi gian v tc trn
h trc d q y l h trc bt bin. S tham chiu
ny nhm mc ch hng vic kho st ng c
khng ng b thnh vic kho st ca ng c mt
chiu. Tuy nhin do h ng lc ca ng c xoay
chiu c nhiu tham s bt nh nn vic iu khin
ng c theo cc phng php c truyn c cm bin
hay khng c cm bin u khng m bo cht
lng khi c ti thay i ln. Trong trng hp ny
cc phng php iu khin thch nghi [7], phng
php iu khin PID kt hp vi mng nron, thut
ton di truyn (PID- GA) hoc thut ton by n
(PID-PSO: Particle swarm optimization) [4], [5], [8]
l phng php iu khin ti u.

2. Ni dung chnh
2.1. Ni dung phng php FOC
Cu trc ca h thng iu khin nh hng t thng
rotor trong iu khin ng c khng ng b ba pha
c trnh by nh hnh 1. [1], [2]

H. 1 Cu trc c bn ca FOC
- Bng vic m t cc thnh phn ca ng c
khng ng b ba pha trn h ta t thng
rotor (d q), vector dng stator
s
i

s chia thnh
hai thnh phn
sd
i v
sq
i , thnh phn
sd
i iu
khin t thng rotor cn thnh phn
sq
i iu khin
moment quay. [1], [3]
- Trn h ta ( ) q d dng
sd
i c coi l i
lng iu khin cho t thng rotor, tuy nhin
gia hai i lng tn ti khu tr bc nht vi
hng s thi gian
r
T . [1]

sd
r
m
rd
i
sT
L
.
1+
= (1)
- T cc gi tr o c
sd
i ,
sq
i v e ta tnh c
gc u .

'
.
sq
r
r rd
s r
s
i
T
s
e

e e e
e
u

= +

(2)
2.2. Vector khng gian v cc i lng ba pha
2..2.1. H ta c nh stator
( ) o |

Bng cch chiu vector khng gian ln hai truc ta
(o -) [1]. Ta c thnh phn vector in p trong h
trc ta (o -):

( ) ( )

= + =
=
sc sb sb sa s
sa s
u u u u u
u u
3
1
2
3
1
|
o
(3)

H. 2 H ta stator ( - )
2.2.2. H ta t thng rotor
( ) d q

Trong mt phng ca h ta ( ) ta xt thm
mt ta th hai c trc honh d v trc tung q, h
ta ny c chung im gc v nm lch i mt gc
s
u so vi h ta stator. [1]

H. 3 Mi lin h gia ta ( ) v ta (d-q)
T hnh trn ta c th biu din mi lin h gia hai
ta nh sau: [2]

+ =
=
s sq s sd s
s sq s sd s
u u u
u u u
u u
u u
|
o
cos sin
sin cos
(4)
Tng t, ta c:

+ =
+ =
s s s s sq
s s s s sd
u u u
u u u
u u
u u
| o
| o
cos sin
sin cos
(5)
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

H. 4 Biu din vector khng gian trn h ta (d q)
Trong h ta t thng rotor, thnh phn t thng
rotor trn trc (q) c gi tr l 0 do vung gc vi t
thng rotor trng vi trc (d), do t thng rotor ch
cn thnh phn theo trc (d) v l i lng mt
chiu. [1]
2.3. iu chnh b iu khin PID theo phng
php Ziegler Nichols
Phng php thc nghim Ziegler - Nichols xc
nh tham s b iu khin PID nh sau: [4]

H. 5 S khi ca h kn c b t l P
Phng php ny thay b iu khin PID trong h kn
bng b khuch i sau tng K cho n khi h
nm bin gii n nh. Lc ny ta c K
gh
v T
gh
.
Tham s cho b iu khin PID chn nh sau:
PI: K
P
= 0.45*K
gh
, T
I
= T
gh
/1.2
PID: K
P
= 0.6*K
gh
, T
I
= T
gh
/2, T
D
= T
gh
/8
Vi /
I P I
K K T = v *
I P D
K K T =
2.4. Tng quan v gii thut by n (PSO)
PSO l mt k thut ti u ha ngu nhin da trn
mt qun th v sau tm nghim ti u bng cch
cp nht cc th h, c pht trin bi Dr.Eberhart
v Dr.Kennedy (1995) phng theo hnh vi ca cc
by chim hay cc n c trong qu trnh tm kim
thc n. [4], [5].
- Mi c th trong qun th cp nht v tr ca n
theo v tr tt nht ca n v ca c th trong qun
th tnh ti thi im hin ti [4]. Qu trnh cp
nht cc particles da trn cng thc sau:


( 1) ( ) ( ) ( )
, , 1 , , 2 ,
. * ()*( ) * ()*( )
t t t t
i m i m i m i m m i m
v wv c rand Pbest x c Rand Gbest x
+
= + + (6)

( 1) ( ) ( 1)
, , ,
; 1, 2,..., ; 1, 2,...
t t t
i m i m i m
x x v i n m d
+ +
= + = = (7)
Trong :
n: S lng by n; d: Kch thc qun th
(dimension); t: S ln lp li; v
i,m
(t)
: Vn tc ca phn
t th i ln lp li th t; w: H s trng lng qun
tnh; c
1
,c
2
: H s gia tc; Rand (): L mt s ngu
nhin trong khong (0,1); x
i,m
(t)
: V tr ca phn t th
i ln lp th t.
Khi nim v s thay i nhng im tm kim ca
gii thut PSO c biu din hnh 6.












H. 6 Khi nim v s thay i im tm kim ca PSO
Trong :
X
k
: V tr c th thi im hin ti; X
k+1
: V tr c
th c cp nht; V
k
: Vn tc c th thi im
hin ti; V
k+1
: Vn tc c th c cp nht; V
Pbest
:
Vn tc theo P
best
; V
Gbest
: Vn tc theo G
best
2.5. iu chnh PID theo phng php by n
Hm mc tiu: L hm dng nh gi cc li gii
ca bi ton, ty vo tng bi ton m hm mc tiu
khc nhau. Do yu cu mong mun l ti thiu ho sai
s ng ra nn hm mc tiu c th chn nh sau:

2
0
( ) Fitness e t dt
+
=
}
(8)
Mt b iu khin PID s dng gii thut PSO
hiu chnh tham s b PID trong iu khin tc
ng c khng ng b ba pha nh hnh 7. [5]













H. 7 Cu trc B iu khin PID-PSO
Trong gii thut PSO th mi phn t s cha 2 tham
s K
p
, K
i
, iu c ngha l khng gian tm kim l
hai tham s trn, t ta s c lu gii thut ca
h thng iu khin PID-PSO nh sau:
Step 1: Khi to cho mi c th th i trong qun th:
Step 1.1: Khi to gi tr v tr (X
k
) cho tng c th
trong qun th vi gi tr v tr ngu nhin.
Step 1.2: Khi to gi tr vn tc V
k
.
Step 2: Chy m hnh
Pbest
i

V
i
Pbest

Gbest
i

X
i
k+1

V
i
k+1

V
i
Gbest

X
i
k

V
i
k

Tc
t

Tc
ng ra
-
.
B iu khin PID
K
P
K
I
K
D

PID
CKB
3 Pha
PSO
Hm mc tiu
334
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Step 2.1: Chy m hnh iu khin tc ng c
khng ng b ba pha vi nhng tham s thit lp
trc.
Step 2.2: Tm tham s K
P
v K
I
ca b iu khin PI.
Step 2.3: Tm hm mc tiu.
Step 2.4: nh gi hm v tr X
k
theo gi tr hm mc
tiu (fitness).
Step 3: Cp nht li gi tr v tr v vn tc cho tng
c th:
Step 3.1: Cp nht gi tr vn tc v v tr theo cng
thc (6) v (7).
Step 3.2: nh gi hm mc tiu (fitness)
Step 3.3: Nu fitness < Pbest_fitness th
Pbest = X
k
, Pbest_fitness = fitness.
Step 3.4: Cp nht gi tr Gbest cho tng c th tng
ng vi v tr nh nht hin ti ca hm mc tiu
trong qun th.
Step 4: Tm gi tr phn t mi
Nu gi tr ca phn t mi tt hn gi tr tt nht ca
phn t trc trong by n, th thay th gi tr tt
nht trc bng gi tr mi hin ti.
Step 5: Lp li bc 2 cho n khi s ln lp
li.
Mc tiu ca phng php hiu chnh PID dng gii
thut PSO l: [5]
- Cc tiu ho hm mc tiu.
- Tm c bc p ng ca h thng v lm gim
sai s.
- Lp li cc bc thc hin cho n khi s bc
lp li.
2.6. Kt qu m phng
2.6.1. Thng s ca ng c khi chy bng
Matlab/Simulink
Cc thng s m phng c cho nh sau:
R
s
= 1,723 (Ohm): in tr stator.
R
r
= 2,001 (Ohm): in tr rotor.
L
s
= 0,1666 (H): in cm stator.
L
r
= 0,169 (H): in cm rotor.
L
m
= 0,1592 (H): in cm h cm.
p = 2: S i cc.
J = 0,001 (Kg.m
2
): Moment qun tnh.
w
ref
= 200 (rad/s): Tc t.
U
1dm
= 220 (V): in p nh mc.
I
1dm
= 2,73 (A): Dng in nh mc.
I
max
= 7 (A): Dng in ln nht.
M
max
= 14,8 (Nm): Moment ln nht.
P = 5HP: Cng sut ca ng c.
U
dc
= 400 (V): in p DC gii hn.
f = 50 (Hz): Tn s.
n= 80: S lng by n.
bird_setp =7: S bc lp.
dim = 2: Khng gian tm kim l 2 phn t K
P
v K
I
.
w= 0.9: Trng s qun tnh
c1= 0.12: Hng s gia tc c1
c2= 1.2: Hng s gia tc c2
2.6.2. S m phng trn Matlab

H. 8 S m phng trn Matlab
2.6.3. Tham s b iu khin PID v p ng ca
tc ng c khng ng b ba pha:
B.1 Tham s b iu khin PID.
Phng php vt
l (%)
Thi gian
xc lp (s)
Sai s
(%)
PID- ZN 10.42 0.42 0.14
PID- PSO 0.68 0.02 0.05
B.2 p ng tc ca ng c.
2.6. 4. th hm mc tiu trong qu trnh ti u:


H. 9 th hm mc tiu
2.6. 5. th hm K
P
v K
I
trong qu trnh ti u:
Phng php K
P
K
I

PID- ZN 0.187 1.484
PID- PSO 8.848 0.417
G
i

t
r

S vng lp (n=80)

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011



H. 10 th hm K
P
v K
I

2.6.6. Hnh nh m phng
2.6.6.1. ng c khi ng khng ti
- p ng ca ng c:
+ Tc t 200 (rad/s), thi gian m phng t 0 n
1s. ( 0 1 : _ 200( / ) t s w ref rad s = = )
+ T thng t l 0.5 (wb), thi gian m phng t 0
n 1s. ( 5 . 0 _ : 1 0 = = ref Fi s t ).
+ Moment ti t l 0 (Nm), thi gian m phng t 0
n 1s. ( 0 : 1 0 = =
c
M t ).



H. 11 Dng sng p ng tc ca ng c theo
phng php ZN



H. 12 Dng sng p ng tc ca ng c theo
phng php PSO
2.6.6.2. ng c khi ng khng ti, sau ng
ti
- p ng ca ng c:
+ Tc t 200 (rad/s), thi gian m phng t 0 n
1s. ( 0 1 : _ 200( / ) t s w ref rad s = = )
+ T thng t l 0.5 (wb), thi gian m phng t 0
n 1s. ( 5 . 0 _ : 1 0 = = ref Fi s t ).
+ Ti thi im t 0 n 0.5s th moment ti t l 0
(Nm), sau ng ti vi moment ti l 5 (Nm)
thi im 0.5 n 1s.
( 0 0.5 : 0 t s Mc = = ;
0.5 1 : 5( ) t s Mc Nm = = ).



H. 13 Dng sng p ng tc v moment ca ng c
theo phng php ZN



H. 14 Dng sng p ng tc v moment ca ng c
theo phng php PSO`
2.6.6.3. ng c khi ng khng ti, sau o
chiu quay
- p ng ca ng c:
+ Ti thi im t 0 n 0.5s th tc t l 200
(rad/s), sau o chiu quay vi tc t l -100
(rad/s) thi im 0.5 n 1s .
( 0 0.5 : _ 200( / ) t s w ref rad s = = ;
0.5 1 : _ 100( / ) t s w ref rad s = = ).
+ T thng t l 0.5 (wb), thi gian m phng t 0
n 1s. ( 5 . 0 _ : 1 0 = = ref Fi s t ).
+ Moment ti t l 0 (Nm), thi gian m phng t 0
n 1s. ( 0 : 1 0 = =
c
M t ).
G
i

t
r

S vng lp (n=80)

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011



H. 15 Dng sng p ng tc ca ng c theo
phng php ZN



H. 16 Dng sng p ng tc ca ng c theo
phng php PSO.
3. Kt lun
Bi bo ny s dng phng php iu khin nh
hng t thng rotor (FOC), phng php hiu chnh
PID c in (ZN) v gii thut by n (PSO: Particle
swarm optimization) cho iu khin tc ng c
khng ng b ba pha. Thng qua kt qu m phng
trn Matlab/Simulimk cho thy iu khin PID vi
nhng tham s c xc nh bng gii thut by n
th hot ng tt hn phng php c in nh:
- Thi gian p ng tc v thi gian xc lp
nhanh khong 0.02s, vt l nh 0.68%. V th
trong qu trnh m my thi gian m my nhanh.
- Trong qu trnh hot ng ca ng c, nhng
thi im thay i ti, vt l cng nh st
dc cc i lng l khng ng k.
- ng c c th hot ng nhiu di tc khc
nhau.
- iu khin chnh xc tc ng c vi sai s
nh 0.11 (0.05%).

Ti liu tham kho
[1] Nguyn Phng Quang, Truyn ng in Thng
Minh, Nh xut bn khoa hc v k thut 2006.
[2] Nguyn Vn Nh, C s truyn ng in, NXB
i hc Quc gia TP. H Ch Minh, 2003.
[3] Phan Quc Dng, T Hu Phc, Truyn ng
in, NXB i hc Quc gia TP. H Ch Minh, 2003.
[4] Ayman Saber Elwer, A Novel Technique for
Tuning PI-Controllers in InductionMotor Drive
Systems for Electric Vehicle Applications, Journal of
Power Electronics, Vol. 6, No. 4 2006.
[5] Boumediene Allaoua Brahim GASBAOUI and
Brahim MEBARKI, Setting Up PID DC Motor Speed
Control Alteration Parameters Using Particle Swarm
Optimization Strategy Bechar University,
Departement of Electrical Engineering, B.P 417
BECHAR (08000) Algeria pp. 19-32.
[6] Chao Ou, Weixing Lin, Comparison between
PSO and GA for Parameters Optimization of PID
Controller, The Faculty of Information Science and
Technology University of NingBo University of
NingBo, pp. 2471-2475.
[7] Jingchuan Li, M.S.E.E, Adaptive sliding mode
observer and loss minimization for sensorless field
orientation control of induction machine, The Ohio
State University, 2005.
[8] N. Pillay, A Particle swarm optimization approach
for tuning of SISO PID control loops 2008.

Hunh c Chn sinh nm
1982. Anh nhn bng K s
in- in t ti trng i
Hc S Phm K Thut
TPHCM nm 2006, bng Thc
s K thut in t nm 2011
ti trng i Hc S Phm K
Thut TPHCM. Hin anh ang
l Ging vin Khoa in t
Vin Thng, Trng i Hc
Lc Hng, ng Nai.
L Th Thanh Hong sinh nm
1974. Ch nhn bng K s
in Kh Ho v Cung Cp
in ti Trng i Hc S
Phm K Thut Tp. H Ch
Minh nm 1998, bng Thc s
K thut in ti Trng i
Hc Bch Khoa, i Hc Quc
Gia Tp. H Ch Minh nm
2003. Hin ch ang l ging
vin ti Khoa in in T, Trng i Hc S
Phm K Thut Tp. H Ch Minh.
Nguyn Minh Tm sinh nm
1971. Anh nhn bng K s
in Kh Ho v Cung Cp
in ti Trng i Hc S
Phm K Thut Tp. H Ch
Minh nm 1995, bng Thc s
K thut in ti Trng i
Hc Bch Khoa, i Hc Quc
Gia Tp. H Ch Minh nm
2003, v nhn bng Tin s K
thut ti Trng i Hc Cng Ngh Sydney, c nm
2010. Tin s Nguyn Minh Tm tham gia ging dy
ti Khoa in in T, Trng i Hc S Phm
K Thut Tp. H Ch Minh t nm 1995 n nay.
Hng nghin cu chnh l p dng k thut tnh ton
mm trong xy dng m hnh v iu khin.
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