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

VCCA-2011
Thit k b iu khin cun chiu cho mch vng in p mt chiu ca
nghch lu ngun Z
Design method of backstepping control for closed loop DC voltage of
Z source inverter
Trn Trng Minh, V Hong Phng
Trng HBK H Ni
e-Mail: minhtrantrong@mail.hut.edu.vn, phuongvh-autolab@mail.hut.edu.vn

Tm tt
Bi bo ny trnh by phng php thit k b iu
khin cun chiu cho mch vng in p mt chiu
da trn m hnh tn hiu trung bnh ca mch tng
ng pha mt chiu nghch lu ngun Z (ZSI). Lut
iu khin a ra c kim nghim bng m phng
vi phn mm Matlab/Simulink/Plecs vi mch in
tng ng pha mt chiu ca ZSI, chng t in
p trn t c n nh theo gi tr mong mun trong
c 2 trng hp in p DC bin thin v khng bit
tham s ti
Abstract:
This paper presents a design method of backstepping
control for closed loop DC voltage on averaged model
of Z-source inverter equivalence DC circuit. The
presented control rules for equivalence DC circuit of
ZSI is verified by simulation using Matlab
/Simulink/Plecs softwware, that proves capacitor
voltage maintains desired value in two cases: variable
DC voltage and unknown parameter load.

K hiu
K hiu n v ngha
E V in p DC cung cp cho
nghch lu ngun Z
u
C
, U
C
V in p trung bnh, xc lp
trn t
i
L
, I
L
A Dng in trung bnh, xc
lp qua cun cm
d, D T s shoot through trung
bnh, xc lp

Ch vit tt
ZSI Z source inverter
VSI Voltage source inverter
EMI Electronmagnetic interference
MSVM Modify space vector modulation

1. Phn m u
Nghch lu ngun Z (ZSI, s cho trn hnh H.1) c
phn mt chiu bao gm phn t LC xp theo hnh
ch X, mch van l nghch lu ngun p (VSI) truyn
thng, ang c nhiu ngi quan tm nghin cu
a ra cc ng dng thc t. Cu trc ZSI khc
phc c mt s nhc im ca VSI truyn thng:
in p u ra khng cn b gii hn bi in p mt
chiu nh VSI; mch iu ch khng cn b tc
ng bi thi gian cht (deadtime) l nguyn nhn
gy nhiu in t (EMI) trong h thng. Hn na, ZSI
lm vic linh hot trong c 2 ch b tng gim p
(boost bucks) thng qua vic iu khin t s shoot
through d v t s bin iu m
a
ph hp [1]. V vy,
ZSI c xem nh mt phng n kh thi cho php
iu khin in p u ra t gi tr mong mun trong
khi in p u vo bin ng. Vi nhng c im
, ZSI m ra trin vng ng dng cho cc ngun
nng lng phn tn nh pin nng lng mt tri, fuel
cell, sc gi m in p u ra bin ng nhiu
theo cc iu kin mi trng lm vic khc nhau.
L1
L2
C1 C2
E
A
C

l
o
a
d
DC
controller
MSVM
d
G1
G4 G6 G2
G5 G3
D
Uc
uC, iL
*
ma

H. 1 Cu trc iu khin nghch lu ngun Z.
Mch iu ch vector khng gian (MSVM) cho ZSI
vi u vo l t s bin iu m
a
yu cu, khng khc
nhiu lm so vi nghch lu VSI thng thng. Tuy
nhin phn mch mt chiu s yu cu c mch vng
iu chnh in p vi lng t l gi tr in p trn
t mong mun, u ra ca b iu chnh l t s
shoot through d a sang mch iu ch MSVM.
Nhiu tc ng c th l s thay i ca ngun mt
chiu E, s bin ng ca ph ti tng ng t pha
mch xoay chiu. Mch vng in p mt chiu c
th dng b iu chnh PID tuyn tnh, c thit k
trn m hnh tn hiu nh theo phng php tuyn
tnh ha quanh im lm vic cn bng [2], [3], [4].
iu ny c th gp kh khn khi thit k tham s b
iu chnh vi i tng lm vic ti nhiu im cn
bng khc nhau.
Trong bi bo ny chng ti mun th nghim
phng php thit k cun chiu (backstepping) cho
mch vng in p mt chiu ca ZSI da trn m
hnh tn hiu trung bnh mang c im phi tuyn.
Phng php cun chiu c ng dng cho b
bin i DC DC kiu boost vi nh gi c th cho
2 gii php iu khin in p ra trc tip v gin tip
thng qua dng qua cun cm [5]. y cc bc
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
thit k tin hnh tng t nh trong [5], vi c s l
thuyt trong [6], nhng vi s khc bit vic phn
tch c im ng hc khng (zero dynamic) ca i
tng trc, t a ra thut ton iu khin cun
chiu gin tip iu khin in p trn t thng qua
dng in qua cun cm.
2. M hnh ton hc phn DC ca ZSI
Theo [1] coi cc kha bn dn nghch lu v ph ti
xoay chiu c i din bi dng i
t
v kha bn dn
S ta c m hnh mch tng ng nhn t pha mt
chiu ca nghch lu ngun Z.
L1
L2
C1 C2
E
D
S
i
t

H. 2 Mch tng ng ZSI nhn t pha mt chiu.
T m hnh mch tng ng trn hnh H.2, trong
mi chu k iu ch c hai ch lm vic tng ng
trng thi ng ct kha bn dn S, diode D: shoot
through (S:on, D:off); non-shoot through (S:off,
D:on). Mi quan h gia in p trn t C (u
C
), in
p nh ( i u ) t ln nhnh van ZSI vi in p ngun
(E) tun theo quan h (1).
1
,
1 2 1 2
i
C
d E
u E u
d d
(1)
Trong (1) t s shoot through d (0 d < 0,5) l thi
gian ng in tng i ca kha S. iu khin t s
d th s iu khin c kh nng tng p ca ZSI so
vi in p ngun vo E.
M hnh ton hc mch vng in p mt chiu ZSI
c xy dng theo phng php khng gian trng
thi trung bnh [2] vi cc gi thit:
-
Mng Z i xng: L
1
= L
2
, C
1
= C
2
. V vy, u
C1
=
u
C2
= u
C
, i
L1
= i
L2
= i
L
.

-
Cc kha bn dn D, S l l tng.

-
Ch dng in lin tc.

M hnh tn hiu trung bnh phn DC ca nghch lu
ngun Z vi in tr ti tng ng R biu din h
phng trnh (2).
(2 1) (1 )
(2 )
(1 2 ) ( 1)
L
C
C C
L
di
L d u d E
dt
du u E
C d i d
dt R
(2)
t bin trng thi x
T
= [x
1
x
2
]
T
= [i
L
u
C
]
T
vit li (2)
nh h phng trnh trng thi (3).
1
2
2 2
1
(2 1) (1 )
(2 )
(1 2 ) ( 1)
dx
L d x d E
dt
dx x E
C d x d
dt R
(3)

T (3) gi tr xc lp ca in p trung bnh trn t v
dng in trung bnh qua cun cm biu din nh (4).
2 1
(2 ) 1 1
;
2 1
C C
C L
U U E D
X U E X I
D R E
(4)
Sau y cn kho st tnh ng hc khng (zero
dynamic) ca h (3) i vi bin trng thi x
1
, x
2
.
-
ng hc vi bin trng thi x
2
. T h phng
trnh (3) trit tiu bin x
1
v vi php bin i
ton hc rt ra phng trnh vi phn i vi tn
hiu iu khin d nh (5), xt ti im cn bng
*
2 2
x x .

2
*
2
*
2
(2 1)
(2 1) (1 )
( 2 )
R d
d x d d E
L E x
(5)
Cho 0 d phng trnh (5) c im cn bng kp d
1,2
v d
3
nh (6).
1,2
*
2
3
*
2
0, 5
2
d
x E
d
x E
(6)
0.5
d
d
0
3
d
Vng lm vic
t s shoot through

H. 3 Phn b im cn bng phng trnh (5).
Biu din phng trnh (5) v cc im cn bng (6)
trn th nh hnh H.3 cho thy khng tn ti im
cn bng n nh trong vng lm vic (0<d<0,5). Do
m hnh (3) l h pha khng cc tiu (non -
minimum phase) i vi bin in p trung bnh trn
t x
2
= u
C
[7].
-
ng hc vi bin trng thi x
1
. Tng t nh
trn, t h phng trnh (3) trit tiu bin x
2
rt ra
phng trnh vi phn (7), xt ti im cn
bng
*
1 1
x x .

2 *
1
1
(2 1) (1 ) (2 1)
E
d d d d x
CE R
(7)
Cho 0 d (7) c 3 im cn bng phn bit nh (8)
1
* * 2
1 1
2,3
*
1
0, 5
(4 ) 8 ( )
8
d
E E E
x x
R R R
d
x
(8)
d
d
0
3
d
2
d 0.5
Vng lm vic
t s shoot through

H. 4 Phn b im cn bng phng trnh (7).
th trn hnh H.4 cho thy d
2
l im cn bng n
nh trong vng lm vic. Do h (3) l h pha cc
tiu (minimum phase) i vi bin dng in trung
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
bnh qua cun cm x
1
= i
L
[7]. T y c th thit k
b iu khin gin tip in p trn t thng qua iu
khin dng qua cun cm.
3. Thit k b iu khin theo phng
php cun chiu
Di y s trnh by phng php thit k b iu
khin cun chiu cho mch vng in p cho hai
trng hp, tham s ti R xc nh v khng xc nh.
3.1 iu khin cun chiu vi tham s ti xc nh
Trng hp ZSI c ni vi ph ti c nh, c th
tnh qui i ph ti xoay chiu pha u ra thnh in
tr ti R tng ng pha mt chiu hnh H.2.
B iu khin cun chiu s c thit k qua hai
bc, bng s bc h phng trnh trng thi (3) [5].
Bc 1: t sai lch gia bin trng thi x
1
v dng
in t qua cun cm I
ref
l z
1.
1 1
=
ref
z x I
Ly o hm z
1
nh (9).
2
1 1
2 1 1 = = +
ref ref
x E
z x I ( d ) ( d ) I
L L
(9)
Trong (9) x
2
/L l bin iu khin o, t (9) rt ra biu
thc xc nh x
2
/L nh (10).
1
2
1
2 1
(
+
(

=

ref
E
z ( d ) I
x L
L d
(10)
t
1 1 1
= z c z , trong hng s c
1
> 0 c la chn
khi thit k. Vit li phng trnh (10) nh (11).
1 1
2
1
2 1
(
+
(

=

ref
E
c z ( d ) I
x L
L d
(11)
Tuy nhin thc t th x
2
l bin trng thi, do hm
tm c (11) ch l hm mong mun x
2
/L v c t

1
xc nh nh (12).
1 1
1
1
2 1
(
+
(

=

ref
E
c z ( d ) I
L
d
o
(12)

1
c gi l hm n nh (stabilization function).
t sai lch x
2
/L v
1
l z
2
:
2
2 1
x
z
L
a (13)
Thay (11), (12), (13) vo (9):
1 2 1 1
2 1 z ( d )z c z = (14)
Bc 2: Ly o hm (13), c o hm z
2
nh (15).
2
2 1
x
z
L
o =
(15)
Trong :
2 1 2
2
1 2 1

= +
x x ( x E )
( d ) ( d )
L LC RLC
(16)
Ly o hm (12):
2
1 1 1 2
1 1
2 1
2
2 1 2 1
( +

= +

ref
c z ( d )c z I
d E
( )
d L d
o o
(17)
Thay (16), (17) vo (15) ta c o hm
2
z
1 2
2
2
1 1 1 2
1
2
1 2 1
2 1
2
2 1 2 1

= +
( +



ref
x ( x E )
z ( d ) ( d )
LC RLC
c z ( d )c z I
d E
( )
d L d
o
(18)
H phng trnh trng thi (3) c m t li trn
khng gian trng thi mi (z
1
, z
2
) theo (14), (18). T
, thit k b iu khin phn hi trng thi h
kn n nh tim cn ti im cn bng (z
1
, z
2
) = (0,0).
Xt hm V xc nh dng nh (19):
2 2
1 2 1 2
1 1
2 2
V( z , z ) z z = +
(19)
Ly o hm (19).
1 2 1 1 2 2
V( z , z ) z z z z = + (20)
Thay (14) vo (20) qua vi php bin i ton hc ta
c:
| |
2 2
1 1 2 2 2 1 2 2 2
2 1 = + + + V c z c z z ( d )z c z z (21)
Vi hng s c
2
> 0 c la chn khi thit k. V
xc nh m ta t biu thc trong ngoc vung (21)
bng 0

1 2 2 2
2 1 0 + + = ( d )z c z z (22)
Thay (18) vo (22) rt ra lut iu khin t s shoot through nh (23).

2 2 2 1 2
1 2 2 1 1 1 2
1
2
2 1 2 1 2 1 1 2 1 2 1
2

( + + +
`

)
=

ref
x ( x E )
( d ) z c z ( d ) ( d ) ( d )( d ) c z ( d )c z I
LC RLC
d
E
( )
L
o
(23)
DC-DC
Z source inverter
Phng trnh
(23)
Tnh
I
ref
E
U
ref
i
L
u
C
I
ref
PWM
d
0
0,5
Gii hn

H. 5 Cu trc iu khin cun chiu cho mch vng in p mt chiu ca ZSI.

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

VCCA-2011
T phng trnh (23) ch ra cu trc iu khin cun
chiu cho mch vng in p mt chiu ZSI vi ti R
xc nh nh H.5.
- Kho st tnh n nh ca cu trc iu khin
cun chiu vi tham s ti R xc nh.
Thay lut iu khin (23) vo (18) ta c m hnh i
tng mch vng in p mt chiu (3) c m t
li trn khng gian trng thi mi (z
1
, z
2
) nh (24).
1 2 1 1
2 1 2 2
2 1
1 2
=

z ( d )z c z
z ( d )z c z
(24)
H (24) c im cn bng (z
1
, z
2
) = (0,0).
Xt hm V xc nh dng nh (25).
2 2
1 2
1 1
2 2
V z z = +
(25)
Ly o hm (25) thu c o hm V nh (26).
1 1 2 2
= + V z z z z (26)
Thay (24) vo (26) ta c o hm V nh (27).
2 2
1 1 2 2
= V c z c z (27)
Vi c
1
, c
2
> 0 hm V xc nh m. T , h (24) n
nh tim cn ti im cn bng (z
1
, z
2
) = (0,0). Do
, x
1
tin ti n nh theo I
ref
v theo (4) x
2
tin ti
n nh theo U
ref
.
3.2 iu khin cun chiu vi tham s ti bt nh
Trong trng hp ph ti pha xoay chiu ca ZSI
bin i, vic xc nh tham s R a vo lut iu
khin (23) gp nhiu kh khn. V vy, gii php a
ra trong trng hp ny s dng thut ton iu khin
cun chiu thch nghi. Trnh t thit k thut ton
iu khin cun chiu thch c thc hin ging nh
trong mc 3.1, tuy nhin hm V c b xung thm
phn sai lch c lng tham s ti
t = 1/R h phng trnh (3) tr thnh h c tham
s bt nh (uncertainty equivalence).
1
2
2
1 2
(2 1) (1 )
(1 2 ) ( 1)(2 )
dx
L d x d E
dt
dx
C d x d x E
dt
q
(28)
T (28) gi tr xc lp ca in p trung bnh trn t
v dng in trung bnh qua cun cm nh (29).
2 1
(2 ) 1
;
2 1
C C
C L
U U E D
X U E X I
D E
q (29)
V gi tr dng c lng:
(2 )
C C
L
U U E
I
E
q vi
q gi tr c lng tham s ti.
Bc 1: t sai lch gia bin trng thi x
1
v dng
in t c lng ef r I l z
1
:
1 1
= ref z x I

Ly o hm z
1
nh (30).
2
1 1
2 1 1 = = +
ref ref
x E

z x I ( d ) ( d ) I
L L
(30)
Trong (30) x
2
/L l bin iu khin o, t (30) rt ra
biu thc xc nh x
2
/L nh (31).
1
2
1
2 1
(
+
(

=

ref
E

z ( d ) I
x L
L d
(31)
t
1 1 1
= z c z , trong hng s c
1
> 0 c la chn
khi thit k. Vit li phng trnh (31) nh (32).
1 1
2
1
2 1
(
+
(

=

ref
E

c z ( d ) I
x L
L d
(32)
Tuy nhin thc t th x
2
l bin trng thi, do hm
tm c (32) ch l hm mong mun x
2
/L v c t

1
xc nh nh (33).
1 1
1
1
2 1
(
+
(

=

ref
E

c z ( d ) I
L
d
o
(33)

1
c gi l hm n nh (stabilization function).
t sai lch x
2
/L v
1
l z
2
:
2
2 1
x
z
L
a
(34)
Thay (32), (33), (34) vo (30):
1 2 1 1
2 1 z ( d )z c z = (35)
Bc 2: Ly o hm (34), c o hm z
2
nh (36).
2
2 1
x
z
L
o =
(36)
Trong :
1 2
2
1 2
1 2
x ( d )( x E )
x ( d )
C C
u

= +
(37)
Vi

u u u = + (u sai lch c lng tham s ti)

phng trnh (37) vit li nh (38).
1 2
2
1 2
1 2
x ( d )( x E )
x ( d ) ( )
C C
u u

= + +
(38)
Ly o hm (33), c o hm
1
nh (39).
2
1 1 1 2
1 1
2 1
2
2 1 2 1
(
+
(

= +

ref

c z ( d )c z I
d E
( )
d L d
o o
(39)
Th vo (38), (39) vo (36) c o hm
2
z nh (40).
1 2
2
2
1
2
1 1 1 2
1 2
1 2
1 2
2
2 1
2 1
2 1

= +

+

(
+
(

ref
x ( d )( x E )

z ( d )
LC LC
( d )( x E ) d E
( )
LC d L

c z ( d )c z I
d
u
u o
(40)
Xt hm V xc nh dng nh (41).
2 2 2
1 2
1 1 1
2 2 2
= + + V z z u

(41)
Vi > 0 gi l h s thch nghi v c la chn
trong qu trnh thit k.
Ly o hm (41).
1 1 2 2
1
= + + V z z z z uu

(42)
Th (35), (40) vo (42) qua vi php bin i ton hc
ta c:
| | | |
2 2
1 1 2 2 2 1 2
V c z c z z A A u = + + (43)
Trong hng s c
1
> 0 c la chn khi thit k.
V xc nh m th ta t cc biu thc A
1
, A
2

bng 0: A
1
= 0, A
2
= 0 (44)
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

Vi A
1
= 0 rt ra hm iu khin t s shoot through nh (45).
2 2 2 1 2
1 2 2 1 1 1 2
1
2
2 1 2 1 2 1 1 2 1 2 1
2

(
+ + +
`
(

)
=

ref
x ( x E )

( d ) z c z ( d ) ( d ) ( d )( d ) c z ( d )c z I
LC LC
d
E
( )
L
u
o
(45)
DC-DC
Z source inverter
Phng trnh
(45)
Tnh
E
U
ref
i
L
u
C

u
u
C
z
2
E
Phng trnh
(46)
PWM
d
0
0,5
Gii hn
ef r I
ef r I
H. 6 Cu trc iu khin cun chiu thch nghi cho mch vng in p mt chiu ca ZSI.

Vi

u u = lut thch nghi tham s khi A

2
= 0 c
xc nh nh (46).
2
2
1 2 ( d )( x E )

z
LC
u

=
(46)
T phng trnh (45), (46) ch ra cu trc iu khin
cun chiu thch nghi cho mch vng in p mt
chiu ZSI vi ti R khng xc nh nh H.6.
- Kho st tnh n nh ca cu trc iu khin
cun chiu thch nghi
Thay lut iu khin (45) vo (40) ta c m hnh i
tng mch vng in p mt chiu (28) c m t
li trn khng gian trng thi mi (z
1
, z
2
, u ) nh
(47).
1 2 1 1
2
2 1 2 2
2
2
2 1
1 2
1 2
1 2

= +

z ( d )z c z
( d )( x E )
z ( d )z c z
LC
( d )( x E )
z
LC
u
u
(47)
H c im cn bng (z
1
, z
2
, u ) = (0,0, 0).
Xt hm V xc nh dng nh (48).
2 2 2
1 2
1 1 1
2 2 2
= + + V z z u

(48)
Ly o hm (48) thu c o hm V nh (49).
1 1 2 2
1
= = + + V V z z z z uu

(49)
Thay (47) vo (49) ta c o hm V nh (50).
2 2
1 1 2 2
= V c z c z (50)
Vi c
1
, c
2
> 0 hm V xc nh m. T , h (47) n
nh tim cn ti im cn bng (z
1
, z
2
, u ) = (0,0, 0).
Do , x
1
tin ti n nh theo ref I , u hi t theo ,
dn n x
2
tin ti n nh theo U
ref
.
4. Kt qa m phng
Thut ton iu khin cun chiu cho mch vng in
p mt chiu ca ZSI c m phng kim chng
bng phn mm Matlab/Simulinks/Plecs vi tham s
m phng.
DC voltage E 150V
Tn s pht xung PWM 10 kHz
C1 = C2 = C 235 uF
L1 = L2 = L 0,6 mH
H s c
1
= 1000, c
2
= 5000, = 10
-11

Trng hp 1: in p ngun DC vo bin thin vi
tham s ti R = 10 . in p t U
ref
= 250 V, in
p E = 150V trong khong t< 0,2s v t > 0,3s, E=
130V trong khong 0,2s < t < 0,3s. Kt qu m phng
th hin t hnh H.7 H.10.
Nhn xt: Vi in p E bin thin in p trn t C
(u
C
) c gi bng gi tr t, cn in p nh ( i u )
t ln nhnh van tng ln do s thay i ca t s
shoot through. Tuy nhin, gi tr trung bnh ca
in p t ln nhnh van vn c gi bng u
C
.
Trng hp 2: Thut iu khin cun chiu thch
nghi khi tham s ti R
t
= 10 (t = 0,15s 0,3s) v R
t
= 20 (t< 0,15s v t > 0,3s). in p t U
ref
= 250
V, E = 150V. Kt qu m phng th hin t hnh H.11
H.15.
Nhn xt: Khi tham s ti bin thin v khng bit
trc, gi tr c lng hi t bng gi tr thc sau
1 khong thi gian. V vy, t s shoot through
c iu khin gi theo gi tr xc lp mong mun
nn in p trn t bng hng s theo gi tr t.
700
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
50
100
150
200
250
300
Uc
E

H. 7 in p trn t C vi in p E
thay i.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
50
100
150
200
250
300
350
400
450

H. 8 in p t ln nhnh van vi
in p E thay i.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5

H. 9 T s shoot through d vi in
p E thay i.

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
20
40
60
80
100
120

H. 10 Dng in qua cun cm vi
in p E thay i.
0 0.1 0.2 0.3 0.4 0.5
0
50
100
150
200
250
300

H. 11 in p trn t C vi tham s
ti thay i.
0 0.1 0.2 0.3 0.4 0.5
0
50
100
150
200
250
300
350
400
450

H. 12 in p t ln nhnh van vi
tham s ti thay i.

0 0.1 0.2 0.3 0.4 0.5
-0.02
0
0.02
0.04
0.06
0.08
0.1

H. 13 Tham s ti c lng q vi
tham s ti thay i.
0 0.1 0.2 0.3 0.4 0.5
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35

H. 14 T s shoot through d vi tham
s ti thay i.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
10
20
30
40
50
60
70

H. 15 Dng in qua cun cm vi
tham s ti thay i.

5. Kt lun
Bi bo trnh by thit k b iu khin cun chiu
cho mch vng in p mt chiu ca ZSI, kim
chng bng m phng cho thy in p trn t C gi
bng gi tr t trong c hai trng hp ti khng xc
nh v khi ngun p cp u vo bin ng. Tuy
nhin, thut ton cun chiu c mt s c im: i
hi thng tin chnh xc v tham s L, C, nh hng
bi tn s pht xung nn m bo trit tiu sai lch
tnh c th b xung thm thnh phn tch phn vo
lut iu khin, xut hin cc thnh phn o hm bc
cao trong lut iu khin. V vy, cc nghin cu tip
theo cn nh gi thm b iu khin ny vi m hnh
thc nghim ZSI trong phng th nghim.

Ti liu tham kho
[1] Fang Zheng Peng: Z-source inverter. IEEE
transactions on industry applications, vol.39,
no.2, March/April, 2003.
[2] Jingbo Liu, Jiangang Hu, and Longya Xu;
Dynamic Modeling and Analysis of Source Z
Converter-Derivation of AC Small Signal Model
and Design-Oriented Analysis; IEEE
transactions on industry applications, vol. 22,
no. 5, Seember 2007.
[3] Xinping Ding, Zhaoming Qian, Shuitao Yang,
Bin Cuil, Fangzheng Peng: A PID Control
Strategy for DC-link Boost Voltage in Z-source
Inverter. Applied Power Electronics
Conference, APEC 2007 - Twenty Second
Annual IEEE.
[4] Gokhan Sen, Malik E. Elbuluk: Voltage and
Current-Programmed Modes in Control of the
Z-Source Converter. IEEE transactions on
industry applications, vol. 46, no. 2, march/april
2010.
[5] H. EL FALIL, F. GRIRI: Backstepping Based
Control of PWM DC-DC Boost Power
Converters. IEEE International Symposium on
Issue Date: 4-7 June 2007, ISIE 2007.
[6] Krstc, M.; Kanellakopoulos I.; Kokotovc, P.:
Nonlinear and Adaptive Control Design. John
Wiley & Sons, Inc., New York 1995.
[7] Romeo Ortega, Antonio Lora, Per J.
Nicklasson, Hebertt Sira-Ramrez: Passivity
based Control of Euler Lagrange Systems:
Mechanical,Electrical and Electromechanical
Applications. Springer, May 1998.

701
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Ph lc
c c s nh gi hiu qu ca b iu khin thit
k trong bi bo ny, tc gi tin hnh so snh m
phng vi cu trc iu khin khin tuyn tnh PID
[3], [4] c thit k trn m hnh tn hiu nh vi
im lm vic cn bng cn c xc nh trc.
Cu trc b iu khin tuyn tnh PID nh (51)
0
(1 )(1 )
( ) (51)
(1 )
L
z
c c
p
s
s
G s G
s
e
e
e
+ +
=
+

Trong :
1 sin 1 sin
1 sin 1 sin
z c p c
f f f f
u u
u u
+
= =
+

0
1
| |
( ). ( )
C
c f f
dt C
G
G s G s
=
=

f
c
chn bng 1/10 tn s ct xung (f
c
=1kHz).
d tr pha b b ti tn s f
c
( = 41
0
)
Tham s m phng c xt nh trng hp 1 mc
4, kt qu m phng c ch ra trong hnh t H.16
H.19.

H. 16 in p trn t C vi in p E thay i.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
-200
-100
0
100
200
300
400
500

H. 17 in p t ln nhnh van vi in p E thay i.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35

H. 18 T s shoot through d vi in p E thay i.


0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
10
20
30
40
50
60
70
80

H. 19 Dng in qua cun cm vi in p E thay i.
Kt qu m phng chng t b iu khin cho mch
vng in p mt chiu ZSI c thit k theo
phng php cun chiu t ra c hiu qu khi so snh
vi cu trc iu khin tuyn tnh, in p trn t C
nhanh chng t gi tr n nh, khng c p mch
trong tn hiu iu khin t s shoot through y l
tn hiu quan trng quyt nh n cht lng in
p, dng in trong iu khin ZSI.
Tuy nhin, b iu khin c thit k theo phng
php cun chiu i hi thng tin chnh xc tham s,
thng tin o lng tn hiu trung bnh in p trn t,
v dng qua cun cm, iu ny c th s gp kh
khn khi trin khai cu trc ny trong thc t. V vy,
cn c nghin cu su hn v cu trc iu khin ny
s dng trong ZSI vi cc ng dng khc nhau trong
thc t.

Tiu s
Trn Trng Minh sinh nm 1960, ti Vit Nam. T
nm 19781983 hc ti i hc Bch khoa Bacu
(Lin X c). Nhn bng M.S ti AIT-Thi Lan nm
1997, bng Tin s chuyn ngnh T ng ha
XNCN trng i hc Bch Khoa H Ni
(HBKHN) nm 2008. T nm 1984, cng tc ti b
mn T ng ha XNCN khoa in HBKHN.
Lnh vc nghin cu: iu khin in t cng sut, b
bin i cng sut ln, bin tn ma trn, ng dng
in t cng sut trong li in thng minh, b bin
i DC-DC hiu sut cao, lc tch cc,
V Hong Phng sinh nm 1983,
ti Vit Nam. Nhn bng k s nm
2006, Thc s nm 2008 chuyn
ngnh T ng ha XNCN khoa
in -HBKHN. Hin ang l
Nghin cu sinh kha 20102014
chuyn ngnh Thit b v h thng
iu khin t ng - HBKHN. T
nm 2006 n nay cng tc ti Trung tm Nghin cu
cng ngh cao HBKHN. Lnh vc nghin cu:
iu khin in t cng sut, ng dng in t cng
sut trong li in thng minh,..
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0
50
100
150
200
250
300
702