iu khin my in N N T B mn Thit b in

iu khin my in
Nguyn l iu khin vector gin tip
iu khin my in N N T B mn Thit b in
Gii thiu
Vic o t thng rotor bng cm bin t thng khng thc
t trong thng mi i hi phng php tnh ton gc
t thng
( )
e r sl r sl
dt dt e e e = = + = +
} }
Gc t thng c tnh nh sau:
iu khin my in N N T B mn Thit b in
Gii thiu
S n gin ha
iu khin my in N N T B mn Thit b in
Gii thiu
Khi tnh w
sl
, i
sd
c th c dng thay cho
i
mrd
nu my hat ng vi t thng l hng
s (v d, khng field weakening)
i
sq
, i
sd
s c dng trong vng iu khin
trong vic so snh vi i
sq
*, i
sd
*.
Nu thng s ca my ng th w
sl
s chnh
xc R
r
thay i khi hot ng cn
nhn dng R
r
online
iu khin my in N N T B mn Thit b in
B iu khin vector gin tip
iu khin my in N N T B mn Thit b in
B iu khin vector gin tip
Nu khu field weakening c yu cu, thay th i
sd
*
bng i
mrd
trong khu tnh w
sl
iu khin my in N N T B mn Thit b in
Khu b in p

rd
= L
o
i
mrd
w
e
L
s
i
sd
v w
e
L
s
i
sq
l phn
lin kt gia d v q
Bi tp: chng minh cng thc trn
= 1 L
o
2
/(L
r
L
s
)
iu khin my in N N T B mn Thit b in
Khu b in p
Thng thng,
c dng d iu khin hn, v th phi cng thm mt lng
b. Cc gi tr lnh i
sd
v i
sq
c dng, L
o
i
mrd
thay th cho
rd
iu khin my in N N T B mn Thit b in
Cu hi (1/2)
ng c dng thut ton iu khin vector gin tip IRFO
IRFO = Indirect Rotor Flux Orientation
Gi tr ca b trt trong b iu khin l gi tr thc ca my
a/ ng b/ Sai
Gi tr lnh ca b iu khin i
sq
phi ging gi tr thc trong my
a/ ng b/ Sai
Gi tr i
sq
c tnh bi b iu khin t cc gi tr dng ging
vi gi tr thc i
sq
trong my
a/ ng b/ Sai
Gi tr iu khin ca tn s kch thch s khng l tn s kch
thch tht s trong my
a/ ng b/ Sai
iu khin my in N N T B mn Thit b in
Cu hi (2/2)
ng c dng thut ton iu khin vector gin tip IRFO
Cc gi tr lnh i
sd
* = 4A, i
sq
* = 16A

real
l gc t thng thc trong my v
con
l gc t thng ca b
iu khin
Nu c mt sai s hng
con

real
= 15
o
. Vy gi tr thc trong my (i
sd
, i
sq
) s l
a/ (8.09A, 14.3A) b/ (0.173A, -16.48A) c/ (-0.173A, 16.48A)
d/ (-8.09A, 14.3A)
Gi tr iu khin ca moment l 80Nm. Gi s rng cc thng s v hng s
moment ca b iu khin l chnh xc, gi tr moment thc trong my l
a/ 3.56Nm b/ 80Nm c/ 2.85Nm
iu khin my in N N T B mn Thit b in
iu khin vector gin tip

*
*
sl m r
s
qs
r r
L R
K
i
L
e

= =
*
e sl r
e e e = +
e
dt u e =
}
HB: hysteresis-band
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin dq
Xt vng iu
khin dq trong
h thng iu
khin PWM tip
p (mu )
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin dq
B iu khin
(cn thit k)
Hm truyn b
bin tn inverter
ng c B lc
Cn tnh cc thng s k
i
v a
i
t c p ng vng kn mong mun
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin dq

I
: hng s thi gian ca b bin tn
y l thi gian tr (delay) trc khi in p
lnh xut hin trn ng vo ng c. Nu tn s
ng ct l f
s
th c th gi s
I
=1/f
s
(thi gian
1 chu k ly mu)

S
: hng s thi gian stator ca ng c

S
=oL
S
/R
S

Thng thng
S
khong 5-20ms

I
khong 100us
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin dq

f
: hng s thi gian ca b lc
nhiu o lng
B lc chng nhiu anti-aliasing dng vi b
bin i AD. Nu dng c nhiu tn s f
s
, b
lc phi c tn s ct cut-off nh hn f
s
/2
Hng s thi gian stator c gi tr vt tri so vi
cc hng s khc
iu khin my in N N T B mn Thit b in
Thit k b iu khin: v d
Cho h thng:
R
S
=1O,
S
=10ms. Thit k b iu khin PI c bng
thng (tn s t nhin) 300Hz (1900 rad/s) v =0.8
(h s tt dn)
Hm truyn vng kn:
Vi v
iu khin my in N N T B mn Thit b in
Thit k b iu khin: v d
Cho h thng:
R
S
=1O,
S
=10ms. Thit k b iu khin PI c bng
thng (tn s t nhin) 300Hz (1900 rad/s) v =0.8
(h s tt dn)
Hm truyn vng kn:
n gin ha hm truyn
iu khin my in N N T B mn Thit b in
Thit k b iu khin: cht lng
vng iu khin dng in
Thi gian ln T
rise
Thi gian xc lp T
set
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin t thng
Vng iu khin dng t
ha i
mrd
Gi tr thi gian delay
(tr) ca
r
(100-150ms)
ln hn nhiu so vi

isd
(1-3ms) b qua
vng iu khin dng i
sd
B iu khin
(cn thit k)
Vng iu
khin dng i
sd
n gin ha
Khu tnh
dng i
m
vi

r
=L
R
/R
R
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin t thng v d
Cho
r
=100ms, bng thng
cn thit l 20Hz, =0.8
Phng trnh c tnh:
Ta c phng trnh c tnh
ca vng iu khin:
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin tc
Vng iu khin tc c
u vo l sai lch tc
v u ra l gi tr lnh i
sq
*
B iu khin
(cn thit k) Vng iu
khin dng i
sq
n gin ha
(tng t
vng iu
khin i
sd
)
Khi c kh
B lc
J: moment qun tnh
B: h s ma st
B iu khin thng l PID
Thng thng thng s b iu
khin c xc nh bng cch
th v sai (trial and error)
iu khin my in N N T B mn Thit b in
Thit k b iu khin: vng iu
khin tc - cht lng
Bng thng cc i b khng ch
bi:
-Lng moment c sn chng
li qun tnh
-Qun tnh ca my
- phn gii ca encoder
Lc u w
r
=0 (t=0), gi tr lnh w
r
*
dng hm
bc c p vo h thng
Sai s tc ln i
sq
*
ln i
sq
b gii hn
Khi w
r
ln i
sq
gim
Nu ti t nhin c a vo tc gim
v i
sq
tng cung cp thm moment
iu khin my in N N T B mn Thit b in
Cu hi
ng c c cc thng s sau: oL
s
= 10mH, R
s
= 1.2O, L
R
= 80mH, R
R
= 0.8O
Tr li cc cu hi lin quan ti thit k b iu khin cho ng c ny
Thng s iu khin ca b iu khin dng dq cho cht lng
vng kn ti bng thng 400Hz, h s m =0.8
a/ 350(s+1804)/s b/ 16.5(s+3850)/s
c/ 34(s+0.74)/s d/ 34(s+1857)/s
Thng s iu khin ca b iu khin t thng (u vo l sai
s ca dng i
mrd
) cho cht lng vng kn ti bng thng 15Hz,
=0.8
a/ 14(s+65)/s b/ 34(s+18570)/s
c/ 6.5(s+137)/s d/ 15(s+59)/s
iu khin my in N N T B mn Thit b in
Tc ly mu Sample rates
Tn s t nhin ca cc vng
iu khin v tm chn la
ca cc tn s ly mu
SFR Switching Frequency Ratio
SFR = f
samp
/f
bw
iu khin my in N N T B mn Thit b in
Tn s ly mu
T
s
= 2ms t
s
= 250us
Cc gi tr lnh i
sd
*
, i
sq
*
, v w
sl
cp nht sau mi thi gian T
s
w
sl
c tch phn mi t
s
tnh gc rotor
iu khin my in N N T B mn Thit b in
Tra bng khi tnh sine, cosin
Khi chuyn h qui chiu
cn phi tnh cc gi tr
sine, cosin ca gc t thng
Tuy nhin vic tnh ton
bng cch thng thng
qu chm i vi ng dng
realtime.
Vic tra bng cc gi tr
sine, cosin s lm gim thi
gian tnh ton.
iu khin my in N N T B mn Thit b in
Encoder
Encoder c N xung mi vng
Trong khong thi gian t
s
encoder c N xung
w
sl
khng i trong thi gian
t
s
v c tch phn cho ra

sl
Gc tng mt lng sau
mi t
s
iu khin my in N N T B mn Thit b in
V d
ng c KB 4 cc, c iu khin bi 1 b iu khin RFOC.
Khi xc lp i
sq
*=15A, i
sd
* (=i
mrd
) =5A.
t
r
trong b iu khin bng 0.2
Vn tc trt ca ng c:
a/ 15 rad/s (in) b/ 15 rad/s (c)
c/ 7.5 rad/s (in) d/ 0.6 rad/s (in)
Nu gi tr thc ca t
r
trong my l 0.1, sai lch gc t thng
gia my v b iu khin ():
a/ 15.3 b/ 30 c/ 11 d/ 7.6
iu khin my in N N T B mn Thit b in
Bi tp
Mt ng c hot ng xc lp vi f
e
=38Hz, in p stator
V
S
=300V, i
s
(pha) = 18A, v h s cng sut 0.86.
Cho
L
s
= 0.01,
L
o
=0.08,
L
r
=0.085,
i
sd
*=6A
ng c c nh hng t thng rotor hay khng?